A motor state management method, device and equipment

Abstract

The application discloses a motor state management method, considers that the motor may appear acceleration abnormality under some conditions (for example, control current mutation), and thus may cause safety problems, so that the acceleration value of the motor under the variable speed state can be acquired in the embodiment of the application, and prompt information about the acceleration abnormality of the motor is output when the acceleration value is out of the preset normal acceleration range, so that the abnormal state can be found and solved in time, and the safety hidden danger can be eliminated, the failure rate of the motor is reduced, and the acceleration value is acquired by using a Hall sensor circuit, and the method has the advantages of low modification cost and high precision. The application further discloses a motor state management device and equipment, which have the same beneficial effects as the motor state management method.

Description

Technical Field

[0001] This invention relates to the field of electric motors, and in particular to a method for managing the condition of an electric motor. This invention also relates to a device and equipment for managing the condition of an electric motor. Background Technology

[0002] The digitalization and functional integration of motor products are development trends. Motor products are no longer simple energy converters and motion execution units, but integrated modules with communication and control functions. One very important control function is motor self-testing. Currently, the self-testing function of motors is mainly fault self-testing, which can include self-testing for faults such as overvoltage, undervoltage, overcurrent, and overtemperature. However, fault self-testing is only the last line of defense for motor protection functions and cannot meet the new requirements of product digitalization. Existing technology lacks a method to manage the real-time status of motors, so it is impossible to detect abnormal motor conditions as early as possible, resulting in a high motor failure rate.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a motor state management method that facilitates timely detection and resolution of abnormal states and eliminates safety hazards, thereby reducing the motor failure rate. Furthermore, the use of a Hall sensor circuit for acquiring acceleration values ​​offers the advantages of low modification cost and high accuracy. Another objective of this invention is to provide a motor state management device and equipment that facilitates timely detection and resolution of abnormal states and eliminates safety hazards, thereby reducing the motor failure rate. The use of a Hall sensor circuit for acquiring acceleration values ​​also offers the advantages of low modification cost and high accuracy.

[0005] To solve the above-mentioned technical problems, the present invention provides a motor state management method, comprising:

[0006] When the motor is in a variable speed state, the current acceleration value of the motor is obtained through the Hall sensor circuit;

[0007] Determine whether the acceleration value is outside the preset normal acceleration range under the variable speed state;

[0008] If so, the motor acceleration is determined to be abnormal;

[0009] Output a message indicating an abnormal motor acceleration.

[0010] Preferably, the motor state management method further includes:

[0011] When the motor is at a fixed speed, the current speed value of the motor is obtained through the Hall sensor circuit;

[0012] Determine whether the difference between the rotational speed value and the currently set speed value is greater than a first preset threshold.

[0013] If the value is greater than the value, the motor speed is determined to be fluctuating abnormally.

[0014] Output a prompt message regarding abnormal fluctuations in the motor speed.

[0015] Preferably, the Hall sensor circuit includes three first Hall sensors and an amplification and comparison circuit;

[0016] The three first Hall sensors are all disposed on the plane of the circuit board adjacent to the plane where the motor rotor is located. The three first Hall sensors are equidistant from the center of the circle, the spacing between two adjacent first Hall sensors is equidistant, and the angle formed by the line connecting two non-adjacent first Hall sensors to the center of the circle is greater than the inter-pole angle between two adjacent poles of the motor rotor and less than twice the inter-pole angle. The center of the circle is the intersection of the circuit board and the central axis of the rotor.

[0017] The amplification and comparison circuit is used to differentially amplify the differential signals output by the three first Hall sensors and convert them into digital quantities, so as to calculate the acceleration value and rotational speed value of the motor rotor.

[0018] The motor status management method also includes:

[0019] Determine the current rotation direction of the motor;

[0020] Every preset period, acquire the combination of digital quantities corresponding to the differential signals currently output by the first Hall sensor;

[0021] Based on the preset normal combination timing sequence corresponding to the rotation direction, determine whether the current combination is a normal combination relative to the previously acquired combination;

[0022] If not, increment the cumulative count (initial value zero) by one and determine whether the cumulative count has reached the second preset threshold.

[0023] If the timing is achieved, the motor will be stopped and a prompt message about the timing error will be output.

[0024] If the target is not met, then the step of acquiring the combination of digital quantities corresponding to the differential signals currently output by the first Hall sensor at preset intervals is performed.

[0025] Preferably, the Hall sensor circuit further includes two second Hall sensors, a first differential amplifier circuit, and a second differential amplifier circuit;

[0026] Two second Hall sensors are disposed on the circuit board, and the line connecting the two second Hall sensors and the center of the circle is collinear. The first distance between one of the second Hall sensors and the center of the circle minus the first difference of the rotor radius is equal to the rotor radius minus the second difference of the second distance between the other second Hall sensor and the center of the circle.

[0027] The first differential amplifier circuit is used to differentially amplify the differential signals output by the two second Hall sensors, respectively.

[0028] The second differential amplifier circuit is used to differentially amplify the output values ​​of the two second Hall sensors that have undergone differential amplification.

[0029] The motor status management method also includes:

[0030] Obtain a specified number of output values ​​from the second differential amplifier circuit;

[0031] Determine whether the sum of the absolute values ​​of a specified number of output values ​​is greater than a third preset threshold;

[0032] If it is greater than, determine whether the sum of the specified number of output values ​​is less than the fourth preset threshold;

[0033] If it is less than, then the motor rotor is determined to have dynamic polarization;

[0034] Output a warning message regarding the dynamic polarization of the motor rotor.

[0035] Preferably, the motor state management method further includes:

[0036] Determine whether the sum of a specified number of output values ​​is greater than a fifth preset threshold;

[0037] If it is greater than 1, then output a prompt message about the static polarization of the motor rotor in the first direction;

[0038] Determine whether the sum of a specified number of output values ​​is less than a sixth preset threshold;

[0039] If it is less than, then output a prompt message about the existence of static polarization in the second direction of the motor rotor;

[0040] Wherein, the sixth preset threshold is less than the fifth preset threshold, and one of the first direction and the second direction is the centripetal direction, and the other is the centrifugal direction.

[0041] Preferably, the amplification and comparison circuit is specifically an amplification and hysteresis comparison circuit.

[0042] Preferably, after determining that the motor acceleration is abnormal, the motor state management method further includes:

[0043] Control the motor to stop working;

[0044] Determine whether a fault clearance signal has been received;

[0045] If received, the motor is controlled to restart.

[0046] Preferably, the output of the prompt message regarding the abnormal acceleration of the motor specifically includes:

[0047] By adjusting the duty cycle of the pulse signal in the motor's own speed feedback line to a preset duty cycle, a prompt message about the abnormal acceleration of the motor is output.

[0048] To address the aforementioned technical problems, the present invention also provides a motor state management device, comprising:

[0049] The acquisition module is used to acquire the current acceleration value of the motor through a Hall sensor circuit when the motor is in a variable speed state;

[0050] The judgment module is used to determine whether the acceleration value is outside the preset normal acceleration range in the variable speed state. If so, the judgment module is triggered.

[0051] The determination module is used to determine that the motor acceleration is abnormal;

[0052] The output module is used to output a prompt message regarding the abnormal acceleration of the motor.

[0053] To address the aforementioned technical problems, the present invention also provides a motor status management device, comprising:

[0054] Memory, used to store computer programs;

[0055] A processor is used to implement the steps of the motor state management method described above when executing the computer program.

[0056] This invention provides a motor state management method. Considering that motors may experience abnormal acceleration under certain conditions (such as sudden changes in control current), which may cause safety problems, this invention can acquire the acceleration value of the motor in the variable speed state and output a prompt message about the abnormal acceleration of the motor when the acceleration value is outside the preset normal acceleration range. This facilitates timely detection and resolution of the abnormal state and elimination of safety hazards, reducing the failure rate of the motor. Furthermore, the use of a Hall sensor circuit to acquire the acceleration value has the advantages of low modification cost and high accuracy.

[0057] The present invention also provides a motor status management device and equipment, which has the same beneficial effects as the above motor status management method. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A flowchart illustrating a motor status management method provided by the present invention;

[0060] Figure 2 A schematic diagram showing the arrangement of a Hall sensor provided by the present invention;

[0061] Figure 3 This invention provides a schematic diagram of the structure of a Hall sensor and its peripheral circuit.

[0062] Figure 4 A schematic diagram of an amplification and comparison circuit provided by the present invention;

[0063] Figure 5 This is a schematic diagram of the structure of a second differential amplifier circuit provided by the present invention;

[0064] Figure 6 A schematic diagram of the structure of a motor status management device provided by the present invention;

[0065] Figure 7 This is a schematic diagram of the structure of a motor status management device provided by the present invention. Detailed Implementation

[0066] The core of this invention is to provide a motor state management method, which facilitates timely detection and resolution of abnormal states and eliminates safety hazards, thereby reducing the motor failure rate. Furthermore, the use of a Hall sensor circuit for acceleration value acquisition offers the advantages of low modification cost and high accuracy. Another core aspect of this invention is to provide a motor state management device and equipment, which facilitates timely detection and resolution of abnormal states and eliminates safety hazards, thereby reducing the motor failure rate. The use of a Hall sensor circuit for acceleration value acquisition also offers the advantages of low modification cost and high accuracy.

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0068] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a motor state management method provided by the present invention. The motor state management method includes:

[0069] S101: When the motor is in variable speed mode, the current acceleration value of the motor is obtained through the Hall sensor circuit;

[0070] Specifically, considering the technical problems mentioned in the background section above, and also taking into account that the motor may experience abnormal acceleration under certain conditions (such as sudden changes in control current), for example, the normal acceleration of the motor speed under normal acceleration is 20 / s. 2 However, due to the sudden change in control current, this acceleration may instantaneously become 50 / s². 2 This could potentially cause safety issues. Therefore, in this embodiment of the invention, when the motor is in a variable speed state, the current acceleration value of the motor can be obtained through the Hall sensor circuit, which can serve as the data basis for subsequent steps.

[0071] Among them, the Hall sensor circuit can usually be set on the circuit board corresponding to the rotor. It can obtain information such as the real-time position and real-time speed of the motor rotor without being directly connected to the rotor. It has the advantages of simple structure, low modification cost and high accuracy.

[0072] S102: Determine whether the acceleration value is outside the preset normal acceleration range under variable speed conditions;

[0073] Specifically, based on the obtained acceleration value, since this application can preset a normal acceleration range under variable speed conditions, the acceleration value can be directly compared with the preset normal acceleration range to determine whether the obtained acceleration value is normal. The judgment method is relatively simple and quick, improving the judgment speed.

[0074] It is worth mentioning that the speed change state can include two types: acceleration state and deceleration state. Since the acceleration directions are opposite in the two states, a preset normal acceleration range can be set for each of the two speed change states, and the range can be selected when judging the acceleration value of the corresponding speed change state.

[0075] Specifically, the preset normal acceleration range can be set independently. For example, the preset normal acceleration range in the acceleration state can be set to a positive over-limit value DVMAX. Only when the acceleration value is greater than DVMAX is the acceleration abnormality determined. At the same time, the preset normal acceleration range in the deceleration state can be set to a negative over-limit value DVMIN. Only when the acceleration value is less than DVMIN is the acceleration abnormality determined. This embodiment of the invention does not impose any limitations on this.

[0076] S103: If so, the motor acceleration is determined to be abnormal;

[0077] Specifically, the judgment results can accurately determine the abnormal acceleration of the motor.

[0078] S104: Outputs a prompt message regarding abnormal motor acceleration.

[0079] Specifically, in order to facilitate users or staff to promptly understand abnormal motor acceleration and carry out timely repairs, this embodiment of the invention can output prompt information about abnormal motor acceleration.

[0080] This invention provides a motor state management method. Considering that motors may experience abnormal acceleration under certain conditions (such as sudden changes in control current), which may cause safety problems, this invention can acquire the acceleration value of the motor in the variable speed state and output a prompt message about the abnormal acceleration of the motor when the acceleration value is outside the preset normal acceleration range. This facilitates timely detection and resolution of the abnormal state and elimination of safety hazards, reducing the failure rate of the motor. Furthermore, the use of a Hall sensor circuit to acquire the acceleration value has the advantages of low modification cost and high accuracy.

[0081] Based on the above embodiments:

[0082] As a preferred embodiment, the motor state management method further includes:

[0083] When the motor is at a fixed speed, the current speed value of the motor is obtained through the Hall sensor circuit;

[0084] Determine whether the difference between the rotational speed value and the currently set speed value is greater than a first preset threshold.

[0085] If the value is greater than the value, the motor speed is determined to be fluctuating abnormally.

[0086] Output a prompt message regarding abnormal fluctuations in motor speed.

[0087] Specifically, considering that small fluctuations in the motor rotor speed are normal and tolerable when the motor is running at a steady speed, i.e., at a fixed speed, there is a possibility of large fluctuations in the motor rotor speed, which may cause dangers such as motor burnout and should be detected in time. Therefore, in this embodiment of the invention, when the motor is at a fixed speed, the Hall sensor circuit can be used to obtain the current speed value of the motor and determine whether the difference between the current speed value and the current set speed value is greater than a first preset threshold to determine whether it is an intolerable abnormal speed fluctuation. Once the difference is found to be greater than the first preset threshold, it can be determined that the motor speed is abnormally fluctuating, and a prompt message about the abnormal motor speed fluctuation can be output so that relevant personnel can detect the situation in time and carry out maintenance, further improving motor safety and extending the service life of the motor.

[0088] The first preset threshold can be set independently, and this embodiment of the invention does not limit it.

[0089] For a better explanation of the embodiments of the present invention, please refer to Figure 2 as well as Figure 3 as well as Figure 4 , Figure 2 This is a schematic diagram showing the arrangement of a Hall sensor provided by the present invention. Figure 3 This is a schematic diagram of the structure of a Hall sensor and its peripheral circuit provided by the present invention. Figure 4 A schematic diagram of an amplification and comparison circuit provided by the present invention. As a preferred embodiment, the Hall sensor circuit includes three first Hall sensors and an amplification and comparison circuit.

[0090] All three first Hall sensors are set on the plane of the circuit board adjacent to the plane where the motor rotor is located. The three first Hall sensors are equidistant from the center of the circle. The spacing between two adjacent first Hall sensors is equal. The angle formed by the line connecting two non-adjacent first Hall sensors to the center of the circle is greater than the inter-pole angle between two adjacent poles of the motor rotor and less than twice the inter-pole angle. The center of the circle is the intersection of the circuit board and the central axis of the rotor.

[0091] The amplification and comparison circuit is used to differentially amplify the differential signals output by the three first Hall sensors and convert them into digital quantities so as to calculate the acceleration and rotational speed of the motor rotor.

[0092] The motor status management method also includes:

[0093] Determine the current direction of rotation of the motor;

[0094] Every preset period, acquire the combination of digital quantities corresponding to the differential signals currently output by the three first Hall sensors;

[0095] Based on the preset normal combination timing corresponding to the rotation direction, determine whether the current combination is a normal combination relative to the previously obtained combination;

[0096] If not, increment the cumulative count (initial value zero) by one and determine whether the cumulative count has reached the second preset threshold.

[0097] If the timing is achieved, the motor will stop running and a message indicating a timing error will be output.

[0098] If the target is not met, then the step of acquiring the combination of digital quantities corresponding to the differential signals currently output by the three first Hall sensors is performed every preset period.

[0099] Specifically, the differential signals output by the three first Hall sensors can be converted into digital quantities after being amplified and compared by the circuit. Thus, the position, timing, speed, and acceleration of the motor rotor can be determined by the changes in the digital quantities corresponding to the three first Hall sensors. This embodiment of the invention is not limited here.

[0100] In this embodiment of the invention, the circuit structure of the three first Hall sensors and the amplification and comparison circuit is relatively simple and the cost is low. Figure 2 Taking an eight-pole rotor motor body as an example, the position settings of the first Hall sensor and the second Hall sensor are introduced. The Hall sensors and the rotor are distributed in concentric circles, and the first and second Hall sensors are arranged on the back of the PCB board (facing the rotor side). Let r2 be the rotor radius, r1 be the inner Hall radius, and r3 be the outer Hall radius. Then the polar coordinates of the three first Hall sensor positions are H1(π / 6, r1), H3(π / 3, r1) and H4(π / 2, r1), respectively, and the polar coordinates of the second Hall sensor position are (π / 6, r3).

[0101] For details, please refer to Figure 3 The Hall sensor drive and filtering circuit uses a VCC=5V DC power supply for all four Hall sensors (the first and second Hall sensors). R1 ​​and R2 are voltage divider and current limiting resistors, respectively, and their values ​​are determined according to the rated operating current of the Hall sensor. In this method, 82R is selected. C1, C2, C3 and C4 are filter capacitors. The outputs HXOUT1 and HXOUT2 are the differential outputs of the Hall sensors, which are connected to the input terminals of the subsequent differential amplifier circuit.

[0102] Specifically, in Figure 4 In the circuit, comparator IC1 forms an amplification and low-pass filter circuit, with the following analysis: the output voltage range is 0mV-500mV. To improve measurement accuracy, a 10x amplifier is used to make the measurement result 0-5V. Figure 4 In the diagram, Rf / R1 = 10, C19 and Rf constitute a low-pass filter, with a cutoff frequency of... Since the maximum speed of the motor is designed to be 3000 N / min, and the rotor has 8 poles (i.e., 4N+4S), the Hall sensor jumps 8 times per revolution. Therefore, the jumping frequency of the Hall sensor is f = (3000 / 60) * 4 = 200. Here, R1 = 10K. f =100K, C19=1nf, then f0=1.6kHz, therefore f0>5f;

[0103] To prevent the output of IC2 in the amplification and comparator circuit from becoming unstable and repeatedly switching at a certain signal level, the comparator circuit in the amplification and comparator circuit can be designed as a hysteresis comparator circuit, with its state determined by... Figure 4 The amplifier and low-pass filter circuit (based on IC1) and the comparator hysteresis circuit (based on IC2) are used to calculate Von*40k / (40k+10k)=Vcc*20k / (30k+20k), so Von=2.5V.

[0104] Voff*40k / (40k+10k)+Vo*10k / (40k+10k)=VCC*20K / (20k+30k), Voff=1.25V;

[0105] Of course, in addition to this structure, the Hall sensor circuit can also take other specific forms, and the embodiments of the present invention are not limited here.

[0106] Specifically, the preset normal combination timing sequence of the three first Hall sensors corresponding to different rotation directions can be as follows:

[0107] Rotate clockwise: (1,0,1)->(1,0,0)->(1,1,0)->(0,1,0)->(0,1,1)->(0,0,1) repeat;

[0108] Rotate counterclockwise: (1,1,0)->(1,0,0)->(1,0,1)->(0,0,1)->(0,1,1)->(0,1,0) repeat;

[0109] Therefore, if the current combination is a normal combination relative to the previous combination, that is, the current combination appears in the order of the combinations in the preset normal combination sequence, then it is a normal situation. Otherwise, the cumulative count can be incremented by one. When the cumulative count exceeds the second preset threshold, the sequence can be determined to be abnormal.

[0110] It is worth mentioning that after the motor stops running, it can also determine whether a fault clearing signal regarding timing abnormalities has been received. Once received, the accumulated count can be reset to zero and the motor can be restarted, thus improving the level of automation.

[0111] For a better explanation of the embodiments of the present invention, please refer to Figure 5 , Figure 5 The present invention provides a schematic diagram of a second differential amplifier circuit. As a preferred embodiment, the Hall sensor circuit further includes two second Hall sensors, a first differential amplifier circuit, and a second differential amplifier circuit.

[0112] Two second Hall sensors are mounted on the circuit board. The line connecting the two second Hall sensors to the center of the circle is collinear. The first distance between one of the second Hall sensors and the center of the circle minus the first difference of the rotor radius is equal to the rotor radius minus the second difference of the second distance between the other second Hall sensor and the center of the circle.

[0113] The first differential amplifier circuit is used to differentially amplify the differential signals output by the two second Hall sensors respectively;

[0114] The second differential amplifier circuit is used to differentially amplify the output values ​​of the two second Hall sensors that have undergone differential amplification.

[0115] The motor status management method also includes:

[0116] Obtain a specified number of output values ​​from the second differential amplifier circuit;

[0117] Determine whether the sum of the absolute values ​​of a specified number of output values ​​is greater than a third preset threshold;

[0118] If it is greater than, determine whether the sum of a specified number of output values ​​is less than the fourth preset threshold;

[0119] If it is less than, then the motor rotor is determined to have dynamic polarization;

[0120] Output a message indicating that the motor rotor is dynamically polarized.

[0121] Specifically, considering that when the rotor is not polarized, the induced voltages of two second Hall sensors at the same distance from the rotor edge are equal, once the rotor is polarized, the induced voltage of the second Hall sensor closer to the rotor edge will increase, and the induced voltage of the second Hall sensor farther from the rotor edge will decrease. Therefore, in this embodiment of the invention, two second Hall sensors at equal distances from the rotor edge are provided, located on the inner and outer sides of the rotor edge, respectively. In this way, the polarization of the motor rotor can be determined by the difference in the induced voltages of the second Hall sensors.

[0122] Specifically, dynamic polarization refers to the situation where the rotor vibrates or oscillates around a standard position for some reason. In the long run, as the vibration or oscillation continues, the rotor is sometimes closer to the outer second Hall sensor and sometimes closer to the inner Hall sensor. Therefore, the sum of a specified number of output values ​​should be relatively small, but the sum of the absolute values ​​of a specified number of output values ​​is relatively large. Therefore, in this embodiment of the invention, dynamic polarization is determined by two judgment conditions, which has a high accuracy and a relatively simple judgment method.

[0123] Specifically, in Figure 5 In the circuit, the outputs of the two second Hall sensors, after passing through the first differential amplifier circuit, are OUT1 and OUT2, respectively. These two are connected to the positive and negative input terminals of the second differential amplifier circuit, respectively. Additionally, a 5V bias is applied to the positive input terminal. Therefore, the input-output relationship can be obtained as follows:

[0124]

[0125] R p =R1||R3||R4;

[0126] R N =R2||Rf1;

[0127] R p =R N ;

[0128] Given that R1 = R2 = R3 = 100K and Rf1 = 50K, we can obtain R4 = 100K.

[0129]

[0130] That is, the second divider amplifier circuit can output an analog voltage value of 0-5V, and its output value is 2.5V when the rotor is not polarized.

[0131] The specified quantity can be set independently, and this embodiment of the invention does not impose any limitation on it.

[0132] Of course, after determining dynamic polarization, the motor can be stopped, and it can be determined whether a fault clearing signal for dynamic polarization has been received. If it is received, the motor can be restarted.

[0133] Specifically, the first differential amplifier circuit can be Figure 4 The differential amplifier circuit based on IC1 in this embodiment is not limited to the present invention.

[0134] In addition, it is worth mentioning that in this embodiment of the invention, any one of the first Hall sensors can be directly used as the second Hall sensor whose distance from the center of the circle is less than the rotor radius, thereby saving hardware costs.

[0135] As a preferred embodiment, the motor state management method further includes:

[0136] Determine whether the sum of a specified number of output values ​​is greater than a fifth preset threshold;

[0137] If it is greater than 0, output a prompt message about the static polarization of the motor rotor in the first direction;

[0138] Determine whether the sum of a specified number of output values ​​is less than a sixth preset threshold;

[0139] If it is less than, then output a prompt message about the existence of static polarization in the second direction of the motor rotor;

[0140] Among them, the sixth preset threshold is less than the fifth preset threshold, and one of the first direction and the second direction is the centripetal direction, while the other is the centrifugal direction.

[0141] Specifically, static polarization refers to the motor rotor being fixedly offset in one direction, with a fixed distance closer to one of the second Hall sensors and farther from the other. Since the second differential amplifier circuit in this application fixedly subtracts the induced voltage of the other second Hall sensor from the induced voltage of one second Hall sensor, the output value of the second differential amplifier circuit will have two situations when the motor rotor is polarized inward and outward: the first situation is that the output value is too large, and the second situation is that the output value is too small. Therefore, this application sets two preset thresholds, the fifth and the sixth, and compares the sum of a specified number of output values ​​with the five and six preset thresholds to determine which direction the static polarization is in.

[0142] Of course, after determining static polarization, the motor can also be stopped and the fault clearing signal for static polarization can be determined. If the signal is received, the motor can be restarted.

[0143] As a preferred embodiment, the amplification comparator circuit is specifically an amplification hysteresis comparator circuit.

[0144] Specifically, the amplified hysteresis comparator circuit can increase the trigger voltage value of the high-level output, thereby preventing output fluctuations of comparator IC2.

[0145] As a preferred embodiment, after determining that the motor acceleration is abnormal, the motor state management method further includes:

[0146] Control the motor to stop working;

[0147] Determine whether a fault clearance signal has been received;

[0148] If received, the motor will restart.

[0149] Specifically, the embodiments of the present invention can improve the degree of automation and work efficiency.

[0150] The fault clearance signal can be generated in various ways, such as a signal generated autonomously by staff through a human-computer interaction device. This embodiment of the invention does not limit the specific generation method.

[0151] As a preferred embodiment, the specific prompt message regarding abnormal motor acceleration is as follows:

[0152] By adjusting the duty cycle of the pulse signal in the motor's own speed feedback line to a preset duty cycle, a prompt message about abnormal motor acceleration is output.

[0153] Specifically, under normal circumstances, the main controller can feed back the real-time speed value through the frequency of the pulse signal in the speed feedback line. Based on this, in this embodiment of the invention, the duty cycle of the pulse signal in the motor's own speed feedback line can be adjusted to a preset duty cycle to output a prompt message about abnormal motor acceleration.

[0154] Of course, in addition to abnormal motor acceleration, the above-mentioned fault conditions such as abnormal speed fluctuations, abnormal timing, dynamic polarization, and static polarization can also be represented by preset duty cycles of different values. This embodiment of the invention does not limit these fault conditions.

[0155] The preset duty cycle can be set independently. For example, a 20% duty cycle indicates abnormal acceleration or abnormal velocity fluctuations, a 40% duty cycle indicates dynamic polarization, a 50% duty cycle indicates no abnormality, a 60% duty cycle indicates static polarization, and an 80% duty cycle indicates timing abnormalities. This embodiment of the invention does not limit the specific values ​​of these values.

[0156] Please refer to Figure 6 , Figure 6 A schematic diagram of a motor state management device provided for the invention, the motor state management device comprising:

[0157] The acquisition module 61 is used to acquire the current acceleration value of the motor through the Hall sensor circuit when the motor is in a variable speed state;

[0158] The judgment module 62 is used to determine whether the acceleration value is outside the preset normal acceleration range in the variable speed state. If so, the judgment module 63 is triggered.

[0159] Module 63 is used to determine abnormal motor acceleration;

[0160] Output module 64 is used to output prompt information about abnormal motor acceleration.

[0161] For a description of the motor state management device provided in the embodiments of the present invention, please refer to the aforementioned embodiments of the motor state management method; the embodiments of the present invention will not be repeated here.

[0162] Please refer to Figure 7 , Figure 7 This is a schematic diagram of a motor status management device provided by the present invention. The motor status management device includes:

[0163] Memory 71 is used to store computer programs;

[0164] The processor 72 is used to implement the steps of the motor state management method as described in the foregoing embodiments when executing a computer program.

[0165] For a description of the motor status management device provided in the embodiments of the present invention, please refer to the aforementioned embodiments of the motor status management method; the embodiments of the present invention will not be repeated here.

[0166] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0167] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0168] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for managing the state of a motor, characterized in that, include: When the motor is in a variable speed state, the current acceleration value of the motor is obtained through the Hall sensor circuit; Determine whether the acceleration value is outside the preset normal acceleration range under the variable speed state; If so, the motor acceleration is determined to be abnormal; Output a prompt message regarding the abnormal acceleration of the motor; The Hall sensor circuit also includes two second Hall sensors, a first differential amplifier circuit, and a second differential amplifier circuit; Two second Hall sensors are disposed on the circuit board, and the line connecting the two second Hall sensors to the center of the circle is collinear. The first distance between one of the second Hall sensors and the center of the circle minus the first difference of the rotor radius is equal to the rotor radius minus the second difference of the second distance between the other second Hall sensor and the center of the circle. The first differential amplifier circuit is used to differentially amplify the differential signals output by the two second Hall sensors, respectively. The second differential amplifier circuit is used to differentially amplify the output values ​​of the two second Hall sensors that have undergone differential amplification. The motor status management method also includes: Obtain a specified number of output values ​​from the second differential amplifier circuit; Determine whether the sum of the absolute values ​​of a specified number of output values ​​is greater than a third preset threshold; If it is greater than, determine whether the sum of the specified number of output values ​​is less than the fourth preset threshold; If it is less than, then the motor rotor is determined to have dynamic polarization; Output a warning message regarding the dynamic polarization of the motor rotor; the motor state management method also includes: Determine whether the sum of a specified number of output values ​​is greater than a fifth preset threshold; If it is greater than 1, then output a prompt message about the static polarization of the motor rotor in the first direction; Determine whether the sum of a specified number of output values ​​is less than a sixth preset threshold; If it is less than, then output a prompt message about the existence of static polarization in the second direction of the motor rotor; Wherein, the sixth preset threshold is less than the fifth preset threshold, and one of the first direction and the second direction is the centripetal direction, and the other is the centrifugal direction.

2. The motor status management method according to claim 1, characterized in that, The motor status management method also includes: When the motor is at a fixed speed, the current speed value of the motor is obtained through the Hall sensor circuit; Determine whether the difference between the rotational speed value and the currently set speed value is greater than a first preset threshold. If the value is greater than the value, the motor speed is determined to be fluctuating abnormally. Output a prompt message regarding abnormal fluctuations in the motor speed.

3. The motor status management method according to claim 2, characterized in that, The Hall sensor circuit includes three first Hall sensors and an amplification and comparison circuit. The three first Hall sensors are all disposed on the plane of the circuit board adjacent to the plane where the motor rotor is located. The three first Hall sensors are equidistant from the center of the circle, the spacing between two adjacent first Hall sensors is equidistant, and the angle formed by the line connecting two non-adjacent first Hall sensors to the center of the circle is greater than the inter-pole angle between two adjacent poles of the motor rotor and less than twice the inter-pole angle. The center of the circle is the intersection of the circuit board and the central axis of the rotor. The amplification and comparison circuit is used to differentially amplify the differential signals output by the three first Hall sensors and convert them into digital quantities, so as to calculate the acceleration value and rotational speed value of the motor rotor. The motor status management method also includes: Determine the current rotation direction of the motor; Every preset period, acquire the combination of digital quantities corresponding to the differential signals currently output by the first Hall sensor; Based on the preset normal combination timing sequence corresponding to the rotation direction, determine whether the current combination is a normal combination relative to the previously acquired combination; If not, increment the cumulative count (initial value zero) by one and determine whether the cumulative count has reached the second preset threshold. If the timing is achieved, the motor will be stopped and a prompt message about the timing error will be output. If the target is not met, then the step of acquiring the combination of digital quantities corresponding to the differential signals currently output by the first Hall sensor at preset intervals is performed.

4. The motor status management method according to claim 3, characterized in that, The amplification and comparison circuit is specifically an amplification and hysteresis comparison circuit.

5. The motor status management method according to claim 1, characterized in that, After determining that the motor acceleration is abnormal, the motor state management method further includes: Control the motor to stop working; Determine whether a fault clearance signal has been received; If received, the motor is controlled to restart.

6. The motor state management method according to any one of claims 1 to 5, characterized in that, The specific output message regarding the abnormal motor acceleration is as follows: By adjusting the duty cycle of the pulse signal in the motor's own speed feedback line to a preset duty cycle, a prompt message about the abnormal acceleration of the motor is output.

7. A motor status management device, characterized in that, include: The acquisition module is used to acquire the current acceleration value of the motor through a Hall sensor circuit when the motor is in a variable speed state; The judgment module is used to determine whether the acceleration value is outside the preset normal acceleration range in the variable speed state. If so, the judgment module is triggered. The determination module is used to determine that the motor acceleration is abnormal; The output module is used to output a prompt message regarding the abnormal acceleration of the motor; The Hall sensor circuit also includes two second Hall sensors, a first differential amplifier circuit, and a second differential amplifier circuit; Two second Hall sensors are disposed on the circuit board, and the line connecting the two second Hall sensors to the center of the circle is collinear. The first distance between one of the second Hall sensors and the center of the circle minus the first difference of the rotor radius is equal to the rotor radius minus the second difference of the second distance between the other second Hall sensor and the center of the circle. The first differential amplifier circuit is used to differentially amplify the differential signals output by the two second Hall sensors, respectively. The second differential amplifier circuit is used to differentially amplify the output values ​​of the two second Hall sensors that have undergone differential amplification. The motor status management device also performs the following steps: Obtain a specified number of output values ​​from the second differential amplifier circuit; Determine whether the sum of the absolute values ​​of a specified number of output values ​​is greater than a third preset threshold; If it is greater than, determine whether the sum of the specified number of output values ​​is less than the fourth preset threshold; If it is less than, then the motor rotor is determined to have dynamic polarization; Output a prompt message regarding the existence of dynamic polarization in the motor rotor; Determine whether the sum of a specified number of output values ​​is greater than a fifth preset threshold; If it is greater than 1, then output a prompt message about the static polarization of the motor rotor in the first direction; Determine whether the sum of a specified number of output values ​​is less than a sixth preset threshold; If it is less than, then output a prompt message about the existence of static polarization in the second direction of the motor rotor; Wherein, the sixth preset threshold is less than the fifth preset threshold, and one of the first direction and the second direction is the centripetal direction, and the other is the centrifugal direction.

8. A motor status management device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the motor state management method as described in any one of claims 1 to 6 when executing the computer program.

Images