Harmonic howling evaluation method, system and electronic device

Abstract

This application relates to the field of motor noise evaluation technology, specifically to a method, system, and electronic equipment for evaluating harmonic howling noise. In use, after determining the vibration test characteristic points based on the drive motor, a prototype for calculating the limit value of harmonic howling noise is selected from multiple vehicles where the motor's howling noise is at a critical level. A bench vibration test is performed on the limit value calculation prototype, and the vibration equivalent limit value at the vibration test characteristic point is derived from the obtained vibration data. During motor production, during the off-line inspection of the motor, vibration data at the vibration test characteristic point is collected, the order vibration equivalent is calculated based on the measured data, and the vibration equivalent is compared with the vibration equivalent limit value to avoid producing motors with excessive howling noise. The vibration equivalent limit value derived by this application is accurate and reliable, and does not require a special noise detection environment, simplifying the testing process and improving production efficiency.

Description

Technical Field

[0001] This application relates to the field of motor noise evaluation technology, specifically to methods, systems and electronic equipment for evaluating harmonic howling noise. Background Technology

[0002] Under high-speed, high-load conditions, automotive permanent magnet synchronous drive motors contribute significantly to the vibration and noise of the entire vehicle, easily generating severe whistling noise, which leads to complaints from vehicle owners. Therefore, after the motor is assembled, its noise characteristics need to be measured on an off-line testing bench to evaluate its whistling noise. However, the off-line testing bench is located in a production workshop with high background noise, making it difficult to directly quantify the noise.

[0003] Regarding the vibration of the motor itself that generates radiated noise, there are mainly housing vibrations caused by radial electromagnetic forces, local vibrations caused by tangential electromagnetic forces at the stator tooth tips, mechanical vibrations caused by unbalanced mechanical forces, vibrations caused by unbalanced magnetic pull, and core vibrations caused by magnetostriction. The motor whistling sound commonly referred to in this field is mainly caused by the radial electromagnetic forces resulting from motor harmonics, which cause vibrations in the housing, end covers, etc., and thus radiate noise. The radial force of the motor exhibits a spatial periodic distribution on the circumference of the motor tooth tips, and the radial force at a certain point on the tooth fluctuates periodically over time. Electromagnetic forces with the same spatial distribution pattern as the housing modal pattern are most likely to induce resonance; even if a resonance state is not reached, the amplitude of its forced vibration will be much larger than when the patterns are mismatched.

[0004] When the core and housing stiffness of the motor are the same, the amplitude of the motor's vibration acceleration is directly proportional to the electromagnetic force, and inversely proportional to the fourth power of the spatial order of the electromagnetic excitation. Therefore, the greater the electromagnetic excitation force of the permanent magnet synchronous motor used for driving, the lower the spatial order, and the greater the vibration acceleration on the motor surface. When using an integer number of slots (Q) with a higher pole number (2p), s When the winding motor is in operation, the minimum spatial order of the non-zero electromagnetic force is (GCD(2p, Q)). s The order of the radial electromagnetic force wave is relatively high, at which point the 0th order radial electromagnetic force wave becomes the main contributing source of vibration in the motor housing. The time harmonics (Q) generated by the interaction between the armature reaction magnetic field tooth harmonics and the rotor magnetomotive force tooth harmonics... s The 0th order radial electromagnetic force wave (the mechanical rotational frequency of the motor) is the most prominent time harmonic in the spatial 0th order radial electromagnetic force wave. When the motor speed increases to a certain value, the 0th order radial force wave will excite the "breathing" mode of the motor casing, causing resonance. This "breathing" resonance will become the most prominent source of howling noise throughout the entire operating range of the motor.

[0005] To reduce the production of motors with excessive whistling noise, current methods primarily rely on inspectors listening for noticeable whistling and abnormal sounds. However, the background noise of the production line masks the whistling sound, making accurate assessment by hearing alone difficult and hindering quantitative analysis. Therefore, a key technical problem to be solved is how to evaluate motor whistling noise and prevent the production of excessively noisy defective products. Summary of the Invention

[0006] In view of this, this application provides a method, system and electronic device for evaluating harmonic howling sound, which can more scientifically evaluate motor howling sound from the perspective of data testing, so as to avoid the production of too many defective products with excessive howling.

[0007] In a first aspect, this application provides a method for evaluating harmonic howling noise, comprising the following steps: determining vibration test feature points on the housing of a drive motor; based on the vibration test feature points, selecting multiple prototype vehicles where the motor howling noise is at a critical acceptable state, and arranging vibration acceleration sensors at the vibration test feature points of the drive motor prototypes of the multiple prototype vehicles respectively, determining a limit calculation prototype for evaluating harmonic howling noise, and using a test bench to detect the harmonic order vibration of the howling noise of the limit calculation prototype running within the allowable speed range, and determining the vibration equivalent limit; based on the vibration test feature points, using the test bench to detect the harmonic order vibration of the howling noise of the drive motor under test within the allowable speed range, and determining the vibration equivalent of the drive motor under test; and obtaining a specified speed range, and determining whether the harmonic howling noise of the drive motor exceeds the standard based on the vibration equivalent of the drive motor under test within the specified speed range and the vibration equivalent limit.

[0008] In this method, after determining the vibration test characteristic points based on the drive motor, the harmonic order vibration of the drive motor prototype is tested. The vibration equivalent limit at the vibration test characteristic point is then derived from the obtained vibration data. During motor production, vibration data at the vibration test characteristic points is collected during off-line testing, and the measured vibration equivalent is compared with the vibration equivalent limit. If the vibration equivalent within a specified speed range exceeds the vibration equivalent limit, it is determined that the harmonic whistling noise exceeds the standard. This allows for the interception of defective products causing whistling complaints, preventing the production of motors with excessive whistling noise. The vibration equivalent limit derived in this embodiment is accurate and reliable, and it does not require a special noise detection environment. Integrated testing can be performed on the production line test bench, simplifying the testing process and improving production efficiency.

[0009] In conjunction with the first aspect, in one possible implementation, vibration acceleration sensors are provided at multiple vibration test points on the housing of the drive motor; determining the vibration test feature points on the housing of the drive motor includes: controlling the drive motor to accelerate within the allowable speed range under various motor operating conditions; wherein, different motor operating conditions are different test loads of the drive motor; acquiring multiple first time-domain signals of the motor speed of the drive motor under various motor operating conditions; acquiring second time-domain signals of vibration acceleration of each of the vibration acceleration sensors under various motor operating conditions; obtaining the first harmonic order vibration of each of the vibration acceleration sensors under various motor operating conditions based on the first time-domain signals and the second time-domain signals; obtaining the first order vibration equivalent of each of the vibration acceleration sensors under various motor operating conditions based on the first harmonic order vibration; obtaining the first average value of the first order vibration equivalent of all the vibration test points under various motor operating conditions based on the first order vibration equivalent of all the vibration acceleration sensors under various motor operating conditions, and obtaining the first deviation from the mean of the first order vibration equivalent of each of the vibration test points; and determining the vibration test feature points based on the first average value and the first deviation from the mean.

[0010] In conjunction with the first aspect, in one possible implementation, based on the vibration test feature points, multiple prototype vehicles with motor whistling noise at a critically acceptable state are selected. Vibration acceleration sensors are respectively arranged at the vibration test feature points of the drive motor prototypes of the multiple prototype vehicles to determine the limit calculation prototype for evaluating harmonic whistling noise. The limit calculation prototype is then tested on a test bench to detect the harmonic order vibration of the whistling noise within the allowable speed range. Determining the vibration equivalent limit includes: acquiring first vibration data at the vibration test feature points of each drive motor prototype under the whole vehicle state; determining the limit calculation prototype based on the multiple first vibration data; acquiring second vibration data at the vibration test feature point positions of the limit calculation prototype; and obtaining the vibration equivalent limit within the allowable speed range based on the second vibration data.

[0011] In conjunction with the first aspect, in one possible implementation, based on the vibration test feature points, multiple prototype vehicles with motor whistling noise at a critically acceptable state are selected. Vibration acceleration sensors are respectively arranged at the vibration test feature points of the drive motor prototypes of the multiple prototype vehicles to determine the limit calculation prototype for evaluating harmonic whistling noise. The limit calculation prototype is then tested on a test bench to detect the harmonic order vibration of the whistling noise within the allowable speed range. Determining the vibration equivalent limit includes: obtaining subjective evaluations of multiple motor whistling noises from multiple randomly selected vehicles; and selecting multiple prototype vehicles from the multiple vehicles according to a preset evaluation standard.

[0012] In conjunction with the first aspect, in one possible implementation, acquiring the first vibration data at the location of the vibration test feature point on the housing of each of the drive motor prototypes in the prototype vehicles includes: controlling each of the drive motor prototypes to accelerate within the allowable speed range; acquiring a third time-domain signal of the motor speed of each of the drive motor prototypes; and acquiring a fourth time-domain signal of the vibration acceleration of the vibration acceleration sensor on each of the drive motor prototypes; wherein, determining the limit calculation prototype based on the plurality of first vibration data includes: obtaining the second harmonic order vibration corresponding to each of the drive motor prototypes based on the third time-domain signal and the fourth time-domain signal; obtaining the second-order vibration equivalent corresponding to each of the drive motor prototypes based on the second harmonic order vibration; obtaining a second average value of the second-order vibration equivalent of all the drive motor prototypes based on the second-order vibration equivalent of all the drive motor prototypes, and obtaining a second deviation from the mean of the second-order vibration equivalent of each of the drive motor prototypes; and determining the limit calculation prototype based on the second average value and the second deviation from the mean.

[0013] In conjunction with the first aspect, in one possible implementation, a vibration acceleration sensor is provided at a vibration test feature point on the housing of the limit calculation prototype; acquiring the second vibration data at the vibration test feature point location of the limit calculation prototype includes: controlling the limit calculation prototype to accelerate within the allowable speed range; acquiring a fifth time-domain signal of the motor speed of the limit calculation prototype; and acquiring a sixth time-domain signal of the vibration acceleration from the vibration acceleration sensor at the vibration test feature point location of the limit calculation prototype; obtaining the vibration equivalent limit within the allowable speed range based on the second vibration data includes: obtaining the third harmonic order vibration of the limit calculation prototype within the allowable speed range based on the fifth time-domain signal and the sixth time-domain signal; and obtaining the vibration equivalent limit within the allowable speed range of the limit calculation prototype based on the third harmonic order vibration.

[0014] In conjunction with the first aspect, in one possible implementation, a vibration acceleration sensor is provided at a vibration test feature point on the housing of the drive motor under test; wherein, based on the vibration test feature point, the step of using the test bench to detect the whistling harmonic order vibration of the drive motor under test within the allowable speed range, and determining the vibration equivalent of the drive motor under test, includes: controlling the drive motor under test to accelerate within the allowable speed range; acquiring a seventh time-domain signal of the motor speed of the drive motor under test; acquiring an eighth time-domain signal of the vibration acceleration from the vibration acceleration sensor on the drive motor under test; obtaining the fourth harmonic order vibration of the motor under test within the allowable speed range based on the seventh time-domain signal and the eighth time-domain signal; and obtaining the fourth-order vibration equivalent of the motor under test based on the fourth harmonic order vibration.

[0015] In conjunction with the first aspect, in one possible implementation, the permissible speed range is 100 rpm to 3000 rpm.

[0016] Secondly, this application provides a motor defect judgment system, including: a vibration test feature point determination module, configured to determine vibration test feature points on the housing of the drive motor; and a vibration equivalent limit calculation module, communicatively connected to the vibration test feature point determination module, wherein the vibration equivalent limit calculation module is configured to: select multiple prototype vehicles where the motor whistling sound is at a critical acceptable state based on the vibration test feature points, respectively arrange vibration acceleration sensors at the vibration test feature points of the drive motor prototypes of the multiple prototype vehicles, determine the limit calculation prototype for evaluating harmonic whistling sound, and use a test bench to run the limit calculation prototype within the allowable speed range. The system detects the harmonic order vibration of the whistling sound and determines the vibration equivalent limit. A test module, communicatively connected to the vibration equivalent limit calculation module, is configured to: detect the harmonic order vibration of the whistling sound within the allowable speed range of the drive motor under test using the test bench based on the vibration test feature points, and determine the vibration equivalent of the drive motor under test; and a pass / fail judgment module, communicatively connected to the test module, is configured to: acquire a specified speed range, and determine whether the harmonic whistling sound of the drive motor exceeds the limit based on the vibration equivalent of the drive motor under test within the specified speed range and the vibration equivalent limit.

[0017] The second aspect is the system object corresponding to the first aspect, and the technical effects of the second aspect will not be elaborated here.

[0018] Thirdly, this application provides an electronic device, the electronic device comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is used to execute the aforementioned harmonic howling sound evaluation method.

[0019] The third aspect is used to implement the method of the first aspect, and the technical effects of the third aspect will not be elaborated here. Attached Figure Description

[0020] Figure 1 The diagram shown is a schematic representation of the steps of a harmonic howling sound evaluation method provided in an embodiment of this application.

[0021] Figure 2 The diagram shown is a schematic diagram of a drive motor housing with multiple vibration acceleration sensors provided in an embodiment of this application.

[0022] Figure 3 The diagram shown is a schematic diagram of a drive motor housing with multiple vibration acceleration sensors provided in an embodiment of this application.

[0023] Figure 4 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0024] Figure 5 The diagram shows a time-domain signal converted to a frequency-domain signal and then sliced ​​in order.

[0025] Figure 6 The figure shows the curve of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range when the torque is 10% Nm in an exemplary experiment.

[0026] Figure 7 The figure shown is a comparison of the change curve of the first-order vibration equivalent and the change curve of the first average value at measuring point 1 when the torque is 10% Nm in an exemplary experiment.

[0027] Figure 8 The figure shows the curve of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range when the torque is 30% Nm in an exemplary experiment.

[0028] Figure 9 The figure shown is a comparison of the curves showing the change of the first-order vibration equivalent and the first average value at measuring point 1 when the torque is 30% Nm in an exemplary experiment.

[0029] Figure 10 The figure shows the curve of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range when the torque is 50% Nm in an exemplary experiment.

[0030] Figure 11 The figure shown is a comparison of the curves showing the change of the first-order vibration equivalent and the first average value at measuring point 1 when the torque is 50% Nm in an exemplary experiment.

[0031] Figure 12 The figure shows the curve of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range when the torque is 70% Nm in an exemplary experiment.

[0032] Figure 13 The figure shown is a comparison of the change curve of the first-order vibration equivalent and the change curve of the first average value at measuring point 1 when the torque is 70% Nm in an exemplary experiment.

[0033] Figure 14 The figure shows the curve of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range when the torque is 100% Nm in an exemplary experiment.

[0034] Figure 15 The figure shown is a comparison of the curves showing the change of the first-order vibration equivalent and the first average value at measuring point 1 when the torque is 100% Nm in an exemplary experiment.

[0035] Figure 16 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0036] Figure 17 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0037] Figure 18 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0038] Figure 19 The figures shown are a curve trend graph of the second average value within the allowable speed range in an exemplary experiment, and curve trend graphs of the second-order vibration equivalent of the drive motor prototypes of multiple prototype vehicles within the allowable speed range under the vehicle operating conditions.

[0039] Figure 20 The figure shows the trend of the second average value within the allowable speed range in an exemplary experiment, and the trend of the second-order vibration equivalent of the drive motor prototype of vehicle 1 within the allowable speed range under the vehicle operating condition.

[0040] Figure 21 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0041] Figure 22 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to another embodiment of this application.

[0042] Figure 23The diagram shows a flowchart of the process of using a Kalman filter to filter and obtain the fourth harmonic order vibration.

[0043] Figure 24 The figure shows the vibration equivalent limit O of a prototype under a certain limit calculation under a torque condition of 10% Nm. max The variation trend within the allowable speed range, and the fourth-order vibration equivalent O of the drive motor 1 under test. EOL The variation trend within the allowable speed range, and the fourth-order vibration equivalent O of the drive motor 2 under test. EOL The trend of change within the allowable speed range.

[0044] Figure 25 The figure shows a schematic diagram of a system structure for judging defective motors.

[0045] Figure 26 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. Detailed Implementation

[0046] 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.

[0047] The following description is provided to enable those skilled in the art to implement and use the invention and adapt it to specific application contexts. Various modifications and uses in different applications will be readily apparent to those skilled in the art, and the general principles defined herein are applicable to a wide range of embodiments. Therefore, the invention is not limited to the embodiments given herein, but should be granted the broadest scope consistent with the principles and novel features disclosed herein.

[0048] In the following detailed description, numerous specific details are set forth to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that practice of the invention is not necessarily limited to these specific details. In other words, well-known structures and devices are shown in block diagram form without being depicted in detail to avoid obscuring the invention.

[0049] Readers should note all documents and references submitted concurrently with this specification and open to public inspection, the contents of which are incorporated herein by reference. Unless otherwise expressly stated, all features disclosed in this specification (including any appended claims, abstracts, and drawings) may be replaced by alternative features for the same, equivalent, or similar purposes. Therefore, unless explicitly stated otherwise, each disclosed feature is merely one example of a set of equivalent or similar features.

[0050] Note that, where used, the markings left, right, front, back, top, bottom, front, back, clockwise, and counterclockwise are used merely for convenience and do not imply any specific fixed direction. In fact, they are used to reflect the relative position and / or orientation between different parts of an object. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Note that, in practice, "further," "preferably," "even further," and "more preferably" are simply starting points for describing another embodiment based on the foregoing embodiments. The combination of the content following "further," "preferably," "even further," or "more preferably" with the foregoing embodiments constitutes the complete configuration of another embodiment. Any combination of several "further," "preferably," "even further," or "more preferably" settings following the same embodiment can form yet another embodiment.

[0053] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the aspects described below with reference to the accompanying drawings and specific embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0054] Under high-speed, high-load conditions, automotive permanent magnet synchronous drive motors contribute significantly to the vibration and noise of the entire vehicle, easily generating severe whistling noise, which leads to complaints from vehicle owners. Therefore, after the motor is assembled, its noise characteristics need to be measured on an off-line testing bench to evaluate its whistling noise. However, the off-line testing bench is located in a production workshop with high background noise, making it difficult to directly quantify the noise.

[0055] Regarding the vibration of the motor itself that generates radiated noise, there are mainly housing vibrations caused by radial electromagnetic forces, local vibrations caused by tangential electromagnetic forces at the stator tooth tips, mechanical vibrations caused by unbalanced mechanical forces, vibrations caused by unbalanced magnetic pull, and core vibrations caused by magnetostriction. The motor whistling sound commonly referred to in this field is mainly caused by the radial electromagnetic forces resulting from motor harmonics, which cause vibrations in the housing, end covers, etc., and thus radiate noise. The radial force of the motor exhibits a spatial periodic distribution on the circumference of the motor tooth tips, and the radial force at a certain point on the tooth fluctuates periodically over time. Electromagnetic forces with the same spatial distribution pattern as the housing modal pattern are most likely to induce resonance; even if a resonance state is not reached, the amplitude of its forced vibration will be much larger than when the patterns are mismatched.

[0056] When the core and housing stiffness of the motor are the same, the amplitude of the motor's vibration acceleration is directly proportional to the electromagnetic force, and inversely proportional to the fourth power of the spatial order of the electromagnetic excitation. Therefore, the greater the electromagnetic excitation force of the permanent magnet synchronous motor used for driving, the lower the spatial order, and the greater the vibration acceleration on the motor surface. When using an integer number of slots (Q) with a higher pole number (2p), s When the winding motor is in operation, the minimum spatial order of the non-zero electromagnetic force is (GCD(2p, Q)). s The order of the radial electromagnetic force wave is relatively high, at which point the 0th order radial electromagnetic force wave becomes the main contributing source of vibration in the motor housing. The time harmonics (Q) generated by the interaction between the armature reaction magnetic field tooth harmonics and the rotor magnetomotive force tooth harmonics... s The 0th order radial electromagnetic force wave (the mechanical rotational frequency of the motor) is the most prominent time harmonic in the spatial 0th order radial electromagnetic force wave. When the motor speed increases to a certain value, the 0th order radial force wave will excite the "breathing" mode of the motor casing, causing resonance. This "breathing" resonance will become the most prominent source of howling noise throughout the entire operating range of the motor.

[0057] To reduce the production of motors with excessive whistling noise, current methods primarily rely on inspectors listening for noticeable whistling and abnormal noises. However, the background noise of the production line masks the whistling sound, making accurate assessment by hearing alone difficult and hindering quantitative analysis. Therefore, how to evaluate motor whistling noise and avoid producing too many defective products with excessive whistling is a technical problem that needs to be solved. To this end, this application proposes a method, system, and electronic equipment for evaluating harmonic whistling noise.

[0058] Exemplary Harmonic Whistling Sound Evaluation Method

[0059] Figure 1 The diagram shown is a schematic representation of the method steps for evaluating harmonic howling sounds according to an embodiment of this application. This application provides a method for evaluating harmonic howling sounds; in one embodiment, as shown... Figure 1 As shown, the method includes the following steps:

[0060] Step 110: Determine the vibration test feature points on the housing of the drive motor.

[0061] In this step, through experimental testing or expert experience, a location on the shell is selected as the vibration test feature point. The vibration at the vibration test feature point can represent the vibration characteristics of the drive motor under harmonic excitation. The harmonic howling sound of the drive motor is directly related to the order vibration of the motor. Data at this vibration test feature point can be collected in the subsequent noise judgment.

[0062] Step 120: Based on the vibration test characteristic points, select multiple prototype vehicles where the motor whistling sound is in a critical acceptance state. Arrange vibration acceleration sensors at the vibration test characteristic points of the drive motor prototypes of multiple prototype vehicles respectively, determine the limit calculation prototype for evaluating harmonic whistling sound, and use a test bench to detect the whistling sound harmonic order vibration of the limit calculation prototype running within the allowable speed range, and determine the vibration equivalent limit.

[0063] In this step, vibration acceleration sensors are installed at vibration test characteristic points of each drive motor prototype in the vehicle state. The drive motor prototypes are controlled to start running within their own allowable speed range. The harmonic howling sound of each drive motor prototype is measured to determine the limit calculation prototype for evaluating the harmonic howling sound. A test bench is used to detect the harmonic order vibration of the howling sound of the drive motor limit calculation prototype running within the allowable speed range, and finally the vibration equivalent limit value is obtained. The allowable speed range can be determined by the performance of the drive motor itself, or it can be set manually.

[0064] Step 130: Based on the vibration test characteristic points, use a test bench to detect the whistling harmonic order vibration of the drive motor under test within the allowable speed range, and determine the vibration equivalent of the drive motor under test.

[0065] In this step, the drive motor under test is controlled to start running within its own allowable speed range, and then the order vibration value at the vibration test characteristic point of the drive motor under test is detected to obtain the vibration equivalent at that location.

[0066] Step 140: Obtain the specified speed range, and determine whether the harmonic howling noise of the drive motor exceeds the standard based on the vibration equivalent and vibration equivalent limit of the drive motor under test within the specified speed range.

[0067] In this step, a specified speed range, either manually or by machine, is obtained. This specified speed range is the range within which the harmonic howling noise needs to be evaluated to see if it exceeds the standard. For example, if a user complains that the harmonic howling noise is excessive in a certain speed range, then the harmonic howling noise in that specified speed range is evaluated to see if it exceeds the standard.

[0068] In this embodiment, after determining the vibration test characteristic points based on the drive motor, multiple vehicles with motor whistling noise at a critical level are selected. Vibration acceleration sensors are respectively arranged at the characteristic test points of their drive motors to determine the limit calculation prototype for evaluating harmonic whistling noise. Based on the vibration data obtained from the test limit calculation prototype, the vibration equivalent limit at the vibration test characteristic point location is deduced. During motor production, when the motors are inspected before leaving the production line, vibration data at the vibration test characteristic points is collected, and the measured vibration equivalent is compared with the vibration equivalent limit. If the vibration equivalent within a specified speed range is greater than the vibration equivalent limit, it is determined that the harmonic whistling noise exceeds the standard. This allows for the interception of defective products causing whistling complaints, preventing the production of motors with excessive whistling noise. The vibration equivalent limit obtained by this embodiment is accurate and reliable, and it does not require a special noise detection environment. Integrated testing can be performed on the test bench of the production line, simplifying the testing process and improving production efficiency.

[0069] Figure 2 The diagram shown is a schematic diagram of a drive motor housing with multiple vibration acceleration sensors provided in an embodiment of this application. Figure 3 The diagram shown is a schematic diagram of a drive motor housing with multiple vibration acceleration sensors provided in an embodiment of this application. Figure 4 The diagram shown illustrates the method steps of a harmonic howling sound evaluation method according to another embodiment of this application. In one embodiment, during the process of determining the vibration test characteristic points of the drive motor, such as... Figure 2 and Figure 3 As shown, vibration acceleration sensors 200 are installed at multiple vibration test points on the housing 1001 of the drive motor 100. In this embodiment, a drive motor is selected for testing vibration test feature points, and the drive motor is fixed to the test bench using tooling and couplings. N vibration acceleration sensors (N greater than or equal to 8) are arranged around the surface of the motor housing. Since the vibration response of electromagnetic force is inversely proportional to the fourth power of the spatial order, the electromagnetic force excitation of the zeroth order in space coincides with the breathing mode of the motor housing, which is one of the main reasons for the drive motor's whistling. Furthermore, since the breathing mode is symmetrically distributed along the circumference of the housing, multiple vibration acceleration sensors are evenly distributed along the circumference to pick up the motor's vibration characteristics.

[0070] like Figure 4 As shown, step 110 includes:

[0071] Step 1101: Control the drive motor to accelerate within the allowable speed range under various motor operating conditions.

[0072] In this step, different motor operating conditions refer to different torque conditions of the drive motor, which can be applied by the coupling on the test bench. For example, multiple motor operating conditions may include five torque conditions: 10% Nm, 30% Nm, 50% Nm, 70% Nm, and 100% Nm.

[0073] Step 1102: Obtain multiple first time-domain signals of the motor speed of the drive motor under various motor operating conditions.

[0074] Step 1103: Under various motor operating conditions, acquire the second time-domain signal of vibration acceleration from each vibration acceleration sensor.

[0075] In this step, the operating conditions of the drive motor are adjusted. Each time the motor is in a specific operating condition, the second time-domain signal A of the vibration acceleration from each vibration acceleration sensor is acquired under that operating condition. i Specifically, the vibration accelerometer uses a triaxial vibration accelerometer, meaning it can collect vibration data in the x, y, and z directions at the vibration test point, as shown in Table 1:

[0076] Vibration test point location Measurement point description Vibration test point location Measurement point description A1_X Vibration in the x-direction at measuring point A1 A5_X Vibration in the x-direction at measuring point A5 A1_Y Vibration in the y direction at measuring point A1 A5_Y Vibration in the y-direction at measuring point A5 A1_Z Vibration in the z-direction at measuring point A1 A5_Z Vibration in the z-direction at measuring point A5 A2_X Vibration in the x-direction at measuring point A2 A6_X Vibration in the x-direction at measuring point A6 A2_Y Vibration in the y-direction at measuring point A2 A6_Y Vibration in the y-direction at measuring point A6 A2_Z Vibration in the z-direction at measuring point A2 A6_Z Vibration in the z-direction at measuring point A6 A3_X Vibration in the x-direction at measuring point A3 A7_X Vibration in the x-direction at measuring point A7 A3_Y Vibration in the y-direction at measuring point A3 A7_Y Vibration in the y-direction at measuring point A7 A3_Z Vibration in the z-direction at measuring point A3 A7_Z Vibration in the z-direction at measuring point A7 A4_X Vibration in the x-direction at measuring point A4 A8_X Vibration in the x-direction at measuring point A8 A4_Y Vibration in the y direction at measuring point A4 A8_Y Vibration in the y-direction at measuring point A8 A4_Z Vibration in the z-direction at measuring point A4 A8_Z Vibration in the z-direction at measuring point A8

[0077] Table 1.

[0078] During the measurement process, for example, the allowable speed range is 100rpm to 3000rpm. Under various motor operating conditions, the motor speed is controlled to accelerate from 100rpm to 3000rpm, and the first time domain signal and the second time domain signal are acquired at a sampling frequency of 20kHz.

[0079] All test conditions are shown in Table 2:

[0080] Operating conditions Torque rotational speed 1 10% * Torque_Max Nm 100-3000rpm 2 30% * Torque_Max Nm 100-3000rpm 3 50% * Torque_Max Nm 100-3000rpm 4 70% * Torque_Max Nm 100-3000rpm 5 100% * Torque_Max Nm 100-3000rpm

[0081] Table 2.

[0082] Step 1104: Based on the first time domain signal and the second time domain signal, obtain the first harmonic order vibration of each vibration acceleration sensor under various motor operating conditions.

[0083] In this step, refer to Figure 5 , Figure 5 The diagram illustrates the conversion of a time-domain signal to a frequency-domain signal followed by order slicing. First, the first and second time-domain signals are Fourier transformed to convert them into frequency-domain signals. Then, the Q-slicing is performed to track the motor speed. s Order filtering of order slices. The drive motor in this application is a wound motor, Q s The slots are integers of the number of slots in the winding motor. For example, if the drive motor is a 12-pole, 72-slot permanent magnet synchronous motor, then Q... sThe value is 72. The first harmonic order vibration O in the x, y, and z directions of the vibration test point is obtained. x O y O z .

[0084] Step 1105: Based on the first harmonic order vibration, obtain the first-order vibration equivalent of each vibration acceleration sensor under various motor operating conditions.

[0085] In this step, the first-order vibration equivalent O corresponding to each vibration acceleration sensor is calculated using the energy averaging algorithm under each motor operating condition. i :

[0086]

[0087] Where i represents different vibration test points.

[0088] Step 1106: Based on the first-order vibration equivalent of all vibration acceleration sensors under various motor operating conditions, obtain the first average value of the first-order vibration equivalent of all vibration test points under various motor operating conditions, and obtain the first deviation from the mean of the first-order vibration equivalent of each vibration test point.

[0089] In this step, the first average value of the first-order vibration equivalent at all vibration test points under each motor operating condition is calculated. Then, the first deviation from the mean is calculated for each vibration test point.

[0090]

[0091] Where N represents the number of vibration test points.

[0092] Step 1107: Determine the vibration test characteristic points based on the first average value and the first deviation from the average value.

[0093] In this step, under various working conditions, based on the first deviation ratio, the vibration test point whose curve trend is closest to the first average value is selected as the vibration test characteristic point N. m Then the vibration test feature point N can be used. m The vibration of position represents Q s Vibration characteristics of a motor under first harmonic excitation.

[0094] The specific comparison process is as follows: Figures 6-15 As shown. Figure 6 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 10% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. For example... Figure 7As shown, based on the first deviation from the mean, it can be seen that when the torque is 10% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0095] Figure 8 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 30% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. (Example:) Figure 9 As shown, based on the first deviation from the mean, it can be obtained that when the torque is 30% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0096] Figure 10 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 50% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. For example... Figure 11 As shown, based on the first deviation from the mean, it can be obtained that when the torque is 50% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0097] Figure 12 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 70% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. (Example:) Figure 13 As shown, based on the first deviation from the mean, when the torque is 70% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0098] Figure 12 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 70% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. (Example:) Figure 13 As shown, based on the first deviation from the mean, when the torque is 70% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0099] Figure 14 This section shows the variation curves of the first average value of the first-order vibration equivalent at all vibration test points within the allowable speed range, when the torque is 100% Nm, and the variation curves of the first-order vibration equivalent at each vibration test point within the allowable speed range. For example... Figure 15 As shown, based on the first deviation from the mean, when the torque is 100% Nm, the change curve of the first-order vibration equivalent at measuring point 1 is closest to the change curve of the first average value.

[0100] In one embodiment, such as Figure 16 As shown, step 120 includes:

[0101] Step 1201: Obtain the first vibration data at the vibration test characteristic points of each drive motor prototype under the vehicle state.

[0102] In this step, several prototype vehicles with motor whistling noise at the critical acceptance state are selected. When the prototype vehicles are working under the whole vehicle condition, vibration acceleration sensors are set at the vibration test characteristic points of the drive motor prototypes of each prototype vehicle to measure and obtain the first vibration data measured by the vibration acceleration sensors on the drive motor prototypes of each prototype vehicle.

[0103] Step 1202: Determine the limit calculation prototype based on multiple first vibration data.

[0104] In this step, based on multiple first vibration data, the drive motor of the most representative prototype vehicle is selected as the limit calculation prototype. The motor whistling sound of this limit calculation prototype can represent the upper limit of the motor whistling sound of the prototype vehicle.

[0105] Step 1203: Obtain the second vibration data at the vibration test characteristic point location of the limit calculation prototype.

[0106] In this step, a vibration acceleration sensor is set at the vibration test characteristic point of the limit calculation prototype to measure and acquire the second vibration data corresponding to the limit calculation prototype.

[0107] Step 1204: Obtain the vibration equivalent limit value within the allowable speed range based on the second vibration data.

[0108] In this step, the vibration equivalent limit obtained from the second vibration data is used as the criterion for judging unqualified motors. If the vibration equivalent of the motor exceeds the vibration equivalent limit, it means that the whistling sound is too loud and may cause discomfort to the user.

[0109] In one embodiment, such as Figure 17 As shown, step 120 also includes:

[0110] Step 1205: Obtain subjective evaluations of the whistling sounds of multiple motors from randomly selected vehicles.

[0111] In this step, several vehicles are first randomly selected, and then staff members make subjective evaluations of the motor noise of these vehicles, and obtain these subjective evaluation data.

[0112] Step 1206: Select multiple sample vehicles from multiple vehicles according to the preset evaluation criteria.

[0113] In this step, preset evaluation criteria are established. If the subjective evaluation data of a vehicle meets the preset criteria, that vehicle is selected as a sample vehicle. The number of sample vehicles selected, V, is generally greater than or equal to 10, thus providing sufficient data.

[0114] Step 1207: Obtain the first vibration data at the location of the vibration test feature point on the housing of the drive motor prototype in each prototype vehicle.

[0115] In this step, with the prototype vehicle in full-vehicle operating condition, the first vibration data collected by the vibration acceleration sensor is obtained. This embodiment uses a subjective evaluation method to select the prototype vehicle, which allows the evaluation process and results of this application to have the weight of human auditory perception, making the evaluation results more reliable.

[0116] In one embodiment, such as Figure 18 As shown, step 1201 includes:

[0117] Step 1208: Control each drive motor prototype to accelerate within the allowable speed range.

[0118] Step 1209: Obtain the third time-domain signal of the motor speed of each drive motor prototype.

[0119] Step 1210: Obtain the fourth time-domain signal of vibration acceleration from the vibration acceleration sensor on each drive motor prototype.

[0120] In steps 1208 and 1209, the drive motor prototypes of each prototype vehicle are tested respectively, and the vibration test point N of the drive motor prototype is tested. m A triaxial vibration acceleration sensor is installed at the location, and vibration test point N is acquired. m Vibration data in the x, y, and z directions, with the fourth time-domain signal representing vibration acceleration denoted as V. j .

[0121] Step 1202 includes:

[0122] Step 1211: Based on the third time domain signal and the fourth time domain signal, obtain the second harmonic order vibration corresponding to each drive motor prototype.

[0123] In this step, the third and fourth time-domain signals are Fourier transformed to the frequency domain, and the motor speed of the drive motor prototype is tracked using Q-mapping. s Harmonic order slices were used to obtain the second harmonic order vibration Z in the x, y, and z directions of the vibration test points corresponding to the drive motor prototypes of each vehicle. x Z y Z z .

[0124] Step 1212: Based on the second harmonic order vibration, obtain the equivalent second-order vibration of each drive motor prototype.

[0125] In this step, the second-order vibration equivalent Z corresponding to each vibration accelerometer is calculated using the energy averaging algorithm for each drive motor prototype. i :

[0126]

[0127] Where j represents different drive motor prototypes.

[0128] Step 1213: Based on the second-order vibration equivalent of all drive motor prototypes, obtain the second average value of the second-order vibration equivalent of all drive motor prototypes, and obtain the second deviation from the mean of the second-order vibration equivalent of each drive motor prototype.

[0129] In this step, the first average value of the second-order vibration equivalent of all drive motor prototypes is calculated, and a trend curve of the variation of the first average value within the allowable speed range is established. Then, the second deviation from the mean is calculated for each drive motor prototype.

[0130]

[0131] Where V represents the number of drive motor prototypes.

[0132] Step 1214: Determine the limit calculation prototype based on the second average value and the second deviation from the mean.

[0133] Figure 19 The figures shown are a curve trend graph of the second average value within the allowable speed range in an exemplary experiment, and curve trend graphs of the second-order vibration equivalent of the drive motor prototypes of multiple prototype vehicles within the allowable speed range. Figure 19 As shown, a curve trend graph of the second average value within the allowable speed range can be generated. Based on the second deviation from the mean value of the drive motor prototype corresponding to each prototype vehicle calculated according to formula (1.4), the prototype V whose curve trend is closest to the second average value can be obtained. t Therefore, the prototype vehicle V can be used. t The vibration condition of the motor assembled in the middle represents Q. s The upper limit of the whistling sound of the motor under first harmonic excitation is calculated using the drive motor prototype of the prototype vehicle as the limit calculation prototype.

[0134] Figure 20 The figures shown are a curve trend graph of the second average value within the allowable speed range in an exemplary experiment, and a curve trend graph of the second-order vibration equivalent of the drive motor prototype of vehicle 1 within the allowable speed range under vehicle operating conditions. Figure 20As shown, based on the second deviation from the mean, the variation trend of the second-order vibration equivalent of vehicle 1 within the allowable speed range is closest to the variation trend of the second average value. Therefore, vehicle 1 can be selected as the prototype vehicle V. t .

[0135] Figure 21 The diagram shows the method steps of a harmonic howling sound evaluation method according to an embodiment of this application. In one embodiment, vibration test feature point N on the motor housing of the limit calculation prototype is used. m A three-dimensional vibration acceleration sensor was installed at the test bench for bench testing.

[0136] like Figure 21 As shown, step 1203 includes:

[0137] Step 1215: Control limit calculation. Accelerate the prototype within the allowable speed range.

[0138] Step 1216: Obtain the fifth time-domain signal of the motor speed of the limit calculation prototype.

[0139] Step 1217: Obtain the sixth time-domain signal of vibration acceleration from the vibration acceleration sensor at the vibration test feature point location of the limit calculation prototype.

[0140] In steps 1216 and 1217, the limit calculation prototype is tested at vibration test point N. m A triaxial vibration acceleration sensor is installed at point N to acquire vibration test data. m Vibration data in the x, y, and z directions, with the sixth time-domain signal of vibration acceleration denoted as A. max .

[0141] Step 1204 includes:

[0142] Step 1218: Based on the fifth and sixth time domain signals, the third harmonic order vibration of the prototype within the allowable speed range is obtained.

[0143] In this step, the fifth and sixth time-domain signals are Fourier transformed to the frequency domain, and the motor speed of the prototype vehicle is tracked using Q-mapping. s Harmonic order slices were used to obtain the third harmonic order vibration O in the x, y, and z directions at the vibration test points corresponding to each prototype vehicle. max-x O max-y O max-z .

[0144] Step 1219: Calculate the vibration equivalent limit of the prototype within the allowable speed range based on the limit value obtained from the third harmonic order vibration.

[0145] In this step, the energy averaging algorithm is used to calculate the equivalent third-order vibration O corresponding to the third harmonic vibration. max :

[0146]

[0147] Among them, O max As a vibration equivalent limit, it is used to judge unqualified motors.

[0148] Figure 22 The diagram shown illustrates the steps of a method for evaluating harmonic howling noise according to another embodiment of this application. In one embodiment, when it is necessary to detect defective products intercepted by a motor, the motor to be tested is mounted on a test bench, and vibration test feature points N on the housing of the motor to be tested are used. m A vibration acceleration sensor is installed at the location.

[0149] like Figure 22 As shown, step 130 includes:

[0150] Step 1301: Control the drive motor under test to accelerate within the allowable speed range.

[0151] Step 1302: Obtain the seventh time domain signal of the motor speed of the drive motor under test.

[0152] Step 1303: Obtain the eighth time-domain signal of vibration acceleration from the vibration acceleration sensor on the drive motor under test.

[0153] In steps 1602 and 1603, the drive motor under test is tested at vibration test point N of the drive motor under test. m A triaxial vibration acceleration sensor is installed at point N to acquire vibration test data. m Vibration data in the x, y, and z directions, with the sixth time-domain signal of vibration acceleration denoted as A. EOL .

[0154] Step 1304: Based on the seventh time domain signal and the eighth time domain signal, obtain the fourth harmonic order vibration corresponding to the drive motor under test.

[0155] In this step, the seventh and eighth time-domain signals are Fourier transformed to the frequency domain, and the motor speed of the drive motor under test is tracked using Q-mapping. s Harmonic order slices were used to obtain the fourth harmonic order vibration Z in the x, y, and z directions at the vibration test points corresponding to the drive motor prototypes of each vehicle. x Z y Z z Or, refer to Figure 23 , Figure 23The diagram shows a flowchart of the process of filtering the signal using a Kalman filter to obtain the fourth harmonic order vibration. The Kalman filter is used to filter the time-domain signal, and Q is extracted based on the motor speed. s The fourth harmonic order vibration O EOL-x O EOL-y O EOL-z First, the eighth time-domain signal is subjected to anti-aliasing filtering, followed by A / D conversion. Then, an instantaneous rotational speed value is extracted from the seventh time-domain signal. Based on this instantaneous speed value, a Kalman filter is used to obtain the characteristic order components corresponding to each instantaneous speed value. The fourth harmonic order vibration O can then be obtained from these characteristic order components. EOL-x O EOL-y O EOL-z .

[0156] Step 1305: Based on the fourth harmonic order vibration, obtain the equivalent fourth-order vibration of the drive motor under test.

[0157] In this step, the energy averaging algorithm is used to calculate the fourth-order vibration equivalent O corresponding to the fourth harmonic vibration. EOL :

[0158]

[0159] In this step, compare O EOL The vibration equivalent limit value O obtained in step 1219 max According to the specified speed range, when O EOL Within a specified speed range, greater than 0 max This indicates that after the drive motor is assembled into the vehicle, it will cause Q s The excessive whistling of first harmonics within the specified speed range will cause complaints, necessitating the interception of the motor. For example... Figure 24 As shown, Figure 24 To calculate the vibration equivalent limit O of the prototype under a certain limit condition with a torque of 10% Nm. max The variation trend within the allowable speed range, and the fourth-order vibration equivalent O of the drive motor 1 under test. EOL The variation trend within the allowable speed range, and the fourth-order vibration equivalent O of the drive motor 2 under test. EOL The trend of changes within the permissible speed range, for example, if a user is dissatisfied with the harmonic howling noise within the range of 2150rpm to 2500rpm, then determine which motor is more qualified within that speed range. From Figure 24It can be seen that the vibration equivalent of motor 2 is higher than the vibration equivalent limit across the board, while the vibration equivalent of motor 1 is mostly lower than the vibration equivalent limit. Therefore, motor 2 can be determined to be unqualified, while motor 1 can be considered a qualified motor. Specifically, it can be preset that within a specified speed range, if a preset percentage of the fourth-order vibration equivalent exceeds the vibration equivalent limit within that range, it is determined to be an unqualified product with excessive harmonic howling noise.

[0160] Exemplary motor defect determination system

[0161] A defective motor determination system, in one embodiment, such as... Figure 25 As shown, the motor defective product judgment system includes a vibration test feature point determination module 1002, a vibration equivalent limit calculation module 1003, a test module 1004, and a pass / fail judgment module 1005.

[0162] The vibration test feature point determination module 1002 is configured to determine the vibration test feature points on the housing of the drive motor.

[0163] The vibration equivalent limit calculation module 1003 is communicatively connected to the vibration test feature point determination module 1002. The vibration equivalent limit calculation module 1003 is configured as follows: based on the vibration test feature points, select multiple prototype vehicles where the motor whistling sound is in a critical acceptance state, and arrange vibration acceleration sensors at the vibration test feature points of the drive motor prototypes of multiple prototype vehicles respectively, determine the limit calculation prototype for evaluating harmonic whistling sound, and use a test bench to detect the whistling sound harmonic order vibration of the limit calculation prototype running within the allowable speed range, and determine the vibration equivalent limit.

[0164] The test module 1004 is communicatively connected to the vibration equivalent limit calculation module 1003. The test module 1004 is configured to: detect the whistling harmonic order vibration of the drive motor under test within the allowable speed range of the vibration test feature points using a test bench, and determine the vibration equivalent of the drive motor under test.

[0165] The pass / fail judgment module 1005 is communicatively connected to the test module 1004. The pass / fail judgment module 1005 is configured to: obtain a specified speed range, and determine whether the harmonic howling noise of the drive motor exceeds the standard based on the vibration equivalent and the vibration equivalent limit of the drive motor under test within the specified speed range.

[0166] In this embodiment, after determining the vibration test characteristic points based on the drive motor, the harmonic order vibration of the drive motor prototype is tested. The vibration equivalent limit at the vibration test characteristic point is then derived from the obtained vibration data. During motor production, vibration data at the vibration test characteristic points is collected during off-line testing, and the measured vibration equivalent is compared with the vibration equivalent limit. If the vibration equivalent within a specified speed range exceeds the vibration equivalent limit, it is determined that the harmonic whistling noise exceeds the standard. This allows for the interception of defective products causing whistling complaints, preventing the production of motors with excessive whistling noise. The vibration equivalent limit derived in this embodiment is accurate and reliable, and it does not require a special noise detection environment. Integrated testing can be performed on a test bench on the production line, simplifying the testing process and improving production efficiency.

[0167] Exemplary electronic devices and readable storage media

[0168] Below, for reference Figure 26 This describes an electronic device according to embodiments of the present application. Figure 26 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0169] like Figure 26 As shown, the electronic device 1006 includes one or more processors 10061 and memory 10062.

[0170] The processor 10061 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 1006 to perform desired functions.

[0171] The memory 10062 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 10061 may execute the program instructions to implement the positioning methods of the various embodiments of this application described above or other desired functions. Various contents, such as positioning error parameters, may also be stored in the computer-readable storage medium.

[0172] In one example, the electronic device 1006 may also include an input device 10063 and an output device 10064, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0173] The input device 10063 may include, for example, a keyboard, mouse, joystick, and touch screen.

[0174] The output device 10064 can output various information to the outside, including determined motion data. The output device 10064 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0175] Of course, for the sake of simplicity, Figure 26 Only some of the components of the electronic device 1006 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 1006 may include any other suitable components depending on the specific application.

[0176] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the positioning methods according to various embodiments of this application as described in this specification.

[0177] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0178] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the positioning methods according to various embodiments of this application.

[0179] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0180] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0181] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0182] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0183] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0184] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for evaluating harmonic howling sounds, characterized in that, Including the following steps: Vibration test feature points on the housing of the drive motor are identified; vibration acceleration sensors are installed at multiple vibration test points on the housing of the drive motor. The determination of vibration test feature points on the housing of the drive motor includes: controlling the drive motor to accelerate within an allowable speed range under various motor operating conditions; wherein, different motor operating conditions are different test loads of the drive motor; acquiring multiple first time-domain signals of the motor speed of the drive motor under various motor operating conditions; acquiring second time-domain signals of vibration acceleration of each vibration acceleration sensor under various motor operating conditions; obtaining the first harmonic order vibration of each vibration acceleration sensor under various motor operating conditions based on the first time-domain signals and the second time-domain signals; obtaining the first order vibration equivalent of each vibration acceleration sensor under various motor operating conditions based on the first harmonic order vibration; obtaining the first average value of the first order vibration equivalent of all vibration test points under various motor operating conditions based on the first order vibration equivalent of all vibration acceleration sensors under various motor operating conditions, and obtaining the first deviation from the mean of the first order vibration equivalent of each vibration test point; and determining the vibration test feature points based on the first average value and the first deviation from the mean. Based on the vibration test characteristic points, multiple prototype vehicles with motor whistling noise at the critical acceptance state were selected. Vibration acceleration sensors were respectively arranged at the vibration test characteristic points of the drive motor prototypes of the multiple prototype vehicles to determine the limit calculation prototype for evaluating harmonic whistling noise. The whistling noise harmonic order vibration of the limit calculation prototype running within the allowable speed range was detected by a test bench to determine the vibration equivalent limit. Based on the vibration test characteristic points, the test bench is used to detect the harmonic order vibration of the drive motor under test within the allowable speed range to determine the vibration equivalent of the drive motor under test; and a specified speed range is obtained, and based on the vibration equivalent of the drive motor under test within the specified speed range and the vibration equivalent limit, it is determined whether the harmonic whistling sound of the drive motor exceeds the standard.

2. The method for evaluating harmonic howling sounds according to claim 1, characterized in that, Based on the vibration test characteristic points, multiple prototype vehicles with motor whistling noise at a critical acceptance state are selected. Vibration acceleration sensors are respectively arranged at the vibration test characteristic points of the drive motor prototypes of the multiple prototype vehicles to determine the limit calculation prototype for evaluating harmonic whistling noise. The whistling noise harmonic order vibration of the limit calculation prototype running within the allowable speed range is detected using a test bench to determine the vibration equivalent limit, including: The first vibration data at the vibration test feature points of each drive motor prototype under the whole vehicle state are obtained respectively; The limit calculation prototype is determined based on multiple sets of the first vibration data; Obtain second vibration data at the vibration test feature point location of the limit calculation prototype; and The vibration equivalent limit within the allowable speed range is obtained based on the second vibration data.

3. The method for evaluating harmonic howling sounds according to claim 1, characterized in that, Based on the vibration test characteristic points, multiple prototype vehicles with motor whistling noise at a critical acceptance state are selected. Vibration acceleration sensors are respectively arranged at the vibration test characteristic points of the drive motor prototypes of the multiple prototype vehicles to determine the limit calculation prototype for evaluating harmonic whistling noise. The whistling noise harmonic order vibration of the limit calculation prototype running within the allowable speed range is detected using a test bench to determine the vibration equivalent limit, including: Obtain subjective evaluations of multiple motor whine sounds from randomly selected vehicles; and According to the preset evaluation criteria, multiple sample vehicles are selected from the multiple vehicles.

4. The method for evaluating harmonic howling sounds according to claim 2, characterized in that, The step of acquiring the first vibration data at each vibration test feature point of the drive motor prototype under the vehicle state includes: The respective drive motor prototypes are controlled to accelerate within the allowable speed range; Obtain the third time-domain signal of the motor speed of each of the aforementioned drive motor prototypes; and Obtain the fourth time-domain signal of vibration acceleration from the vibration acceleration sensor on each of the aforementioned drive motor prototypes; The step of determining the limit calculation prototype based on multiple first vibration data includes: Based on the third time-domain signal and the fourth time-domain signal, the second harmonic order vibration corresponding to each of the drive motor prototypes is obtained; Based on the second harmonic order vibration, the second-order vibration equivalent of each of the drive motor prototypes is obtained; Based on the second-order vibration equivalent of all the drive motor prototypes, a second average value of the second-order vibration equivalent of all the drive motor prototypes is obtained, and a second deviation from the mean of the second-order vibration equivalent of each of the drive motor prototypes is obtained; and The limit calculation prototype is determined based on the second average value and the second deviation from the mean.

5. The method for evaluating harmonic howling sounds according to claim 2, characterized in that, Vibration acceleration sensors are installed at vibration test feature points on the casing of the limit calculation prototype; The acquisition of the second vibration data at the vibration test feature point location of the limit calculation prototype includes: The prototype for calculating the limit value is controlled to accelerate within the allowable speed range; Obtain the fifth time-domain signal of the motor speed of the prototype for the limit calculation; and Obtain the sixth time-domain signal of vibration acceleration from the vibration acceleration sensor at the vibration test feature point location of the limit calculation prototype; The step of obtaining the vibration equivalent limit value within the allowable speed range based on the second vibration data includes: Based on the fifth time-domain signal and the sixth time-domain signal, the third harmonic order vibration of the limit calculation prototype within the allowable speed range is obtained; and The vibration equivalent limit of the prototype within the allowable speed range is calculated based on the third harmonic order vibration.

6. The method for evaluating harmonic howling sounds according to claim 1, characterized in that, A vibration acceleration sensor is provided at the vibration test feature point on the housing of the drive motor under test; Specifically, based on the vibration test feature points, the test bench is used to detect the whistling harmonic order vibration of the drive motor under test within the allowable speed range, and the vibration equivalent of the drive motor under test is determined, including: The drive motor under test is controlled to accelerate within the allowable speed range; Obtain the seventh time-domain signal of the motor speed of the drive motor under test; Acquire the eighth time-domain signal of vibration acceleration from the vibration acceleration sensor on the drive motor under test; Based on the seventh time-domain signal and the eighth time-domain signal, the fourth harmonic order vibration of the drive motor under test within the allowable speed range is obtained; and Based on the fourth harmonic order vibration, the equivalent fourth-order vibration of the drive motor under test is obtained.

7. The method for evaluating harmonic howling according to any one of claims 1 to 6, characterized in that, The permissible speed range is 100 rpm to 3000 rpm.

8. A system for determining defective motors, characterized in that, include: The vibration test feature point determination module is configured to: determine vibration test feature points on the housing of the drive motor; vibration acceleration sensors are provided at multiple vibration test points on the housing of the drive motor. The vibration test feature point determination module is specifically configured as follows: controlling the drive motor to accelerate within the allowable speed range under various motor operating conditions; wherein, different motor operating conditions refer to different test loads of the drive motor; acquiring multiple first time-domain signals of the drive motor speed under various motor operating conditions; acquiring second time-domain signals of vibration acceleration of each vibration acceleration sensor under various motor operating conditions; obtaining the first harmonic order vibration of each vibration acceleration sensor under various motor operating conditions based on the first time-domain signals and the second time-domain signals; obtaining the first order vibration equivalent of each vibration acceleration sensor under various motor operating conditions based on the first harmonic order vibration; obtaining the first average value of the first order vibration equivalent of all vibration test points under various motor operating conditions based on the first order vibration equivalent of all vibration acceleration sensors under various motor operating conditions, and obtaining the first deviation from the mean of the first order vibration equivalent of each vibration test point; and determining the vibration test feature point based on the first average value and the first deviation from the mean. The vibration equivalent limit calculation module is communicatively connected to the vibration test feature point determination module. The vibration equivalent limit calculation module is configured to: select multiple prototype vehicles with motor whistling sound in a critical acceptance state based on the vibration test feature points, and arrange vibration acceleration sensors at the vibration test feature points of the drive motor prototypes of the multiple prototype vehicles respectively, determine the limit calculation prototype for evaluating harmonic whistling sound, and use a test bench to detect the whistling sound harmonic order vibration of the limit calculation prototype running within the allowable speed range, and determine the vibration equivalent limit. The testing module is communicatively connected to the vibration equivalent limit calculation module. The testing module is configured to: detect the whistling harmonic order vibration within the allowable speed range of the drive motor under test using the test bench based on the vibration test characteristic points, and determine the vibration equivalent of the drive motor under test; and The pass / fail judgment module is communicatively connected to the test module. The pass / fail judgment module is configured to: obtain a specified speed range, and determine whether the harmonic howling noise of the drive motor exceeds the standard based on the vibration equivalent and the vibration equivalent limit of the drive motor under test within the specified speed range.

9. An electronic device, characterized in that, The electronic device includes: Processor; and Memory used to store the processor's executable instructions; The processor is used to execute the harmonic howling sound evaluation method according to any one of claims 1 to 7.

Images