Motor detection method, electronic device, storage medium and computer program product

Abstract

The present invention proposes a motor detection method, an electronic device, a storage medium and a computer program product. The method comprises: when the reverse electromotive force of a suspended phase of the motor passes through a zero point, determining the reverse electromotive force during motor commutation according to the suspended phase terminal voltage; determining the reverse electromotive force amplitude according to the reverse electromotive force; and performing out-of-step detection on the motor according to the reverse electromotive force amplitude. The present invention screens the reverse electromotive force in the real physical quantity, i.e., the suspended phase terminal voltage, thereby improving the authenticity and comprehensiveness of the covered motor out-of-step scenarios compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of out-of-step judgment and the timeliness of response.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a motor detection method, electronic equipment, storage medium and computer program product. Background Art

[0002] In the related technology, based on sinusoidal wave control, the reverse electromotive force of the motor is calculated in real time according to the collected sinusoidal wave parameters and the motor dynamic equation, and the motor is detected to be out of step based on the calculated reverse electromotive force. Since the reverse electromotive force is a calculated quantity, the motor out of step scenarios that can be covered are relatively small, and the calculated reverse electromotive force is affected by many factors, resulting in misjudgment and missed judgment. Other out of step judgment methods such as speed and speed difference have the same problem. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to propose a motor detection method, which improves the authenticity and comprehensiveness of the covered motor out-of-step scenarios by screening the back electromotive force in the real physical quantity, namely the suspended phase terminal voltage, compared with the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the back electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0005] To this end, a second objective of the present invention is to provide an electronic device.

[0006] To this end, a third object of the present invention is to provide a computer-readable storage medium.

[0007] To this end, a fourth object of the present invention is to provide a computer program product.

[0008] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a motor detection method, which includes: when the reverse electromotive force of the motor's suspended phase passes through a zero point, determining the reverse electromotive force of the motor during commutation according to the voltage at the suspended phase terminal; determining the reverse electromotive force amplitude according to the reverse electromotive force; and performing out-of-step detection on the motor according to the reverse electromotive force amplitude.

[0009] According to the motor detection method of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is achieved based on the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0010] In some embodiments, the reverse electromotive force during motor commutation is determined based on the suspended phase terminal voltage, including: when the timing time of the motor commutation reaches a first time length, obtaining the suspended phase terminal voltage within a cycle; and determining the first reverse electromotive force before commutation of the motor and the second reverse electromotive force after commutation of the motor based on the suspended phase terminal voltage within the cycle.

[0011] In some embodiments, the first reverse electromotive force before commutation of the motor is determined based on the suspended phase terminal voltage within the cycle, including: if the suspended phase terminal voltage increases or decreases within the cycle, the suspended phase terminal voltage when the suspended phase terminal voltage first increases or first decreases is used as the first reverse electromotive force; if the suspended phase terminal voltage does not increase or decrease within the cycle, zero voltage is used as the first reverse electromotive force.

[0012] In some embodiments, the second reverse electromotive force after commutation of the motor is determined based on the suspended phase terminal voltage within the period, including: after obtaining the first reverse electromotive force, if the suspended phase terminal voltage stops increasing or decreasing within the continuous period, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within the continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero reaches a second duration, the power supply voltage or zero voltage is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within the continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero does not reach the second duration, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force.

[0013] In some embodiments, before determining the reverse electromotive force of the motor during commutation according to the suspended phase terminal voltage, the method further includes: controlling the motor to perform commutation action.

[0014] In some embodiments, controlling the motor to perform a commutation action includes: obtaining a commutation period of the motor; obtaining a duration of the motor at different angles according to the commutation period; and controlling the motor to perform a commutation action according to the duration of the motor at different angles.

[0015] In some embodiments, obtaining the commutation period of the motor includes: obtaining the third time duration of the last time the suspended opposite reverse electromotive force of the motor passed through zero and the fourth time duration of the current time the suspended opposite reverse electromotive force of the motor passed through zero; and taking the time difference between the third time duration and the fourth time duration as the commutation period of the motor.

[0016] In some embodiments, obtaining the duration of the motor at different angles according to the commutation cycle includes: obtaining a fifth duration of a first angle, a second duration of a second angle, and a first duration of a preset angle threshold according to the commutation cycle.

[0017] In some embodiments, the motor is controlled to perform a commutation action according to the duration of the motor at different angles, including: when the suspended opposite reverse electromotive force of the motor passes through a zero point and the duration of the zero point reaches the fifth duration, the motor is controlled to perform a commutation action.

[0018] In some embodiments, determining the magnitude of the back electromotive force according to the back electromotive force includes: calculating the absolute value of the difference between the first back electromotive force and the second back electromotive force, and determining the magnitude of the back electromotive force according to the absolute value of the difference.

[0019] In some embodiments, determining the back electromotive force amplitude according to the absolute value of the difference includes: when the absolute value of the difference is less than or equal to a first preset amplitude threshold, using the absolute value of the difference as the back electromotive force amplitude.

[0020] In some embodiments, before using the absolute value of the difference as the amplitude of the back electromotive force, the method further includes: filtering the absolute value of the difference.

[0021] In some embodiments, the motor is detected to be out of step based on the back electromotive force amplitude, including: when the back electromotive force amplitude is less than or equal to a second preset amplitude threshold, obtaining the number of abnormalities of the back electromotive force amplitude; and the motor is detected to be out of step based on the number of abnormalities.

[0022] In some embodiments, performing out-of-step detection on the motor according to the number of abnormalities includes: determining that the motor is out of step when the number of abnormalities exceeds a preset number within a preset time.

[0023] In some embodiments, before the reverse electromotive force of the suspended phase of the motor passes through zero, it also includes: obtaining the three-phase terminal voltage of the motor; determining the suspended phase terminal voltage according to the three-phase terminal voltage; and determining the zero-crossing point of the reverse electromotive force of the suspended phase according to the suspended phase terminal voltage.

[0024] In some embodiments, obtaining the three-phase terminal voltage of the motor includes:

[0025] ,

[0026] ,

[0027] ,

[0028] in, is the voltage at phase A, is the resistance value, is the current value of phase A, is the inductance value, is the reverse electromotive force of phase A, is the neutral point voltage, is the voltage at the phase B terminal, is the current value of phase B, is the reverse electromotive force of phase B, is the voltage at the phase C terminal, is the C phase current value, The reverse electromotive force of phase C.

[0029] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes an electronic device, which includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a motor detection program executable by the at least one processor, and when the motor detection program is executed by the at least one processor, the at least one processor executes the motor detection method described in the above-mentioned embodiment.

[0030] According to the electronic device of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is implemented according to the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of out-of-step judgment and the timeliness of response.

[0031] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a computer-readable storage medium, on which a motor detection program is stored. When the motor detection program is executed by a processor, it implements the motor detection method described in the above-mentioned embodiment.

[0032] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer program product, characterized in that the computer program product includes a computer program, and when the computer program is executed by a processor, the motor detection method described in the above-mentioned embodiment is implemented.

[0033] According to the computer program product of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is implemented according to the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 is a flow chart of a motor detection method according to an embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of a motor square wave control circuit according to an embodiment of the present invention;

[0038] Figure 3 is a waveform diagram of three-phase terminal voltages according to an embodiment of the present invention;

[0039] Figure 4 is a flow chart of a motor detection method according to a specific embodiment of the present invention;

[0040] Figure 5 is a structural block diagram of a motor detection device according to an embodiment of the present invention.

[0041] Reference numerals:

[0042] Motor detection device 2;

[0043] A first determination module 21 ; a second determination module 22 ; and a detection module 23 . DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0045] In the related art, the calculation formula of the back electromotive force of the motor is Eq=Uq-R*Iq, wherein Eq is the quadrature-axis back electromotive force, Uq is the quadrature-axis voltage, R is the motor phase resistance, and Iq is the quadrature-axis current, or the output voltage threshold of the motor is determined according to the peak value of the back electromotive force, the output voltage peak value of each control cycle is calculated, and the average value of the output voltage peak value within a preset number of control cycles is calculated, and the motor's out-of-step condition is detected according to the relationship between the average value and the output voltage threshold value. However, the back electromotive force is a process quantity and participates in the calculation of the output voltage peak value. The output voltage peak value is used to detect the motor's out-of-step condition, resulting in poor judgment of the motor's out-of-step condition.

[0046] Combine the following Figure 1-Figure 4 The motor detection method according to the embodiment of the present invention is described with examples.

[0047] like Figure 1 As shown, the motor detection method of the embodiment of the present invention at least includes steps S1 to S3.

[0048] Step S1, when the reverse electromotive force of the suspended phase of the motor passes through a zero point, the reverse electromotive force of the motor during commutation is determined according to the voltage at the suspended phase terminal.

[0049] Among them, based on square wave control and sensorless application, the three-phase six-state running motor uses two phases to be energized at any time, and the third phase is suspended, that is, the voltage at the suspended phase terminal corresponds to the reverse electromotive force of the suspended phase.

[0050] In an embodiment, during the operation of a motor without an encoder or a Hall sensor, a comparator or terminal voltage can be used to detect the zero point of the motor's suspended phase reverse electromotive force. When the motor's suspended phase reverse electromotive force passes through zero, the real physical quantity of the motor, namely the suspended phase terminal voltage, is periodically collected, and the reverse electromotive force during motor commutation is determined based on the change of the suspended phase terminal voltage within the cycle. By determining the reverse electromotive force based on the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared with the calculation process quantity reconstructed based on the motor dynamic equation in the prior art, and when the motor is abnormal, it can better play a protective role.

[0051] Step S2, determining the back electromotive force amplitude according to the back electromotive force.

[0052] In the embodiment, after obtaining the reverse electromotive force, the absolute value of the difference between the reverse electromotive forces is calculated and determined as the reverse electromotive force amplitude, for example, recorded as , due to the magnitude of the motor's reverse electromotive force Proportional to the rotor angular velocity, the back EMF amplitude obtained under the square wave control method It is relatively easy to determine whether the motor is out of step.

[0053] Step S3, detecting whether the motor is out of step according to the amplitude of the back electromotive force.

[0054] In an embodiment, the back electromotive force amplitude is obtained After that, the reverse electromotive force amplitude within the preset time is obtained The number of abnormalities is compared with the preset number to determine the motor's out-of-step condition and the reverse electromotive force amplitude. It can significantly increase the accuracy of out-of-step judgment and the timeliness of response, and prevent the rotor speed and rotating magnetic field from losing control due to factors such as a sudden increase in load during motor operation, causing the motor's output power to drop sharply and generate heat, thereby avoiding burning the motor.

[0055] According to the motor detection method of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is achieved based on the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0056] In some embodiments, the reverse electromotive force during motor commutation is determined based on the suspended phase terminal voltage, including: when the timing time of the motor commutation reaches a first time length, obtaining the suspended phase terminal voltage within a cycle; and determining the first reverse electromotive force before the motor commutation and the second reverse electromotive force after the motor commutation based on the suspended phase terminal voltage within the cycle.

[0057] In the embodiment, the timing starts from the commutation moment of the motor. When the timing time of the motor commutation reaches a first duration, the motor's suspended phase terminal voltage is periodically collected, and the first reverse electromotive force before the motor commutation is determined according to the change of the suspended phase terminal voltage within the period, for example, recorded as U cy The second reverse electromotive force after the motor commutation is recorded as Ucx , wherein the first duration is a calibration value, which is determined according to the duration of the glitch interference generated when the motor is commutated under different working conditions. For example, if the duration of the glitch interference generated by the motor under different working conditions is always less than a certain electrical angle period, such as the duration of 8° electrical angle, the first duration is determined to be the duration of 8° electrical angle. By obtaining the suspended phase terminal voltage after the first duration, the glitch interference problem caused by the diode freewheeling and other reasons at the commutation moment of the motor can be avoided, and the interference can be effectively avoided to ensure that the acquired reverse electromotive force is accurate and reliable.

[0058] In some embodiments, the first reverse electromotive force before motor commutation is determined based on the suspended phase terminal voltage within the cycle, including: if the suspended phase terminal voltage increases or decreases within the cycle, the suspended phase terminal voltage when the suspended phase terminal voltage first increases or first decreases is used as the first reverse electromotive force; if the suspended phase terminal voltage does not increase or decrease within the cycle, zero voltage is used as the first reverse electromotive force.

[0059] In the embodiment, after obtaining the suspended phase terminal voltage of the motor, the change of the suspended phase terminal voltage in the cycle is determined. If the suspended phase terminal voltage in the cycle increases or decreases, the suspended phase terminal voltage when the suspended phase terminal voltage increases or decreases for the first time is used as the first reverse electromotive force U cy If the voltage at the floating phase terminal does not increase or decrease during the cycle, the zero voltage is taken as the first reverse electromotive force U cy .

[0060] In some embodiments, the second reverse electromotive force after motor commutation is determined based on the suspended phase terminal voltage within a cycle, including: after obtaining the first reverse electromotive force, if the suspended phase terminal voltage stops increasing or decreasing within a continuous period, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within a continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero reaches a second duration, the power supply voltage or zero voltage is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within a continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero does not reach the second duration, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force.

[0061] In the embodiment, the first reverse electromotive force U is obtained. cy After that, the suspended phase terminal voltage is continuously collected periodically. If the suspended phase terminal voltage stops increasing or decreasing within the continuous period, the suspended phase terminal voltage at the time of the last increase or decrease of the suspended phase terminal voltage is taken as the second reverse electromotive force U cx .

[0062] If the voltage at the suspended phase terminal increases or decreases within the continuous period, the suspended phase terminal voltage continues to be collected periodically, and the timing starts from the moment when the zero crossing point is detected again. When the duration of the suspended phase reverse electromotive force of the motor crossing the zero point reaches the second duration, the power supply voltage or zero voltage is used as the second reverse electromotive force U cx For example, if the voltage at the suspended phase terminal before the motor commutation is increasing, the power supply voltage is used as the second reverse electromotive force U cx If the voltage at the suspended phase terminal before the motor commutation is decreasing, the zero voltage is taken as the second reverse electromotive force U cx .

[0063] If the duration of the motor's suspended phase reverse electromotive force crossing the zero point does not reach the second duration, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is taken as the second reverse electromotive force U cx , wherein the second duration is the duration for which commutation will be performed again.

[0064] In some embodiments, before determining the reverse electromotive force during motor commutation based on the suspended phase terminal voltage, it is necessary to delay for a period of time after the reverse electromotive force of the motor passes through zero, for example, after a preset time corresponding to a preset angle, and then control the motor to perform the commutation action so that the motor can run smoothly.

[0065] In some embodiments, controlling the motor to perform a commutation action includes: obtaining a commutation period of the motor; obtaining a duration of the motor at different angles according to the commutation period; and controlling the motor to perform a commutation action according to the duration of the motor at different angles.

[0066] In an embodiment, the commutation period of the motor is determined according to the system time corresponding to when the motor's suspended opposite reverse electromotive force passes through a zero point, and the duration of the motor at different angles is calculated proportionally according to the commutation period, so as to control the direction of the motor according to the duration of the motor at different angles, or obtain a more accurate reverse electromotive force; after obtaining the duration of the motor at different angles, when the motor's suspended opposite reverse electromotive force passes through a zero point and reaches a preset duration of a preset angle, the motor is controlled to perform a commutation action, so that the motor can run smoothly.

[0067] In some embodiments, obtaining the commutation period of the motor includes: obtaining the third time duration of the last motor's suspended opposite direction electromotive force crossing zero and the fourth time duration of the current motor's suspended opposite direction electromotive force crossing zero; and taking the time difference between the third time duration and the fourth time duration as the commutation period of the motor.

[0068] In an embodiment, when the free-wheeling counter-phase electromotive force of the motor passes through zero, the corresponding system time is detected in real time to obtain the third time duration of the free-wheeling counter-phase electromotive force of the motor passing through zero last time and the fourth time duration of the free-wheeling counter-phase electromotive force of the motor passing through zero currently, and the time difference between the third time duration and the fourth time duration is used as the commutation period of the motor, that is, according to the six-step commutation method, the motor rotates one electrical angle cycle and performs 6 steps of commutation in sequence, 360° / 6=60°, the time duration for the motor to rotate 60°. Since the zero-crossing detection is performed periodically, the above cycle time is continuously updated, wherein the electrical angle is the angle of rotation of the motor's magnetic field, and when the electrical angle rotates one circle, i.e. 360°, the actual mechanical angle of rotation of the rotor is 360° / pole pair number.

[0069] In some embodiments, obtaining the duration of the motor at different angles according to the commutation cycle includes: obtaining a fifth duration of the first angle, a second duration of the second angle, and a first duration of a preset angle threshold according to the commutation cycle.

[0070] In an embodiment, after obtaining the commutation period, the fifth duration of the first angle 30°, the second duration of the second angle 29°, and the first duration of the preset angle threshold 8° can be calculated proportionally, so as to control the direction of the motor according to the duration of the motor at different angles, or obtain a more accurate reverse electromotive force.

[0071] In some embodiments, the motor is controlled to perform a commutation action according to the duration of the motor at different angles, including: when the suspended opposite reverse electromotive force of the motor passes through a zero point and the duration of the zero point reaches a fifth duration, the motor is controlled to perform a commutation action.

[0072] In an embodiment, after obtaining the fifth duration of the first angle 30°, when the suspended opposite electromotive force of the motor passes through the zero point and the duration of the zero crossing reaches the fifth duration, it is considered that when the zero crossing delay of 30° electrical angle is detected, the motor can be controlled to perform commutation action, so that the motor can run smoothly.

[0073] In some embodiments, determining the magnitude of the back electromotive force according to the back electromotive force includes: calculating the absolute value of the difference between the first back electromotive force and the second back electromotive force, and determining the magnitude of the back electromotive force according to the absolute value of the difference.

[0074] In the embodiment, the first reverse electromotive force U is obtained. cy and the second back electromotive force U cx Then, calculate the first reverse electromotive force U cy and the second back electromotive force U cx The absolute value of the difference is used to determine the reverse electromotive force amplitude. , the calculation formula is as follows:

[0075] ,

[0076] In some embodiments, determining the back electromotive force amplitude according to the absolute value of the difference includes: when the absolute value of the difference is less than or equal to a first preset amplitude threshold, using the absolute value of the difference as the back electromotive force amplitude.

[0077] In the embodiment, the first reverse electromotive force U is calculated cy and the second back electromotive force U cx After calculating the absolute value of the difference, the magnitude relationship between the absolute value of the difference and the first preset amplitude threshold is compared. When the absolute value of the difference is less than or equal to the first preset amplitude threshold, the absolute value of the difference is filtered and the absolute value of the difference after filtering is used as the reverse electromotive force amplitude. , wherein the first preset amplitude threshold is a calibration value that the back electromotive force will never reach at the rated speed or the maximum speed, that is, data exceeding this value is wrong and should be discarded.

[0078] In some embodiments, the motor is detected to be out of step based on the back electromotive force amplitude, including: when the back electromotive force amplitude is less than or equal to a second preset amplitude threshold, obtaining the number of abnormal back electromotive force amplitudes; and detecting the motor out of step based on the number of abnormalities.

[0079] In an embodiment, the back electromotive force amplitude is obtained After that, determine the reverse electromotive force amplitude and the second preset amplitude threshold, in the reverse electromotive force amplitude When the reverse electromotive force amplitude is less than or equal to the second preset amplitude threshold, it is considered that the reverse electromotive force amplitude If an abnormality occurs, obtain the reverse electromotive force amplitude The number of abnormalities is counted, and the motor is detected to be out of step according to the number of abnormalities, wherein the second preset potential amplitude threshold is 60% of the minimum back electromotive force amplitude at the current speed, that is, when it is less than the threshold value, the motor is abnormal.

[0080] In some embodiments, the motor is detected to be out of step according to the number of abnormalities, including: when the number of abnormalities exceeds a preset number within a preset time, determining that the motor is out of step.

[0081] In an embodiment, the back electromotive force amplitude is obtained After detecting the number of abnormalities, determine whether the number of abnormalities exceeds the preset number within the preset time. If the number of abnormalities exceeds the preset number within the preset time, it is determined that the motor is out of step. For example, if the reverse electromotive force amplitude is abnormal 3 times within 1 second, the rotor speed and the rotating magnetic field may be out of control due to factors such as a sudden increase in load during the operation of the motor, that is, the motor is out of step. By accurately judging the motor out of step situation, the output power of the motor can be prevented from dropping sharply and heating, which may even burn out the motor in severe cases.

[0082] In some embodiments, before the reverse electromotive force of the suspended phase of the motor passes through zero, it also includes: obtaining the three-phase terminal voltage of the motor; determining the suspended phase terminal voltage based on the three-phase terminal voltage; and determining the zero point of the reverse electromotive force of the suspended phase of the motor based on the suspended phase terminal voltage.

[0083] In an embodiment, Figure 2 The figure is a schematic diagram of a square wave control circuit for a motor according to an embodiment of the present invention. The motor includes Ea, Eb, and Ec. One end of each motor passes through a phase inductor. and phase resistance After that, the output three-phase terminal voltage is U A , U B and U C , the other end of each motor is connected to the virtual neutral point ,according to Figure 2 The three-phase terminal voltage of the motor can be determined:

[0084] ,

[0085] ,

[0086] ,

[0087] in, is the voltage at phase A, is the resistance value, is the current value of phase A, is the inductance value, is the reverse electromotive force of phase A, is the neutral point voltage, is the voltage at the phase B terminal, is the current value of phase B, is the reverse electromotive force of phase B, is the voltage at the phase C terminal, is the C phase current value, is the reverse electromotive force of phase C; the three-phase inductance of the motor And three-phase resistance are all equal.

[0088] After obtaining the above three-phase terminal voltage, determine Figure 3 The waveform of the three-phase terminal voltage shown in the figure shows that when the A and B phases of the motor are energized and the C phase is a suspended phase, , then the floating phase terminal voltage , determine the reverse electromotive force of the suspended phase according to the waveform of the suspended phase terminal voltage When it passes through zero, , then the floating phase terminal voltage .

[0089] Reference below Figure 4The motor detection method according to the embodiment of the present invention is described with examples.

[0090] like Figure 4 As shown, the motor detection method of the embodiment of the present invention at least includes steps S11 to S29.

[0091] Step S11, obtaining the three-phase terminal voltage of the motor; determining the suspended phase voltage according to the three-phase terminal voltage; determining the zero-crossing point of the reverse electromotive force of the suspended phase according to the suspended phase voltage.

[0092] Step S12, obtaining the third duration of the last motor's suspended counter electromotive force zero-crossing point and the fourth duration of the current motor's suspended counter electromotive force zero-crossing point; and taking the duration difference between the third duration and the fourth duration as the motor's commutation period.

[0093] Step S13, acquiring a fifth duration of the first angle, a second duration of the second angle, and a first duration of the preset angle threshold according to the commutation period.

[0094] Step S14, when the reverse electromotive force of the suspended phase of the motor passes through a zero point and the duration of the zero point reaches a fifth duration, the motor is controlled to perform a commutation action.

[0095] Step S15, when the timing time of the motor commutation reaches a first time length, obtaining the floating phase terminal voltage within the cycle.

[0096] Step S16, determining whether the voltage at the floating phase terminal increases or decreases within the cycle, if so, executing step S17; otherwise, executing step S18.

[0097] Step S17, taking the voltage at the floating phase terminal when the voltage at the floating phase terminal increases or decreases for the first time as the first reverse electromotive force.

[0098] Step S18, taking the zero voltage as the first reverse electromotive force.

[0099] Step S19, determining whether the voltage at the floating phase terminal stops increasing or decreasing within the continuous period, if so, executing step S20; otherwise, executing step S21.

[0100] Step S20, taking the voltage at the floating phase terminal when the voltage at the floating phase terminal is last increasing or decreasing as the second back electromotive force.

[0101] Step S21, determine whether the duration of the motor's suspended counter electromotive force crossing the zero point reaches a second duration, if so, execute step S22; otherwise, execute step S23.

[0102] Step S22, taking the power supply voltage or zero voltage as the second back electromotive force.

[0103] Step S23, taking the voltage at the suspended phase terminal when the voltage at the suspended phase terminal is last increasing or decreasing as the second back electromotive force.

[0104] Step S24, calculating the absolute value of the difference between the first back electromotive force and the second back electromotive force.

[0105] Step S25, when the absolute value of the difference is less than or equal to the first preset amplitude threshold, filtering is performed on the absolute value of the difference, and the absolute value of the difference is used as the amplitude of the back electromotive force.

[0106] Step S26, when the back electromotive force amplitude is less than or equal to the second preset amplitude threshold, obtaining the number of abnormal back electromotive force amplitudes.

[0107] Step S27, determine whether the number of abnormalities within a preset time exceeds a preset number, if so, execute step S28; otherwise, execute step S29.

[0108] Step S28, determining whether the motor is out of step.

[0109] Step S29, determining whether the motor is out of step.

[0110] According to the motor detection method of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is achieved based on the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0111] Combine the following Figure 5 A motor detection device 2 according to an embodiment of the present invention is described.

[0112] like Figure 5 As shown, the motor detection device 2 of the embodiment of the present invention includes: a first determination module 21, a second determination module 22 and a detection module 23, wherein:

[0113] The first determination module 21 is used to determine the reverse electromotive force of the motor during commutation according to the voltage at the suspended phase terminal when the reverse electromotive force of the motor passes through zero; the second determination module 22 is used to determine the amplitude of the reverse electromotive force according to the reverse electromotive force; the detection module 23 is used to detect the motor out of step according to the amplitude of the reverse electromotive force.

[0114] According to the motor detection device 2 of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is implemented according to the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0115] The electronic device according to the embodiment of the present invention is described below.

[0116] The electronic device of an embodiment of the present invention includes the motor detection device of the above embodiment, or includes at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores a motor detection program that can be executed by at least one processor, and when the motor detection program is executed by at least one processor, the at least one processor executes the motor detection method of the above embodiment.

[0117] According to the electronic device of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is implemented according to the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of out-of-step judgment and the timeliness of response.

[0118] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0119] A motor detection program is stored on a computer-readable storage medium in an embodiment of the present invention. When the motor detection program is executed by a processor, the motor detection method of the above embodiment is implemented.

[0120] The following describes a computer program product according to an embodiment of the present invention.

[0121] The computer program product of the embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, the motor detection method of the above embodiment is implemented.

[0122] According to the computer program product of the embodiment of the present invention, when the reverse electromotive force of the motor's suspended phase passes through zero, the reverse electromotive force during motor commutation is determined based on the change of the real physical quantity that can be directly collected, namely the suspended phase terminal voltage, and the absolute value of the difference in the reverse electromotive force is determined as the reverse electromotive force amplitude. The motor's out-of-step detection is implemented according to the number of times the reverse electromotive force amplitude is abnormal. By screening the reverse electromotive force in the real physical quantity, namely the suspended phase terminal voltage, the authenticity and comprehensiveness of the covered motor out-of-step scenarios are improved compared to the calculation process quantity reconstructed using the motor dynamic equation. When the motor is abnormal, the reverse electromotive force amplitude calculated based on the real physical quantity can significantly increase the accuracy of the out-of-step judgment and the timeliness of the response.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0124] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A motor detection method, characterized in that: include: When the reverse electromotive force of the suspended phase of the motor passes through a zero point, when the timing time of the motor commutation reaches a first duration, the voltage of the suspended phase terminal within the cycle is obtained; and the first reverse electromotive force before the motor commutation and the second reverse electromotive force after the motor commutation are determined according to the voltage of the suspended phase terminal within the cycle, wherein: Determining a first reverse electromotive force before commutation of the motor according to the suspended phase terminal voltage in the cycle includes: If the voltage at the suspended phase terminal increases or decreases within the cycle, the voltage at the suspended phase terminal when the voltage at the suspended phase terminal increases or decreases for the first time is used as the first reverse electromotive force; if the voltage at the suspended phase terminal does not increase or decrease within the cycle, zero voltage is used as the first reverse electromotive force; Determining a second reverse electromotive force after commutation of the motor according to the suspended phase terminal voltage in the cycle includes: After obtaining the first reverse electromotive force, if the suspended phase terminal voltage stops increasing or decreasing within a continuous period, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within the continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero reaches a second duration, the power supply voltage or zero voltage is used as the second reverse electromotive force; if the suspended phase terminal voltage increases or decreases within the continuous period and the duration of the suspended phase reverse electromotive force of the motor passing through zero does not reach the second duration, the suspended phase terminal voltage when the suspended phase terminal voltage last increases or decreases is used as the second reverse electromotive force; determining a back electromotive force amplitude according to the first back electromotive force and the second back electromotive force; The motor is detected to be out of step according to the magnitude of the back electromotive force.

2. The motor detection method according to claim 1, characterized in that: Before determining the reverse electromotive force of the motor during commutation according to the suspended phase terminal voltage, the method further includes: The motor is controlled to perform a commutation action.

3. The motor detection method according to claim 2, characterized in that: Controlling the motor to perform a commutation action includes: Obtaining a commutation period of the motor; Acquire the duration of the motor at different angles according to the commutation cycle; The motor is controlled to perform a commutation action according to the duration of time the motor is at different angles.

4. The motor detection method according to claim 3, characterized in that: Obtaining the commutation period of the motor includes: Obtaining the third duration of the last time when the suspended counter-phase electromotive force of the motor passed through zero and the fourth duration of the current time when the suspended counter-phase electromotive force of the motor passed through zero; The duration difference between the third duration and the fourth duration is used as the commutation period of the motor.

5. The motor detection method according to claim 3, characterized in that: Acquiring the duration of the motor at different angles according to the commutation cycle includes: A fifth duration of the first angle, a second duration of the second angle, and a first duration of a preset angle threshold are acquired according to the commutation period.

6. The motor detection method according to claim 5, characterized in that: Controlling the motor to perform a commutation action according to the duration of time the motor is at different angles includes: When the suspended phase reverse electromotive force of the motor passes through a zero point and the duration of the zero point reaches the fifth duration, the motor is controlled to perform a commutation action.

7. The motor detection method according to claim 1, characterized in that: Determining a back electromotive force amplitude according to the first back electromotive force and the second back electromotive force comprises: The absolute value of the difference between the first back electromotive force and the second back electromotive force is calculated, and the amplitude of the back electromotive force is determined according to the absolute value of the difference.

8. The motor detection method according to claim 7, characterized in that: Determining the magnitude of the back electromotive force according to the absolute value of the difference comprises: When the absolute value of the difference is less than or equal to the first preset amplitude threshold, the absolute value of the difference is used as the back electromotive force amplitude.

9. The motor detection method according to claim 8, characterized in that: Before taking the absolute value of the difference as the magnitude of the back electromotive force, the method further includes: The absolute value of the difference is filtered.

10. The motor detection method according to claim 8, characterized in that: Performing out-of-step detection on the motor according to the back electromotive force amplitude includes: When the back electromotive force amplitude is less than or equal to a second preset amplitude threshold, obtaining the number of abnormal times of the back electromotive force amplitude; The motor is detected to be out of step according to the number of abnormalities.

11. The motor detection method according to claim 10, characterized in that: Performing out-of-step detection on the motor according to the number of abnormalities includes: When the number of abnormalities exceeds a preset number within a preset time, it is determined that the motor is out of step.

12. The motor detection method according to claim 1, characterized in that: Before the suspended opposite electromotive force of the motor passes through zero, the present invention also includes: Obtaining the three-phase terminal voltage of the motor; Determining the suspended phase terminal voltage according to the three-phase terminal voltages; The zero-crossing point of the reverse electromotive force of the suspended phase is determined according to the suspended phase terminal voltage.

13. The motor detection method according to claim 12, characterized in that: Obtaining the three-phase terminal voltage of the motor, comprising: ， ， ， in, is the voltage at phase A, is the resistance value, is the current value of phase A, is the inductance value, is the reverse electromotive force of phase A, is the neutral point voltage, is the voltage at the phase B terminal, is the current value of phase B, is the reverse electromotive force of phase B, is the voltage at the phase C terminal, is the C phase current value, The reverse electromotive force of phase C.

14. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a motor detection program executable by the at least one processor. When the motor detection program is executed by the at least one processor, the at least one processor executes the motor detection method according to any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a motor detection program, and when the motor detection program is executed by the processor, the motor detection method according to any one of claims 1 to 13 is implemented.

16. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the motor detection method according to any one of claims 1 to 13 is implemented.

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