Bearing current calculation method and device of dual-motor electromechanical system, electronic equipment and medium

Abstract

This application provides a method, apparatus, electronic device, and medium for calculating bearing current in a dual-motor electromechanical system. The method includes: determining a current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system; and obtaining the current flowing through the bearings in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode. The bearing current calculation method for dual-motor electromechanical systems provided in this application can accurately calculate the bearing current of the dual-motor electromechanical system.

Description

Technical Field

[0001] This application relates to the field of motor technology, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for calculating bearing current in a dual-motor electromechanical system. Background Technology

[0002] Bearings are components in electric motors. From a mechanical perspective, bearings support the rotor and transmit power. Because bearings operate in an electrical environment, from a circuit analysis perspective, they can be considered components with electrical characteristics. Therefore, bearings are susceptible to electro-corrosion. This phenomenon was discovered in the motor industry long ago and has been continuously tracked and studied. Bearing current is a crucial technical indicator for studying motor bearing electro-corrosion. Currently, the industry-standard methods for calculating motor bearing current are designed for single-motor main drives. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, electronic device, and computer-readable storage medium for calculating bearing current in a dual-motor electromechanical system, which can calculate bearing current.

[0004] In a first aspect, embodiments of this application provide a method for calculating bearing current in a dual-motor electromechanical system, including:

[0005] Determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system;

[0006] The current flowing through the bearing in the dual-motor electromechanical system is obtained based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system.

[0007] In the above implementation process, the dual-motor electromechanical system has multiple operating modes. The current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system is determined. Based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system, the current flowing through the bearing in the dual-motor electromechanical system can be accurately obtained.

[0008] Furthermore, the dual-motor electromechanical system includes: a first motor, a second motor, a first rotating shaft, a second rotating shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear;

[0009] The first bearing is mounted on the first rotating shaft;

[0010] The second bearing is mounted on the second rotating shaft;

[0011] The first motor is connected to the drive gear via the first rotating shaft;

[0012] The second motor is connected to the driven gear via the second rotating shaft;

[0013] The driving gear and the driven gear are connected by the connecting gear;

[0014] The motor operating modes include: a first motor independent operating mode;

[0015] The current analysis model corresponding to the first motor's stand-alone operating mode includes: twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear;

[0016] The first end of the equivalent capacitance of the connecting gear is connected to the grounding end through twice the equivalent capacitance of the first bearing.

[0017] The second terminal of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing.

[0018] The voltage at the connection point of the first bearing's twice equivalent capacitance and the connecting gear's equivalent capacitance is equal to the common-mode voltage on the windings of the first motor.

[0019] In the above implementation process, a current analysis model for the first motor operating alone was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the first motor operating alone mode.

[0020] Furthermore, the dual-motor electromechanical system includes: a first motor, a second motor, a first rotating shaft, a second rotating shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear;

[0021] The first bearing is mounted on the first rotating shaft;

[0022] The second bearing is mounted on the second rotating shaft;

[0023] The first motor is connected to the drive gear via the first rotating shaft;

[0024] The second motor is connected to the driven gear via the second rotating shaft;

[0025] The driving gear and the driven gear are connected by the connecting gear;

[0026] The motor operating modes include: a second motor operating mode;

[0027] The current analysis model corresponding to the second motor's stand-alone operating mode includes: twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear;

[0028] The first end of the equivalent capacitance of the connecting gear is connected to the grounding end through twice the equivalent capacitance of the first bearing.

[0029] The second terminal of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing.

[0030] The voltage at the connection point of the second bearing's twice equivalent capacitance and the equivalent capacitance of the connecting gear is equal to the common-mode voltage on the windings of the second motor.

[0031] In the above implementation process, a current analysis model for the second motor operating independently was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the second motor operating independently.

[0032] Furthermore, the dual-motor electromechanical system includes: a first motor and a second motor, a first rotating shaft, a second rotating shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear;

[0033] The first bearing is mounted on the first rotating shaft;

[0034] The second bearing is mounted on the second rotating shaft;

[0035] The first motor is connected to the drive gear via the first rotating shaft;

[0036] The second motor is connected to the driven gear via the second rotating shaft;

[0037] The driving gear and the driven gear are connected by the connecting gear;

[0038] When the operating mode of the dual-motor electromechanical system is the dual-motor operating mode, the current analysis model corresponding to the dual-motor operating mode includes:

[0039] The equivalent capacitance of the first bearing is twice that of the second bearing, and the equivalent capacitance of the connecting gear is also twice that of the first bearing.

[0040] The first end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the first bearing.

[0041] The second end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing.

[0042] The voltage across twice the equivalent capacitance of the first bearing is the common-mode voltage on the winding of the first motor;

[0043] The voltage across the second bearing's twice equivalent capacitance is the common-mode voltage on the windings of the first motor.

[0044] In the above implementation process, a current analysis model for the dual-motor independent operation mode was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the second motor independent operation mode.

[0045] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0046] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0047]

[0048]

[0049] i v11 i is the current value flowing through the first bearing; v12 V1 is the current value flowing through the second bearing; Cb1 is the common-mode voltage on the winding of the first motor; Cb1 is the equivalent capacitance of the first bearing; C b2 C is the equivalent capacitance of the second bearing; g The equivalent capacitance of the connecting gear.

[0050] In the above implementation process, the current of the first bearing and the second bearing can be quickly calculated using the above formula in the first motor's stand-alone operating mode.

[0051] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0052] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0053]

[0054]

[0055] i v21 i is the current value flowing through the first bearing; v22 V1 is the current value flowing through the second bearing; V2 is the common-mode voltage on the winding of the second motor; Cb1 is the equivalent capacitance of the first bearing; C b2 C is the equivalent capacitance of the second bearing; g The equivalent capacitance of the connecting gear.

[0056] In the above implementation process, the current of the first and second bearings can be quickly calculated using the above formula in the second motor's stand-alone operating mode.

[0057] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0058] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0059]

[0060]

[0061] i v31 i is the current value flowing through the first bearing; v32 V1 is the current value flowing through the second bearing; V2 is the common-mode voltage on the winding of the first motor; Cb1 is the equivalent capacitance of the first bearing; C b2 This is the equivalent capacitance of the second bearing.

[0062] In the above implementation process, the current of the first and second bearings can be quickly calculated using the above formula in the dual-motor working mode.

[0063] Secondly, this application provides a bearing current calculation device for a dual-motor electromechanical system, comprising:

[0064] The current analysis model determination module is used to determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system.

[0065] The current calculation module is used to obtain the current flowing through the bearing in the dual-motor electromechanical system according to the current analysis model corresponding to the motor working mode of the dual-motor electromechanical system.

[0066] Thirdly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0067] Fourthly, embodiments of this application provide a computer-readable storage medium, comprising: instructions stored on the computer-readable storage medium, which, when executed on a computer, cause the computer to perform the method as described in any of the first aspects. Attached Figure Description

[0068] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0069] Figure 1 A flowchart illustrating the bearing current calculation method for a dual-motor electromechanical system provided in this application embodiment;

[0070] Figure 2 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0071] Figure 3 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0072] Figure 4 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0073] Figure 5 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0074] Figure 6 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0075] Figure 7 A schematic diagram of the current analysis model provided in the embodiments of this application;

[0076] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0077] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0078] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0079] See Figure 1 This application provides a method for calculating bearing current in a dual-motor electromechanical system, including:

[0080] S11: Determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system;

[0081] S12: Obtain the current flowing through the bearing in the dual-motor electromechanical system according to the current analysis model corresponding to the motor working mode of the dual-motor electromechanical system.

[0082] In the above implementation process, the dual-motor electromechanical system has multiple operating modes. The current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system is determined. Based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system, the current flowing through the bearing in the dual-motor electromechanical system can be accurately obtained.

[0083] Further, the dual-motor electromechanical system includes: a first motor, a second motor, a first shaft, a second shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear; the first bearing is mounted on the first shaft; the second bearing is mounted on the second shaft; the first motor is connected to the driving gear via the first shaft; the second motor is connected to the driven gear via the second shaft; the driving gear and the driven gear are connected via the connecting gear; the motor operating modes include: a first motor operating mode alone; the current analysis model corresponding to the first motor operating mode alone includes: twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear; the first end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the first bearing; the second end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing; the voltage at the connection point of the twice equivalent capacitance of the first bearing and the equivalent capacitance of the connecting gear is equal to the common-mode voltage on the winding of the first motor.

[0084] For example, see Figure 2 This is a current analysis model for the first motor operating mode in the embodiments of this application. Wherein, Cg is the equivalent capacitance of the connecting gear; 2Cb1 is twice the equivalent capacitance of the first bearing; 2Cb2 is twice the equivalent capacitance of the second bearing.

[0085] The first bearing may include one or more first sub-bearings; the second bearing may include one or more second sub-bearings.

[0086] When the first bearing includes multiple first sub-bearings or the second bearing includes multiple second sub-bearings, the connection method of the multiple first sub-bearings or the connection method of the multiple second sub-bearings (series, parallel or mixed connection, etc.) can be obtained;

[0087] The current flowing through each first sub-bearing and each second sub-bearing is calculated based on the connection method of the first sub-bearing or the connection method of multiple second sub-bearings and the current of the first bearing and the second bearing.

[0088] In some embodiments, the connection method of multiple first sub-bearings or the connection method of multiple second sub-bearings can be determined through prior experiments.

[0089] When the number of bearings increases (the transmission system becomes more complex), the calculation of bearing current follows the same method as described in this article.

[0090] In the above implementation process, a current analysis model for the first motor operating alone was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the first motor operating alone mode.

[0091] Further, the dual-motor electromechanical system includes: a first motor, a second motor, a first shaft, a second shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear; the first bearing is mounted on the first shaft; the second bearing is mounted on the second shaft; the first motor is connected to the driving gear via the first shaft; the second motor is connected to the driven gear via the second shaft; the driving gear and the driven gear are connected via the connecting gear; the motor operating modes include: a second motor independent operating mode; the current analysis model corresponding to the second motor independent operating mode includes: twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear; the first end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the first bearing; the second end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing; the voltage at the connection point of the twice equivalent capacitance of the second bearing and the equivalent capacitance of the connecting gear is equal to the common-mode voltage on the winding of the second motor.

[0092] For example, see Figure 3 This is a current analysis model for the second motor operating mode under the embodiment of this application.

[0093] In the above implementation process, a current analysis model for the second motor operating independently was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the second motor operating independently.

[0094] Further, the dual-motor electromechanical system includes: a first motor and a second motor, a first rotating shaft, a second rotating shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear; the first bearing is mounted on the first rotating shaft; the second bearing is mounted on the second rotating shaft; the first motor is connected to the driving gear via the first rotating shaft; the second motor is connected to the driven gear via the second rotating shaft; the driving gear and the driven gear are connected via the connecting gear; when the operating mode of the dual-motor electromechanical system is the dual-motor operating mode, the current analysis model corresponding to the dual-motor operating mode includes: twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear; the first end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the first bearing; the second end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing; the voltage across twice the equivalent capacitance of the first bearing is the common-mode voltage on the winding of the first motor; the voltage across twice the equivalent capacitance of the second bearing is the common-mode voltage on the winding of the first motor.

[0095] See Figure 4 , Figure 5 , Figure 6 This is the current analysis model for the dual-motor independent operating mode provided in the embodiments of this application.

[0096] In the above implementation process, a current analysis model for the dual-motor independent operation mode was proposed. Based on this, the current of the first bearing and the second bearing can be quickly analyzed in the second motor independent operation mode.

[0097] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0098] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0099]

[0100]

[0101] i v11 i is the current value flowing through the first bearing; v12 V1 is the current value flowing through the second bearing; Cb1 is the common-mode voltage on the winding of the first motor; Cb1 is the equivalent capacitance of the first bearing; C b2 C is the equivalent capacitance of the second bearing; g The equivalent capacitance of the connecting gear.

[0102] Understandably, iv11 It is also the current value of the current flowing through the connecting gear.

[0103] In the above implementation process, the current of the first bearing and the second bearing can be quickly calculated using the above formula in the first motor's stand-alone operating mode.

[0104] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0105] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0106]

[0107]

[0108] i v21 i is the current value flowing through the first bearing; v22 V1 is the current value flowing through the second bearing; V2 is the common-mode voltage on the winding of the second motor; Cb1 is the equivalent capacitance of the first bearing; C b2 C is the equivalent capacitance of the second bearing; g This is the equivalent capacitance of the connecting gear. It can be understood that i v21 It is also the current value of the current flowing through the connecting gear.

[0109] In the above implementation process, the current of the first and second bearings can be quickly calculated using the above formula in the second motor's stand-alone operating mode.

[0110] Further, obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes:

[0111] The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula:

[0112]

[0113]

[0114] See Figure 4 i v31 i is the current value flowing through the first bearing; v32 V1 is the current value flowing through the second bearing; V2 is the common-mode voltage on the winding of the first motor; Cb1 is the equivalent capacitance of the first bearing; C b2 This is the equivalent capacitance of the second bearing.

[0115] In the above implementation process, the current of the first and second bearings can be quickly calculated using the above formula in the dual-motor working mode.

[0116] See Figure 4 In some embodiments, in dual-motor operating mode, when the common-mode voltage on the winding of the first motor is greater than the common-mode voltage on the winding of the second motor, the current value flowing through the gear is obtained by the following formula:

[0117] U cg =U 2cb1 -U 2cb2 ;

[0118]

[0119] Among them, U cg This is the voltage across the equivalent capacitor connecting the gears;

[0120] U 2cb2 The voltage across twice the capacitor of the second bearing;

[0121] U 2cb1 The voltage across twice the capacitor of the first bearing;

[0122] i v1g This is the current value flowing through the gear when the common-mode voltage on the winding of the first motor is greater than the common-mode voltage on the winding of the second motor.

[0123] See Figure 5 In some embodiments, in dual-motor operating mode, when the common-mode voltage on the winding of the second motor is greater than the common-mode voltage on the winding of the first motor, the current value flowing through the gear is obtained by the following formula:

[0124] U cg =U 2cb2 -U 2cb1 ;

[0125]

[0126] U cg This is the voltage across the equivalent capacitor connecting the gears;

[0127] U 2cb2 The voltage across twice the capacitor of the second bearing;

[0128] U 2cb1 The voltage across twice the capacitor of the first bearing;

[0129] i v2gThis is the current value flowing through the gear when the common-mode voltage on the winding of the second motor is greater than the common-mode voltage on the winding of the first motor.

[0130] See Figure 6 In some embodiments, in the dual-motor operating mode, when the common-mode voltage on the winding of the first motor is equal to the common-mode voltage on the winding of the second motor, the voltage and current flowing through the gear are 0.

[0131] See Figure 7 This application also provides a bearing current calculation device for a dual-motor electromechanical system, comprising:

[0132] The current analysis model determination module 71 is used to determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system.

[0133] The current calculation module 72 is used to obtain the current flowing through the bearing in the dual-motor electromechanical system according to the current analysis model corresponding to the motor working mode of the dual-motor electromechanical system.

[0134] The apparatus in this application embodiment is also used to perform the methods involved in the above method embodiments, which will not be described again here.

[0135] This application also provides an electronic device, please refer to [link to application]. Figure 8 , Figure 8 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 81, a communication interface 82, a memory 83, and at least one communication bus 84. The communication bus 84 is used to enable direct communication between these components. In this embodiment, the communication interface 82 of the electronic device is used for signaling or data communication with other node devices. The processor 81 may be an integrated circuit chip with signal processing capabilities.

[0136] The processor 81 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 81 can be any conventional processor.

[0137] The memory 83 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 83 stores computer-readable instructions, which, when executed by the processor 81, allow the electronic device to perform the various steps involved in the above method embodiments.

[0138] Alternatively, the electronic device may also include a storage controller and an input / output unit.

[0139] The memory 83, storage controller, processor 81, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 84. The processor 81 is used to execute executable modules stored in the memory 83, such as software function modules or computer programs included in electronic devices.

[0140] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.

[0141] Understandable. Figure 8 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 8 The more or fewer components shown, or having the same Figure 8 The different configurations shown. Figure 8 The components shown can be implemented using hardware, software, or a combination thereof.

[0142] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.

[0143] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0145] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0146] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0147] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0148] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0149] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for calculating bearing current in a dual-motor electromechanical system, characterized in that, include: Determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system; The current flowing through the bearing in the dual-motor electromechanical system is obtained based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system. The current analysis model is an equivalent model constructed based on the structure and motor operating mode of the dual-motor electromechanical system; the dual-motor electromechanical system includes a first motor, a second motor, a first shaft, a second shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear; the current analysis model includes twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear; The first bearing is mounted on the first rotating shaft; The second bearing is mounted on the second rotating shaft; The first motor is connected to the drive gear via the first rotating shaft; The second motor is connected to the driven gear via the second rotating shaft; The driving gear and the driven gear are connected by the connecting gear; When the motor operates in the first motor standalone mode, the first end of the equivalent capacitance of the connecting gear is connected to the ground terminal through twice the equivalent capacitance of the first bearing. The second terminal of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing. The voltage at the connection point of the first bearing's twice equivalent capacitance and the connecting gear's equivalent capacitance is equal to the common-mode voltage on the windings of the first motor.

2. The bearing current calculation method for a dual-motor electromechanical system according to claim 1, characterized in that, When the motor operates in the second motor stand-alone mode, the first end of the equivalent capacitance of the connecting gear is connected to the grounding terminal through twice the equivalent capacitance of the first bearing. The second terminal of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing. The voltage at the connection point of the second bearing's twice equivalent capacitance and the equivalent capacitance of the connecting gear is equal to the common-mode voltage on the windings of the second motor.

3. The bearing current calculation method for a dual-motor electromechanical system according to claim 1, characterized in that, When the working mode of the dual-motor electromechanical system is the dual-motor working mode, the first end of the equivalent capacitance of the connecting gear is connected through twice the equivalent capacitance of the first bearing and the grounding end. The second end of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing. The voltage across twice the equivalent capacitance of the first bearing is the common-mode voltage on the winding of the first motor; The voltage across the second bearing's twice equivalent capacitance is the common-mode voltage on the windings of the second motor.

4. The method for calculating bearing current in a dual-motor electromechanical system according to claim 1, characterized in that, The step of obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes: The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula: ； ； The value of the current flowing through the first bearing; This is the current value flowing through the second bearing; This is the common-mode voltage on the windings of the first motor. The equivalent capacitance of the first bearing; This is the equivalent capacitance of the second bearing; The equivalent capacitance of the connecting gear.

5. The method for calculating bearing current in a dual-motor electromechanical system according to claim 2, characterized in that, The step of obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes: The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula: ； ； The value of the current flowing through the first bearing; This is the current value flowing through the second bearing; This is the common-mode voltage on the windings of the second motor. The equivalent capacitance of the first bearing; This is the equivalent capacitance of the second bearing; The equivalent capacitance of the connecting gear.

6. The bearing current calculation method for a dual-motor electromechanical system according to claim 3, characterized in that, The step of obtaining the current flowing through the bearing in the dual-motor electromechanical system based on the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system includes: The current flowing through the bearing in a dual-motor electromechanical system can be obtained using the following formula: ； ； The value of the current flowing through the first bearing; This is the current value flowing through the second bearing; This is the common-mode voltage on the windings of the first motor; This is the common-mode voltage on the windings of the second motor; The equivalent capacitance of the first bearing; This is the equivalent capacitance of the second bearing.

7. A bearing current calculation device for a dual-motor electromechanical system, characterized in that, include: The current analysis model determination module is used to determine the current analysis model corresponding to the motor operating mode of the dual-motor electromechanical system. The current calculation module is used to obtain the current flowing through the bearing in the dual-motor electromechanical system according to the current analysis model corresponding to the motor working mode of the dual-motor electromechanical system. The current analysis model is an equivalent model constructed based on the structure and motor operating mode of the dual-motor electromechanical system; the dual-motor electromechanical system includes a first motor, a second motor, a first shaft, a second shaft, a first bearing, a second bearing, a driving gear, a driven gear, and a connecting gear; the current analysis model includes twice the equivalent capacitance of the first bearing, twice the equivalent capacitance of the second bearing, and the equivalent capacitance of the connecting gear; The first bearing is mounted on the first rotating shaft; The second bearing is mounted on the second rotating shaft; The first motor is connected to the drive gear via the first rotating shaft; The second motor is connected to the driven gear via the second rotating shaft; The driving gear and the driven gear are connected by the connecting gear; When the motor operates in the first motor standalone mode, the first end of the equivalent capacitance of the connecting gear is connected to the ground terminal through twice the equivalent capacitance of the first bearing. The second terminal of the equivalent capacitance of the connecting gear is connected to the ground terminal via twice the equivalent capacitance of the second bearing. The voltage at the connection point of the first bearing's twice equivalent capacitance and the connecting gear's equivalent capacitance is equal to the common-mode voltage on the windings of the first motor.

8. An electronic device, characterized in that, A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-6.

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