Motor operation detection method and device, computer device and motor control device

Abstract

The application relates to a motor operation detection method and device, computer equipment and a motor control device. The method comprises the following steps: obtaining a step-out detection level signal of a stepping motor at a detection moment in a non-full-step driving period; the step-out detection level signal is obtained by comparing an induced voltage of a rotor coil of the stepping motor in the non-full-step driving operation with an induced reference voltage; wherein the induced voltage of the rotor coil is generated by the rotor of the stepping motor at a non-driving beat in the non-full-step driving period; a set time point of the non-driving beat in each non-full-step driving period is taken as the detection moment in the non-full-step driving period; if a high-level signal is detected in the step-out detection level signal of the non-driving beat, it is determined that the stepping motor is out of step in the non-full-step driving period. The method can reduce the use cost of the stepping motor operation detection and improve the accuracy of the stepping operation detection result.

Description

TECHNICAL FIELD

[0001] The present application relates to the motor detection technical field, in particular to a motor operation detection method and device, computer equipment and motor control device. BACKGROUND

[0002] The stepper motor is a kind of electric motor that converts electrical pulse signals into corresponding angular displacement or linear displacement, and the rotor rotates an angle or moves forward one step for each input pulse signal. The stepper motor is often used by many electric control systems in occasions with high precision requirements, cost sensitivity and small torque due to its simple and easy-to-use control characteristics.

[0003] In the use process of the stepper motor, if an obstacle is encountered during rotation or internal components are aged, the stepper motor is prone to stall or step loss. At this time, if the stepper motor controller cannot accurately detect the stall information and take corresponding measures, the entire stepper motor operation system will be abnormal, and in severe cases, the stepper motor will be damaged.

[0004] The traditional method for detecting whether the stepper motor is stalled or lost step is to use an optical encoder to measure the rotor speed and a travel switch as a trigger signal to complete a certain travel to control the travel of the stepper motor. However, the optical encoder and the travel switch have strict requirements on the structure, and the longer the use time, the more likely it is to produce structural deviation, the use cost is higher, and the detection result accuracy is easy to be disturbed. SUMMARY

[0005] Therefore, it is necessary to provide a motor operation detection method, device, computer equipment and motor control device capable of improving the detection accuracy of the operation of the stepper motor in view of the above technical problems.

[0006] In a first aspect, the present application provides a motor operation detection method, which comprises:

[0007] obtaining a step loss detection level signal of the stepper motor at a detection time in a non-full-step driving period; the step loss detection level signal is obtained by comparing the induced voltage of the rotor coil of the stepper motor during non-full-step driving operation with an induced reference voltage; wherein the induced voltage of the rotor coil is generated by the rotor of the stepper motor during a non-driving beat in the non-full-step driving period; and the set time point of each non-driving beat in the non-full-step driving period is taken as the detection time in the non-full-step driving period;

[0008] If a high level signal is detected in the step loss detection level signal of the non-driving beat, it is determined that the stepper motor is out of step in the non-full-step driving period.

[0009] In one of the embodiments, if a high level signal is detected in the out-of-step detection level signal of the non-driving beat, it is determined that the stepper motor is out of step in the non-full step driving period, which comprises:

[0010] According to the out-of-step detection level signal of the detection moment, a corresponding waveform diagram is obtained;

[0011] If a rectangular wave is detected in the waveform diagram, it is determined that the stepper motor is out of step in the non-full step driving period.

[0012] In one of the embodiments, the method further comprises:

[0013] If the stepper motor is out of step in a plurality of continuous non-full step driving periods, it is determined that the stepper motor is locked.

[0014] In one of the embodiments, the method further comprises:

[0015] A first preset mapping table is obtained, which records the mapping relationship between the induced voltage and the rotor speed of the stepper motor;

[0016] The induced voltage of the rotor coil is obtained, and the first preset mapping table is searched to determine the rotor speed corresponding to the induced voltage.

[0017] In one of the embodiments, the method further comprises:

[0018] A second preset mapping table is obtained, which records the mapping relationship between the operating data of the stepper motor and the induced reference voltage;

[0019] The operating data of the stepper motor is obtained, and the second preset mapping table is searched to determine the corresponding induced reference voltage; the operating data includes at least one of the use time, driving voltage and driving load of the stepper motor.

[0020] In one of the embodiments, after determining that the stepper motor is out of step, it further comprises:

[0021] A compensation driving signal is generated, and the rotor coil is driven to rotate additionally for one non-full step driving period according to the compensation driving signal.

[0022] In one of the embodiments, after determining that the stepper motor is locked, it further comprises:

[0023] A reverse driving signal is generated, and the rotor coil is driven to rotate reversely according to the reverse driving signal; a reverse out-of-step detection level signal detected in a reverse driving period is obtained;

[0024] If the high level signal is detected in continuous reverse driving periods, it is determined that the stepper motor is bidirectional locked.

[0025] In a second aspect, the present application further provides a motor operation detection device, which comprises:

[0026] a signal acquisition module, configured to acquire a step-out detection level signal of the stepper motor at a detection moment in a non-full-step driving period; the step-out detection level signal is obtained by comparing an induced voltage of a rotor coil of the stepper motor in non-full-step driving operation with an induced reference voltage; wherein the induced voltage of the rotor coil is generated by the rotor of the stepper motor in a non-driving beat in the non-full-step driving period; and a set time point of the non-driving beat in each non-full-step driving period is taken as the detection moment in the non-full-step driving period;

[0027] a step-out analysis module, configured to determine that the stepper motor is out of step in the non-full-step driving period if a high level signal is detected in the step-out detection level signal of the non-driving beat.

[0028] In a third aspect, the present application further provides a motor control device, which comprises: an induced voltage detection circuit, a voltage comparison circuit and a master control chip; an input end of the induced voltage detection circuit is connected with a rotor coil of a stepper motor, an output end of the induced voltage detection circuit is connected with a first input end of the voltage comparison circuit, a second input end of the voltage comparison circuit is connected with an induced reference voltage, and an output end of the voltage comparison circuit is connected with the master control chip.

[0029] The induced voltage detection circuit collects an induced voltage of the rotor coil of the stepper motor in a non-driving beat in a non-full-step driving period, the voltage comparison circuit outputs a step-out detection level signal of a detection moment in the non-full-step driving period according to a comparison result of the induced voltage of the rotor coil with the induced reference voltage, and the master control chip is configured to acquire the step-out detection level signal and determine that the stepper motor is out of step in the non-full-step driving period if a high level signal is detected in the step-out detection level signal of the non-driving beat.

[0030] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0031] The motor operation detection method, device, computer device and motor control device, according to the different change patterns of the induced voltage of the rotor coil when the rotor normally operates and does not normally operate when the stepping motor operates at the non-driving beat in the non-full-step driving period, the feature that the induced voltage of the rotor coil continuously changes when the rotor does not normally operate and operates at the non-driving beat, and the step-out detection level signal of the detection moment of the non-full-step driving period obtained by comparing the detected induced voltage of the rotor coil and the reference voltage at the non-driving beat to determine the operation state of the stepping motor. If the high level signal is detected in the step-out detection level signal of the non-driving beat at the detection moment, it indicates that the induced voltage of the rotor coil continuously changes in the non-driving beat, and the rotor does not normally rotate when the driving voltage is zero, that is, the stepping motor is out of step in the non-full-step driving period. The operation state of the stepping motor is determined by the different change patterns of the induced voltage of the rotor coil when the rotor normally operates and does not normally operate when the rotor coil operates at the non-driving beat, the whole detection process does not need to rely on other measuring devices, the use cost of the stepping motor operation detection is reduced, and the accuracy of the stepping operation detection result is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The structure block diagram of the motor control device in one embodiment is shown in FIG. 1;

[0033] Figure 2 The structure schematic diagram of the voltage comparison circuit in one embodiment is shown in FIG. 2;

[0034] Figure 3 The structure schematic diagram of the motor control device in one embodiment is shown in FIG. 3;

[0035] Figure 4 The flowchart of the motor operation detection method in one embodiment is shown in FIG. 4;

[0036] Figure 5 The voltage pattern diagram of the rotor coil when the rotor normally operates at the non-driving beat in one embodiment is shown in FIG. 5;

[0037] Figure 6 The induced voltage pattern diagram of the rotor coil when the rotor does not operate at the non-driving beat in one embodiment is shown in FIG. 6;

[0038] Figure 7 The waveform diagram when the rotor does not normally operate at the non-driving beat in one embodiment is shown in FIG. 7;

[0039] Figure 8 The waveform diagram when the rotor normally operates at the non-driving beat in one embodiment is shown in FIG. 8;

[0040] Figure 9 The flowchart of the motor operation detection method in another embodiment is shown in FIG. 9;

[0041] Figure 10 Flowchart of motor operation detection method in another embodiment;

[0042] Figure 11 Flowchart of motor operation detection method in another embodiment;

[0043] Figure 12 Flowchart of motor operation detection method in another embodiment;

[0044] Figure 13 Flowchart of motor operation detection method in another embodiment;

[0045] Figure 14 Flowchart of motor operation detection method in another embodiment; DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0047] A stepper motor is a stepper motor that converts an electrical pulse signal into an angular displacement or linear displacement. By controlling the sequence, frequency and number of electrical pulses applied to the motor coil, the rotation direction, speed and rotation angle of the stepper motor can be controlled. With a linear motion actuator or a gear box device, more complex and precise linear motion control requirements can be achieved. A stepper motor generally consists of front and rear end covers, bearings, a center shaft, a rotor core, a stator core, a stator assembly, a corrugated gasket, screws, etc. It uses electromagnetic principles to convert electrical energy into mechanical energy and is driven by a coil wound around the stator teeth. Under normal circumstances, a metal wire wound into a coil is called a solenoid, and in a motor, the metal wire wound around the stator teeth is called a winding, rotor coil, or phase.

[0048] When the stepper motor is running, the rotor coil of the stepper motor is controlled to be forward or reverse energized in a certain timing sequence according to the control pulse signal and direction signal sent by the controller, thereby driving the motor to rotate forward or reverse. According to the different step distances of a cycle of the stepper motor, the driving mode of the stepper motor can be divided into full-step driving and non-full-step driving, wherein the non-full-step driving includes half-step driving and micro-step driving. For convenience of understanding, the non-full-step driving in the present application is described by taking the half-step driving mode as an example.

[0049] The motor operation detection method provided by the embodiments of the present application can be applied to the motor control device as shown in Figure 1 .

[0050] As shown in Figure 1As shown in the figure, the motor control device comprises: an induced voltage detection circuit 101, a voltage comparison circuit 102 and a master control chip 103. The input end of the induced voltage detection circuit 101 is connected with the rotor coil 1041 of the stepper motor 104, the output end is connected with the first input end of the voltage comparison circuit 102, the second input end of the voltage comparison circuit 102 is connected with a reference voltage, and the output end of the voltage comparison circuit 102 is connected with the master control chip 103.

[0051] The induced voltage detection circuit 101 is a module that can collect the induced voltage generated by the rotor coil 1041 in the non-driven beat at the preset detection moment under the non-full-step driving.

[0052] Specifically, under the non-full-step driving, there are several beats with zero driving voltage in one driving period. Each beat with zero driving voltage is determined as a non-driven beat, and the beat with non-zero driving voltage is determined as a driven beat. When the rotor coil 1041 is in the non-driven beat, there is no driving voltage in the rotor coil 1041. If the rotor in the stepper motor 104 normally rotates in the driven beat, the rotor will rotate at a certain speed under the inertia effect in the non-driven beat even without the driving of the driving voltage, thereby affecting the stator magnetic field of the stepper motor 104, and the rotor coil 1041 will generate a corresponding induced voltage in the changed stator magnetic field. The induced voltage detection circuit 101 collects the induced voltage generated by the rotor coil 1041 and inputs the collected induced voltage into the voltage comparison circuit 102.

[0053] In one embodiment, the voltage comparison circuit 102 comprises a low-pass filter circuit and a comparator.

[0054] Specifically, the internal structure diagram of the voltage comparison circuit 102 is as shown in the figure. Figure 2 The low-pass filter circuit 1021 is composed of a low-pass filter resistor R1 and a low-pass filter capacitor C1. The input end of the low-pass filter circuit 1021 is the first input end of the voltage comparison circuit 102, which is connected with the output end of the induced voltage detection circuit (not shown in the figure). The output end is connected with the non-inverting input end of the comparator 1022 and the master control chip (not shown in the figure).

[0055] Specifically, the input terminal of the low-pass filter resistor R1 is connected to the output terminal of the induced voltage detection circuit, and the output terminal is connected to the low-pass filter capacitor C1. This resistor receives the induced voltage of the rotor coil output by the induced voltage detection circuit. Combined with the low-pass filter capacitor C1, it performs low-pass filtering on the input induced voltage, filtering out noise generated during motor operation and making the change pattern of the induced voltage more obvious. The output terminal of the low-pass filter circuit 1021 outputs the filtered induced voltage of the rotor coil, which is then input to the comparator 1022 and the main control chip.

[0056] The comparator 1022 is a circuit that identifies and compares input signals. By comparing the magnitudes of two input voltages, it outputs a high-level or low-level signal to indicate the magnitude relationship between the two input voltages. It can be understood that the comparator 1022 includes, but is not limited to, single-limit comparators, hysteresis comparators, window comparators, and three-state voltage comparators.

[0057] Specifically, the non-inverting input of comparator 1022 is connected to the output of low-pass filter circuit 1021, and the inverting input is the second input of voltage comparator circuit 102. The inverting input and output of comparator 102 are respectively connected to the main control chip.

[0058] The comparator 1022 receives the induced voltage of the rotor coil output by the low-pass filter circuit 1021 and the reference induced voltage output by the main control chip through the non-inverting and inverting inputs, respectively. It compares the induced voltage of the rotor coil with the reference induced voltage and outputs the out-of-step detection level signal of the detection moment of the non-full-step drive cycle to the main control chip.

[0059] The main control chip 103 is used to detect the operation of the motor based on the step loss detection level signal at the detection time, such as determining whether the stepper motor has lost steps or stalled based on the step loss detection level signal.

[0060] In one embodiment, such as Figure 3 As shown, a complete motor control device is provided, including a main control chip 301, a stepper motor drive circuit 302, a stepper motor 303, and a voltage comparison circuit 304.

[0061] The main control chip 301 includes a drive control output terminal 3011, a direction control output terminal 3012, an induction reference voltage output terminal 3013, an induction voltage input terminal 3014, and a step loss detection level signal input terminal 3015.

[0062] Specifically, the driving control output end 3011 and the direction control output end 3012 of the master control chip 301 are connected with the step motor driving circuit respectively, for outputting the step motor driving pulse signal and the step motor driving direction signal. The inductive reference voltage output end 3014 is connected with the inverting end of the comparator in the voltage comparison circuit 304, for outputting the inductive reference voltage. The inductive voltage input end is connected with the output end of the low-pass filter circuit in the voltage comparison circuit 304, for receiving the low-pass filtered inductive voltage of the rotor coil. The step-out detection level signal input end is connected with the output end of the comparator in the voltage comparison circuit 304, for receiving the step-out detection level signal output by the comparator.

[0063] Specifically, the first input end 3021 and the second input end 3022 are connected with the driving control output end 3011 and the direction control output end 3012 of the master control chip 301 respectively, for receiving the driving pulse signal and the driving direction signal transmitted by the master control chip 301. The first output end 3023 and the second output end 3024 are connected with the first rotor coil 3031 of the step motor 303 respectively. The third output end 3025 and the fourth output end 3026 are connected with the second rotor coil 3032 respectively, for inputting the generated driving voltage into the rotor coil of the step motor 303.

[0064] Specifically, the first input end 3021 and the second input end 3022 are connected with the driving control output end 3011 and the direction control output end 3012 of the master control chip 301 respectively, for receiving the driving pulse signal and the driving direction signal transmitted by the master control chip 301. The first output end 3023 and the second output end 3024 are connected with the first rotor coil 3031 of the step motor 303 respectively. The third output end 3025 and the fourth output end 3026 are connected with the second rotor coil 3032 respectively, for inputting the generated driving voltage into the rotor coil of the step motor 303.

[0065] Specifically, the input end of the first rotor coil 3031 and the input end of the second rotor coil 3032 in the step motor 303 are connected with the first output end 3023 and the second output end 3024 of the step motor driving circuit 302 respectively, for receiving the driving voltage input by the step motor driving circuit 302. The output end of the first rotor coil 3031 is connected with the input end of the voltage comparison circuit 304, which can be understood as the input end of the low-pass filter resistor R1. For inputting the inductive voltage generated by the rotor coil into the voltage comparison circuit 304. The rotor 3033 in the step motor 303 is connected with the driving object 3034 through the torque, when the rotor rotates, the driving object 3034 is driven to rotate, so that the driving object runs to the preset opening / closing degree position.

[0066] In the voltage conversion circuit 304, the output terminal 3042 of the low-pass filter circuit 3041 is connected to the induced voltage input terminal 3014 of the main control chip 301, and is used to output the low-pass filtered induced voltage to the main control chip 301. The output terminal 3044 of the comparator 3043 in the voltage conversion circuit 304 is connected to the out-of-step detection level signal input terminal 3015 of the main control chip 301, and is used to input the out-of-step detection level signal obtained at the detection time obtained by comparison to the main control chip 301. The non-inverting phase 3045 of the comparator 3043 is connected to the induced reference voltage input terminal 3013 of the main control chip 301, and is used to receive the induced reference voltage output by the main control chip 3013. The inverting phase of the comparator 3043 is connected to the output terminal 3042 of the low-pass filter circuit 3041, and is used to receive the induced voltage of the rotor coil.

[0067] In one embodiment, such as Figure 4 As shown, a method for detecting motor operation is provided, which is applied to... Figure 1 Taking the main control chip in the example, the explanation includes the following steps:

[0068] Step 402: Obtain the step loss detection level signal at the detection moment during the non-full-step drive cycle of the stepper motor; the step loss detection level signal is obtained by comparing the induced voltage of the rotor coil of the stepper motor with the induced reference voltage during the non-full-step drive cycle; wherein, the induced voltage of the rotor coil is generated by the rotor of the stepper motor rotating during the non-drive cycle during the non-full-step drive cycle; the set time point of the non-drive cycle in each non-full-step drive cycle is used as the detection moment in the non-full-step drive cycle.

[0069] Specifically, stepper motors generally operate in two ways: full-step drive and non-full-step drive. Full-step drive refers to a drive mode where the stepper motor rotates one step distance within one drive cycle. Non-full-step drive refers to a drive mode where the stepper motor rotates a portion of the step angle within one drive cycle; non-full-step drive can be further divided into half-step drive and micro-step drive.

[0070] Half-step drive refers to a drive mode in which the stepper motor rotates by half the step angle determined by its inherent structure. For example, if the stepper motor is a two-phase four-pole motor with a step angle of 90 degrees, then in half-step drive mode, a pulse signal will cause the stepper motor to rotate 45 degrees.

[0071] Microstepping is similar to half-stepping, but with a smaller step angle, which can be subdivided into quarter-steps, eighth-steps, or even smaller step distances. The corresponding step angle is the whole step angle multiplied by the microstepping coefficient. For example, when the stepper motor is a two-phase four-pole motor, if its step angle is 90 degrees, then in microstepping mode, a pulse signal will cause the stepper motor to rotate 22.5 degrees.

[0072] The non-full step driving in the embodiment takes the half step driving as an example. Specifically, a main control chip of the stepper motor outputs a driving control signal, which is a driving signal of the stepper motor. The driving signal of the half step driving is divided into eight beats per cycle, and among the eight beats, there are two beats of non-driving beats in which the driving voltage is zero, and the other six beats of driving beats in which the driving voltage is not zero.

[0073] When the stepper motor runs in the driving beat, the driving voltage is applied to the rotor coil, the driving voltage generates current flowing through the rotor coil, and a corresponding magnetic field is generated, so that the rotor rotates under the action of the magnetic force. When the stepper motor runs from the driving beat to the non-driving beat, the driving voltage is stopped from being delivered to the rotor coil, and the current flowing through the rotor coil also disappears. Since the size of the current flowing through changes, the rotor coil itself will have a self-induction phenomenon, generating a self-induced voltage, and the rotor will also rotate at a certain speed under the action of inertia, thereby affecting the stator magnetic field of the stepper motor, and the rotor coil will generate a corresponding mutual inductive voltage in the changing stator magnetic field. That is, when the rotor normally rotates, the induced voltage of the rotor coil collected in the non-driving beat is composed of the self-induced voltage and the mutual inductive voltage. If the stepper motor loses step or stalls, the rotor will not rotate in the driving beat, and when the stepper motor runs to the non-driving beat, the rotor will not continuously rotate due to the inertia to affect the magnetic field of the stator, that is, the rotor coil will not generate a corresponding mutual inductive voltage. That is, when the rotor does not normally rotate, the induced voltage of the rotor coil collected in the non-driving beat is only composed of the self-induced voltage. Therefore, in the non-driving beat, the induced voltage of the rotor coil collected when the rotor rotates is different from the induced voltage of the rotor coil collected when the rotor does not normally rotate, as shown in Figure 5 and Figure 6 .

[0074] Figure 5 As shown in FIG. 1, in a non-full step driving cycle, when the rotor of the stepper motor normally operates, the driving voltage change pattern (lower part of the figure) and the induced voltage change pattern (upper part of the figure) of the rotor coil A.

[0075] As can be seen from the figure, the signal of the driving voltage is in the form of a rectangular wave, and the voltage values of the two ends of the rotor coil A, i.e., A+ and A-, are not zero at one end, which indicates that there is a potential difference between the two ends of the rotor coil A at this time, i.e., there is a driving voltage in the rotor coil A, and the corresponding beat is the driving beat. When the voltage values of the two ends of the rotor coil A are both zero, it indicates that there is no potential difference between the two ends of the rotor coil A at this time, and there is no driving voltage in the rotor coil A, and the corresponding beat is the non-driving beat. According to the principle of half step driving of the stepper motor, the non-driving beat and the driving beat run alternately to make the rotor of the stepper motor continuously rotate.

[0076] When the non-driving beat is running, there is a small adaptive time first (the time period before the detection time period is the adaptive time period), and no induced voltage is generated in this time. Subsequently, due to the change of the current flowing through the rotor coil, the rotor coil generates self-induction phenomenon, generates self-induced voltage, and at this time, the rotor rotates under the action of inertia to generate changing magnetic field, and the magnetic field makes the rotor coil generate mutual inductance voltage. The mutual inductance voltage and the self-induced voltage cancel each other at the detection time. Therefore, when the rotor is normally rotating, the induced voltage generated by the rotor coil in the detection time period is 0, taking the rotor coil A- as an example. In the two non-driving beats, the change direction of the induced voltage is different, which is caused by the different directions of the driving voltage. When the rotor is normally rotating, the driving voltage and the induced voltage are detected at the same time, and this voltage is called driving-induced voltage. As can be seen from the figure, the driving-induced voltage and the driving voltage have similar rectangular waveforms.

[0077] When the rotor is not normally rotating, the induced voltage change pattern of the rotor coil is as shown in Figure 6 It can be seen that, after the adaptive time, the rotor coil itself generates self-induction phenomenon, generates self-induced voltage, and at this time the rotor does not rotate, so no changing magnetic field is generated, thereby making the rotor coil generate mutual inductance voltage. Therefore, when the rotor is not normally rotating, the induced voltage generated by the rotor coil in the detection time period is not 0, taking the rotor coil A- as an example.

[0078] As can be seen from Figure 5 and Figure 6 It can be seen that, in the non-driving beat, the induced voltage pattern of the rotor coil in the detection time period is different when the rotor is normally rotating and not normally rotating. Therefore, a suitable induced reference voltage can be set, and the collected induced voltage and the induced reference voltage are compared to determine whether the rotor in the stepping motor is normally rotating.

[0079] Among them, the detection time is a set time point in the detection time period of the non-driving beat. Specifically, in order to better determine the running state of the stepping motor by comparing the induced voltage and the induced reference voltage, a fixed time point needs to be selected as the detection time in the detection time period of the non-driving beat for detection. The induced voltage of the rotor coil at the detection time and the induced reference voltage are compared to obtain the step-out detection level signal. It can be understood that the selection of the detection time is determined according to the actual parameters of the stepping motor, and the requirement is that the induced voltage values obtained at the detection time are obviously different when the rotor is normally rotating and not normally rotating, i.e., when the stepping motor is normally running and when a step-out or stall fault occurs.

[0080] The induction reference voltage is a preset threshold voltage used for comparison with the induction voltage of the rotor coil at the detection time. Since the step-out detection level signal needs to be determined according to the comparison value of the induction voltage and the induction reference voltage, and the running state of the stepper motor is further determined, the value between the induction voltage value of the rotor under normal rotation and the induction voltage value of the rotor under abnormal rotation is selected as the induction reference voltage at the detection time, so as to ensure that the low level signal is output when the induction voltage value of the rotor coil and the induction reference voltage value are input into the voltage comparison circuit of the stepper motor detection device for comparison at the time of normal rotation of the rotor, and the high level signal is output when the induction voltage value of the rotor coil and the induction reference voltage value are input into the voltage comparison circuit of the stepper motor detection device for comparison at the time of abnormal rotation of the rotor.

[0081] Specifically, the induction voltage of the rotor coil and the induction reference voltage are input into the voltage comparison circuit of the stepper motor detection device when the stepper motor is running in the non-full-step driving mode, and the voltage comparison circuit outputs the step-out detection level signal at the detection time by comparing the sizes of the induction reference voltage and the induction voltage of the rotor coil.

[0082] Step 404: If the high level signal is detected in the step-out detection level signal at the non-driving beat, it is determined that the stepper motor is out of step in the non-full-step driving period.

[0083] The step-out of the stepper motor refers to the case that the rotor of the stepper motor does not rotate after receiving the pulse signal, resulting in that the stepper motor does not reach the position as instructed by the pulse signal. The reasons for the step-out of the stepper motor include but are not limited to small working torque of the stepper motor, insufficient acceleration and deceleration process when the stepper motor starts and stops, and too low driving voltage setting, etc.

[0084] Specifically, if the step-out detection level signal output by the voltage comparison circuit is always a low level signal, it indicates that the induction voltage of the rotor coil is collected at the time of normal rotation of the rotor, and the running state of the stepper motor in the half-step driving period is normal. If the step-out detection level signal output by the voltage comparison circuit has a high level signal, it indicates that the induction voltage of the rotor coil is collected at the time of abnormal rotation of the rotor, and the stepper motor is out of step in the half-step driving period.

[0085] If the main control chip detects the high level signal in the step-out detection level signal at the non-driving beat, it indicates that the rotor does not rotate in this non-full-step driving period, and it is determined that the stepper motor is out of step in this non-full-step driving period.

[0086] In the motor operation detection method, the change pattern of the induced voltage of the rotor coil is different when the rotor normally operates and when the rotor does not normally operate during the non-driving beat of the non-full-step driving period of the stepper motor, and the induced voltage of the rotor coil continuously changes when the rotor does not normally operate during the non-driving beat. The out-of-step detection level signal of the detection moment of the non-full-step driving period is obtained by comparing the induced voltage of the rotor coil and the reference voltage during the non-driving beat, and the operation state of the stepper motor is determined. If the high level signal is detected in the out-of-step detection level signal of the non-driving beat of the detection moment, it indicates that the induced voltage of the rotor coil continuously changes in the non-driving beat, and the rotor does not normally rotate when the driving voltage is zero, i.e. the stepper motor is out of step in the non-full-step driving period. The operation state of the stepper motor is determined by the change pattern of the induced voltage of the rotor coil when the rotor normally operates and when the rotor does not normally operate during the non-driving beat, and the whole detection process does not need other measurement equipment, which reduces the use cost of the stepper motor operation detection and improves the accuracy of the stepper operation detection result.

[0087] In order to more clearly determine the operation state of the stepper motor by the out-of-step detection level signal, in one embodiment, if the high level signal is detected in the out-of-step detection level signal of the non-driving beat, it is determined that the stepper motor is out of step in the non-full-step driving period, including:

[0088] According to the out-of-step detection level signal of the detection moment, a corresponding waveform diagram is obtained, and if a rectangular wave is detected in the waveform diagram, it is determined that the stepper motor is out of step in the non-full-step driving period.

[0089] The waveform diagram is generated according to the out-of-step detection level signal output by the voltage comparison circuit, and reflects the high and low changes of the out-of-step detection level signal.

[0090] Specifically, when the rotor does not normally rotate, the voltage comparison circuit compares the induced voltage of the rotor coil at the detection moment with the induced reference voltage, and outputs a high level signal. According to the high and low level signals, the out-of-step detection level signal output by the voltage comparison circuit is set to be a low level signal at all moments except the detection moment. The master control chip obtains a rectangular wave according to the out-of-step detection level signal output by the voltage comparison circuit, as shown in Figure 7 . Figure 8 The waveform diagram corresponding to the normal rotation of the rotor (including a plurality of non-full-step driving periods in the figure) is obtained. Since the rotor normally rotates, the voltage comparison circuit compares the induced voltage of the rotor coil at the detection moment with the induced reference voltage, and outputs a low level signal. According to the plurality of low level signals, the out-of-step detection level signal output by the voltage comparison circuit is obtained.

[0091] When the master control chip detects a rectangular wave in the waveform diagram of the non-full-step driving period, it can be determined that the rotor does not rotate in the non-full-step driving period, i.e., it is determined that the stepper motor is out of step in the non-full-step driving period.

[0092] In this embodiment, the corresponding waveform diagram is generated according to the out-of-step detection level signal output by the voltage comparison circuit, and the waveform diagram can be used to more intuitively and clearly determine that the stepper motor is out of step in the non-full-step driving period.

[0093] Like the out-of-step of the stepper motor, the locked rotor of the stepper motor is also a problem that cannot be ignored in the operation of the motor. When the motor is locked, the rotor speed of the motor is zero, and the motor still outputs torque at this time. However, the power factor is very low when the motor is locked, and the locked rotor current generated by the locked rotor can be as high as 7 times the rated current. If the locked rotor condition of the motor cannot be found and processed in time, the stepper motor will be damaged after a long time.

[0094] In one embodiment, as shown in Figure 9 a motor operation detection method is provided, including the following steps:

[0095] In step 902, an out-of-step detection level signal of the stepper motor at a detection time in a non-full-step driving period is obtained. The out-of-step detection level signal is obtained by comparing the induced voltage of the rotor coil of the stepper motor during the non-full-step driving operation with the induced reference voltage. The induced voltage of the rotor coil is generated by the rotor of the stepper motor during the non-driving beat in the non-full-step driving period. The set time point of each non-driving beat in the non-full-step driving period is used as the detection time in the non-full-step driving period.

[0096] In step 904, if a high-level signal is detected in the out-of-step detection level signal of the non-driving beat, it is determined that the stepper motor is out of step in the non-full-step driving period.

[0097] In step 906, if the stepper motor is out of step in a plurality of consecutive non-full-step driving periods, it is determined that the stepper motor is locked.

[0098] The locked rotor judgment condition is pre-set in the master control chip. If the stepper motor is out of step in a preset number of consecutive non-full-step driving periods, it is determined that the stepper motor is locked. It can be understood that the specific number of consecutive non-full-step driving periods is set according to the actual operation parameters of the stepper motor and other conditions.

[0099] Specifically, when the master control chip determines that the stepping motor is out of step in the non-full step driving period according to the out-of-step detection level signal output by the voltage comparison circuit, the master control chip continues to obtain the out-of-step detection level signal output by the voltage comparison circuit in a preset number of continuous non-full step driving periods according to a preset stall judgment condition. If it is determined that the stepping motor is out of step in the preset number of continuous non-full step driving periods, the preset stall judgment condition is met, and the master control chip determines that the stepping motor is stalled.

[0100] In one of the embodiments, if the stepping motor is out of step in a plurality of continuous non-full step driving periods, it is determined that the stepping motor is stalled, including: obtaining the out-of-step detection level signals of the plurality of non-full step driving periods, and generating a second waveform diagram according to the out-of-step detection level signals of the non-full step driving periods; and performing multi-period filtering processing on the second waveform diagram, and if there are a preset number of continuous non-full step driving periods in which a rectangular wave is detected in the second waveform diagram, it is determined that the stepping motor is stalled.

[0101] In one of the embodiments, after the master control chip determines that the stepping motor is stalled, the master control chip can control the stepping motor to stop, so as to avoid damage to the stepping motor caused by the stall.

[0102] In the above embodiments, the running state of the stepping motor in a plurality of continuous non-full step driving periods is obtained, and it is determined that the stepping motor is stalled when the stepping motor is out of step in the plurality of continuous non-full step driving periods. The running state of the stepping motor is determined in a timely and accurate manner according to the out-of-step detection level signal, so as to avoid damage to the stepping motor caused by long-time stall, and the safety of the motor operation is improved.

[0103] When the stepping motor is used, the rotor speed may change due to some external factors, for example, foreign matter entering the stepping motor causes the rotor to be blocked, or the service life of the stepping motor increases, causing the rotor damping to increase. Accurate acquisition of the rotor speed can effectively understand the running state of the rotor of the stepping motor.

[0104] In one of the embodiments, the motor running detection method further includes: obtaining a first preset mapping table recording the mapping relationship between the induced voltage and the rotor speed of the stepping motor. The induced voltage of the rotor coil is obtained, the first preset mapping table is searched, and the rotor speed corresponding to the induced voltage is determined.

[0105] Specifically, the master control chip pre-stores a first preset mapping table recording the mapping relationship between the induced voltage and the rotor speed of the stepping motor. When detecting, the master control chip obtains the first preset mapping table from the storage system, and based on the specific value of the received induced voltage of the rotor coil of the stepping motor, searches the first preset mapping table to find the rotor speed corresponding to the value. It can be understood that the first preset mapping table is generated based on experimental data and empirical data.

[0106] In the embodiment, the rotor speed of the stepper motor is determined by looking up the first preset mapping table according to the specific value of the received induced voltage of the rotor coil of the stepper motor. Without adding any detection device, the actual rotor speed of the stepper motor at each moment can be accurately known, which is beneficial to the master control chip to determine the adjustment scheme of the stepper motor operation according to the actual rotor speed, so that the operation of the stepper motor is more stable.

[0107] The voltage comparison circuit determines the comparison result of the induced reference voltage and the induced voltage of the rotor coil when generating the step-out detection level signal. Therefore, the accuracy of the induced reference voltage is related to the accuracy of the detection result.

[0108] In one embodiment, the master control chip determines the induced reference voltage according to the operation data of the stepper motor by acquiring the operation data of the stepper motor.

[0109] Specifically, the stepper motor is affected by factors such as the use environment and the use method during use. When the stepper motor is not driven at full steps, the induced voltage generated by the rotor coil also changes. If the induced reference voltage is a constant value set at the factory, the step-out detection level signal obtained according to the induced reference voltage during actual use of the stepper motor will lead to inaccurate detection results, and the determined operation state of the stepper motor will also deviate.

[0110] In order to ensure the accuracy of the detection result, the master control chip acquires the operation data of the stepper motor at the current moment during detection, and determines the induced reference voltage corresponding to the current moment according to the operation data. The induced reference voltage is input into the voltage comparison circuit. The voltage comparison circuit outputs the step-out detection level signal according to the comparison result of the induced reference voltage corresponding to the current detection moment and the induced voltage of the rotor coil at the current detection moment. By determining the corresponding induced reference voltage according to the operation data of the stepper motor, it can be ensured that the induced reference voltage can adapt to the influence of the influencing factors on the stepper motor, and meet the operation condition of the stepper motor at the current detection moment, thereby further improving the accuracy of the detection result.

[0111] In one embodiment, the operation data of the stepper motor is acquired, and the induced reference voltage is determined according to the operation data, including: acquiring a second preset mapping table, the second preset mapping table recording the mapping relationship between the operation data of the stepper motor and the induced reference voltage. The operation data of the stepper motor is acquired, the second preset mapping table is looked up, and the corresponding induced reference voltage is determined; the operation data includes at least one of the use time length, the driving voltage and the driving load of the stepper motor.

[0112] The running data includes at least one of a use time length of the stepper motor, a driving voltage and a driving load. Specifically, as the use time length of the stepper motor increases, the internal equipment of the stepper motor will be aged, for example, the rotor damping increases, and in order to adapt to the influence of the use time length on the operation of the stepper motor, the set value of the induced reference voltage is moderately reduced to ensure that the induced reference voltage always meets the condition that the voltage comparison circuit compares the induced voltage of the rotor coil with the induced reference voltage to output a low-level signal. When the rotor is not running normally, the voltage comparison circuit compares the induced voltage of the rotor coil with the induced reference voltage to output a high-level signal, so as to obtain an accurate detection result.

[0113] The driving voltage of the stepper motor is a voltage used for driving the stepper motor to run, the higher the driving voltage, the faster the rotor speed of the stepper motor, and when the driving voltage is zero, the inertia of the rotor is greater, and the influence of the induced voltage generated by the rotor coil is greater. In order to adapt to the influence of the driving voltage on the operation of the stepper motor, the set value of the induced reference voltage is moderately adjusted to improve the accuracy of the detection result.

[0114] The driving load of the stepper motor is the load of the object (such as a valve) to be driven by the stepper motor, the smaller the driving load, the smaller the force required by the stepper motor to generate, and in order to adapt to the influence of the driving load on the operation of the stepper motor, the set value of the induced reference voltage is moderately increased to improve the accuracy of the detection result.

[0115] Specifically, the main control chip pre-stores a second preset mapping table recording a mapping relationship between the running data and the induced reference voltage. When detecting, the main control chip obtains the second preset mapping table from the storage system, and based on the identifier carried by the running data of the stepper motor, finds the induced reference voltage corresponding to the identifier from the second preset mapping table, determines the induced reference voltage at the current detection time as the induced reference voltage, and inputs it into the voltage comparison circuit to compare with the induced voltage of the rotor coil to obtain the step-out detection level signal. It can be understood that the second preset mapping table is generated based on experimental data and experience data.

[0116] In the embodiment, the second preset mapping table is searched according to the running data of the stepper motor to determine the corresponding induced reference voltage used under the current running data, so that the induced reference voltage used for comparison to generate the step-out detection level signal can adapt to the influence of the influencing factors on the stepper motor, and meet the running condition of the stepper motor at the current detection time, thereby further improving the accuracy of the detection result.

[0117] In one of the embodiments, when the stepper motor is detected for the first time, a second preset mapping table is looked up according to the service time, the driving voltage and the driving load of the stepper motor to determine the induced reference voltage of the stepper motor. The induced reference voltage determined when the stepper motor is detected for the first time can be more accurate by looking up the second preset mapping table according to the three operation data, which is consistent with the operation environment of the stepper motor. However, the driving voltage and the driving load corresponding to the determined operation environment of the stepper motor will not change much, so when the stepper motor is detected for the second time, the induced reference voltage at the current detection time can be determined only according to the service time of the stepper motor, and the lookup process is simplified.

[0118] When it is determined that the stepper motor is out of step, it means that the stepper motor does not move the corresponding step distance according to the instruction of the pulse signal, so that the driving object (such as a valve) cannot reach the set opening or closing degree. In order to more accurately control the movement of the driving object, in one of the embodiments, after determining that the stepper motor is out of step, the main control chip further comprises: generating a compensation driving signal, and driving the rotor coil to rotate an additional non-full-step driving period according to the compensation driving signal.

[0119] Specifically, the main control chip detects the operation state of the stepper motor in each non-full-step driving period in real time. When it is determined that the stepper motor is out of step in a non-full-step driving period, the main control chip generates a non-full-step driving signal as a compensation driving signal, and drives the rotor coil to rotate an additional non-full-step driving period according to the compensation driving signal, so as to compensate the corresponding step distance into the total movement step of the stepper motor, and accurately control the driving object to reach the set opening or closing degree position.

[0120] When it is determined that the stepper motor is locked, in order to further understand the situation of the locked motor, in one of the embodiments, as shown in Figure 10 The motor operation detection method further comprises the following steps:

[0121] Step 1002, generating a reverse driving signal, and driving the rotor coil to rotate in the reverse direction according to the reverse driving signal.

[0122] The reverse driving signal is a pulse signal for generating a voltage opposite in phase to the original driving voltage. According to the pulse signal of the voltage opposite in phase, a phase current opposite in phase can be generated. The phase current and the magnetic field of the stepper motor follow the Ampere's right-hand screw rule. By controlling the direction of the driving voltage to control the phase of the motor current, the direction of the magnetic pole of the motor stator can be reversed.

[0123] Specifically, when it is determined that the stepper motor is locked in the original driving direction, the main control chip generates a reverse driving signal for generating a voltage opposite in phase to the original driving voltage, and drives the rotor to rotate in the reverse direction according to the reverse driving signal.

[0124] At step 1004, the reverse step-out detection level signal of the reverse driving period is obtained.

[0125] Specifically, the reverse step-out detection level signal of the reverse driving period is obtained by comparing the reverse induced voltage of the rotor coil of the stepper motor in the reverse non-full step driving operation with the reverse induced reference voltage.

[0126] It can be understood that the process of obtaining the reverse step-out detection level signal is similar to that of obtaining the step-out detection level signal, that is, the voltage comparison circuit receives the reverse induced voltage of the rotor coil input by the induced voltage detection circuit, receives the reverse induced reference voltage corresponding to the stepper motor at the current detection time sent by the master chip, compares the reverse induced voltage with the reverse induced reference voltage, and obtains the reverse step-out detection level signal of the reverse driving period.

[0127] At step 1006, if high level signals are detected in a plurality of continuous reverse driving periods, it is determined that the stepper motor is bidirectional locked-rotor.

[0128] Specifically, if high level signals are detected in the reverse step-out detection level signals of a plurality of continuous reverse non-full step driving periods, it indicates that the rotor does not rotate in each reverse non-full step driving period, that is, the rotor cannot rotate in both directions, and it is determined that the locked-rotor of the stepper motor is bidirectional locked-rotor.

[0129] In one of the embodiments, if a continuous low level signal is detected in the reverse driving period, it is determined that the stepper motor is unidirectional locked-rotor.

[0130] In one of the embodiments, after determining the locked-rotor type of the stepper motor, different processing strategies are adopted according to the locked-rotor type of the stepper motor. For example, when it is determined that the stepper motor is unidirectional locked-rotor, the stepper motor is controlled to run in one direction; when it is determined that the stepper motor is bidirectional locked-rotor, the stepper motor is controlled to stop.

[0131] In the above embodiments, when it is determined that the stepper motor is locked-rotor, the rotor coil of the stepper motor is driven to rotate in the reverse direction by generating the reverse driving signal, and the locked-rotor type of the stepper motor is determined at the same time according to the reverse step-out detection level signal obtained by detection, which is beneficial to processing the stepper motor in time according to the running condition of the stepper motor, avoiding damage of the stepper motor due to long-time locked-rotor, and improving the safety of the motor operation.

[0132] In one of the embodiments, as shown in Figure 11 , a motor operation detection method is provided, which is taken as an example of being applied to the water valve of the temperature control valve.

[0133] First, the flow direction of each signal in the motor operation detection method is as shown in Figure 12As shown, specifically, the main control chip MCU generates a non-full step drive control signal according to a preset temperature control valve opening degree, the non-full step drive control signal including a drive pulse signal and a direction signal, the main control chip sends the non-full step drive control signal to the stepper motor drive circuit, controls the stepper motor drive circuit to generate a phase current, and inputs the phase circuit to the rotor coil.

[0134] After the rotor coil is energized, a magnetic field is generated, the rotor rotates under the action of the magnetic field, and the temperature control valve in the temperature valve mechanism moves a corresponding step.

[0135] The inductive voltage detection circuit collects an inductive voltage of one end of any rotor coil in the first non-drive beat in the non-full step drive period, inputs the inductive voltage of the rotor coil to a low-pass filter resistor input end of the voltage comparison circuit, filters out the noise in the collected inductive voltage through the cooperative action of the low-pass filter resistor and a low-pass filter capacitor, and inputs the filtered inductive voltage to a comparator of the voltage comparison circuit and the main control chip.

[0136] After the main control chip receives the inductive voltage, the main control chip obtains a first preset mapping table from a data storage system, and obtains the rotor speed of the stepper motor at the current detection time from the first preset mapping table according to the specific value of the inductive voltage.

[0137] The main control chip obtains the running data of the stepper motor and a second preset mapping table, the running data including drive voltage, valve load change, use time length, and environmental interference data, finds the corresponding inductive reference voltage at the current detection time from the second preset mapping table according to the identifier carried by the running data, and sends the inductive reference voltage to the comparator in the voltage comparison circuit.

[0138] The comparator compares the inductive voltage of the rotor coil received with the inductive reference voltage, outputs a step-out detection level signal at the current detection time, and sends the step-out detection level signal to the main control chip for judgment to determine the running state of the stepper motor.

[0139] The main control chip receives the step-out detection level signal, obtains a corresponding waveform graph according to the step-out detection level signal, judges the waveform graph, and if a rectangular wave is detected in the waveform graph in the non-full step drive period, it is determined that the stepper motor is out of step in the non-full step drive period. After determining that the stepper motor is out of step, the main control chip generates a compensation drive signal, and drives the rotor coil to rotate an additional non-full step drive period according to the compensation drive signal.

[0140] If the master chip detects a rectangular wave in waveform diagrams of continuous multiple non-full step driving periods, it is determined that the stepper motor is stalled. After determining that the stepper motor is stalled, the master chip generates a reverse driving signal, drives the rotor coil to rotate reversely according to the reverse driving signal, obtains a reverse stall detection level signal detected in a reverse driving period, and if the master chip detects a rectangular wave in continuous multiple reverse driving periods, it is determined that the stepper motor is bidirectional stalled.

[0141] In the embodiment, the closed-loop control of the stepper motor and the running state detection of the stepper motor are realized by using the method combining software and hardware, and thus the purpose of accurately controlling the water valve of the temperature control valve is achieved.

[0142] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0143] Based on the same inventive concept, the embodiment of the present application also provides a machine running detection device for implementing the machine running detection method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more machine running detection device embodiments provided below can refer to the limitations of the machine running detection method described above, which will not be described here.

[0144] In one embodiment, as shown in Figure 13 A machine running detection device 1300 is provided, which includes a signal acquisition module 1301 and a stall analysis module 1302, wherein:

[0145] The signal acquisition module 1301 is configured to acquire a stall detection level signal of the stepper motor at a detection time point in a non-full step driving period. The stall detection level signal is obtained by comparing an induced voltage of a rotor coil of the stepper motor with an induced reference voltage when the stepper motor is running in a non-full step driving mode. The induced voltage of the rotor coil is generated by the rotor of the stepper motor at a non-driving beat time point in the non-full step driving period. The set time point of each non-driving beat time point is set as the detection time point in the non-full step driving period.

[0146] The step loss analysis module 1302 is configured to determine that the stepper motor is out of step in the non-full-step driving period if a high level signal is detected in the step loss detection level signal of the non-driving beat.

[0147] In the motor operation detection device, the change pattern of the induced voltage of the rotor coil is different when the rotor is normally operated and abnormally operated when the stepper motor is operated in the non-driving beat in the non-full-step driving period, and the induced voltage of the rotor coil continuously changes when the rotor is abnormally operated and the stepper motor is operated in the non-driving beat. The running state of the stepper motor is determined by comparing the induced voltage of the rotor coil detected in the non-driving beat with the reference voltage to obtain the step loss detection level signal of the detection time of the non-full-step driving period. If a high level signal is detected in the step loss detection level signal of the non-driving beat at the detection time, it indicates that the induced voltage of the rotor coil continuously changes in the non-driving beat, and the rotor does not normally rotate when the driving voltage is zero, i.e., the stepper motor is out of step in the non-full-step driving period. The running state of the stepper motor is determined by the change pattern of the induced voltage of the rotor coil when the rotor is normally operated and abnormally operated when the stepper motor is operated in the non-driving beat, and the whole detection process does not need to rely on other measuring devices, thereby reducing the use cost of the stepper motor operation detection and improving the accuracy of the stepper operation detection result.

[0148] In one embodiment, the step loss analysis module is further configured to: obtain a corresponding waveform graph according to the step loss detection level signal at the detection time; and determine that the stepper motor is out of step in the non-full-step driving period if a rectangular wave is detected in the waveform graph.

[0149] In one embodiment, the motor operation detection device further comprises a stall analysis module configured to determine that the stepper motor is stalled if the stepper motor is out of step in a plurality of consecutive non-full-step driving periods.

[0150] In one embodiment, the motor operation detection device further comprises a rotor speed determination module configured to obtain a first preset mapping table recording a mapping relationship between the induced voltage and the rotor speed of the stepper motor, obtain the induced voltage of the rotor coil, and find the first preset mapping table to determine the rotor speed corresponding to the induced voltage.

[0151] In one embodiment, the motor operation detection device further comprises a reference voltage determination module configured to obtain a second preset mapping table recording a mapping relationship between the operation data of the stepper motor and the induced reference voltage, obtain the operation data of the stepper motor, find the second preset mapping table to determine the corresponding induced reference voltage, and the operation data comprises at least one of the use time length, the driving voltage, and the driving load of the stepper motor.

[0152] In one embodiment, the motor operation detection apparatus further comprises a compensation driving module configured to generate a compensation driving signal, and drive the rotor coil to rotate an additional non-full step driving period according to the compensation driving signal.

[0153] In one embodiment, the motor operation detection apparatus further comprises a stall type analysis module configured to generate a reverse driving signal, and drive the rotor coil to rotate reversely according to the reverse driving signal; obtain a reverse out-of-step detection level signal detected in a reverse driving period; and if a high level signal is detected in continuous multiple reverse driving periods, determine that the stepper motor is bidirectional stall.

[0154] The modules in the motor operation detection apparatus described above can be implemented in whole or in part by software, hardware, or a combination thereof. The modules described above can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to the modules.

[0155] In one embodiment, a computer device is provided, which can be a master chip, and an internal structure diagram thereof can be as shown in Figure 14 The computer device comprises a processor, a memory, and a network interface connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store sensing reference voltages, a preset mapping table, and the like. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a motor operation detection method.

[0156] Those skilled in the art can understand that Figure 14 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can comprise more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0157] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the motor operation detection method embodiments.

[0158] In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the steps of any of the above motor operation detection method embodiments.

[0159] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of any of the above motor operation detection method embodiments.

[0160] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0161] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to a memory, database or other medium used in the embodiments provided by the present application can include at least one of a non-volatile and volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0162] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered to be within the scope of the present specification.

[0163] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of detecting operation of an electric machine, characterized by, The method comprises: obtaining a step-loss detection level signal of a stepping motor at a detection moment in a non-full-step driving period; the step-loss detection level signal compares an induced voltage of a rotor coil of the stepping motor in a non-full-step driving operation with an induced reference voltage; wherein the induced voltage of the rotor coil is generated by the rotor of the stepping motor in a non-driving beat in the non-full-step driving period; if the rotor rotates normally, the induced voltage of the rotor coil collected in the non-driving beat is composed of a self-induced voltage and a mutual-induced voltage; the mutual-induced voltage is generated by the rotor due to the influence of the stator magnetic field caused by the inertial rotation of the rotor; if the rotor does not rotate normally, the induced voltage of the rotor coil collected in the driving beat is composed of the self-induced voltage; a set time point of the non-driving beat in each non-full-step driving period is taken as the detection moment in the non-full-step driving period; in the case that the rotor rotates normally, the mutual-induced voltage and the self-induced voltage generated by the rotor coil cancel each other out at the detection moment, and the induced voltage generated by the rotor coil in the detection period is zero; in the case that the rotor does not rotate normally, the induced voltage generated by the rotor coil in the detection period is not zero; the induced reference voltage is obtained by selecting a value between the induced voltage value under the condition that the rotor rotates normally and the induced voltage value under the condition that the rotor does not rotate normally at the detection moment; if a high-level signal is detected in the step-loss detection level signal in the non-driving beat, it is determined that the stepping motor loses steps in the non-full-step driving period; the high-level signal represents that the rotor coil continuously exists a changing induced voltage in the non-driving beat.

2. The method of claim 1, wherein, The method further comprises: obtaining a corresponding waveform graph according to the step-loss detection level signal at the detection moment; if a rectangular wave is detected in the waveform graph, it is determined that the stepping motor loses steps in the non-full-step driving period.

3. The method of claim 1, wherein, The method further comprises: if the stepping motor loses steps in a plurality of continuous non-full-step driving periods, it is determined that the stepping motor is locked.

4. The method of claim 1, wherein, The method further comprises: obtaining a first preset mapping table, wherein the first preset mapping table records a mapping relationship between the induced voltage and a rotor speed of the stepping motor; obtaining the induced voltage of the rotor coil, searching the first preset mapping table, and determining the rotor speed corresponding to the induced voltage.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: obtaining a second preset mapping table, wherein the second preset mapping table records a mapping relationship between operation data of the stepping motor and the induced reference voltage; obtaining the operation data of the stepping motor, searching the second preset mapping table, and determining the corresponding induced reference voltage; the operation data includes at least one of a use time length, a driving voltage, and a driving load of the stepping motor.

6. The method of claim 1, wherein, After determining that the stepping motor loses steps, the method further comprises: generating a compensation driving signal, and driving the rotor coil to rotate additionally for one non-full-step driving period according to the compensation driving signal.

7. The method of claim 3, wherein, After the determination of the step motor being locked, the method further comprises: generating a reverse driving signal, and driving the rotor coil to rotate reversely according to the reverse driving signal; acquiring a reverse out-of-step detection signal detected in a reverse driving period; if the high level signal is detected in continuous multiple reverse driving periods, determining that the step motor is locked in both directions.

8. An electric motor operation detecting device characterized by comprising: The device comprises: a signal acquisition module, configured to acquire an out-of-step detection signal of a step motor at a detection time in a non-full-step driving period; the out-of-step detection signal is obtained by comparing an induced voltage of a rotor coil of the step motor in a non-driving beat in the non-full-step driving period with an induced reference voltage; if the rotor rotates normally, the induced voltage of the rotor coil collected in the non-driving beat is composed of a self-induced voltage and a mutual-induced voltage; the mutual-induced voltage is a voltage generated by the rotor due to the influence of the stator magnetic field caused by the inertia of the rotor; if the rotor does not rotate normally, the induced voltage of the rotor coil collected in the driving beat is composed of the self-induced voltage; a set time point of the non-driving beat in each non-full-step driving period is taken as the detection time in the non-full-step driving period; in the case that the rotor rotates normally, the mutual-induced voltage and the self-induced voltage generated by the rotor coil cancel each other out at the detection time, and the induced voltage generated by the rotor coil in the detection time period is zero; in the case that the rotor does not rotate normally, the induced voltage generated by the rotor coil in the detection time period is not zero; the induced reference voltage is obtained by selecting a value between the induced voltage value in the case that the rotor rotates normally and the induced voltage value in the case that the rotor does not rotate normally at the detection time; an out-of-step analysis module, configured to determine that the step motor is out of step in the non-full-step driving period if a high level signal is detected in the out-of-step detection signal in the non-driving beat; the high level signal indicates that the rotor coil continuously generates a changing induced voltage in the non-driving beat.

9. An electric motor control device characterized by comprising: The device comprises an induced voltage detection circuit, a voltage comparison circuit and a master control chip; an input end of the induced voltage detection circuit is connected with a rotor coil of a step motor, an output end of the induced voltage detection circuit is connected with a first input end of the voltage comparison circuit, a second input end of the voltage comparison circuit is connected with an induced reference voltage, and an output end of the voltage comparison circuit is connected with the master control chip. The inductive voltage detection circuit collects the inductive voltage of the rotor coil when the stepper motor runs at the non-driving beat in the non-full step driving period, the voltage comparison circuit outputs the step-out detection level signal of the detection time in the non-full step driving period according to the comparison result of the inductive voltage of the rotor coil and the inductive reference voltage; the master control chip is used for acquiring the step-out detection level signal, if the high level signal is detected in the step-out detection level signal of the non-driving beat, it is determined that the stepper motor is out of step in the non-full step driving period; the step-out detection level signal compares the inductive voltage of the rotor coil and the inductive reference voltage obtained when the stepper motor runs in the non-full step driving; wherein the inductive voltage of the rotor coil is generated by the rotor of the stepper motor in the non-driving beat in the non-full step driving period; if the rotor rotates normally, the inductive voltage of the rotor coil collected in the non-driving beat is composed of self-induction voltage and mutual induction voltage; the mutual induction voltage is the voltage generated by the stator magnetic field due to the inertia effect of the rotor continuous rotation; if the rotor does not rotate normally, the inductive voltage of the rotor coil collected in the driving beat is composed of self-induction voltage; the set time point of each non-driving beat in the non-full step driving period is the detection time in the non-full step driving period; in the case that the rotor rotates normally, the mutual induction voltage and the self-induction voltage generated by the rotor coil cancel each other at the detection time, the inductive voltage generated by the rotor coil in the detection time period is zero, in the case that the rotor does not rotate normally, the inductive voltage generated by the rotor coil in the detection time period is not zero; the inductive reference voltage is obtained by selecting the value between the inductive voltage value under the condition that the rotor rotates normally and the inductive voltage value under the condition that the rotor does not rotate normally at the detection time; the high level signal represents that the inductive voltage of the rotor coil changes continuously in the non-driving beat. 10.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-9. The processor executes the computer program to realize the steps of the method in any one of claims 1 to 7.

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