Motor detection method, device and magnetic levitation motor

Abstract

The embodiments of the present invention disclose a motor detection method, device, and magnetic levitation motor. The detection method includes obtaining the amplitude voltage value of the motor rotor of the motor to be detected within a preset time period; calculating the motion displacement of the motor rotor based on the amplitude voltage value; judging the relationship between the motion displacement of the motor rotor at a later moment and the motion displacement of the motor rotor at a previous moment within the preset time period, and determining the rotation direction of the motor rotor based on the judgment result. The present application determines the rotation direction of the motor rotor by detecting the relationship between the motion displacement of the motor rotor at the forward and backward movement moments, thereby solving the technical problems of high production costs and low penetration rate of reverse rotation detection caused by the need to use additional sensors, hardware circuits, etc. to detect the forward and reverse rotation of the rotor, and achieving the technical effect of being able to detect whether the motor rotor has reversed at a low cost.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of motor detection, and in particular to a motor detection method and device, and a magnetic levitation motor. Background Art

[0002] The magnetic levitation system consists of four parts: a rotor, a sensor, a controller, and an actuator. The actuator consists of an electromagnet and a power amplifier. If the rotor is subjected to a downward disturbance at its reference position, it will deviate from the reference position. The inductive displacement sensor then detects the rotor's displacement from the reference point. The microprocessor, acting as the controller, converts the detected displacement into a control signal. The power amplifier then converts this control signal into a control current, which generates a magnetic force in the actuator magnet, thereby driving the rotor back to its original equilibrium position. Therefore, regardless of whether the rotor is subjected to downward or upward disturbances, it remains in a stable equilibrium state.

[0003] Due to systemic issues in traditional magnetic levitation motor controllers, the rotor generates significant disturbances when the impeller rotates in the opposite direction, leading to levitation failure, shaft drop, and wear, among other serious accidents. Currently, two methods are used to prevent rotor reverse rotation: one uses expensive, specialized eddy-current sensors to detect forward and reverse rotation; the other uses specialized hardware circuits, such as expensive high-frequency phase sequence relays, to determine forward and reverse rotation. However, both methods are costly, making them difficult to popularize. Summary of the Invention

[0004] The embodiments of the present invention provide a motor detection method, device and magnetic levitation motor, which solve the technical problems in the prior art of high production cost and low penetration rate of reverse detection caused by the need to use additional sensors, hardware circuits, etc. to detect the forward and reverse rotation of the rotor.

[0005] An embodiment of the present invention provides a method for detecting a motor, the method comprising:

[0006] Obtaining the amplitude voltage value of the motor rotor of the motor to be inspected within a preset time period;

[0007] Calculating the motion displacement of the motor rotor based on the amplitude voltage value;

[0008] The relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period is determined, and the rotation direction of the motor rotor is determined according to the determination result.

[0009] Furthermore, determining the relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period, and determining the rotation direction of the motor rotor according to the determination result includes:

[0010] Determining the rotation trajectory position of the motor rotor at a current moment based on the movement displacement of the motor rotor at one moment within the preset time period;

[0011] Determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging;

[0012] If it is ahead, the rotation direction of the motor rotor is forward;

[0013] If it is lagging, the rotation direction of the motor rotor is reverse.

[0014] Furthermore, a rectangular coordinate system is established with the position where the motor rotor is statically suspended as the origin, and the established rectangular coordinate system includes a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant;

[0015] Determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging includes:

[0016] Determine in which quadrant of the rectangular coordinate system the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period are respectively located;

[0017] If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant - the second quadrant - the third quadrant - the fourth quadrant, then the position relationship between the motor rotor at the previous and next moments is leading;

[0018] If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant-fourth quadrant-third quadrant-second quadrant, then the position relationship between the motor rotor at previous and next moments is a lag.

[0019] Furthermore, determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging includes:

[0020] The relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is judged for a preset number of consecutive times, namely, whether it is ahead or behind.

[0021] Furthermore, calculating the motion displacement of the motor rotor based on the amplitude voltage value includes:

[0022] The amplitude voltage value is analyzed using spectrum analysis technology to obtain the motion displacement of the motor rotor.

[0023] Furthermore, before obtaining the amplitude voltage value of the motor rotor within a preset time period, the detection method further includes:

[0024] The Labview technology is used to control the suspension of the motor to be tested, and the frequency converter is used to control the low-speed rotation of the motor to be tested.

[0025] Furthermore, obtaining the amplitude voltage value of the motor rotor within a preset time period includes:

[0026] The amplitude voltage value of the motor rotor within a preset time period is obtained through the displacement sensor.

[0027] Furthermore, if the judgment result is that the rotation direction of the motor rotor is reverse, the detection method further includes:

[0028] A fault shutdown signal is sent to the main control system of the motor rotor.

[0029] An embodiment of the present invention further provides a detection device for a motor, the detection device comprising:

[0030] A displacement sensor is used to obtain the amplitude voltage value of the motor rotor within a preset time period;

[0031] A microprocessor, configured to calculate a motion displacement of the motor rotor based on the amplitude voltage value;

[0032] The displacement judgment unit is used to judge the relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period, and determine the rotation direction of the motor rotor according to the judgment result.

[0033] An embodiment of the present invention further provides a magnetic levitation motor, which executes the motor detection method in any of the above embodiments.

[0034] The embodiments of the present invention disclose a motor detection method, device, and magnetic levitation motor. The detection method includes obtaining the amplitude voltage value of the motor rotor of the motor to be detected within a preset time period; calculating the motion displacement of the motor rotor based on the amplitude voltage value; judging the relationship between the motion displacement of the motor rotor at a later moment and the motion displacement of the motor rotor at a previous moment within the preset time period, and determining the rotation direction of the motor rotor based on the judgment result. The present application determines the rotation direction of the motor rotor by detecting the relationship between the motion displacement of the motor rotor at the forward and backward movement moments, thereby solving the technical problems of high production costs and low penetration rate of reverse rotation detection caused by the need to use additional sensors, hardware circuits, etc. to detect the forward and reverse rotation of the rotor, and achieving the technical effect of being able to detect whether the motor rotor has reversed at a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of a motor detection method provided by an embodiment of the present invention;

[0036] Figure 2 is a flow chart of another motor detection method provided by an embodiment of the present invention;

[0037] Figure 3 1 is a coordinate system diagram of the forward rotation of the motor provided by an embodiment of the present invention;

[0038] Figure 4 is a coordinate system diagram of motor reversal provided by an embodiment of the present invention;

[0039] Figure 5 is a flow chart of another motor detection method provided by an embodiment of the present invention;

[0040] Figure 6 is a flow chart of another motor detection method provided by an embodiment of the present invention;

[0041] Figure 7 It is a structural diagram of a motor detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0043] It should be noted that the terms "first," "second," and so on, in the specification, claims, and drawings of the present invention are used to distinguish different objects, and are not intended to limit a specific order. The following embodiments of the present invention can be implemented independently or in combination with each other, and the present invention does not impose specific limitations on this.

[0044] Figure 1 This is a flow chart of a motor detection method provided by an embodiment of the present invention.

[0045] like Figure 1 As shown, the motor detection method specifically includes the following steps:

[0046] S101 , obtaining an amplitude voltage value of a motor rotor of a motor to be inspected within a preset time period.

[0047] Optionally, S101, obtaining the amplitude voltage value of the motor rotor within a preset time period includes: obtaining the amplitude voltage value of the motor rotor within the preset time period through a displacement sensor.

[0048] Specifically, a displacement sensor is provided between the motor rotor of the magnetic levitation motor and the controller. The displacement sensor can obtain the amplitude voltage value of the motor rotor within a preset time period. The amplitude voltage value is transmitted to the controller in the form of an electrical signal. It should be noted that the electrical signal may be a discrete time series signal or a periodic continuous time series signal, which is not limited here.

[0049] S102: Calculate the movement displacement of the motor rotor based on the amplitude voltage value.

[0050] Optionally, S102 , calculating the motion displacement of the motor rotor based on the amplitude voltage value includes: performing analysis based on the amplitude voltage value using a spectrum analysis technology to obtain the motion displacement of the motor rotor.

[0051] Specifically, since the frequencies of higher harmonics are all integer multiples of the fundamental signal frequency, their power distribution density, also known as the power spectrum, can be studied in the frequency domain. After obtaining the electrical signal representing the amplitude voltage value of the motor rotor, the controller can use spectrum analysis technology to analyze it and obtain the motion displacement of the motor rotor.

[0052] Generally speaking, if the amplitude and voltage values ​​are periodic and continuous time series signals, they can be calculated using Matlab software to estimate the power spectrum of the random signal (i.e., the electrical signal representing the amplitude and voltage values). The approximate estimate of the autocorrelation function can also be obtained through inverse Fourier transform as the motion displacement of the motor rotor. If the amplitude and voltage values ​​are discrete time series signals, the discrete Fourier transform principle can be used to analyze them through the fast Fourier transform algorithm to obtain the motion displacement of the motor rotor. The basic principle is consistent with the continuous time case.

[0053] S103, determining the relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within a preset time period, and determining the rotation direction of the motor rotor according to the determination result.

[0054] Specifically, after obtaining the motion displacement of the motor rotor, the relationship between the motion displacement of the motor rotor at a later moment and the motion displacement at a previous moment within a period of time (i.e., the above-mentioned preset time period) is determined, and the rotation direction of the motor is determined by the moving direction displayed in the phase by the motion trajectory of the motor rotor itself.

[0055] This application determines the rotation direction of the motor rotor by detecting the relationship between the motion displacement amounts at the forward and backward movement moments of the motor rotor, thereby solving the technical problems of high production costs and low penetration rate of reversal detection caused by the need to use additional sensors, hardware circuits, etc. to detect the forward and reverse rotation of the rotor, and achieves the technical effect of being able to detect whether the motor rotor is reversed at a low cost.

[0056] On the basis of the above technical solutions, Figure 2 is a flow chart of another motor detection method provided by an embodiment of the present invention, such as Figure 2 As shown, S103 specifically includes:

[0057] S201 : determining a rotation trajectory position of a motor rotor at a current moment based on a motion displacement of the motor rotor at one moment within a preset time period.

[0058] Specifically, a rectangular coordinate system is established with the static suspension position of the motor rotor as the origin. Within a preset time period, the rotation trajectory position of the motor rotor at the current moment can be determined based on the motion displacement of the motor rotor at one moment, and this position can be marked in the established rectangular coordinate system.

[0059] S202 , determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging.

[0060] Optionally, a rectangular coordinate system is established with the statically suspended position of the motor rotor as the origin, and the established rectangular coordinate system includes a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant; then S202 specifically includes:

[0061] Determine in which quadrant of the rectangular coordinate system the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within a preset time period are respectively located;

[0062] If the movement relationship between the rotation trajectory position of the motor rotor at the next moment and the rotation trajectory position of the motor rotor at the previous moment within the preset time period is the first quadrant - the second quadrant - the third quadrant - the fourth quadrant, then the position relationship between the motor rotor at the previous and next moments is leading;

[0063] If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant-fourth quadrant-third quadrant-second quadrant, then the position relationship between the motor rotor at previous and next moments is a lag.

[0064] Figure 3 This is a coordinate system diagram of the forward rotation of the motor provided by an embodiment of the present invention. Figure 4 It is a coordinate system diagram of motor reversal provided by an embodiment of the present invention.

[0065] Specifically, since the motor rotor is in a rotating process during operation, the actual motion trajectory is a circular process. Figure 3 、 4 As shown, 1, 2, 3, and 4 represent the first quadrant, second quadrant, third quadrant, and fourth quadrant of the rectangular coordinate system, respectively. After determining the rotation trajectory position of the motor rotor at each moment within the preset time period, it is determined in which quadrant of the rectangular coordinate system the rotation trajectory position of the motor rotor is located. If the judgment result is that within the preset time period, the movement relationship of the rotation trajectory position at the latter moment compared to the previous moment is the first quadrant - the second quadrant - the third quadrant - the fourth quadrant, as shown in FIG. Figure 3 As shown, it indicates that the position relationship of the motor rotor before and after is leading; on the contrary, if Figure 4 As shown, the movement relationship of the rotation trajectory position at the latter moment compared to the previous moment is the first quadrant-fourth quadrant-third quadrant-second quadrant, which indicates that the position relationship of the motor rotor at the previous and next moments is lagging.

[0066] S203, if it is ahead, the rotation direction of the motor rotor is forward;

[0067] S204: If it is lagging, the rotation direction of the motor rotor is reversed.

[0068] Specifically, if the position relationship of the motor rotor at the previous and next moments is determined to be advanced based on the movement relationship of the rotation trajectory position, it indicates that the rotation direction of the motor rotor is forward rotation, otherwise it is reverse rotation.

[0069] Optionally, S202, determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is ahead or behind includes: determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is ahead or behind for a preset number of consecutive times.

[0070] Specifically, to improve the accuracy of the determination, the rotation trajectory positions of the motor rotor at the previous and next moments need to be continuously determined a preset number of times within a preset time period to determine whether the relationship between the rotation trajectory positions of the motor rotor at the previous and next moments is leading or lagging. The preset number of times can be 100, or other numbers can be set according to actual needs. At the same time, to further improve the accuracy of the determination, when determining whether the relationship between the rotation trajectory position of the motor rotor at the next moment and the rotation trajectory position of the motor rotor at the previous moment is leading or lagging, the degree of advancement or lag between the rotation trajectory position at the next moment and the rotation trajectory position at the previous moment can be calculated based on the determined rotation trajectory position, thereby accurately determining the rotation status of the motor rotor.

[0071] On the basis of the above technical solutions, Figure 5 This is a flow chart of another motor detection method provided by an embodiment of the present invention, such as Figure 5 As shown, before S101, it also includes:

[0072] S501, using Labview technology to control the suspension of the motor to be tested, and using a frequency converter to control the low-speed rotation of the motor to be tested.

[0073] Specifically, when testing the motor to be tested, Labview technology can be used to control the suspension of the motor to be tested, and then the frequency converter can be used to rotate the motor to be tested at a low speed. During the rotation process, the amplitude voltage value of the motor rotor is detected by the displacement sensor, and the direction of rotation of the motor rotor can be judged by the moving direction displayed in the phase by the motor rotor's own motion trajectory.

[0074] On the basis of the above technical solutions, Figure 6 This is a flow chart of another motor detection method provided by an embodiment of the present invention, such as Figure 6 As shown, after S204, the following steps are also included:

[0075] S601, sending a fault shutdown signal to the main control system of the motor rotor.

[0076] Specifically, if the detection result shows that the rotation direction of the motor rotor is reversed, in order to prevent disturbances that may cause suspension failure and lead to serious accidents such as shaft falling and wear, the controller can send a fault shutdown signal to the main control system of the motor rotor so that the main control system can control the motor to shut down in time to avoid a larger accident.

[0077] Figure 7 FIG. 1 is a structural diagram of a motor detection device provided by an embodiment of the present invention, such as Figure 7 As shown, the detection device of the motor includes:

[0078] The displacement sensor 71 is used to obtain the amplitude voltage value of the motor rotor within a preset time period;

[0079] The microprocessor 72 is used to calculate the movement displacement of the motor rotor based on the amplitude voltage value;

[0080] The displacement judgment unit 73 is used to judge the relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within a preset time period, and determine the rotation direction of the motor rotor according to the judgment result.

[0081] Optionally, the displacement judgment unit 73 is specifically configured to:

[0082] Determining the rotation trajectory position of the motor rotor at a current moment based on the movement displacement of the motor rotor at one moment within a preset time period;

[0083] Determine whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging;

[0084] If it is ahead, the rotation direction of the motor rotor is forward;

[0085] If it is lagging, the direction of rotation of the motor rotor is reverse.

[0086] Optionally, a rectangular coordinate system is established with the statically suspended position of the motor rotor as the origin, and the established rectangular coordinate system includes a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant; the displacement judgment unit 73 is further used to:

[0087] Determine in which quadrant of the rectangular coordinate system the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within a preset time period are respectively located;

[0088] If the movement relationship between the rotation trajectory position of the motor rotor at the next moment and the rotation trajectory position of the motor rotor at the previous moment within the preset time period is the first quadrant - the second quadrant - the third quadrant - the fourth quadrant, then the position relationship between the motor rotor at the previous and next moments is leading;

[0089] If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant-fourth quadrant-third quadrant-second quadrant, then the position relationship between the motor rotor at previous and next moments is a lag.

[0090] Optionally, the displacement judgment unit 73 is further configured to:

[0091] The relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is judged for a preset number of times continuously, that is, whether it is ahead or behind.

[0092] Optionally, the microprocessor 72 is specifically configured to:

[0093] The amplitude voltage value is analyzed using spectrum analysis technology to obtain the motion displacement of the motor rotor.

[0094] Optionally, before the displacement sensor 71 obtains the amplitude voltage value of the motor rotor within a preset time period, the detection device further includes:

[0095] The motor control unit is used to control the suspension of the motor to be tested using Labview technology, and to control the low-speed rotation of the motor to be tested using a frequency converter.

[0096] Optionally, the displacement sensor 71 is specifically used for:

[0097] The amplitude voltage value of the motor rotor within a preset time period is obtained through the displacement sensor.

[0098] Optionally, the microprocessor 72 is further configured to: if the displacement judgment unit 73 determines that the rotation direction of the motor rotor is reverse, the main control system of the motor rotor sends a fault shutdown signal.

[0099] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0100] The motor detection device provided in the embodiment of the present invention has the same technical features as the motor detection method provided in the above embodiment, and therefore can also solve the same technical problems and achieve the same technical effects.

[0101] An embodiment of the present invention further provides a magnetic levitation motor, which executes the motor detection method in any of the above embodiments.

[0102] The magnetic levitation motor provided by the embodiment of the present invention uses the motor detection method in the above embodiment. Therefore, the magnetic levitation motor provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, which will not be repeated here.

[0103] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0104] Finally, it should be noted that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for detecting a motor, characterized in that: The detection method comprises: Obtaining the amplitude voltage value of the motor rotor of the motor to be inspected within a preset time period; Calculating the motion displacement of the motor rotor based on the amplitude voltage value; Determining a relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period, and determining the rotation direction of the motor rotor according to the determination result; Calculating the motion displacement of the motor rotor based on the amplitude voltage value includes: The amplitude voltage value is analyzed using spectrum analysis technology to obtain the motion displacement of the motor rotor. If the amplitude voltage value is a periodic and continuous time series signal, the power spectrum of the electrical signal representing the amplitude voltage value is estimated, and an approximate estimate of the autocorrelation function is obtained through inverse Fourier transform as the motion displacement of the motor rotor. If the amplitude voltage value is a discrete time series signal, the motion displacement of the motor rotor is obtained through a fast Fourier transform algorithm.

2. The motor detection method according to claim 1, characterized in that: Determining a relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period, and determining the rotation direction of the motor rotor according to the determination result includes: Determining the rotation trajectory position of the motor rotor at a current moment based on the movement displacement of the motor rotor at one moment within the preset time period; Determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging; If it is ahead, the rotation direction of the motor rotor is forward; If it is lagging, the rotation direction of the motor rotor is reverse.

3. The motor detection method according to claim 2, characterized in that: Establishing a rectangular coordinate system with the statically suspended position of the motor rotor as the origin, wherein the established rectangular coordinate system includes a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant; Determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging includes: Determine in which quadrant of the rectangular coordinate system the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period are respectively located; If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant - the second quadrant - the third quadrant - the fourth quadrant, then the position relationship between the motor rotor at the previous and next moments is leading; If the movement relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment within the preset time period is the first quadrant-fourth quadrant-third quadrant-second quadrant, then the position relationship between the motor rotor at previous and next moments is a lag.

4. The motor detection method according to claim 2, characterized in that: Determining whether the relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is leading or lagging includes: The relationship between the rotation trajectory position of the motor rotor at a later moment and the rotation trajectory position of the motor rotor at a previous moment is judged for a preset number of consecutive times, namely, whether it is ahead or behind.

5. The motor detection method according to claim 1, characterized in that: Before obtaining the amplitude voltage value of the motor rotor within a preset time period, the detection method further includes: The Labview technology is used to control the suspension of the motor to be tested, and the frequency converter is used to control the low-speed rotation of the motor to be tested.

6. The motor detection method according to claim 1, characterized in that: Obtaining the amplitude voltage value of the motor rotor within a preset time period includes: The amplitude voltage value of the motor rotor within a preset time period is obtained through the displacement sensor.

7. The motor detection method according to claim 2, characterized in that: If the judgment result is that the rotation direction of the motor rotor is reverse, the detection method further includes: A fault shutdown signal is sent to the main control system of the motor rotor.

8. A motor detection device, characterized in that: The detection device comprises: A displacement sensor is used to obtain the amplitude voltage value of the motor rotor within a preset time period; A microprocessor, configured to calculate a motion displacement of the motor rotor based on the amplitude voltage value; a displacement judgment unit, configured to judge the relationship between the movement displacement of the motor rotor at a later moment and the movement displacement of the motor rotor at a previous moment within the preset time period, and determine the rotation direction of the motor rotor according to the judgment result; The microprocessor is specifically used to: perform analysis based on the amplitude voltage value using spectrum analysis technology to obtain the motion displacement of the motor rotor, wherein, if the amplitude voltage value is a periodic and continuous time series signal, the power spectrum of the electrical signal representing the amplitude voltage value is estimated, and an approximate estimate of the autocorrelation function is obtained through inverse Fourier transform as the motion displacement of the motor rotor; if the amplitude voltage value is a discrete time series signal, the motion displacement of the motor rotor is obtained through a fast Fourier transform algorithm.

9. A magnetic levitation motor, characterized in that: The magnetic levitation motor implements the motor detection method described in any one of claims 1 to 7.

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