Motor stall detection method, apparatus, storage medium, electronic device

Abstract

The application discloses a motor stall detection method and device, a storage medium and an electronic device. The method comprises the following steps: detecting a current current value of a motor at a current time; determining whether the current current value is greater than a preset current threshold value, wherein the preset current threshold value is determined according to a quadrature-axis voltage value of a rotor synchronous coordinate system of the motor, a back electromotive force and an internal resistance value, and the back electromotive force is a voltage value generated by rotation of the rotor of the motor; and if the current current value is greater than the preset current threshold value, it is determined that the motor is in a stall operation state. The application solves the technical problem of inaccurate motor detection result or untimely protection caused by the fact that the motor speed or the current threshold value cannot be accurately calculated under the motor stall condition.

Description

Technical Field

[0001] This invention relates to the field of motor control, and more specifically, to a method, apparatus, storage medium, and electronic device for detecting motor stall. Background Technology

[0002] In existing technologies, the detection of motor stall primarily involves estimating the motor's current speed and comparing it with the current voltage or current to determine if stalling has occurred. Specifically, this involves collecting the motor's current voltage and current values ​​and estimating the motor's angle and speed based on these values. While this calculation method is relatively accurate when the motor is not stalled, it becomes inaccurate when stalled, potentially leading to misjudgments or delayed protection. Furthermore, delayed detection can result in prolonged high-current operation, potentially causing motor burnout or controller damage.

[0003] Furthermore, some methods for detecting motor stall involve directly comparing whether the current exceeds a certain threshold to determine if stalling has occurred. However, when the load changes abruptly, it is impossible to accurately identify whether the aforementioned motor abnormality is caused by excessive current or by low voltage leading to motor stalling.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method, apparatus, storage medium, and electronic device for detecting motor stall, to at least solve the technical problem of misjudgment of motor detection results or untimely protection caused by the inability to accurately calculate motor speed or current threshold when the motor is stalled.

[0006] According to one aspect of the present invention, a method for detecting motor stall is provided, comprising: detecting the current current value of the motor at the current moment; determining whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined based on the quadrature-axis voltage value, back electromotive force and internal resistance value of the rotor synchronous coordinate system of the motor, the back electromotive force being the voltage value generated by the rotation of the rotor of the motor; if the current current value is greater than the preset current threshold, determining that the motor is in a stall operating state.

[0007] Optionally, the preset current threshold iqmax can be calculated using the following formula: iqmax=(Uq-F) / R; where Uq represents the quadrature-axis voltage value of the rotor synchronous coordinate system of the motor; F represents the back electromotive force of the motor; and R is the resistance value of the motor.

[0008] Optionally, Uq can be calculated using the following formula: Uq=A+B+C+F, where A represents the resistance voltage drop of the motor coil, B represents the stator flux linkage voltage generated by the inductance of the motor coil, and C represents the direct-axis coupling voltage of the motor's rotor synchronous coordinate system.

[0009] Optionally, before detecting the current current value of the motor at the current moment, the method further includes: obtaining the three-phase stator current values ​​of the motor, wherein the three-phase stator current values ​​include: a first fixed current value ia, a second stator current value ib, and a third stator current value ic; performing a two-axis transformation on the first fixed current value ia, the second stator current value ib, and the third stator current value ic using a field-guided control algorithm to obtain a fourth stator current value iα and a fifth stator current value iβ that are orthogonal to each other in the two-axis system; performing a rotation transformation on the variables of the fourth stator current value iα and the fifth stator current value iβ to obtain the id current value on the d-axis and the iq current value on the q-axis in the rotating coordinate system, wherein the rotation transformation is used to control the first transformation angle calculated in advance using a control loop, so that the fourth stator current value iα and the fifth stator current value iβ that are orthogonal to each other in the two-axis system rotate until they are aligned with the rotor flux of the motor.

[0010] Optionally, after obtaining the first orthogonal current value id and the second orthogonal current value iq in the rotating coordinate system, the method further includes: using the fourth stator current value iα, the fifth stator current value iβ, the first stator voltage value Uα, and the second stator voltage value Uβ as input parameters of the field-guided control algorithm to estimate the second transformation angle, wherein the second transformation angle is used to indicate the position of the next voltage vector; using the second transformation angle to invert the Ud voltage value of the motor rotor on the d-axis and the Uq voltage value on the q-axis to the stationary reference coordinate system, and calculating the next orthogonal first stator voltage value Uα and second stator voltage value Uβ based on the Ud voltage value and the Uq voltage value.

[0011] Optionally, before determining whether the current current value is greater than the preset current threshold, the method further includes: when the motor is in normal operation, overcoming the back electromotive force generated by the rotation of the motor based on the first output voltage value of the controller of the motor; and calculating the preset current threshold based on the second output voltage value of the controller, wherein the first output voltage value is greater than the second output voltage value.

[0012] Optionally, the first resistance voltage drop of the motor in the stalled operation state is greater than the second voltage drop of the motor in the normal operation state; the back electromotive force of the motor in the stalled operation state is less than the back electromotive force of the motor in the normal operation state.

[0013] According to another aspect of the present invention, a motor stall detection device is also provided, comprising: a detection module for detecting the current current value of the motor at the current moment; a judgment module for judging whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined based on the quadrature-axis voltage value, back electromotive force and internal resistance value of the rotor synchronous coordinate system of the motor, and the back electromotive force is the voltage value generated by the rotation of the rotor of the motor; and a determination module for determining that the motor is in a stall operation state if the current current value is greater than the preset current threshold.

[0014] According to another aspect of the present invention, a non-volatile storage medium is also provided, which stores a plurality of instructions adapted for loading by a processor and executing any one of the above-described motor stall detection methods.

[0015] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program is configured to execute any of the above-described motor stall detection methods during runtime.

[0016] According to another aspect of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform any of the above-described motor stall detection methods.

[0017] In this embodiment of the invention, a motor stall detection method is adopted. The current current value of the motor at the current moment is detected; it is then determined whether the current current value is greater than a preset current threshold. This preset current threshold is determined based on the quadrature-axis voltage, back electromotive force, and internal resistance value of the motor's rotor synchronous coordinate system. The back electromotive force is the voltage value generated by the rotation of the motor's rotor. If the current current value is greater than the preset current threshold, it is determined that the motor is in a stalled operating state. This achieves the goal of accurately detecting whether the motor is stalled by using a preset current threshold, thus realizing the technical effect of accurately and timely detecting whether the motor is stalled. Furthermore, it solves the technical problem of misjudgment of motor detection results or untimely protection caused by the inability to accurately calculate the motor speed or current threshold when the motor is stalled. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a motor stall detection method according to an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of an optional motor stall detection method according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of an optional FOC control algorithm logic according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of a motor stall detection device according to an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] First, to facilitate understanding of the embodiments of the present invention, some terms or nouns involved in the present invention will be explained below:

[0026] Field-oriented control (FOC), also known as vector control, is a technology that uses a frequency converter (VFD) to control a three-phase AC motor. By adjusting the output frequency, output voltage, and angle of the VFD, the motor output is controlled. It can be used to individually control the magnetic field and torque of the motor. Because FOC processes the three-phase output current and voltage as vectors, it is also called vector control.

[0027] Clarke transformation: Transforms the physical quantities in the three-axis, two-dimensional stator stationary coordinate system to the two-axis stator stationary coordinate system. That is, it simplifies the voltage loop equations on the original three-phase windings into voltage loop equations on the two-phase windings, transforming from the three-phase stator abc coordinate system to the two-phase stator α-β coordinate system. It is also called the 3 / 2 transformation.

[0028] Park transformation: Transforms the two-phase stator α-β coordinate system into a two-axis coordinate system (i.e., direct axis d and quadrature axis q) that rotates synchronously with the rotor flux.

[0029] Inverse Park Transformation: This is the inverse of the Park transformation, which transforms the two-axis coordinate system (i.e., the direct axis d and the quadrature axis q) that rotates synchronously with the rotor flux into the two-phase stator α-β coordinate system.

[0030] Example 1

[0031] According to an embodiment of the present invention, a method for detecting motor stall is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0032] Figure 1 This is a flowchart of a motor stall detection method according to an embodiment of the present invention, as follows: Figure 1 As shown, the method includes the following steps:

[0033] Step S102: Detect the current current value of the motor at the current moment;

[0034] Step S104: Determine whether the current current value is greater than a preset current threshold. The preset current threshold is determined based on the cross-axis voltage value, back electromotive force and internal resistance value of the rotor synchronous coordinate system of the motor. The back electromotive force is the voltage value generated by the rotation of the rotor of the motor.

[0035] Step S106: If the current current value is greater than the preset current threshold, then the motor is determined to be in a stalled operation state.

[0036] Optionally, by determining a reliable and reasonable preset current threshold iqmax, and detecting in real time whether the current value in the motor is greater than iqmax, the motor is in a stalled state when the current value in the motor is greater than iqmax.

[0037] Optionally, the motor generates a back electromotive force (EMF) during normal operation, which is proportional to the motor speed. When the motor is stalled, the motor speed approaches zero, and the back EMF is very small and negligible. By real-time monitoring of the motor's current value and determining the relationship between this current value and `iqmax`, it can be determined whether the motor is in a stalled state. This allows for rapid response and protection, preventing damage to the motor or controller.

[0038] The above embodiments can achieve the following technical effects: providing an adjustable preset current threshold for the motor, when the motor load changes, the preset current threshold will be updated in real time with the load change, thereby quickly and accurately judging the stall state of the motor, realizing fast and accurate protection of the motor, and effectively avoiding damage to the motor or controller.

[0039] As an optional embodiment, the preset current threshold iqmax is calculated using the following formula: iqmax=(Uq-F) / R; where Uq represents the quadrature-axis voltage value of the rotor synchronous coordinate system of the motor; F represents the back electromotive force of the motor; and R is the resistance value of the motor.

[0040] Optionally, the back electromotive force F of the aforementioned motor can be, but is not limited to, F = ωe * Φf. The quadrature-axis voltage value Uq of the rotor synchronous coordinate system of the aforementioned motor consists of four parts: the voltage drop across the resistance of the motor coil, the stator flux linkage voltage generated by the inductance of the motor coil, the direct-axis coupling voltage of the rotor synchronous coordinate system, and the back electromotive force of the motor. When the aforementioned motor is operating normally, due to the presence of the stator flux linkage voltage generated by the inductance of the motor coil and the direct-axis coupling voltage of the rotor synchronous coordinate system, the current generated by the resistor in the aforementioned motor cannot be greater than (Uq - ωe * Φf) / R. At this time, the preset current threshold iqmax of the aforementioned motor is calculated to be (Uq - ωe * Φf) / R. When the aforementioned motor is stalled, the aforementioned back electromotive force can be ignored, that is, at this time, the current value generated by the resistor is close to Uq / R, which is much greater than iqmax. That is, when the sampled current value generated by the resistor in the aforementioned motor is greater than iqmax, it can be determined that the aforementioned motor is in a stalled operating state. Optionally, the preset current threshold iqmax of the motor is updated in real time according to the working state of the motor. That is, the value of the preset current threshold iqmax will be adjusted in a timely manner according to the change of load. Compared with a fixed preset current value, the above method can respond more promptly and judge the current operating state of the motor.

[0041] As an optional embodiment, the above-mentioned Uq is calculated by the following formula: Uq=A+B+C+F, where A is used to represent the resistance voltage drop of the coil of the above-mentioned motor, B is used to represent the stator flux linkage voltage generated by the inductance of the coil of the above-mentioned motor, and C is used to represent the direct-axis coupling voltage of the rotor synchronous coordinate system of the above-mentioned motor.

[0042] Optionally, the coil of the above-mentioned motor may be, but is not limited to, the stator coil, and the resistance voltage drop A of the above-mentioned motor coil may be, but is not limited to, A = R * iq; the stator flux linkage voltage B generated by the inductance on the coil of the above-mentioned motor may be, but is not limited to, The direct-axis coupling voltage C in the rotor synchronous coordinate system of the aforementioned motor can be, but is not limited to, C = ωe*Ld*id. That is, the aforementioned Uq can be, but is not limited to... Where A = R * iq represents the voltage drop across the coil of the aforementioned motor. The stator flux linkage voltage value generated by the inductance on the coil of the aforementioned motor is represented by C = ωe * Ld * id. The direct-axis coupling voltage value of the rotor synchronous coordinate system of the aforementioned motor is represented by R, where R represents the resistance of the stator, Ld and Lq represent the inductive components of the motor on the d and q axes respectively, id and iq represent the current components of the motor on the d and q axes respectively, ωe is the electrical angular frequency of the aforementioned motor, and Φf represents the flux linkage constant of the aforementioned motor. Optionally, the quadrature-axis voltage value Uq of the rotor synchronous coordinate system of the aforementioned motor is composed of the resistance voltage drop R * iq of the motor coil and the stator flux linkage voltage value generated by the inductance on the coil of the aforementioned motor. The above-mentioned motor consists of four parts: the direct-axis coupling voltage ωe*Ld*id of the rotor synchronous coordinate system and the back electromotive force ωe*Φf of the above-mentioned motor. The process of obtaining the quadrature-axis voltage value Uq of the rotor synchronous coordinate system of the above-mentioned motor is as follows: the three-phase stator currents ia, ib, and ic of the motor are sampled by sensors; the three-phase stator currents are transformed into a two-axis system to obtain mutually orthogonal current values ​​iα and iβ; the first transformation angle calculated in advance is controlled by the control loop, and the above ia and iβ are rotated to obtain orthogonal currents id and iq in the rotating coordinate system, and aligned with the rotor flux; a new transformation angle is estimated based on the above transformation result, wherein the new transformation angle can reflect the position information of the next voltage vector; using the above new transformation angle, the voltage output value of the PID controller is inverted to the stationary reference coordinate system, and the next orthogonal voltage values ​​Uα and Uβ are calculated; the back electromotive force amplitude, i.e., ωe*Φf, is calculated based on the motor flux linkage constant φf and the observed electric angular frequency ωe; the theoretical resistance voltage drop, i.e., R*iq, is calculated by the current flowing through the motor stator.

[0043] As an optional embodiment, Figure 2This is a flowchart of an optional motor stall detection method according to an embodiment of the present invention, such as... Figure 2 As shown, before detecting the current current value of the motor at the current moment, the above-mentioned motor stall detection method includes the following steps:

[0044] Step S202: Obtain the three-phase stator current values ​​of the motor, wherein the three-phase stator current values ​​include: a first fixed current value ia, a second stator current value ib, and a third stator current value ic.

[0045] Step S204: The magnetic field guidance control algorithm is used to perform two-axis transformation on the first fixed current value ia, the second stator current value ib, and the third stator current value ic to obtain the fourth stator current value iα and the fifth stator current value iβ, which are orthogonal to each other in the two-axis system.

[0046] Step S206: Perform rotation transformation on the above-mentioned fourth stator current value iα and fifth stator current value iβ to obtain the id current value on the d-axis and the iq current value on the q-axis in the rotating coordinate system. The rotation transformation is used to control the first transformation angle calculated in advance by the control loop, so that the fourth stator current value iα and the fifth stator current value iβ, which are orthogonal to each other in the above two-axis system, rotate until they are aligned with the rotor flux of the above motor.

[0047] In this embodiment of the invention, the above-mentioned stator current value transformation processing is all implemented through the FOC control algorithm. Figure 3 This is a schematic diagram of an optional FOC control algorithm logic according to an embodiment of the present invention, such as... Figure 3 As shown, for example, the Clarke Transform module is used to transform the three-phase stator currents of the motor, namely the first fixed current value ia, the second stator current value ib, and the third stator current value ic, into a stationary two-axis system to obtain the mutually orthogonal fourth stator current value iα and fifth stator current value iβ. The specific calculation formula is as follows:

[0048]

[0049] The Parker transformation module is used to rotate and transform the aforementioned fourth stator current value iα and fifth stator current value iβ in a stationary two-axis system to obtain the id current value on the d-axis and the iq current value on the q-axis in a rotating coordinate system. The specific calculation formula is as follows:

[0050] i qs =i α cosθ γ -i β sinθ γ i ds =i α sinθ γ +iβ cosθ γ ;

[0051] The Parker inverse transformation module is used to invert the rotor voltage values ​​Ud on the d-axis and Uq on the q-axis of the aforementioned motor to the stationary reference coordinate system, and calculate the next orthogonal first stator voltage value Uα and second stator voltage value Uβ based on the aforementioned Ud and Uq voltage values. The specific calculation formula is as follows:

[0052] U α =U qs cosθ γ +U ds sinθ γ U α =-U qs sinθ γ +U ds cosθ γ .

[0053] Optionally, the three-phase stator currents of the motor are sampled by sensors and are identified as a first fixed current value ia, a second stator current value ib, and a third stator current value ic. The three-phase currents are then processed by a two-axis transformation using an FOC control algorithm to obtain a fourth stator current value iα and a fifth stator current value iβ that are orthogonal to each other in the two-axis system. The first transformation angle, calculated in advance by the control loop, is used to rotate the fourth stator current value iα and the fifth stator current value iβ that are orthogonal to each other in the two-axis system until they are aligned with the rotor flux of the motor. The rotation transformation of the fourth stator current value iα and the fifth stator current value iβ yields the id current value on the d-axis and the iq current value on the q-axis in the rotating coordinate system, wherein the id current value and the iq current value are orthogonal currents transformed into the rotating coordinate system.

[0054] As an optional embodiment, after obtaining the first orthogonal current value id and the second orthogonal current value iq in the rotating coordinate system, the above method further includes:

[0055] Step S302: The fourth stator current value ia, the fifth stator current value iβ, the first stator voltage value Uα, and the second stator voltage value Uβ are used as input parameters of the above-mentioned magnetic field guidance control algorithm to estimate the second transformation angle, wherein the second transformation angle is used to indicate the position of the next voltage vector.

[0056] Step S304: Using the second transformation angle, the Ud voltage value of the rotor of the motor on the d-axis and the Uq voltage value on the q-axis are inverted to the stationary reference coordinate system, and the next orthogonal first stator voltage value Ua and second stator voltage value Uβ are calculated based on the Ud voltage value and Uq voltage value.

[0057] Optionally, the first stator voltage value Uα, the second stator voltage value Uβ, the fourth stator current value iα, and the fifth stator current value iβ are used as input parameters of the field-guided control algorithm to estimate the second transformation angle. This second transformation angle indicates the position of the next voltage vector in the FOC control algorithm, and the next orthogonal first stator voltage value Ua and second stator voltage value Uβ are calculated based on the aforementioned Ud and Uq voltage values. The orthogonal first stator voltage value Uα and second stator voltage value Uβ in the stationary reference coordinate system are obtained by inverting the rotor's Ud voltage value on the d-axis and Uq voltage value on the q-axis of the motor using the Parker inverse transformation module in the FOC control algorithm.

[0058] As an optional embodiment, before determining whether the current current value is greater than the preset current threshold, the method further includes: when the motor is in normal operation, the first output voltage value of the motor controller is used to overcome the back electromotive force generated by the rotation of the motor, and the second output voltage value of the controller is used to calculate the preset current threshold, wherein the first output voltage value is greater than the second output voltage value.

[0059] Optionally, when the motor is in normal operation, the output voltage of the motor controller is divided into a first output voltage value and a second output voltage value. The first output voltage value of the motor controller accounts for about 70% of the output voltage of the motor controller, that is, the first output voltage value is greater than the second output voltage value. It is mainly used to overcome the back electromotive force generated by the rotation of the motor. The second output voltage value of the controller is used to calculate the preset current threshold.

[0060] As an optional embodiment, the first resistance voltage drop of the motor in the stalled operation state is greater than the second voltage drop of the motor in the normal operation state; the back electromotive force of the motor in the stalled operation state is less than the back electromotive force of the motor in the normal operation state.

[0061] Optionally, when the motor is working normally, the first output voltage value is greater than the second output voltage value, and the resistance voltage drop of the motor is relatively small. When the motor is in a stalled state, the resistance voltage drop of the motor is very large, the back EMF is very small, and most of the output voltage of the motor acts on the internal resistance of the motor, which generates a very large current.

[0062] Through the above description of the embodiments, those skilled in the art can clearly understand that the system according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0063] Example 2

[0064] According to an embodiment of the present invention, an apparatus embodiment for implementing the above-described motor stall detection method is also provided. Figure 4 This is a schematic diagram of a motor stall detection device according to an embodiment of the present invention, as shown below. Figure 4 As shown, the above-mentioned motor stall detection device includes: a detection module 40, a judgment module 42, and a determination module 44, wherein:

[0065] The detection module 40 is used to detect the current current value of the motor at the current moment; the judgment module 42 is used to determine whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined based on the quadrature-axis voltage value, back electromotive force and internal resistance value of the rotor synchronous coordinate system of the motor, and the back electromotive force is the voltage value generated by the rotation of the rotor of the motor; the determination module 44 is used to determine that the motor is in a stalled operation state if the current current value is greater than the preset current threshold.

[0066] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0067] It should be noted that the detection module 40, judgment module 42, and determination module 44 mentioned above correspond to steps S102 to S106 in Embodiment 1. The instances and application scenarios implemented by the above modules and their corresponding steps are the same, but they are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the device, can run on a computer terminal.

[0068] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant description in Embodiment 1, and will not be repeated here.

[0069] The aforementioned motor stall detection device may also include a processor and a memory. The aforementioned detection module 40, judgment module 42, determination module 44, etc., are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0070] The processor contains a core that retrieves corresponding program units from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0071] According to an embodiment of the present invention, an embodiment of a non-volatile storage medium is also provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein, when the program is running, it controls the device containing the non-volatile storage medium to execute any of the aforementioned motor stall detection methods.

[0072] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the non-volatile storage medium includes stored programs.

[0073] Optionally, during program execution, the device containing the non-volatile storage medium is controlled to perform the following functions: detect the current current value of the motor at the current moment; determine whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined based on the quadrature-axis voltage value, back electromotive force, and internal resistance value of the rotor synchronous coordinate system of the motor, and the back electromotive force is the voltage value generated by the rotation of the rotor of the motor; if the current current value is greater than the preset current threshold, then it is determined that the motor is in a stalled operation state.

[0074] According to an embodiment of the present invention, an embodiment of a processor is also provided. Optionally, in this embodiment, the processor is used to run a program, wherein the program executes any of the above-described motor stall detection methods.

[0075] According to an embodiment of the present invention, an embodiment of an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform any of the above-described motor stall detection methods.

[0076] According to an embodiment of the present invention, an embodiment of a computer program product is also provided, which, when executed on a data processing device, is adapted to execute a program that initializes the motor stall detection method steps described above.

[0077] Optionally, when the aforementioned computer program product is executed on a data processing device, it is suitable to execute an initialization program with the following method steps: detecting the current current value of the motor at the current moment; determining whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined based on the quadrature-axis voltage value, back electromotive force, and internal resistance value of the rotor synchronous coordinate system of the motor, and the back electromotive force is the voltage value generated by the rotation of the rotor of the motor; if the current current value is greater than the preset current threshold, then determining that the motor is in a stalled operation state.

[0078] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0079] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0081] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0083] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a non-volatile storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned non-volatile storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of detecting a locked-rotor condition of an electric machine, the method comprising: The method comprises: detecting a current current value of the motor at a current time; determining whether the current current value is greater than a preset current threshold, wherein the preset current threshold is determined according to a quadrature axis voltage value of a rotor synchronous coordinate system of the motor, a back electromotive force and an internal resistance value, and the back electromotive force is a voltage value generated by rotation of a rotor of the motor; if the current current value is greater than the preset current threshold, it is determined that the motor is in a locked-rotor operating state; Wherein, the motor rotor synchronous coordinate system of the cross axis voltage value is obtained by the following formula : wherein, a value of a resistance voltage drop of a coil of the electric machine, a value of a stator flux linkage voltage generated by an inductance on the coil of the electric machine, a value of a direct axis coupling voltage of a rotor synchronous coordinate system of the electric machine, a value of a back electromotive force of the electric machine, wherein R is a resistance of a stator of the electric machine, Ld and Lq are inductance components of the electric machine on a d-axis and a q-axis, respectively, id and iq are current components of the electric machine on the d-axis and the q-axis, respectively, and ωe is an electrical angular frequency of the electric machine, a value of a flux linkage constant of the electric machine; The preset current threshold is calculated by the following formula : ; wherein the first resistance voltage drop value of the motor in the locked-rotor operating state is greater than the second resistance voltage drop value of the motor in the normal operating state; and the back electromotive force of the motor in the locked-rotor operating state is less than the back electromotive force of the motor in the normal operating state.

2. The method of claim 1, wherein, Before detecting the current current value of the motor at the current time, the method further comprises: obtaining three-phase stator current values of the motor, wherein the three-phase stator current values comprise a first stator current value ia, a second stator current value ib and a third stator current value ic; performing two-axis transformation processing on the first stator current value ia, the second stator current value ib and the third stator current value ic by using a magnetic field oriented control algorithm to obtain fourth stator current values iα and fifth stator current values iβ that are mutually orthogonal in a two-axis system; performing rotation transformation processing on the fourth stator current values iα and the fifth stator current values iβ to obtain an id current value on a d axis and an iq current value on a q axis in a rotating coordinate system, wherein the rotation transformation processing is used to control a first transformation angle obtained by pre-iterative calculation, so that the fourth stator current values iα and the fifth stator current values iβ that are mutually orthogonal in the two-axis system rotate until they are aligned with the rotor magnetic flux of the motor.

3. The method of claim 2, wherein, After obtaining the first orthogonal current value id and the second orthogonal current value iq in the rotating coordinate system, the method further comprises: taking the fourth stator current values iα, the fifth stator current values iβ, a first stator voltage value Uα and a second stator voltage value Uβ as input parameters of the magnetic field oriented control algorithm to estimate a second transformation angle, wherein the second transformation angle is used to indicate a position of a next voltage vector; performing inverse transformation processing on a Ud voltage value of the rotor of the motor on the d axis and a Uq voltage value of the rotor of the motor on the q axis to a stationary reference coordinate system by using the second transformation angle, and calculating a next orthogonal first stator voltage value Uα and a next orthogonal second stator voltage value Uβ based on the Ud voltage value and the Uq voltage value.

4. The method of claim 1, wherein, Before determining whether the current current value is greater than the preset current threshold, the method further comprises: when the motor is in a normal operating state, overcoming the back electromotive force generated by the rotation of the motor based on a first output voltage value of a controller of the motor; and calculating the preset current threshold based on a second output voltage value of the controller, wherein the first output voltage value is greater than the second output voltage value, wherein the first output voltage is equivalent to a value of F, and the second output voltage is equivalent to a value of A+B+C.

5. A motor stall detection device, characterized in that, The method comprises: a detection module configured to detect a current current value of the motor at a current time; The judging module is configured to judge whether the current current value is greater than a preset current threshold value, wherein the preset current threshold value is determined according to a quadrature axis voltage value of a rotor synchronous coordinate system of the motor, a back electromotive force and an internal resistance value, and the back electromotive force is a voltage value generated by rotation of a rotor of the motor. The determining module is configured to determine that the motor is in a locked-rotor operating state if the current current value is greater than the preset current threshold value. The device is further configured to obtain a quadrature axis voltage value of the rotor synchronous coordinate system of the motor by using the following formula : wherein, a value of a resistance voltage drop of a coil of the electric machine, a value of a stator flux linkage voltage generated by an inductance on the coil of the electric machine, a value of a direct axis coupling voltage of a rotor synchronous coordinate system of the electric machine, a value of a back electromotive force of the electric machine, wherein R is a resistance of a stator of the electric machine, Ld and Lq are inductance components of the electric machine on a d-axis and a q-axis, respectively, id and iq are current components of the electric machine on the d-axis and the q-axis, respectively, and ωe is an electrical angular frequency of the electric machine, a value of a flux linkage constant of the electric machine; The device is further configured to calculate the preset current threshold value by the following formula : ; The device is further configured to determine that a first resistance voltage drop value of the motor in the locked-rotor operating state is greater than a second resistance voltage drop value of the motor in a normal operating state, and determine that a back electromotive force of the motor in the locked-rotor operating state is less than a back electromotive force of the motor in the normal operating state.

6. A non-volatile storage medium, comprising: The non-volatile storage medium stores a plurality of instructions, and the instructions are adapted to be loaded and executed by the processor to implement the motor locked-rotor detection method in any one of claims 1 to 4.

7. An electronic device comprising a memory and a processor, characterized in that The memory stores a computer program, and the processor is configured to execute the computer program to implement the motor locked-rotor detection method in any one of claims 1 to 4.

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