A method, device, equipment and medium for detecting a motor-to-ground short circuit fault

Abstract

The application discloses a motor ground short-circuit fault detection method, and belongs to the technical field of a driver. The method comprises the following steps: before a servo driver drives a motor to operate, when the servo driver is powered on, reading hardware setting parameters of the servo driver, and setting a short-circuit test threshold value of the motor according to the hardware setting parameters; acquiring motor parameters and bus voltage of the motor, and setting a short-circuit detection signal pulse width according to the motor parameters, the bus voltage and the short-circuit test threshold value; controlling the servo driver to send corresponding driving signals to the motor according to the short-circuit detection signal pulse width, so as to perform a short-circuit ground test on the motor; and if the phase current of the motor in any one of U phase, V phase and W phase is greater than the short-circuit test threshold value, it is determined that the motor has a ground short-circuit fault. Through the method, whether the motor has a ground short-circuit fault can be simply and effectively judged, and normal and stable operation of the motor is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driver, in particular to a motor ground short circuit fault detection method, device, equipment and medium. BACKGROUND

[0002] The ground short circuit of motor U, V and W phase is a very common fault in practical application, such as: motor wiring error, cable aging, equipment damp and other phenomena are easy to cause the ground short circuit fault of motor. In this case, if the servo driver does not take corresponding protection action for the motor, the motor or servo driver is easily damaged.

[0003] In the prior art, the actual running current or actual running voltage of the motor is usually used to judge whether the motor appears ground short circuit fault during the running of the motor, but this kind of fault detection method not only requires high detection accuracy and detection response speed of hardware detection circuit, and the setting condition of motor short circuit protection threshold is extremely harsh, so that the motor is prone to misprotection phenomenon, thereby seriously affecting the normal operation of the motor. At present, there is no effective solution to the above problem. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a motor ground short circuit fault detection method, device, equipment and medium, which can simply and effectively judge whether the motor appears ground short circuit fault and ensure the normal and stable operation of the motor. The specific scheme is as follows:

[0005] A motor ground short circuit fault detection method, comprising:

[0006] Before the servo driver drives the motor to run, the hardware setting parameters of the servo driver are read when the servo driver is powered on, and the short circuit test threshold of the motor is set according to the hardware setting parameters;

[0007] The motor parameters and bus voltage of the motor are obtained, and the short circuit detection signal pulse width is set according to the motor parameters, the bus voltage and the short circuit test threshold;

[0008] The servo driver sends corresponding driving signal to the motor according to the short circuit detection signal pulse width to test the short circuit to ground of the motor;

[0009] If the phase current of the motor in any one of U phase, V phase and W phase is greater than the short circuit test threshold, it is determined that the motor appears ground short circuit fault.

[0010] Preferably, the process of reading the hardware setting parameters of the servo driver and setting the short circuit test threshold of the motor according to the hardware setting parameters comprises:

[0011] read the sampling accuracy value and the zero drift value of the servo driver, and set the short-circuit test threshold value of the motor according to the sampling accuracy value and the zero drift value.

[0012] Preferably, the short-circuit test threshold value ranges from 0.5A to 2A.

[0013] Preferably, the process of determining that the motor has a ground short-circuit fault further comprises:

[0014] controlling the servo driver to stop sending the driving signal to the motor;

[0015] sending a short-circuit protection signal to the motor and the servo driver, and prompting an error information.

[0016] Preferably, the process of controlling the servo driver to send a corresponding driving signal to the motor according to the short-circuit detection signal pulse width to perform a short-circuit ground test on the motor comprises:

[0017] controlling the servo driver to send the driving signal to the upper and lower bridge arms of the U phase, V phase and W phase of the motor in sequence according to the short-circuit detection signal pulse width to perform a short-circuit ground test on the motor.

[0018] Preferably, it further comprises:

[0019] If the phase current of the motor in any one of the U phase, V phase and W phase is less than or equal to the short-circuit test threshold value, it is determined that the motor does not have a ground short-circuit fault, and the servo driver is controlled to drive the motor to operate normally.

[0020] Preferably, the process of setting a short-circuit detection signal pulse width according to the motor parameters, the bus voltage and the short-circuit test threshold value comprises:

[0021] setting the short-circuit detection signal pulse width based on a target model and according to the motor parameters, the bus voltage and the short-circuit test threshold value;

[0022] wherein the expression of the target model is:

[0023] ;

[0024] wherein, is the short-circuit detection signal pulse width, is the short-circuit test threshold value, is the winding resistance of the motor, is the maximum value of the bus voltage.

[0025] Correspondingly, the application also discloses a motor ground short-circuit fault detection device, which comprises:

[0026] A threshold setting module is configured to read hardware setting parameters of the servo driver and set a short-circuit test threshold of the motor according to the hardware setting parameters when the servo driver is powered on before the servo driver drives the motor to run.

[0027] A pulse width setting module is configured to acquire motor parameters of the motor and bus voltage and set a short-circuit detection signal pulse width according to the motor parameters, the bus voltage and the short-circuit test threshold.

[0028] A short-circuit test module is configured to control the servo driver to send corresponding driving signals to the motor according to the short-circuit detection signal pulse width so as to perform a short-circuit ground test on the motor.

[0029] A fault judgment module is configured to judge that the motor has a ground short-circuit fault if phase currents of the motor at any one of U phase, V phase and W phase are greater than the short-circuit test threshold.

[0030] Correspondingly, the application also discloses a motor ground short-circuit fault detection device, which comprises:

[0031] A memory is configured to store a computer program.

[0032] A processor is configured to execute the computer program to realize steps of the motor ground short-circuit fault detection method.

[0033] Correspondingly, the application also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize steps of the motor ground short-circuit fault detection method.

[0034] As can be seen, in the method for detecting motor short-circuit faults to ground provided by this invention, the servo driver reads its hardware settings parameters before driving the motor and upon power-up, and then sets the short-circuit test threshold for the motor based on these parameters. Next, the motor parameters and bus voltage are acquired, and the short-circuit detection signal pulse width is set based on these parameters and the short-circuit test threshold. Then, the servo driver is controlled to send a corresponding drive signal to the motor based on the short-circuit detection signal pulse width to perform a short-circuit grounding test. If the phase current of any one of the U, V, or W phases of the motor is greater than the short-circuit test threshold, it indicates that the motor has a short-circuit fault to ground. Compared to existing technologies, since this method detects whether the motor has a short-circuit fault to ground before the servo driver drives the motor, it does not affect the normal operation of the motor. Furthermore, this method requires no modification to the control circuit containing the servo driver and the motor. It simply sets the short-circuit test threshold for the motor based on the hardware settings parameters of the servo driver and determines whether the motor has a short-circuit fault to ground based on a specific software algorithm. Therefore, this method makes the fault diagnosis of motor short circuit to ground simpler and more effective. Accordingly, the motor short-circuit fault detection device, equipment, and medium provided by this invention also have the above-mentioned beneficial effects. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0036] Figure 1 A flowchart illustrating a method for detecting a short circuit to ground fault in a motor, as provided in an embodiment of the present invention.

[0037] Figure 2 A hardware detection circuit diagram for a motor short-circuit fault provided in an embodiment of the present invention;

[0038] Figure 3 This is a waveform diagram of the positive bus voltage of the servo driver relative to ground under ideal conditions.

[0039] Figure 4 This is a waveform diagram of the negative bus voltage of a servo driver relative to ground under ideal conditions.

[0040] Figure 5 A short-circuit detection circuit diagram of a motor to ground provided in an embodiment of the present invention;

[0041] Figure 6 A flowchart illustrating short-circuit protection of a motor to ground provided in an embodiment of the present invention;

[0042] Figure 7 This is a structural diagram of a device for detecting a short circuit to ground fault in a motor, provided in an embodiment of the present invention.

[0043] Figure 8 This is a structural diagram of a device for detecting short-circuit faults to ground in a motor, provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figure 1 , Figure 1 A flowchart of a method for detecting a short circuit to ground fault in a motor, provided by an embodiment of the present invention, is shown below. The method includes:

[0046] Step S11: Before the servo driver drives the motor to run, when the servo driver is powered on, the hardware setting parameters of the servo driver are read, and the short circuit test threshold of the motor is set according to the hardware setting parameters.

[0047] Step S12: Obtain the motor parameters and bus voltage of the motor, and set the short circuit detection signal pulse width according to the motor parameters, bus voltage and short circuit test threshold;

[0048] Step S13: Based on the pulse width control of the short circuit detection signal, the servo driver sends the corresponding drive signal to the motor to perform a short circuit grounding test on the motor;

[0049] Step S14: If the phase current of the motor in any one of the U-phase, V-phase, and W-phase is greater than the short-circuit test threshold, then the motor is determined to have a short-circuit fault to ground.

[0050] This embodiment provides a method for detecting motor short-circuit faults to ground. Using this method to determine whether a motor has a short-circuit fault to ground not only eliminates the need to modify the control circuit containing the motor and / or servo driver, but also makes the method for determining motor short-circuit faults to ground simpler and more effective.

[0051] Please see Figure 2 , Figure 2 This is a hardware detection circuit diagram for a motor short-circuit fault provided in an embodiment of the present invention. Figure 2In this system, DC+ and DC- are the positive and negative input terminals of DC power, respectively. The bus voltage sampling unit, drive control unit, programmable hardware logic unit, processing unit, and phase current sampling unit are all common functional components in servo drives.

[0052] In this detection method, before the servo driver drives the motor, when the servo driver is powered on, the programmable hardware logic unit in the servo driver reads the hardware setting parameters of the servo driver. Then, the short-circuit test threshold of the motor is set according to the hardware setting parameters of the servo driver. It is understood that servo drivers usually experience some errors in sampling accuracy and zero drift during actual operation. Therefore, in this embodiment, in order to increase the test accuracy of motor-to-ground short-circuit faults, the short-circuit test threshold of the motor is set according to the hardware setting parameters of the servo driver.

[0053] Then, the programmable hardware logic unit reads the motor parameters and bus voltage, and calculates the short-circuit detection signal pulse width based on the motor parameters, bus voltage, and the previously set short-circuit test threshold. It is understood that in a servo control system, there is a fixed relationship between the servo driver's bus voltage and ground; combining this with the motor parameters and short-circuit test threshold allows the determination of the short-circuit detection signal pulse width.

[0054] Once the short-circuit detection signal pulse width of the motor is determined, the programmable hardware logic unit controls the servo driver to send corresponding drive signals to the motor based on the short-circuit detection signal pulse width, thus performing a short-circuit grounding test on the motor. During the short-circuit grounding test, the programmable hardware logic unit controls the phase current sampling unit to detect the current values ​​of the motor in phases U, V, and W. It is conceivable that if a short-circuit fault to ground occurs in any one of the three phases (U, V, and W), the phase current in any of these phases will exceed the short-circuit test threshold; conversely, if no short-circuit fault occurs in any of the three phases, the phase current in any of these phases will never exceed the short-circuit test threshold.

[0055] Compared with the prior art, the motor short-circuit fault detection method provided in this embodiment determines whether the motor has a short-circuit fault to ground by setting a small short-circuit test threshold according to the hardware setting parameters of the servo driver before the servo driver drives the motor to run. This fault detection method not only does not require modification of the hardware circuit of the servo driver and / or the motor, but also makes the setting method of the short-circuit test threshold easier and more effective.

[0056] Furthermore, because this method tests the motor for short-circuit grounding by sending a fixed drive signal to the motor via the servo driver, it eliminates the need to send multiple test signals or adjust parameters such as the duty cycle of the drive signal. This makes the short-circuit testing process more accurate and controllable. Moreover, since this fault detection method can determine whether a short-circuit fault has occurred in the motor before the servo driver starts running, rather than detecting it during operation, it avoids the impact of a short-circuit fault on the motor's normal operation, thereby further improving the stability and overall reliability of the motor during operation.

[0057] As can be seen, in the method for detecting motor short-circuit faults to ground provided in this embodiment, the servo driver reads its hardware setting parameters before driving the motor and upon power-up, and then sets the short-circuit test threshold for the motor based on these parameters. Next, the motor parameters and bus voltage are acquired, and the short-circuit detection signal pulse width is set based on these parameters and the short-circuit test threshold. Then, the servo driver is controlled to send a corresponding drive signal to the motor based on the short-circuit detection signal pulse width to perform a short-circuit ground test. If the phase current of any one of the U, V, or W phases of the motor is greater than the short-circuit test threshold, it indicates that the motor has a short-circuit fault to ground. Compared to existing technologies, since this method detects whether the motor has a short-circuit fault to ground before the servo driver drives the motor, it does not affect the normal operation of the motor. Furthermore, this method does not require modification to the control circuit containing the servo driver and the motor. It simply sets the short-circuit test threshold of the motor based on the hardware settings parameters of the servo driver and determines whether the motor has a short-circuit fault to ground based on a specific software algorithm. Therefore, this method makes the fault diagnosis of motor short circuit to ground simpler and more effective.

[0058] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above steps: reading the hardware setting parameters of the servo driver and setting the short-circuit test threshold of the motor according to the hardware setting parameters, include:

[0059] Read the sampling accuracy value and zero drift value of the servo drive, and set the short-circuit test threshold of the motor based on the sampling accuracy value and zero drift value.

[0060] In this embodiment, when setting the short-circuit test threshold for the motor based on the hardware settings parameters of the servo driver, the threshold is set according to the sampling accuracy and zero drift value of the servo driver. Because the sampling accuracy is an inherent attribute parameter of the servo driver, and the zero drift value is an unavoidable deviation of the servo driver, and both parameters have a significant impact on the short-circuit test results of the motor to ground, this embodiment sets the short-circuit test threshold based on the sampling accuracy and zero drift value of the servo driver. Specifically, in practical applications, the short-circuit test threshold can be set to a range of 0.5A to 2A.

[0061] Obviously, the technical solution provided in this embodiment can make the setting of the short-circuit test threshold more accurate and reliable.

[0062] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, after determining that the motor has a short circuit to ground fault, the above step further includes:

[0063] Control the servo driver to stop sending drive signals to the motor;

[0064] Send short-circuit protection signals to the motor and servo driver, and display error messages.

[0065] In this embodiment, if a short circuit fault to ground is detected in the motor, in order to avoid safety accidents, it is also necessary to control the servo driver to stop sending drive signals to the motor and send corresponding short circuit protection signals to the motor and servo driver so that the motor and servo driver can enter the short circuit protection state.

[0066] At the same time, the processing unit in the servo drive also needs to display corresponding error messages so that the staff can be aware of the working status of the servo drive and the motor in a timely manner and take corresponding remedial measures to repair or handle the motor.

[0067] Obviously, the technical solution provided in this embodiment can further ensure the safety of the motor during use.

[0068] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above steps: sending a corresponding drive signal to the motor according to the short-circuit detection signal pulse width control servo driver to perform a short-circuit grounding test on the motor, include:

[0069] Based on the pulse width control of the short-circuit detection signal, the servo driver sequentially sends drive signals to the upper and lower bridge arms of the motor's U-phase, V-phase, and W-phase to perform a short-circuit grounding test on the motor.

[0070] Specifically, when the servo driver sends drive signals to the motor according to the short-circuit detection signal pulse width control, it sends drive signals of corresponding pulse widths to the motor in the order of the upper U-phase bridge arm, lower U-phase bridge arm, upper V-phase bridge arm, lower V-phase bridge arm, upper W-phase bridge arm, and lower W-phase bridge arm.

[0071] Understandably, if the motor does not experience a short circuit to ground, no current loop will be formed between the motor and ground in phases U, V, and W. In this case, the phase currents in phases U, V, and W will be zero, and the target phase currents obtained by sampling will only be related to the hardware parameters of the servo driver. The phase currents in phases U, V, and W will never exceed the short circuit test threshold of the motor. If the motor experiences a short circuit to ground in any of phases U, V, and W, the phase current sampled by the phase current sampling unit in the servo driver will definitely exceed the short circuit test threshold of the motor, and a short circuit to ground fault will be detected.

[0072] Obviously, the technical solution provided in this embodiment can further ensure the accuracy and reliability of the motor short-circuit fault test results.

[0073] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above detection method further includes:

[0074] If the phase current of the motor in any one of the U-phase, V-phase, and W-phase is less than or equal to the short-circuit test threshold, it is determined that the motor has not experienced a short-circuit fault to ground, and the servo driver is controlled to drive the motor to operate normally.

[0075] During the short-circuit grounding test of the motor by controlling the servo driver to send drive signals, if the phase current of any one of the U-phase, V-phase, and W-phase is less than or equal to the short-circuit test threshold of the motor, it indicates that the motor has not experienced a short-circuit fault to ground. At this point, the short-circuit grounding test state of the motor can be exited, the short-circuit test threshold of the motor can be restored to the normal short-circuit protection threshold, and then the servo driver can be controlled to drive the motor to normal operation and continue to execute subsequent operation commands.

[0076] Obviously, the technical solution provided in this embodiment will not affect the normal operation of the motor, thus further ensuring the stability of the motor during operation.

[0077] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation, the above step: setting the short-circuit detection signal pulse width according to motor parameters, bus voltage, and short-circuit test threshold includes:

[0078] Based on the target model, the pulse width of the short-circuit detection signal is set according to the motor parameters, bus voltage and short-circuit test threshold;

[0079] The expression for the target model is:

[0080] ;

[0081] In the formula, The pulse width for short-circuit detection signal. This is the short-circuit test threshold. This represents the winding resistance of the motor. This represents the maximum value of the bus voltage.

[0082] It is understandable that in a servo control system, there is a certain proportional relationship between the servo driver's bus voltage and ground. Please refer to [link / reference needed]. Figure 3 and Figure 4 , Figure 3 This is a waveform diagram of the positive bus voltage of a servo driver relative to ground under ideal conditions. Figure 4 This is a waveform diagram illustrating the negative bus voltage to ground of a servo drive under ideal conditions. In this case, the servo drive bus voltage to ground has the following relationship with its maximum bus voltage value:

[0083] ;

[0084] In the formula, This is the bus voltage to ground. This represents the maximum value of the bus voltage.

[0085] Since the initial angle in the sine function does not affect the calculation result of the bus voltage, the initial angle of the sine function is assumed to be zero here. When a winding of one of the motor's U-phase, V-phase, and W-phases is short-circuited to ground, the current calculation formula for that winding is as follows:

[0086] ;

[0087] In the formula, This refers to the current corresponding to the phase in which the motor experiences a short-circuit fault. For time, This represents the maximum value of the bus voltage. This is the resistance value of the motor windings.

[0088] This will A short-circuit test threshold of 1.2 is set, and this threshold is used to calculate the time within one cycle when the current is no greater than 1.2 times the short-circuit test threshold. This ensures that a current of at least 1.2 times the short-circuit test threshold will occur within that time period. In other words:

[0089] ;

[0090] In the formula, This is the current of the motor. For time, This represents the maximum value of the bus voltage. This is the resistance value of the motor windings. This is the short-circuit test threshold for the motor.

[0091] Transforming the above formula model yields the expression for the target model, which is:

[0092] ;

[0093] In the formula, The pulse width for short-circuit detection signal. This is the short-circuit test threshold. This represents the winding resistance of the motor. This represents the maximum value of the bus voltage.

[0094] Calculated This refers to the time when the motor current falls below 1.2 times the short-circuit test threshold within one cycle, which is set here as the short-circuit detection signal pulse width. It's conceivable that using a mathematical model to set the short-circuit detection signal pulse width for short-circuit to ground testing of the motor would make the pulse width setting more accurate and reliable, thereby further improving the credibility of the motor-to-ground short-circuit fault detection results.

[0095] Based on the technical content disclosed in the foregoing embodiments, in order to enable those skilled in the art to more clearly understand the core content of the technical solution provided in this application, a scenario embodiment is provided here to describe the foregoing disclosure in detail.

[0096] Please see Figure 5 and Figure 6 , Figure 5 This is a short-circuit detection circuit diagram for a motor to ground provided in an embodiment of the present invention. Figure 6 This is a flowchart illustrating a short-circuit protection mechanism for a motor to ground, provided as an embodiment of the present invention. Figure 5 The detection circuit shown includes a servo driver comprising: a bus voltage sampling unit, a drive control unit, current sampling units for phases V and W, an FPGA (Field Programmable Gate Array), and an ARM (Advanced RISC Microprocessor). Specifically, the detection method includes:

[0097] Step S21: When the servo driver is powered on, the FPGA in the servo driver is used to read the sampling accuracy value and zero drift value of the servo driver, and the short circuit test threshold is set.

[0098] Step S22: Read the motor parameters and bus voltage of the motor, and set the short-circuit detection signal pulse width according to the motor parameters, bus voltage and short-circuit test threshold;

[0099] Step S23: Send a short-circuit test signal to the motor and sample the motor current using the U-phase and W-phase current sampling units in the servo driver;

[0100] Step S24: Determine whether the sampled current value exceeds the short-circuit test threshold;

[0101] Step S25: If the sampled current value exceeds the short-circuit test threshold, stop sending drive signals to the motor and send short-circuit protection signals to the motor and servo driver. At the same time, stop all commands and display the corresponding error message.

[0102] Step S26: If the sampled current value is less than the short-circuit test threshold, the short-circuit test threshold is switched to the normal protection threshold of the motor, and the short-circuit grounding test mode of the motor is exited. At the same time, subsequent instructions are executed to make the motor run normally.

[0103] In practical applications, if the FPGA reads a zero bias of approximately 0.5A from the servo driver's sampling circuit, then the short-circuit test threshold of the motor can be set. Set to 1A. If the FPGA reads the maximum bus voltage of the motor... The voltage is 311V, and the winding resistance of the motor is... Given a resistance of 2Ω, substituting the motor's maximum bus voltage of 311V, the motor winding resistance of 2Ω, and the short-circuit test threshold of 1A into the target model, we can calculate the pulse width of the short-circuit detection signal when performing a short-circuit grounding test on the motor, i.e.:

[0104] ;

[0105] In this case, the pulse width of the short-circuit detection signal during the short-circuit grounding test of the motor can be set to 0.0022s. After the short-circuit detection signal pulse width is set, the FPGA in the servo driver will send a short-circuit test signal to the motor, and send drive signals with the set pulse widths to the motor in the order of the upper bridge arm of the U phase, the lower bridge arm of the U phase, the upper bridge arm of the V phase, the lower bridge arm of the V phase, the upper bridge arm of the W phase, and the lower bridge arm of the W phase, respectively. This allows for the short-circuit grounding fault test of the motor.

[0106] In practical applications, sometimes to reduce the setup cost of the motor, current sampling units are only installed on the W and V phases of the motor, and not on the U phase. Therefore, in this embodiment, the example is that the servo driver only has phase current sampling units on the V and W phases, but not on the U phase.

[0107] Understandably, if the motor only has current sampling units on phases W and V, then when a short-circuit fault to ground occurs, the current loop needs to pass through two phases of the motor windings to reach ground. In this case, the winding resistance of the motor is 2*2=4Ω. Therefore, the maximum bus voltage of the motor (311V), the winding resistance (4Ω), and the short-circuit test threshold (1A) need to be substituted into the target model to calculate the pulse width of the short-circuit detection signal during the short-circuit grounding test of the motor.

[0108] .

[0109] As one can conceive, if the motor does not experience a short-circuit fault to ground, no loop will be formed between the motor and ground. The current sampled by the phase current sampling unit will be zero, and the resulting data deviation will only be related to the servo driver's hardware parameters, not exceeding the motor's short-circuit test threshold of 1A. In this case, the FPGA will switch the current protection threshold from the short-circuit test threshold of 1A to the normal current protection threshold, then exit the short-circuit test state and continue executing subsequent instructions, allowing the servo driver to drive the motor into normal operation.

[0110] If the motor experiences a short circuit to ground in any of the U, V, or W phases, the current sampled by the phase current sampling unit will exceed the motor's short-circuit test threshold of 1A. At this point, the FPGA will control the drive control unit to stop sending drive signals to the motor and send a short-circuit protection signal to the ARM processing unit in the servo driver to prevent safety accidents involving the servo driver and motor. Simultaneously, the FPGA and ARM will stop sending commands to the servo driver and motor and display corresponding error messages, allowing operators to promptly monitor the real-time operating status of the motor and servo driver.

[0111] Obviously, since this method detects whether the motor has a short circuit to ground fault before the servo driver drives the motor to run, it will not affect the normal operation of the motor. Furthermore, this method does not require modification to the servo driver or the control circuit containing the motor; it simply sets the short circuit test threshold for the motor based on the hardware settings of the servo driver and determines whether the motor has a short circuit to ground fault based on a specific software algorithm. Therefore, this method makes the fault detection of motor short circuits to ground simpler and more effective.

[0112] Please see Figure 7 , Figure 7 This is a structural diagram of a device for detecting a short circuit to ground in a motor, provided in an embodiment of the present invention. The device includes:

[0113] The threshold setting module 31 is used to read the hardware setting parameters of the servo drive when the servo drive is powered on before the servo drive drives the motor to run, and set the short circuit test threshold of the motor according to the hardware setting parameters.

[0114] The pulse width setting module 32 is used to acquire the motor parameters and bus voltage of the motor, and set the pulse width of the short circuit detection signal according to the motor parameters, bus voltage and short circuit test threshold.

[0115] The short-circuit test module 33 is used to control the servo driver to send a corresponding drive signal to the motor according to the pulse width of the short-circuit detection signal, so as to perform a short-circuit grounding test on the motor.

[0116] The fault determination module 34 is used to determine that the motor has a short circuit to ground fault if the phase current of any one of the U-phase, V-phase and W-phase of the motor is greater than the short circuit test threshold.

[0117] The detection device for short circuit to ground faults in motors provided in this embodiment has the beneficial effects of the aforementioned detection method for short circuit to ground faults in motors.

[0118] Please see Figure 8 , Figure 8 This is a structural diagram of a device for detecting short-circuit faults to ground in a motor, provided in an embodiment of the present invention. The device includes:

[0119] Memory 41 is used to store computer programs;

[0120] The processor 42 is used to execute a computer program to implement the steps of a method for detecting a short circuit to ground fault in a motor as disclosed above.

[0121] The detection device for short circuit to ground faults in motors provided by this invention has the beneficial effects of the aforementioned detection method for short circuit to ground faults in motors.

[0122] Accordingly, embodiments of the present invention also disclose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a method for detecting a short circuit to ground fault in a motor as disclosed above.

[0123] The computer-readable storage medium provided in this embodiment of the invention has the beneficial effects of the aforementioned method for detecting a short circuit to ground fault in a motor.

[0124] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0125] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0126] The present invention provides a detailed description of a method, apparatus, device, and medium for detecting short-circuit faults to ground in motors. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for detecting a short circuit to ground fault in a motor, characterized in that, include: Before the servo driver drives the motor to run, when the servo driver is powered on, the sampling accuracy value and zero drift value of the servo driver are read, and the short-circuit test threshold of the motor is set according to the sampling accuracy value and the zero drift value. The sampling accuracy value is an inherent attribute parameter of the servo driver, and the zero drift value is an unavoidable deviation of the servo driver. Obtain the motor parameters and bus voltage of the motor, and set the short-circuit detection signal pulse width according to the motor parameters, the bus voltage and the short-circuit test threshold; The servo driver is controlled to send a corresponding drive signal to the motor according to the short-circuit detection signal pulse width, so as to perform a short-circuit grounding test on the motor; If the phase current of the motor in any one of the U-phase, V-phase, and W-phase is greater than the short-circuit test threshold, then the motor is determined to have a short-circuit fault to ground.

2. The detection method according to claim 1, characterized in that, The short-circuit test threshold ranges from 0.5A to 2A.

3. The detection method according to claim 1, characterized in that, After determining that the motor has a short circuit to ground fault, the process further includes: Control the servo driver to stop sending the drive signal to the motor; A short-circuit protection signal is sent to the motor and the servo driver, and an error message is displayed.

4. The detection method according to claim 1, characterized in that, The process of controlling the servo driver to send a corresponding drive signal to the motor according to the short-circuit detection signal pulse width to perform a short-circuit grounding test on the motor includes: Based on the pulse width of the short-circuit detection signal, the servo driver sequentially sends the drive signal to the upper and lower bridge arms of the U-phase, V-phase, and W-phase of the motor to perform a short-circuit grounding test on the motor.

5. The detection method according to claim 1, characterized in that, Also includes: If the phase current of the motor in any one of the U-phase, V-phase, and W-phase is less than or equal to the short-circuit test threshold, it is determined that the motor has not experienced a short-circuit fault to ground, and the servo driver is controlled to drive the motor to operate normally.

6. The detection method according to any one of claims 1 to 5, characterized in that, The process of setting the short-circuit detection signal pulse width based on the motor parameters, the bus voltage, and the short-circuit test threshold includes: Based on the target model, and according to the motor parameters, the bus voltage, and the short-circuit test threshold, the pulse width of the short-circuit detection signal is set. The expression for the target model is: In the formula, t is the pulse width of the short-circuit detection signal, I0 is the short-circuit test threshold, R is the winding resistance of the motor, and U m This is the maximum value of the bus voltage.

7. A device for detecting short-circuit faults to ground in a motor, characterized in that, include: The threshold setting module is used to read the sampling accuracy value and zero drift value of the servo driver when the servo driver is powered on before the servo driver drives the motor to run, and to set the short circuit test threshold of the motor according to the sampling accuracy value and the zero drift value. The sampling accuracy value is an inherent attribute parameter of the servo driver, and the zero drift value is an unavoidable deviation of the servo driver. The pulse width setting module is used to acquire the motor parameters and bus voltage of the motor, and set the short circuit detection signal pulse width according to the motor parameters, the bus voltage and the short circuit test threshold. The short-circuit test module is used to control the servo driver to send a corresponding drive signal to the motor according to the pulse width of the short-circuit detection signal, so as to perform a short-circuit grounding test on the motor. The fault determination module is used to determine that the motor has a short circuit to ground fault if the phase current of the motor in any one of the U-phase, V-phase, and W-phase is greater than the short circuit test threshold.

8. A detection device for a short circuit fault to ground in a motor, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of a method for detecting a short circuit to ground fault in a motor as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of a method for detecting a short-circuit fault to ground in a motor as described in any one of claims 1 to 6.

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