Method and device for diagnosing rotor eccentricity fault based on mcu and vehicle

Abstract

The application provides a rotor eccentric fault diagnosis method and device based on MCU and a vehicle, and the method comprises the following steps: in response to a control instruction, a motor is controlled to operate at a constant rotating speed; a rotating speed signal of the motor is acquired through a position sensor; a rotating speed ripple is extracted according to the rotating speed signal of the motor; a rotating speed ripple amplitude is calculated based on the rotating speed ripple; a rotor eccentricity is acquired according to the rotating speed ripple amplitude; and a diagnosis result is obtained according to the rotor eccentricity. The method can solve the problem that the rotor eccentric fault diagnosis methods commonly used at present, such as current spectrum analysis and back electromotive force analysis, are difficult to apply to the new energy vehicle electric drive system of the embedded permanent magnet synchronous motor using a distributed winding, can effectively diagnose the rotor eccentric fault in real time, and can be directly applied in the vehicle system without additional offline calculation, and is more convenient and fast.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of generators, in particular to a rotor eccentric fault diagnosis method and device based on MCU and a vehicle. BACKGROUND

[0002] In recent years, new energy vehicles with electric drive have developed rapidly, and their share in the overall vehicle market has increased year by year. Rotor eccentric fault is a problem that new energy vehicles with electric drive may encounter. Due to various reasons, the rotor of the electric motor may become eccentric, resulting in uneven air gap distribution and electromagnetic force on the stator and rotor, thereby causing vibration of the stator and rotor, increasing noise and vibration, and in severe cases, causing bearing wear and rotor cracking, which adversely affects the performance of the electric motor.

[0003] Currently, the rotor eccentric fault is diagnosed by current spectrum analysis method which collects current signals of the motor and then performs offline calculation and analysis, or back electromotive force analysis method which collects the waveform of back electromotive force and then analyzes the waveform of back electromotive force.

[0004] However, the embedded permanent magnet synchronous motor with distributed windings is commonly used in the main power drive motor of the electric drive system of new energy vehicles. The current spectrum analysis method cannot be directly analyzed and diagnosed in the vehicle electric drive system, and the motor needs to be separated from the system for offline data calculation. Moreover, for the permanent magnet synchronous motor with distributed windings, when the rotor eccentricity occurs, the back electromotive force does not change with the rotor eccentricity, and the back electromotive force analysis method cannot be used for judgment. The commonly used rotor eccentric fault diagnosis method has difficulty in applying to the new energy vehicle electric drive system using the embedded permanent magnet synchronous motor with distributed windings. SUMMARY

[0005] Therefore, the present application aims to provide a rotor eccentric fault diagnosis method based on MCU to solve the problem that the commonly used rotor eccentric fault diagnosis methods such as current spectrum analysis and back electromotive force analysis have difficulty in applying to the new energy vehicle electric drive system using the embedded permanent magnet synchronous motor with distributed windings.

[0006] To achieve the above-mentioned purpose, the technical solution of the present application is as follows:

[0007] A rotor eccentric fault diagnosis method based on MCU, the method comprising:

[0008] responding to a control instruction, controlling the motor to operate at a constant speed;

[0009] acquiring the speed signal of the motor through a position sensor;

[0010] extracting the speed ripple according to the speed signal of the motor;

[0011] Based on the rotation speed ripple, a rotation speed ripple amplitude is calculated;

[0012] According to the rotation speed ripple amplitude, a rotor eccentricity is obtained;

[0013] According to the rotor eccentricity, a diagnosis result is obtained.

[0014] Optionally, the response control instruction controls the motor to operate at a constant rotation speed, including:

[0015] The first voltage and the first frequency are obtained through the control instruction;

[0016] According to the first voltage and the first frequency, the motor is controlled to operate at a constant rotation speed.

[0017] Optionally, the rotation speed ripple is extracted according to the rotation speed signal of the motor, including:

[0018] According to the rotation speed signal of the motor, the rotation speed ripple is extracted through a band-pass filter.

[0019] Optionally, the rotation speed ripple amplitude is calculated based on the rotation speed ripple, including:

[0020] Based on the rotation speed ripple, the rotation speed ripple amplitude is calculated through a fast Fourier transform.

[0021] Optionally, the rotor eccentricity is obtained according to the rotation speed ripple amplitude, including:

[0022] According to the corresponding relationship between the rotation speed ripple amplitude and the rotor eccentricity, the corresponding rotor eccentricity is obtained through the rotation speed ripple amplitude.

[0023] Optionally, the diagnosis result is obtained according to the rotor eccentricity, including:

[0024] When the rotor eccentricity is greater than or equal to a first preset value, it is determined that the diagnosis result is that there is a rotor eccentric fault;

[0025] When the rotor eccentricity is less than the first preset value, it is determined that the diagnosis result is normal.

[0026] Compared with the prior art, the rotor eccentric fault diagnosis method based on the MCU has the following advantages:

[0027] For the embedded permanent magnet synchronous motor with distributed winding widely used in electric drive vehicles, through the drive motor controller and combined with software algorithm, when the rotor eccentricity fault occurs, the motor is first controlled in open loop to remove the influence of the controller control, then the rotor position information is sampled, and after signal processing, the rotor eccentricity and the amount of rotor eccentricity are obtained. This method can effectively diagnose the rotor eccentricity fault in real time without additional offline calculation, and can be directly applied in the vehicle system, solving the problem that the current spectrum analysis, back electromotive force analysis and other rotor eccentricity fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system using the embedded permanent magnet synchronous motor with distributed winding.

[0028] Another object of the present application is to provide a rotor eccentricity fault diagnosis device based on MCU to solve the problem that the current spectrum analysis, back electromotive force analysis and other rotor eccentricity fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system using the embedded permanent magnet synchronous motor with distributed winding.

[0029] To achieve the above object, the technical scheme of the present application is as follows:

[0030] A rotor eccentricity fault diagnosis device based on MCU, the device comprises:

[0031] A response module for responding to a control instruction to control the motor to operate at a constant speed;

[0032] A speed acquisition module for acquiring the speed signal of the motor through a position sensor;

[0033] An extraction module for extracting the speed ripple from the speed signal of the motor;

[0034] A calculation module for calculating the speed ripple amplitude based on the speed ripple;

[0035] An eccentricity acquisition module for acquiring the rotor eccentricity based on the speed ripple amplitude;

[0036] A result acquisition module for obtaining a diagnosis result based on the rotor eccentricity.

[0037] The device and the above method have the same advantages as the prior art, which will not be repeated here.

[0038] Another object of the present application is to provide a vehicle to solve the problem that the current spectrum analysis, back electromotive force analysis and other rotor eccentricity fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system using the embedded permanent magnet synchronous motor with distributed winding.

[0039] The MCU-based rotor eccentric fault diagnosis device is used to execute the MCU-based rotor eccentric fault diagnosis method.

[0040] The MCU-based rotor eccentric fault diagnosis device has the same advantages as the above-mentioned method and the above-mentioned device, which will not be repeated here.

[0041] Another object of the present application is to provide an electronic device to solve the problem that the current commonly used current spectrum analysis, back electromotive force analysis and other rotor eccentric fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system of the buried permanent magnet synchronous motor using distributed windings.

[0042] To achieve the above object, the technical solution of the present application is as follows:

[0043] An electronic device includes a processor and a memory, the memory stores programs or instructions that can be run on the processor, and the programs or instructions are executed by the processor to implement the steps of the MCU-based rotor eccentric fault diagnosis method according to any one of the above.

[0044] The electronic device has the same advantages as the above-mentioned vehicle control method, which will not be repeated here.

[0045] Another object of the present application is to provide a readable storage medium to solve the problem that the current commonly used current spectrum analysis, back electromotive force analysis and other rotor eccentric fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system of the buried permanent magnet synchronous motor using distributed windings.

[0046] To achieve the above object, the technical solution of the present application is as follows:

[0047] A readable storage medium, the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the MCU-based rotor eccentric fault diagnosis method according to any one of the above.

[0048] The readable storage medium has the same advantages as the above-mentioned vehicle control method, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The accompanying drawings should not be regarded as a limitation of the present application. In the drawings:

[0050] Figure 1 A step flow chart of the MCU-based rotor eccentric fault diagnosis method according to the embodiment of the present application;

[0051] Figure 2 A schematic diagram of a rotating speed signal processing procedure according to an embodiment of the present application is shown in the figure.

[0052] Figure 3 A schematic diagram of rotating speed ripples corresponding to different rotor eccentricities according to an embodiment of the present application is shown in the figure.

[0053] Figure 4 A schematic diagram of rotating speed ripple amplitudes corresponding to different rotor eccentricities according to an embodiment of the present application is shown in the figure.

[0054] Figure 5 A block diagram of a rotor eccentricity fault diagnosis device based on MCU according to an embodiment of the present application is shown in the figure.

[0055] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0056] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0057] The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] The present application provides a rotor eccentricity fault diagnosis method based on MCU. As shown in the figure, the rotor eccentricity fault diagnosis method based on MCU provided by the present application can include the following steps: Figure 1

[0059] Step 101, in response to a control instruction, control the motor to operate at a constant rotating speed.

[0060] The rotor eccentricity fault diagnosis method based on MCU provided by the present application is realized through a microcontroller unit (MCU) / motor control unit (MCU) in a vehicle. The motor control unit can control the rotating speed of the motor according to a control instruction issued by a host computer. The control instruction is an instruction containing relevant information for controlling the rotating speed of the motor. The relevant information for controlling the rotating speed of the motor includes a first voltage and a first frequency. Controlling the motor to operate at a constant rotating speed means keeping the rotating speed of the motor unchanged.

[0061] Optionally, step 101 includes:

[0062] Sub-step 1011, obtain the first voltage and the first frequency through the control instruction.

[0063] ​The first voltage is a preset voltage obtained through the control instruction; and the first frequency is a preset frequency obtained through the control instruction. In the embodiment of the application, the motor is controlled to rotate at a constant speed by using an open-loop driving method, and a constant-frequency constant-voltage control method of fixed voltage and frequency can be used to control the motor speed.

[0064] The constant-frequency constant-voltage control method does not involve the adjustment of control parameters, and can avoid the influence of the adjustment of control parameters on the speed accuracy of the motor in the feedback control system commonly used. The motor control unit can first obtain the fixed first voltage and first frequency according to the control instruction from the upper computer.

[0065] In substep 1012, the motor is controlled to rotate at a constant speed according to the first voltage and the first frequency.

[0066] In the embodiment of the application, after the first voltage and the first frequency are obtained, the voltage control module of the vehicle can be controlled by the MCU to give the voltage of the motor as the first voltage, and the power model module can be controlled by the PWM technology (Pulse Width Modulation) to give the frequency of the motor as the first frequency, so as to drive the motor to rotate at a constant speed. The pulse width modulation is a method of digitally encoding an analog signal level, which disperses the effective electrical signal into a discrete form to reduce the average power transmitted by the electrical signal. According to the area equivalent rule, the required waveform can be obtained by modulating the width of a series of pulses. Of course, the speed of the motor can also be controlled by other ways, and the embodiment of the application does not limit this.

[0067] It should be noted that the embodiment of the application does not limit the specific values of the first voltage, the first frequency and the corresponding constant speed.

[0068] In step 102, the speed signal of the motor is obtained through the position sensor.

[0069] In the embodiment of the application, the position sensor can be a rotor position sensor configured for the motor, such as a rotary encoder commonly used on new energy vehicles. The rotary encoder is an optical rotary measuring device, which can convert the angular displacement and angular velocity of the output shaft into corresponding electrical pulses to output in digital form through photoelectric conversion. The speed signal includes the rotor angle and speed of the motor and other speed information.

[0070] After the motor is operated at a constant rotating speed, the rotor position signal of the motor can be collected by a position sensor of the vehicle. Specifically, two waveforms with a phase difference of 90 degrees can be output by a rotary encoder, and the two waveforms are input into an RDC (resolver to digital converter) chip through a resolver analysis circuit, and the rotating speed of the motor is calculated by the RDC chip; or the two waveforms are input into an ADC (Analog-to-Digital Converter) chip through an analysis circuit, and the rotor angle and the rotating speed (rotating speed) are analyzed by a phase-locked loop or a trigonometric function. The specific means is not limited in the embodiments of the present application.

[0071] In step 103, the rotating speed ripple is extracted according to the rotating speed signal of the motor.

[0072] When the motor is safely and stably operated at a constant rotating speed, the centers of the stator core, the rotor core and the rotor rotating center (i.e. the center position of the rotor rotating track) are completely coincident. At this time, the air gap between the stator and the rotor is symmetrically distributed, and the electromagnetic force on the surfaces of the stator and the rotor in the magnetic field is also uniformly symmetric, the resultant force of the electromagnetic force of the stator and the rotor is zero, there is no other direction of the magnetic pull, the rotor does not deviate, and the motor can be stably operated. However, when the above three centers are not coincident due to various reasons, the rotor eccentricity fault occurs. When the rotor deviates, the air gap of the motor is unevenly distributed, and the magnetic flux density of the air gap also changes, resulting in uneven electromagnetic force on the stator and the rotor, and the output torque accuracy decreases.

[0073] Different rotor eccentricity degrees will cause different degrees of imbalance of the cogging torque, resulting in vibration and noise of the motor, and thus the rotating speed ripple based on the fundamental wave of the mechanical angular frequency. The cogging torque is the torque generated by the interaction between the permanent magnet and the stator core when the winding of the permanent magnet motor is not electrified; the ripple refers to the alternating component superimposed on the direct current stable quantity in the direct current voltage or current; the waveform of the motor rotating speed is composed of the fundamental wave and different degrees of harmonic waves, and the rotating speed ripple based on the fundamental wave of the mechanical angular frequency is that the value of the rotating speed calculated at the frequency of one revolution of the motor rotor is the fundamental wave, and then the harmonic values of other frequencies based on the fundamental wave frequency are calculated. The relationship between the motor frequency and the rotating speed can be represented by the formula n = 60f / p, where n represents the rotating speed of the motor, f represents the frequency, and P represents the pole pair number of the rotating magnetic field of the motor.

[0074] Through the processing of the rotating speed signal of the motor obtained by the position sensor, the rotating speed ripple based on the fundamental wave of the mechanical angular frequency can be extracted, and the amplitude of the rotating speed ripple is extracted to obtain the rotor eccentricity degree.

[0075] Optionally, step 103 comprises:

[0076] Sub-step 1031, extracting the speed ripple through a band-pass filter according to the speed signal of the motor.

[0077] The band-pass filter is a device that allows waves of a specific frequency band to pass through while shielding waves of other frequency bands. Since the speed signal is susceptible to electromagnetic interference and other interference in a closed vehicle electrical system, resulting in interference errors in the measurement results, the distortion of the speed signal can be filtered out through the band-pass filter, only retaining the normal speed frequency signal of a specific frequency band, that is, the speed ripple of the motor.

[0078] Step 104, calculating the speed ripple amplitude based on the speed ripple.

[0079] In the embodiment of the application, the speed ripple amplitude is half the distance from the peak to the trough of the speed ripple in one period. The speed ripple amplitude can be obtained by processing the obtained speed ripple through the MCU software, subtracting the trough speed value of the speed ripple from the peak speed value of the speed ripple and dividing by two. Of course, the speed ripple amplitude can also be obtained by other means, which is not limited in the embodiment of the application.

[0080] Optionally, step 104 comprises:

[0081] Sub-step 1041, calculating the speed ripple amplitude through fast Fourier transform based on the speed ripple.

[0082] Fast Fourier transform is a fast algorithm of discrete Fourier transform, and is a basic method of signal analysis. Through fast Fourier transform, the signal can be transformed from the time domain to the frequency domain, and then the frequency spectrum structure and variation law of the signal can be displayed. After fast Fourier transform of the speed ripple, the speed ripple amplitude can be obtained more conveniently and quickly.

[0083] Referring to Figure 2 , Figure 2 is a speed signal processing flowchart according to the embodiment of the application. As can be seen, after the motor operates at a constant speed, the obtained speed signal of the motor is first input into the band-pass filter to filter out the interference signals that do not meet the conditions, and then fast Fourier transform is performed on the speed ripple obtained after filtering out the interference to obtain the speed ripple amplitude.

[0084] Step 105, obtaining the rotor eccentricity according to the speed ripple amplitude.

[0085] Referring to Figure 3 , Figure 3The different rotor eccentricity corresponding to the speed ripple diagram of the embodiment of the present application is shown in the figure. It can be seen that the horizontal coordinate in the figure is time, and the unit is second; the vertical coordinate is speed, and the unit is rpm (Revolutions Per Minute, revolutions per minute); ripple A is the speed ripple of the rotor eccentricity of 80%, ripple B is the speed ripple of the rotor eccentricity of 60%, ripple C is the speed ripple of the rotor eccentricity of 40%, and ripple D is the speed ripple of the rotor eccentricity of 0.

[0086] The different rotor eccentricity corresponding to the speed ripple diagram of the embodiment of the present application is shown in the figure. It can be seen that the horizontal coordinate in the figure is time, and the unit is second; the vertical coordinate is speed, and the unit is rpm (Revolutions Per Minute, revolutions per minute); ripple A is the speed ripple of the rotor eccentricity of 80%, ripple B is the speed ripple of the rotor eccentricity of 60%, ripple C is the speed ripple of the rotor eccentricity of 40%, and ripple D is the speed ripple of the rotor eccentricity of 0.

[0087] Optionally, step 105 comprises:

[0088] The corresponding rotor eccentricity is obtained according to the speed ripple amplitude and the corresponding relationship between the rotor eccentricity and the speed ripple amplitude.

[0089] In the embodiment of the present application, the corresponding relationship between the speed ripple amplitude and the rotor eccentricity can be obtained by measuring multiple offline experiments. For example, different motor speeds and different rotor eccentricities of the vehicle can be used as control variables to perform one thousand measurement experiments, and the average value of the experimental results is obtained to obtain the speed ripple amplitude corresponding to different rotor eccentricities, that is, the corresponding relationship between the speed ripple amplitude and the rotor eccentricity. It should be noted that the corresponding relationship can be one-to-one numerical correspondence, or one speed ripple amplitude range can correspond to one rotor eccentricity, and the embodiment of the present application does not limit this.

[0090] In the embodiment of the present application, referring to Figure 3 , Figure 3 The different rotor eccentricity corresponding to the speed ripple diagram of the embodiment of the present application is shown in the figure. It can be seen that the horizontal coordinate in the figure is time, and the unit is second; the vertical coordinate is speed, and the unit is rpm (Revolutions Per Minute, revolutions per minute); ripple A is the speed ripple of the rotor eccentricity of 80%, ripple B is the speed ripple of the rotor eccentricity of 60%, ripple C is the speed ripple of the rotor eccentricity of 40%, and ripple D is the speed ripple of the rotor eccentricity of 0.

[0091] Figure 4is a schematic diagram of the rotational speed ripple amplitude corresponding to different rotor eccentricities according to the embodiment of the application. It can be seen that when the rotor eccentricity is 0%, the corresponding rotational speed ripple amplitude is 0; when the rotor eccentricity is 20%, the corresponding rotational speed ripple amplitude is 8; when the rotor eccentricity is 40%, the corresponding rotational speed ripple amplitude is 21.875; when the rotor eccentricity is 60%, the corresponding rotational speed ripple amplitude is 26.25; and when the rotor eccentricity is 80%, the corresponding rotational speed ripple amplitude is 50. In combination with Figure 3 , Figure 4 It can be known that the rotational speed ripple amplitude of ripple A is about 49, and the corresponding rotor eccentricity is close to 80%; the rotational speed ripple amplitude of ripple B is about 27, and the corresponding rotor eccentricity is close to 60%; the rotational speed ripple amplitude of ripple C is about 24, and the corresponding rotor eccentricity is between 40% and 60%; and the rotational speed ripple amplitude of ripple D is about 0, and the corresponding rotor eccentricity is 0.

[0092] According to the corresponding relationship between the rotational speed ripple amplitude and the rotor eccentricity obtained through the above method, the corresponding rotor eccentricity can be obtained through the rotational speed ripple amplitude.

[0093] Step 106, obtaining a diagnosis result according to the rotor eccentricity.

[0094] In actual application, whether the rotor eccentricity fault occurs is determined. Due to the existence of system interference and error, not only the case that the rotor eccentricity is 0% is regarded as a normal case, but also the rotor eccentricity within a certain range can be regarded as a normal case. Different degrees of results can be obtained corresponding to the rotor eccentricity within the range, for example: when the rotor eccentricity is 0%-1%, it is determined that the diagnosis result is normal; when the rotor eccentricity is 1%-20% (greater than 1% and less than 20%), it is determined that the diagnosis result is slight rotor eccentricity; when the rotor eccentricity is 20%-40%, it is determined that the diagnosis result is moderate rotor eccentricity; and when the rotor eccentricity is greater than 40%, it is determined that the diagnosis result is serious rotor eccentricity. The application is not limited in this regard.

[0095] In the embodiment of the application, after the rotor eccentricity is obtained, the diagnosis result can be obtained according to the size of the rotor eccentricity value. The diagnosis result can include two cases of existence of rotor eccentricity fault and normality.

[0096] Optionally, step 106 includes:

[0097] Substep 1061, when the rotor eccentricity is greater than or equal to a first preset value, it is determined that the diagnosis result is existence of rotor eccentricity fault.

[0098] The first preset value is a small threshold value, for example, 5%, which can be adjusted according to actual conditions or requirements. When the rotor eccentricity is greater than or equal to the first preset value, it indicates that the rotor eccentricity is serious, and the diagnosis result is determined as rotor eccentricity fault.

[0099] The sub-step 1062 is to determine the diagnosis result as normal when the rotor eccentricity is less than the first preset value.

[0100] When the rotor eccentricity is less than the first preset value, it indicates that the rotor eccentricity is slight or does not exist, and the diagnosis result is determined as normal.

[0101] The above method can detect the rotor eccentricity fault of the embedded permanent magnet synchronous motor with a large number of distributed windings commonly used in electric drive vehicles. Through the drive motor controller and combined with the software algorithm, when the rotor eccentricity fault occurs, the motor is first controlled in an open loop to remove the influence of the controller control, and then the rotor position information is sampled, and the rotor eccentricity and the rotor eccentricity are obtained after signal processing. This method can effectively diagnose the rotor eccentricity fault in real time without additional offline calculation, and can be directly applied in the vehicle system, solving the problem that the commonly used current spectrum analysis, back electromotive force analysis and other rotor eccentricity fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system of the embedded permanent magnet synchronous motor with distributed windings, and are more convenient and fast.

[0102] Figure 5 A block diagram of a rotor eccentricity fault diagnosis device based on an MCU according to an embodiment of the application is shown in FIG. 1. Figure 5 As shown in the figure, the device comprises:

[0103] The response module 201 is configured to respond to the control instruction and control the motor to operate at a constant speed.

[0104] The speed acquisition module 202 is configured to acquire a speed signal of the motor through a position sensor.

[0105] The extraction module 203 is configured to extract a speed ripple from the speed signal of the motor.

[0106] The calculation module 204 is configured to calculate a speed ripple amplitude based on the speed ripple.

[0107] The eccentricity acquisition module 205 is configured to acquire a rotor eccentricity based on the speed ripple amplitude.

[0108] The result acquisition module 206 is configured to obtain a diagnosis result based on the rotor eccentricity.

[0109] Optionally, the response module 201 is specifically configured to:

[0110] The first voltage and the first frequency are obtained by control instructions;

[0111] According to the first voltage and the first frequency, the motor is controlled to operate at a constant rotating speed.

[0112] Optionally, the extraction module 203 is specifically used for:

[0113] According to the rotating speed signal of the motor, the rotating speed ripple is extracted through a band-pass filter.

[0114] Optionally, the calculation module 204 is specifically used for:

[0115] According to the rotating speed ripple, the rotating speed ripple amplitude is calculated through a fast Fourier transform.

[0116] Optionally, the eccentricity acquisition module 205 is specifically used for:

[0117] According to the corresponding relationship between the rotating speed ripple amplitude and the rotor eccentricity, the corresponding rotor eccentricity is acquired through the rotating speed ripple amplitude.

[0118] Optionally, the result acquisition module 206 is specifically used for:

[0119] When the rotor eccentricity is greater than or equal to a first preset value, it is determined that the diagnosis result is that there is a rotor eccentric fault;

[0120] When the rotor eccentricity is less than the first preset value, it is determined that the diagnosis result is normal.

[0121] The device has the same advantages as the above-mentioned method relative to the prior art, and will not be described here.

[0122] Another object of the application is to provide a vehicle to solve the problem that the commonly used current spectrum analysis, back electromotive force analysis and other rotor eccentric fault diagnosis methods are difficult to apply to the new energy vehicle electric drive system using a buried permanent magnet synchronous motor with a distributed winding.

[0123] The MCU-based rotor eccentric fault diagnosis device is installed in the vehicle and is used to execute the MCU-based rotor eccentric fault diagnosis method.

[0124] Another object of the application is to provide an electronic device, as shown in Figure 6The MCU-based rotor eccentric fault diagnosis method of the preceding embodiments is implemented by a processor 301, a memory 302, and a computer program 3021 stored in the memory and capable of running on the processor, when the processor executes the program.

[0125] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Structural requirements of such systems to construct them to practice the application are apparent in light of the above description. Also, the present application is not intended to be limited to any particular programming language. It will be appreciated that there are many programming languages that can be used to implement the teachings of the present application as described herein, and any specific programming language can be used for this purpose. The descriptions above are intended to cover all possible implementations of the present application.

[0126] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to not obscure the understanding of this description.

[0127] Similarly, it is to be understood that the mechanical features of the application sometimes are grouped together in a single embodiment, figure or description of related embodiments in the above description of illustrative embodiments of the application for clarity only. However, one or more features of a given embodiment should not be construed to be mandatory for that embodiment or for the application in general. Rather, individual features of the described embodiments can be combined in any combination to provide other embodiments of the application. The application should not be construed as limited to the embodiments set forth in the attached claims or over the following description because these embodiments are intended to encompass all possible embodiments of the application. Rather, the entire description of the application will provide those skilled in the art with an enabling disclosure, including requirements to be protected, and it is to be understood that no limitation of the scope of the present application is intended by the words "preferred," "preferably," or other similar words that convey the ideas that something is currently preferred but that something could also be basically the same but not carry out all the advantages communicated by the preferred embodiment. Moreover, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should in no way be regarded as limiting. Rather, the scope of the application will be defined by the appended claims.

[0128] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and arranged in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into multiple sub-modules or sub-units or sub-components. Any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings), and any method or apparatus so disclosed, can be made unless the contrary is clearly indicated by the context of the specification (including the accompanying claims, abstract and drawings), and any method or apparatus so disclosed, can be made unless the contrary is clearly indicated by the context of the specification (including the accompanying claims, abstract and drawings). Except where otherwise expressly indicated, each feature disclosed in the specification (including the accompanying claims, abstract and drawings) can be replaced by alternative features that serve the same, equivalent or similar purpose, unless the context clearly indicates otherwise.

[0129] Various component embodiments of the present application can be implemented in hardware, or as software modules running in one or more processors, or combinations thereof. Skilled persons will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some or all of the components in the sequencing apparatus according to the present application. The present application can also be implemented as a program for executing part or all of the methods described herein on a device or apparatus. Such a program can be stored on a computer readable medium which can be any medium, or combination of media, used to store information for access by a computer. The program can be available from the Internet website, or from a carrier signal, or in any other form.

[0130] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the system claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the word 'at least' followed by a list of one or more items means that any item in the list can be present or there can be none of them. The use of the terms first, second and third, etc. does not imply any order in time or in spatial location. The use of the word 'one' or 'another' in relation to an element does not exclude the presence of a plurality of such elements.

[0131] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0132] The above descriptions are only the preferred embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0133] It should be noted that the above-mentioned embodiments of the present application acquire various data related processes, which are carried out under the premise of complying with the corresponding data protection regulations and policies of the local country, and with the authorization given by the corresponding device owner.

Claims

1. A method for diagnosing rotor eccentricity fault based on MCU, characterized in that, The method comprises: in response to a control instruction, controlling the motor to operate at a constant rotating speed; acquiring a rotating speed signal of the motor through a position sensor; extracting a rotating speed ripple according to the rotating speed signal of the motor; the rotating speed ripple is a basic wave with a value of rotating speed calculated at a frequency of one mechanical rotation of a motor rotor, and a harmonic value of other frequencies based on the basic wave frequency is calculated; calculating a rotating speed ripple amplitude value based on the rotating speed ripple; acquiring a rotor eccentricity according to the rotating speed ripple amplitude value; obtaining a diagnosis result according to the rotor eccentricity; the calculating of the rotating speed ripple amplitude value based on the rotating speed ripple comprises: calculating the rotating speed ripple amplitude value based on the rotating speed ripple through fast Fourier transform.

2. The method of claim 1, wherein, the controlling of the motor to operate at a constant rotating speed in response to the control instruction comprises: acquiring a first voltage and a first frequency through the control instruction; controlling the motor to operate at a constant rotating speed according to the first voltage and the first frequency.

3. The method of claim 1, wherein, the extracting of the rotating speed ripple according to the rotating speed signal of the motor comprises: extracting the rotating speed ripple through a band-pass filter according to the rotating speed signal of the motor.

4. The method of claim 1, wherein, the acquiring of the rotor eccentricity according to the rotating speed ripple amplitude value comprises: acquiring the corresponding rotor eccentricity through the rotating speed ripple amplitude value according to a corresponding relationship between the rotating speed ripple amplitude value and the rotor eccentricity.

5. The method of claim 1, wherein, the obtaining of the diagnosis result according to the rotor eccentricity comprises: when the rotor eccentricity is greater than or equal to a first preset value, determining that the diagnosis result is that there is a rotor eccentric fault; when the rotor eccentricity is less than the first preset value, determining that the diagnosis result is normal.

6. A rotor eccentricity fault diagnosis device based on MCU, characterized in that, The device comprises: a response module, configured to control the motor to operate at a constant rotating speed in response to a control instruction; a rotating speed acquisition module, configured to acquire a rotating speed signal of the motor through a position sensor; an extraction module, configured to extract a rotating speed ripple according to the rotating speed signal of the motor; the rotating speed ripple is a basic wave with a value of rotating speed calculated at a frequency of one mechanical rotation of a motor rotor, and a harmonic value of other frequencies based on the basic wave frequency is calculated; a calculation module, configured to calculate a rotating speed ripple amplitude value based on the rotating speed ripple; an eccentricity acquisition module, configured to acquire a rotor eccentricity according to the rotating speed ripple amplitude value; a result acquisition module, configured to obtain a diagnosis result according to the rotor eccentricity. the calculation module is specifically configured to: calculate the rotating speed ripple amplitude value based on the rotating speed ripple through fast Fourier transform.

7. A vehicle characterized by comprising: The vehicle is provided with the MCU-based rotor eccentric fault diagnosis device of claim 6, and is used to execute the MCU-based rotor eccentric fault diagnosis method of any one of claims 1-5.

8. An electronic device, comprising: The device comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the MCU-based rotor eccentric fault diagnosis method of any one of claims 1-5.

9. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the MCU-based rotor eccentric fault diagnosis method of any one of claims 1-5.

Images