Motor detection method and device, storage medium and vehicle

Abstract

This invention discloses a method, apparatus, storage medium, and vehicle for testing a motor. The method includes: in response to the motor being tested being off-line, monitoring the rotational position of the motor at multiple test points to determine the actual rotational deviation at each test point, wherein the actual rotational deviation is determined by a preset rotational deviation threshold and the actual rotational position; accumulating the actual rotational deviations at the multiple test points to obtain a total rotational deviation; and determining the rotational deviation detection result of the motor by judging whether the total rotational deviation meets a preset rotational deviation value, wherein the rotational deviation detection result is used to characterize whether the rotational deviation detection of the motor meets preset conditions. This invention solves the technical problem of low efficiency in motor testing in related technologies.

Description

Technical Field

[0001] The present invention relates to the field of motor detection, and in particular, to a motor detection method, device, storage medium, and vehicle. Background Art

[0002] In the process of motor detection, in the related art, the resolver position of the motor is mostly fitted by the method of motor idling to obtain an optimized position curve, and the resolver deviation is obtained by taking the difference between it and the actual position curve. When the deviation is less than the preset threshold, it is determined that the deviation detection is qualified and the motor is taken off the production line. However, keeping the motor idling during the test increases the off-line time and reduces the detection efficiency of the motor.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present invention provide a motor detection method, device, storage medium, and vehicle, so as to at least solve the technical problem of low efficiency in testing motors in the related art.

[0005] According to one aspect of the embodiments of the present invention, a motor detection method is provided, including: in response to the process of taking the tested motor off the production line, by monitoring the rotation positions of the tested motor at multiple test working condition points, determining the actual rotation deviations of the multiple test working condition points, where the actual rotation deviation is determined by a preset rotation deviation threshold and an actual rotation position; accumulating the actual rotation deviations of the multiple test working condition points to obtain a total rotation deviation; determining the rotation deviation detection result of the tested motor by judging whether the total rotation deviation meets a preset rotation deviation value, where the rotation deviation detection result is used to represent whether the rotation deviation detection of the tested motor meets a preset condition.

[0006] Further, the preset rotation deviation threshold includes a first rotation deviation threshold and a second rotation deviation threshold, and each test working condition point among the multiple test working condition points includes: multiple first test working condition points. By monitoring the rotation positions of the tested motor at multiple test working condition points, determining the actual rotation deviations of the multiple test working condition points includes: by monitoring the rotation positions of the tested motor at multiple first test working condition points, obtaining the rotation positions of the tested motor at the multiple first test working condition points; calculating the first rotation deviations of the tested motor at the multiple first test working condition points based on the first rotation deviation threshold or the second rotation deviation threshold, to obtain the first rotation deviations of the tested motor at the multiple first test working condition points; accumulating the first rotation deviations of the tested motor at the multiple first test working condition points to obtain the actual rotation deviations of the multiple test working condition points.

[0007] Further, based on a first rotational deviation threshold or a second rotational deviation threshold, the rotational position of the motor under test at multiple first test operating points is calculated, including: obtaining a first calculated difference by calculating the difference between the first rotational deviation threshold and the rotational position at multiple first test operating points; obtaining a second calculated difference by calculating the difference between the second rotational deviation threshold and the rotational position at multiple first test operating points; and determining the result with the smaller difference between the first calculated difference and the second calculated difference as the first rotational deviation.

[0008] Furthermore, before accumulating the first rotational deviations of the tested motor at multiple first test operating points, the process includes: determining whether the rotational positions of the multiple first test operating points meet a preset rotational deviation threshold; if the rotational positions of the multiple first test operating points do not meet the preset rotational deviation threshold, determining a target test operating point that does not meet the preset rotational deviation threshold; and accumulating the first rotational deviations of the target test operating point to obtain the actual rotational deviations of the multiple test operating points.

[0009] Furthermore, before monitoring the rotational position of the motor under test at multiple test operating points, the process includes: determining whether the speed deviation of the motor under test at multiple test operating points within a first preset time period meets a preset speed deviation threshold; if the speed deviation of the motor under test at multiple test operating points within the first preset time period meets the preset speed deviation threshold, monitoring the rotational position of the motor under test at multiple test operating points.

[0010] Further, based on a first rotational deviation threshold or a second rotational deviation threshold, the rotational position of the motor under test at multiple first test conditions is calculated, including: in response to a second preset time period, the rotational position of the motor under test at multiple first test conditions is calculated based on a first rotational deviation threshold or a second rotational deviation threshold.

[0011] Furthermore, by determining whether the total rotational deviation meets the preset rotational deviation value, the rotational deviation detection result of the tested motor is determined, including: in response to the total rotational deviation meeting the preset rotational deviation value, determining that the rotational deviation detection result of the tested motor meets the preset conditions; in response to the total rotational deviation not meeting the preset rotational deviation value, determining that the rotational deviation detection result of the tested motor does not meet the preset conditions.

[0012] According to another aspect of the present invention, a motor testing device is also provided, comprising: a monitoring module, configured to, in response to the unloading process of the motor under test, determine the actual rotational deviation of the motor under test at multiple test operating points by monitoring the rotational position of the motor under test at multiple test operating points, wherein the actual rotational deviation is determined by a preset rotational deviation threshold and the actual rotational position; an accumulation module, configured to accumulate the actual rotational deviations of the multiple test operating points to obtain a total rotational deviation; and a judgment module, configured to determine the rotational deviation detection result of the motor under test by judging whether the total rotational deviation meets a preset rotational deviation value, wherein the rotational deviation detection result is used to characterize whether the rotational deviation detection of the motor under test meets a preset condition.

[0013] According to a third aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein the above-described motor detection method is executed in the processor of the device when the program is running.

[0014] According to a fourth aspect of the present invention, a vehicle is also provided, comprising: one or more processors; a storage device for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the above-described motor detection method.

[0015] In this embodiment of the invention, in response to the unloading process of the motor under test, the rotational position of the motor under test at multiple test operating points is monitored to determine the actual rotational deviation at multiple test operating points. The actual rotational deviation is determined by a preset rotational deviation threshold and the actual rotational position. The actual rotational deviations at multiple test operating points are accumulated to obtain the total rotational deviation. The rotational deviation detection result of the motor under test is determined by judging whether the total rotational deviation meets a preset rotational deviation value. The rotational deviation detection result is used to characterize whether the rotational deviation detection of the motor under test meets preset conditions. It is noteworthy that by accumulating the rotational deviations at multiple test operating points to obtain the total rotational deviation, and comparing the total rotational deviation with the preset rotational deviation value, the detection result of the motor under test can be determined. This avoids the detection defects caused by testing the motor based on the rotational deviation of a single test operating point. It achieves the goal of integrating the rotational deviation detection of the motor into the torque accuracy test during the unloading process to determine multiple stable test operating points. This achieves the technical effect of saving the unloading time of the motor under test and thus improving the unloading efficiency of the motor under test, thereby solving the technical problem of low efficiency in motor testing in related technologies. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a motor detection method according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of an optional refractive error detection device according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of an optional refractive position change according to an embodiment of the present invention;

[0020] Figure 4 This is a flowchart of an optional refractive error detection method according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of a motor testing device according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] Example 1

[0025] According to an embodiment of the present invention, an embodiment of a motor detection method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 This is a flowchart of a motor detection method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0027] Step S102, in response to the process of the motor under test being taken off the production line, by monitoring the rotational position of the motor under test at multiple test working points, the actual rotational deviation at multiple test working points is determined, wherein the actual rotational deviation is determined by a preset rotational deviation threshold and the actual rotational position;

[0028] Specifically, the aforementioned motor under test can be used to refer to motors that require testing for rotational deviation, including but not limited to permanent magnet synchronous motors.

[0029] The aforementioned test operating points can be used to represent the test operating points at which the motor's operating conditions reach a stable operating point during the motor's production process.

[0030] The aforementioned preset rotational deviation threshold can be used to represent the preset rotational position deviation threshold of the motor gear. The preset rotational deviation threshold includes an upper limit and a lower limit of rotational deviation. That is, if the actual rotational position fluctuation range of the motor gear under a certain working condition is within the range of the upper limit and the lower limit of rotational deviation, the actual rotational position of the motor gear under that working condition is considered normal and there is no deviation.

[0031] The aforementioned actual rotation position can be used to indicate the actual rotation position of the motor gear during the motor's production process. For example, it can be monitored by a position sensor on the motor gear shaft.

[0032] The aforementioned actual rotational deviation can be used to represent the difference between the actual rotational position of the motor gear and the preset rotational deviation threshold, which can be obtained by subtracting the actual rotational position from the preset rotational deviation threshold.

[0033] Figure 2 This is a schematic diagram of an optional resolver deviation detection device according to an embodiment of the present invention. Figure 2 As shown, the resolver deviation detection device includes a high-voltage power supply, a low-voltage power supply, a motor controller, a storage unit, the motor under test, a resolver, a CAN (Controller Area Network) control host computer, and an offline dynamometer, etc., among which:

[0034] The motor controller consists of a control board, a driver board, and an IGBT (Insulated Gate Bipolar Transistor), and it is connected to all other parts.

[0035] The high-voltage power supply provides high-voltage power to the entire system and is used to control the rotation of the motor under test.

[0036] The low-voltage control voltage powers the internal control board of the motor controller, performs signal processing, and provides corresponding drive signals.

[0037] The CAN controller is used to receive various status signals from the motor controller and the offline dynamometer, so as to input torque commands to the motor controller and output speed commands to the offline dynamometer.

[0038] The offline dynamometer is connected to the output shaft of the motor under test to generate the required speed during offline testing and to send the speed from the dynamometer to the motor controller in real time.

[0039] The low-voltage power supply, CAN control line, and motor position signal are all connected to the control board inside the motor controller. The control board calculates six low-voltage PWM (Pulse Width Modulation) signals based on the command signals on the CAN line and the motor position signals, and transmits them to the driver board. The driver board performs level conversion and necessary signal processing on the six PWM signals output by the control board according to the characteristics of the IGBT, so that the output waveform of the IGBT is consistent with the PWM waveform output by the control board.

[0040] The main control chip of the control board includes functions such as temperature controller, torque controller, current regulation module, position and speed detection module, motor temperature detection module, and coordinate transformation.

[0041] In one optional embodiment, during the unloading process of the motor under test, multiple stable operating points need to be selected to monitor the rotational position of the motor under test. Then, based on a pre-set rotational deviation threshold, the deviation of the rotational position of the motor under test is calculated, yielding the actual rotational deviation of multiple test operating points among the multiple stable operating points. Examples of the torque test operating points for the aforementioned multiple stable operating points are shown in Table 1:

[0042] Table 1

[0043] Operating condition number Operating Condition 1 Operating Condition 2 Operating Condition 3 Operating Condition 4 Operating Condition 5 rotational speed 1000r / min 1000r / min 4000r / min 4000r / min 10000r / min Torque 400Nm -400Nm 400Nm -400Nm 160Nm

[0044] As shown in Table 1, the aforementioned stable operating points include operating conditions 1, 2, 3, 4, and 5 in Table 1. When the dynamometer is set to a de-rotation speed of 1000 r / min and a torque of 400 Nm for the motor under test, the first stable operating point during the de-rotation process of the motor under test can be obtained, namely operating condition 1. When the dynamometer is set to a de-rotation speed of 1000 r / min and a torque of -400 Nm for the motor under test, the second stable operating point during the de-rotation process of the motor under test can be obtained, namely operating condition 2. When the dynamometer's de-line speed is 4000 r / min and the torque is 400 Nm, the third stable operating point during the de-line process of the tested motor can be obtained, i.e., operating point 3 mentioned above. When the de-line dynamometer sets the de-line speed of the tested motor to 4000 r / min and the torque to -400 Nm, the fourth stable operating point during the de-line process of the tested motor can be obtained, i.e., operating point 4 mentioned above. When the de-line dynamometer sets the de-line speed of the tested motor to 1000 r / min and the torque to 160 Nm, the fifth stable operating point during the de-line process of the tested motor can be obtained, i.e., operating point 5 mentioned above. When the speed of the tested motor reaches the speed deviation threshold given at each of the above operating points and the torque reaches the given value at each of the above operating points, it can be determined that the speed of the de-line dynamometer and the tested motor is in a stable state, and deviation detection can be initiated, i.e., the rotational position of the motor at each of the above stable operating points during the de-line process can be detected.

[0045] Step S104: The actual rotational deviations at multiple test points are summed to obtain the total rotational deviation;

[0046] Specifically, the total rotational deviation mentioned above can be used to represent the deviation obtained by summing the actual rotational deviations of multiple test conditions one by one. That is, after obtaining the actual rotational deviation of the current test condition, it is necessary to sum the actual rotational deviations of the previous test condition one by one.

[0047] In an optional embodiment, the actual rotational deviation of the aforementioned plurality of test conditions can be denoted as X. 工况1 X 工况2 X 工况3 X 工况4 X 工况5 Then, the total rotational deviation X can be expressed as: Total deviation X = X 工况1 +X 工况2 +X 工况3 +X 工况4 +X 工况5 .

[0048] Step S106: Determine the rotation deviation detection result of the tested motor by judging whether the total rotation deviation meets the preset rotation deviation value. The rotation deviation detection result is used to characterize whether the rotation deviation detection of the tested motor meets the preset conditions.

[0049] Specifically, the aforementioned preset rotational deviation value can be used to represent the preset rotational deviation value of the motor under test.

[0050] The aforementioned preset conditions can be used to indicate that the rotational deviation test results of the tested motor meet the preset test standards.

[0051] In one optional embodiment, the rotational deviation detection result of the motor under test can be determined by judging whether the total rotational deviation of the motor under test meets the preset rotational deviation value. That is, if the total rotational deviation of the motor under test meets the preset rotational deviation value, it can be determined that the rotational deviation detection of the motor under test meets the preset condition; otherwise, if the total rotational deviation of the motor under test does not meet the preset rotational deviation value, it can be determined that the rotational deviation detection of the motor under test does not meet the preset condition.

[0052] In another optional embodiment, in determining whether the total rotational deviation of the tested motor meets the preset rotational deviation value, on the one hand, the total rotational deviation can be sent to the CAN control host computer via the CAN bus through the motor controller, and the host computer can make the determination. On the other hand, the total rotational deviation can also be determined by the motor controller, and the determination result can be informed to the host computer. It should be noted that the determination method is not limited to a single method.

[0053] In summary, by monitoring the rotational position of the motor under test at multiple test points during the motor's unloading process, the actual rotational deviation at these test points is determined. The actual rotational deviation is determined using a preset rotational deviation threshold and the actual rotational position. The actual rotational deviations at multiple test points are summed to obtain the total rotational deviation. The rotational deviation detection result of the motor under test is determined by judging whether the total rotational deviation meets the preset rotational deviation value. This rotational deviation detection result characterizes whether the rotational deviation detection of the motor under test meets the preset conditions.

[0054] It is noteworthy that by accumulating the rotational deviations at multiple test points to obtain the total rotational deviation, and comparing the total rotational deviation with the preset rotational deviation value, the test result of the motor under test can be determined. This avoids the detection defects caused by testing the motor based on the rotational deviation of a single test point. It achieves the goal of integrating the motor's rotational deviation detection into the torque accuracy test during the motor's production process, thereby determining multiple stable test points. This achieves the technical effect of saving the production time of the motor under test and improving the production efficiency of the motor under test, thus solving the technical problem of low efficiency in motor testing in related technologies.

[0055] Optionally, the preset rotational deviation threshold includes a first rotational deviation threshold and a second rotational deviation threshold. Each test condition point in the multiple test condition points includes: multiple first test condition points. By monitoring the rotational position of the motor under test at the multiple test condition points, the actual rotational deviation of the multiple test condition points is determined, including: obtaining the rotational position of the motor under test at the multiple first test condition points by monitoring the rotational position of the motor under test at the multiple first test condition points; calculating the rotational position of the motor under test at the multiple first test condition points based on the first rotational deviation threshold or the second rotational deviation threshold to obtain the first rotational deviation of the motor under test at the multiple first test condition points; and accumulating the first rotational deviations of the motor under test at the multiple first test condition points to obtain the actual rotational deviation of the multiple test condition points.

[0056] Specifically, the aforementioned first rotational deviation threshold can be used to represent the upper limit of the rotational position deviation during the unloading process of the tested motor.

[0057] The aforementioned second rotational deviation threshold can be used to represent the lower limit of the rotational position deviation during the unloading process of the tested motor.

[0058] The aforementioned multiple first test condition points can be used to represent multiple first test condition points included in each test condition point. For example, the first stable test condition point is marked as X. 工况1 When, then X 工况1 Including multiple first test condition points, it can be represented as X 工况1 =X1+X2+X3+……+Xn, where n represents the number of the first test condition points.

[0059] The aforementioned rotational position can be used to indicate the actual gear rotational position of the tested motor during the unloading process. Generally, the rotational position can be monitored in real time by a position sensor on the gear shaft.

[0060] The aforementioned first rotational deviation can be used to represent the difference between the rotational position of the motor gear at the first test condition point and the first rotational deviation threshold or the second rotational deviation threshold, and can be expressed as X1, X2, X3, or Xn, etc.

[0061] The aforementioned actual rotational deviation can be used to represent the rotational deviation at each test condition point obtained by accumulating multiple first rotational deviations. Taking the first test condition point as an example, it can be represented as X as described above. 工况1 =X1+X2+X3+……+Xn.

[0062] In one optional embodiment, during the off-line process of the motor under test, multiple stable test operating points need to be selected to detect the rotational deviation of the motor. By accumulating the first rotational deviations of the multiple first test operating points in each of the multiple test operating points, the actual rotational deviation of each of the multiple test operating points can be obtained.

[0063] Figure 3 This is a schematic diagram of an optional revolving position change according to an embodiment of the present invention. Figure 3 As shown, the two-dimensional rectangular coordinate system reflects the change process of the resolver position of the tested motor. The horizontal axis represents the change in time, and the vertical axis represents the change in resolver position. 0-4096 represents 0-360°, and one revolution of the resolver is 360°. The long dashed line with equal slope reflects the ideal resolver position, the straight line reflects the upper limit of the resolver position deviation, which is the first rotational deviation threshold mentioned above, and is above the ideal resolver position. The short dashed line reflects the lower limit of the resolver position deviation, which is the second rotational deviation threshold mentioned above, and is below the ideal resolver position. The thick black line reflects the actual resolver position of the tested motor under a certain stable operating condition, and the position change process presents a sawtooth shape.

[0064] Depend on Figure 3 As can be seen, over-limit points A and B represent the actual resolver positions of the tested motor at different times under a certain stable operating condition. The deviation value X1 reflects the difference between over-limit point A and the first rotational deviation threshold, i.e., the first rotational deviation mentioned above; the deviation value X2 reflects the difference between over-limit point B and the second rotational deviation threshold, also i.e., the first rotational deviation mentioned above. After the deviation detection begins, the motor controller collects the actual resolver position of the motor according to the sampling frequency (generally around 100us in the industry). If the actual resolver position exceeds the upper limit of the resolver deviation, such as point A, the deviation value X1 is calculated as: actual resolver position - upper limit of resolver position deviation; if the actual resolver position exceeds the lower limit of the deviation, such as point B, the deviation value X2 is calculated as: lower limit of resolver position deviation - actual resolver position. By accumulating X1, X2, X3 up to Xn, the actual rotational deviation of each test operating point in multiple test operating points can be obtained.

[0065] Optionally, based on a first rotational deviation threshold or a second rotational deviation threshold, the rotational position of the motor under test at multiple first test operating points is calculated, including: obtaining a first calculated difference by calculating the difference between the first rotational deviation threshold and the rotational positions of the multiple first test operating points; obtaining a second calculated difference by calculating the difference between the second rotational deviation threshold and the rotational positions of the multiple first test operating points; and determining the result with the smaller difference between the first calculated difference and the second calculated difference as the first rotational deviation.

[0066] Specifically, the aforementioned first calculated difference can be used to represent the difference between the rotational position of the first test condition point and the upper limit of the deviation of the resolver position.

[0067] The second calculated difference mentioned above can be used to represent the difference between the rotational position of the first test condition point and the lower limit of the resolver position deviation.

[0068] In one optional embodiment, by calculating the difference between the rotational position deviation of the first test point from the upper limit of the resolver position deviation and the difference between the rotational position deviation of the first test point from the lower limit of the resolver position deviation, the calculated difference with the smaller difference can be determined as the aforementioned first rotational deviation. Since both the first rotational deviation threshold and the second rotational deviation threshold are within the preset rotational deviation threshold, the actual motor rotational position can be considered normal regardless of where it falls within the preset rotational deviation threshold. Conversely, if the actual motor rotational position falls outside the preset rotational deviation threshold, if the actual motor rotational position is close to the first rotational deviation threshold, the difference between the actual motor rotational position and the first rotational deviation threshold can be determined as the aforementioned first rotational deviation; if the actual motor rotational position is close to the second rotational deviation threshold, the difference between the actual motor rotational position and the second rotational deviation threshold can be determined as the aforementioned first rotational deviation.

[0069] In another alternative embodiment, respectively with Figure 3 The following example illustrates the use of out-of-limit points A and B. Since out-of-limit point A is close to the first rotational deviation threshold, i.e., close to the upper limit of the resolver position deviation, the difference between the actual resolver position and the upper limit of the resolver position deviation can be determined as the deviation value X1. Simultaneously, since out-of-limit point B is close to the second rotational deviation threshold, i.e., close to the lower limit of the resolver position deviation, the difference between the lower limit of the resolver position deviation and the actual resolver position can be determined as the deviation value X2.

[0070] Optionally, before accumulating the first rotational deviation of the motor under test at multiple first test operating points, the method includes: determining whether the rotational position of the multiple first test operating points meets a preset rotational deviation threshold; if the rotational position of the multiple first test operating points does not meet the preset rotational deviation threshold, determining a target test operating point that does not meet the preset rotational deviation threshold; and accumulating the first rotational deviation of the target test operating point to obtain the actual rotational deviation of the multiple test operating points.

[0071] Specifically, the aforementioned target test condition point can be used to represent a test condition point where the motor rotation position corresponding to multiple first test condition points exceeds a preset rotation deviation threshold, including but not limited to the aforementioned over-limit point A and over-limit point B. Conversely, if the motor rotation position corresponding to multiple first test condition points is within the preset rotation deviation threshold, then the test condition point does not belong to the target test condition point.

[0072] In one optional embodiment, before accumulating the first rotational deviations of the motor under test at multiple first test operating points, it is necessary to determine the positional relationship between the rotational positions of the multiple first test operating points and a preset rotational deviation threshold. That is, if the rotational positions of the multiple first test operating points exceed the preset rotational deviation threshold, the operating point corresponding to the exceeding rotational position needs to be determined as the target test operating point. By ignoring the operating points corresponding to rotational positions falling within the preset rotational deviation threshold, the amount of calculation is reduced while improving the accuracy of the actual rotational deviation of the multiple test operating points.

[0073] In another optional embodiment, since it is necessary to calculate the deviation value of the rotation position exceeding the preset rotation deviation threshold, the working points corresponding to the rotation positions falling within the preset rotation deviation threshold are ignored, and the deviation is calculated for the target test working points that exceed the preset rotation deviation threshold, which effectively improves the calculation efficiency of the actual deviation value.

[0074] Optionally, before monitoring the rotational position of the motor under test at multiple test operating points, the process includes: determining whether the speed deviation of the motor under test at multiple test operating points within a first preset time period meets a preset speed deviation threshold; if the speed deviation of the motor under test at multiple test operating points within the first preset time period meets the preset speed deviation threshold, monitoring the rotational position of the motor under test at multiple test operating points.

[0075] Specifically, the aforementioned first preset time can be used to represent the preset time for detecting the speed deviation of the dynamometer. It can be 2 seconds or 3 seconds, and there is no single limitation on the first preset time.

[0076] The aforementioned preset speed deviation threshold can be used to represent the preset speed deviation threshold of the dynamometer. It can be preset by giving a given speed. Taking operating condition 1 in Table 1 as an example, with a given dynamometer speed of 1000 r / min, the corresponding speed deviation is n-1000, where n is the actual speed of the motor being tested. The corresponding preset speed deviation threshold can be represented by Δn1. Similarly, when operating condition 3 is in effect, the corresponding speed deviation is n-4000, and the corresponding preset speed deviation threshold can be represented by Δn3. The preset speed deviation threshold is not uniquely defined here.

[0077] In one optional embodiment, before monitoring the rotational position of the motor under test at multiple test operating points, it is necessary to ensure that the speed deviation of the motor under test at multiple test operating points meets a preset speed deviation threshold, so as to ensure that the speed of the dynamometer and the motor under test is stable, and then the deviation detection is started.

[0078] In another optional embodiment, if the speed deviation between the dynamometer and the motor under test under operating condition 1 remains less than Δn1 for a first preset time period, the speeds of the dynamometer and the motor under test are considered to be in a stable state, and the rotational position under operating condition 1 is monitored. Conversely, if the speed deviation between the dynamometer and the motor under test under operating condition 1 does not remain less than Δn1 for a first preset time period, the speeds of the dynamometer and the motor under test are considered to be in an unstable state, and the motor under test fails to be decommissioned.

[0079] Optionally, the rotational position of the motor under test at multiple first test conditions is calculated based on a first rotational deviation threshold or a second rotational deviation threshold, including: in response to a second preset time period, the rotational position of the motor under test at multiple first test conditions is calculated based on a first rotational deviation threshold or a second rotational deviation threshold.

[0080] Specifically, the aforementioned second preset time can be used to represent the time for continuous deviation detection of the rotational position of the motor under test at multiple first test conditions. It can be 1 second or 2 seconds, and there is no single limitation on the second preset time.

[0081] In one optional embodiment, during the calculation of the rotational position of the motor under test at multiple first test conditions, in order to ensure that the deviation calculation is based on a stable amount of calculation, the rotational position of the multiple first test conditions can be continuously detected within a second preset time period.

[0082] Optionally, the rotation deviation detection result of the motor under test is determined by judging whether the total rotation deviation meets the preset rotation deviation value, including: in response to the total rotation deviation meeting the preset rotation deviation value, determining that the rotation deviation detection result of the motor under test meets the preset conditions; in response to the total rotation deviation not meeting the preset rotation deviation value, determining that the rotation deviation detection result of the motor under test does not meet the preset conditions.

[0083] Specifically, in one optional embodiment, the rotational deviation detection result of the tested motor is determined by judging whether the total rotational deviation meets a preset rotational deviation value. Specifically, if the total rotational deviation meets the preset rotational deviation value, it indicates that the rotational deviation detection result of the tested motor is qualified or has reached the lower limit standard, etc.; conversely, if the total rotational deviation does not meet the preset rotational deviation value, it indicates that the rotational deviation detection result of the tested motor is unqualified or has not reached the lower limit standard, etc.

[0084] Figure 4 This is a flowchart of an optional resolver deviation detection method according to an embodiment of the present invention. Figure 4 As shown:

[0085] S41, the test point condition has been reached;

[0086] The motor under test reached a stable test point condition during the off-line process.

[0087] S42, Is the speed deviation less than Δn? If not, the offline process fails; if yes, proceed to S43.

[0088] Determine whether the speed deviation between the dynamometer and the motor under test is less than Δn.

[0089] S43, Deviation detection, calculate X;

[0090] When the speeds of the dynamometer and the motor under test are stable, deviation detection is initiated, and the deviation value X at multiple test points is calculated.

[0091] S44. Has the duration reached 1 second? If not, jump to S43; if yes, execute S45.

[0092] Determine whether the continuous detection time for multiple test conditions reaches 1 second.

[0093] S45, This working condition ends. Calculate the working conditions at each test point.

[0094] S46: Has all the working conditions ended? If not, jump to S41; if yes, execute S47.

[0095] S47, Calculate the total deviation X;

[0096] S48, is X less than K3? If not, the offline process fails; if so, proceed to S49.

[0097] Determine whether the total deviation X is less than the preset rotational deviation value K3.

[0098] S49, resolver deviation is acceptable, motor is no longer in service.

[0099] Example 2

[0100] According to an embodiment of the present invention, a motor testing device is also provided. This device can perform a motor testing method provided in Embodiment 1 above. The specific implementation method and preferred application scenario are the same as those in Embodiment 1 above, and will not be described in detail here.

[0101] Figure 5 This is a schematic diagram of a motor detection device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes:

[0102] The monitoring module 502 is used to respond to the process of the motor under test being taken off the production line by monitoring the rotation position of the motor under test at multiple test working points and determining the actual rotation deviation at multiple test working points. The actual rotation deviation is determined by a preset rotation deviation threshold and the actual rotation position.

[0103] The accumulation module 504 is used to accumulate the actual rotational deviations at multiple test points to obtain the total rotational deviation;

[0104] The judgment module 506 is used to determine the rotation deviation detection result of the tested motor by judging whether the total rotation deviation meets the preset rotation deviation value. The rotation deviation detection result is used to characterize whether the rotation deviation detection of the tested motor meets the preset conditions.

[0105] Optionally, the monitoring module 502 includes: a position monitoring module, used to monitor the rotational position of the motor under test at multiple first test operating points to obtain the rotational position of the motor under test at multiple first test operating points; a position calculation module, used to calculate the rotational position of the motor under test at multiple first test operating points based on a first rotational deviation threshold or a second rotational deviation threshold to obtain the first rotational deviation of the motor under test at multiple first test operating points; and a deviation accumulation module, used to accumulate the first rotational deviation of the motor under test at multiple first test operating points to obtain the actual rotational deviation at multiple test operating points.

[0106] Optionally, the position calculation module includes: a first difference calculation module, used to calculate a first calculated difference by performing difference calculation on a first rotational deviation threshold and the rotational positions of multiple first test points; a second difference calculation module, used to calculate a second calculated difference by performing difference calculation on a second rotational deviation threshold and the rotational positions of multiple first test points; and a first rotational deviation determination module, used to determine the result with the smaller difference between the first calculated difference and the second calculated difference as the first rotational deviation.

[0107] Optionally, the deviation accumulation module includes: a position judgment module, used to judge whether the rotational positions of multiple first test working points meet the preset rotational deviation threshold; a target test working point determination module, used to determine the target test working point that does not meet the preset rotational deviation threshold if the rotational positions of multiple first test working points do not meet the preset rotational deviation threshold; and an actual rotational deviation acquisition module, used to accumulate the first rotational deviation of the target test working point to obtain the actual rotational deviation of multiple test working points.

[0108] Optionally, the monitoring module 502 includes: a speed deviation judgment module, used to determine whether the speed deviation of the motor under test at multiple test working points within a first preset time meets a preset speed deviation threshold; and a rotation position monitoring module, used to monitor the rotation position of the motor under test at multiple test working points if the speed deviation of the motor under test at multiple test working points within the first preset time meets the preset speed deviation threshold.

[0109] Optionally, the position calculation module includes: a preset time determination module, used to calculate the rotational position of the motor under test at multiple first test conditions based on a first rotational deviation threshold or a second rotational deviation threshold within a second preset time.

[0110] Optionally, the judgment module 506 includes: a first result determination module, used to determine that the rotation deviation detection result of the tested motor meets the preset conditions in response to the total rotation deviation meeting the preset rotation deviation value; and a second result determination module, used to determine that the rotation deviation detection result of the tested motor does not meet the preset conditions in response to the total rotation deviation not meeting the preset rotation deviation value.

[0111] Example 3

[0112] According to an embodiment of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein the above-described motor detection method is executed in the processor of the device when the program is running.

[0113] Example 4

[0114] According to an embodiment of the present invention, a vehicle is also provided, including one or more processors; a storage device for storing one or more programs; when one or more programs are executed by one or more processors, the one or more processors perform the above-described motor detection method.

[0115] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0116] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0120] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0121] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of detecting an electric machine, characterized in that, The method includes: In response to the motor under test being taken off the production line, and the speed of the motor under test reaching a speed deviation threshold at multiple test operating points, and the torque of the motor under test reaching a preset value at multiple test operating points, the actual rotation deviation of the multiple test operating points is determined by monitoring the rotation position of the motor under test at multiple test operating points, wherein the actual rotation deviation is determined by a preset rotation deviation threshold and the actual rotation position. The actual rotational deviations at the multiple test points are summed to obtain the total rotational deviation. The rotation deviation detection result of the tested motor is determined by judging whether the total rotation deviation meets the preset rotation deviation value. The rotation deviation detection result is used to characterize whether the rotation deviation detection of the tested motor meets the preset conditions. The preset rotational deviation threshold includes a first rotational deviation threshold and a second rotational deviation threshold. The first rotational deviation threshold represents the upper limit of the rotational position deviation during the unloading process of the motor under test, and the second rotational deviation threshold represents the lower limit of the rotational position deviation during the unloading process of the motor under test. Each of the multiple test conditions includes: multiple first test conditions. The actual rotational deviation of the multiple test conditions is determined by monitoring the rotational position of the motor under test at the multiple test conditions, including: monitoring the rotational position of the motor under test at the multiple first test conditions using a position sensor on the gear shaft to obtain the rotational position of the motor under test at the multiple first test conditions; calculating the rotational position of the motor under test at the multiple first test conditions based on the first rotational deviation threshold or the second rotational deviation threshold to obtain the first rotational deviation of the motor under test at the multiple first test conditions; and accumulating the first rotational deviations of the motor under test at the multiple first test conditions to obtain the actual rotational deviation of the multiple test conditions. Before accumulating the first rotational deviations of the motor under test at the plurality of first test operating points, the method includes: determining whether the rotational positions of the plurality of first test operating points meet the preset rotational deviation threshold; if the rotational positions of the plurality of first test operating points do not meet the preset rotational deviation threshold, determining a target test operating point that does not meet the preset rotational deviation threshold, wherein the target test operating point is an operating point where the rotational positions of the plurality of first test operating points exceed the preset rotational deviation threshold; and accumulating the first rotational deviations of the target test point to obtain the actual rotational deviations of the plurality of test operating points.

2. The method according to claim 1, characterized in that, Based on the first rotational deviation threshold or the second rotational deviation threshold, the rotational position of the motor under test at multiple first test conditions is calculated, including: The first calculated difference is obtained by calculating the difference between the first rotational deviation threshold and the rotational position of the plurality of first test conditions. The second calculated difference is obtained by calculating the difference between the second rotational deviation threshold and the rotational position of the plurality of first test conditions. The smaller of the first calculated difference and the second calculated difference is determined as the first rotational deviation.

3. The method according to claim 1, characterized in that, Before monitoring the rotational position of the motor under test at multiple test operating points, the process includes: Determine whether the speed deviation of the motor under test at the multiple test conditions meets the preset speed deviation threshold within a first preset time period; If, within the first preset time period, the speed deviation of the motor under test at the multiple test conditions meets the preset speed deviation threshold, the rotational position of the motor under test at the multiple test conditions is monitored.

4. The method according to claim 1, characterized in that, Based on the first rotational deviation threshold or the second rotational deviation threshold, the rotational position of the motor under test at multiple first test conditions is calculated, including: In response to a second preset time period, the rotational position of the motor under test at multiple first test conditions is calculated based on the first rotational deviation threshold or the second rotational deviation threshold.

5. The method according to claim 1, characterized in that, The rotation deviation detection result of the tested motor is determined by judging whether the total rotation deviation meets the preset rotation deviation value, including: In response to the total rotational deviation satisfying the preset rotational deviation value, it is determined that the rotational deviation detection result of the tested motor meets the preset conditions; In response to the total rotational deviation not meeting the preset rotational deviation value, it is determined that the rotational deviation detection result of the tested motor does not meet the preset condition.

6. A motor testing device, characterized in that, The device includes: The monitoring module is used to respond to situations where, during the off-line process of the motor under test, the speed of the motor under test reaches a speed deviation threshold at multiple test operating points, and the torque of the motor under test reaches a preset value at multiple test operating points. The module monitors the rotational position of the motor under test at multiple test operating points to determine the actual rotational deviation at the multiple test operating points. The actual rotational deviation is determined by the preset rotational deviation threshold and the actual rotational position. The accumulation module is used to accumulate the actual rotational deviations of the multiple test conditions to obtain the total rotational deviation; The judgment module is used to determine the rotation deviation detection result of the tested motor by judging whether the total rotation deviation meets the preset rotation deviation value, wherein the rotation deviation detection result is used to characterize whether the rotation deviation detection of the tested motor meets the preset conditions. The preset rotational deviation threshold includes a first rotational deviation threshold and a second rotational deviation threshold. The first rotational deviation threshold represents the upper limit of the rotational position deviation of the motor under test during the unloading process, and the second rotational deviation threshold represents the lower limit of the rotational position deviation of the motor under test during the unloading process. Each of the multiple test conditions includes multiple first test conditions. The monitoring module is further configured to monitor the rotational position of the motor under test at the multiple first test conditions using a position sensor on the gear shaft to obtain the rotational position of the motor under test at the multiple first test conditions; calculate the rotational position of the motor under test at the multiple first test conditions based on the first rotational deviation threshold or the second rotational deviation threshold to obtain the first rotational deviation of the motor under test at the multiple first test conditions; and accumulate the first rotational deviations of the motor under test at the multiple first test conditions to obtain the actual rotational deviation of the multiple test conditions. The monitoring module is further configured to determine whether the rotational positions of the plurality of first test working points meet the preset rotational deviation threshold; if the rotational positions of the plurality of first test working points do not meet the preset rotational deviation threshold, a target test working point that does not meet the preset rotational deviation threshold is determined, wherein the target test working point is a working point where the rotational positions of the plurality of first test working points exceed the preset rotational deviation threshold; the first rotational deviation of the target test working point is accumulated to obtain the actual rotational deviation of the plurality of test working points.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the processor of the device to perform the motor detection method according to any one of claims 1-5.

8. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the motor detection method according to any one of claims 1 to 5.

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