Motor stalling detection method, controller, compressor and automobile

Abstract

The invention relates to a motor stalling detection method, a controller, a compressor and an automobile, and the method comprises the steps: firstly obtaining a first current and a first rotating speed of a motor in a current detection period, then determining whether the motor is stalled or not according to the first current, the first rotating speed and a preset threshold value, and if the motor is stalled, updating the number of detection times; and judging whether the number of times of detection reaches a first preset number of times, if the number of times of detection reaches the first preset number of times, reporting that a locked-rotor fault occurs in the motor, and if the number of times of detection does not reach the first preset number of times, controlling the motor to stop, and restarting the motor after a preset time delay, and carrying out locked-rotor detection in a next detection period until the number of times of detection reaches the first preset number of times. According to the method, multiple times of detection can be carried out to determine whether the motor is locked, the accuracy of motor locked-rotor detection is improved, false detection is prevented, locked-rotor detection is carried out on the restarted motor in each detection period, and the accuracy and reliability of locked-rotor detection are further improved.

Description

Technical Field

[0001] The present application relates to the field of motor stall detection, and in particular to a motor stall detection method, a controller, a compressor and a car. Background Art

[0002] Compressors are widely used in new energy vehicles. The core components are controllers and motors. During the operation of the compressor, the controller will monitor the status of the motor, diagnose faults, and provide protection. Motor stall detection is one of them. If the motor stalls, it may cause damage to the motor or high temperature failure, which will affect the performance of the vehicle. Therefore, it is necessary to accurately detect whether the motor is stalled so that protective measures can be taken in time.

[0003] The current stall detection scheme only determines whether a stall occurs by current, and only performs a stall detection once. The stall detection is relatively simple, prone to misjudgment of a stall, and the stall detection is inaccurate. Summary of the invention

[0004] The present application solves at least one of the above-mentioned technical problems to a certain extent. To this end, the present application provides a motor stall detection method, a controller, a compressor and a vehicle, which can improve the accuracy of stall detection.

[0005] In a first aspect, an embodiment of the present application provides a motor stall detection method, the method comprising:

[0006] Obtaining a first current and a first speed of the motor in a current detection cycle;

[0007] Determining whether the motor is stalled according to the first current, the first speed, and a preset threshold;

[0008] If a stall occurs, the number of abnormalities is updated to determine whether the number of abnormalities reaches a first preset number, wherein the first preset number is greater than 1;

[0009] If it is reached, the motor will be reported to have a stall fault;

[0010] If not, the motor is controlled to stop for a preset time and then restarted to perform a stall detection in the next detection cycle until the number of detections reaches the first preset number of times.

[0011] In some embodiments, the preset threshold includes a first current threshold and a first speed threshold, and determining whether the motor is stalled according to the first current, the first speed and the preset threshold includes:

[0012] If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, it is determined that the motor is stalled.

[0013] In some embodiments, the determining whether the motor is stalled according to the first current, the first speed, and a preset threshold value further includes:

[0014] If the first current is greater than the first current threshold for a second preset number of consecutive times and / or the first speed is less than the first speed threshold for the second preset number of consecutive times, it is determined that the motor is stalled, wherein the second preset number of times is greater than 1 time.

[0015] In some embodiments, the determining whether the motor is stalled according to the first current, the first speed, and a preset threshold value further includes:

[0016] If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, adjusting the target speed of the motor;

[0017] Acquire the adjusted second current and second speed of the motor;

[0018] Whether the motor is stalled is determined according to the second current, the second speed, and the preset threshold.

[0019] In some embodiments, the preset threshold value further includes a second current threshold value and a second speed threshold value, and determining whether the motor is stalled according to the second current, the second speed and the preset threshold value includes:

[0020] If the second current is greater than the second current threshold and / or the second speed is less than the second speed threshold, it is determined that the motor is stalled.

[0021] In some embodiments, determining whether the motor is stalled according to the second current, the second speed, and the preset threshold value further includes:

[0022] If the second current is greater than the second current threshold for a third preset number of times in a row and / or the second speed is less than the second speed threshold for a third preset number of times in a row, it is determined that the motor is stalled, wherein the third preset number of times is greater than 1 time.

[0023] In some embodiments, the method further comprises:

[0024] In at least one detection cycle, the motor is controlled to rotate forward and reverse;

[0025] The step of obtaining the first current and the first speed of the motor in the current detection cycle begins.

[0026] In a second aspect, an embodiment of the present application provides a controller, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the motor stall detection method as described above.

[0027] In a third aspect, an embodiment of the present application provides a compressor, comprising a motor and a controller as described above, wherein the motor is connected to the controller.

[0028] In a fourth aspect, an embodiment of the present application provides a car, comprising a vehicle controller, an evaporator, a condenser and the compressor as described above, wherein the vehicle controller is connected to the compressor.

[0029] Compared with the prior art, the present application has at least the following beneficial effects: in the motor stall detection method of the present application, the first current and the first speed in the current detection cycle of the motor are first obtained, and then whether the motor is stalled is determined based on the first current, the first speed and the preset threshold value. If stalled, the detection times are updated, and it is determined whether the detection times reach the first preset times, wherein the first preset times are greater than 1 times. If reached, the motor stall fault is reported. If not reached, the motor is controlled to stop, and the motor is restarted after a preset delay time, and a stall detection is performed in the next detection cycle until the detection times reach the first preset times. Therefore, the motor stall detection method can perform multiple detections to determine whether the motor is stalled, improve the accuracy of the motor stall detection, and prevent false detection. Moreover, in each detection cycle, the motor after restarting is subjected to a stall detection, further improving the accuracy and reliability of the stall detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0031] Figure 1 is a structural schematic diagram of a car provided in an embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of a controller structure provided in an embodiment of the present application;

[0033] Figure 3 This is a flow chart of a motor stall detection method provided in an embodiment of the present application;

[0034] Figure 4 The embodiment of this application provides Figure 3 Schematic diagram of the process of step S20;

[0035] Figure 5 It is a schematic diagram of the motor speed, motor current and stall fault position provided in the embodiment of the present application;

[0036] Figure 6 It is a schematic diagram of the motor speed and the motor current when the motor rotates forward and reversely according to an embodiment of the present application;

[0037] Figure 7 It is a structural schematic diagram of a motor stall detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0039] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0040] See also Figure 1 , Figure 1 Schematic diagram of a circuit structure of a car provided in an embodiment of the present application. Figure 1 As shown, the automobile 100 includes a vehicle controller 10 , an evaporator 20 , a condenser 30 and a compressor 40 , wherein the vehicle controller 10 is connected to the compressor 40 .

[0041] The compressor 40 compresses the low-temperature and low-pressure gas from the evaporator 20 into a high-temperature and high-pressure liquid through a motor, and then sends it to the condenser 30. It is sprayed into the evaporator 20 through a capillary tube, and the pressure drops suddenly, and the liquid refrigerant becomes gaseous, absorbing a large amount of heat in the air through the heat sink.

[0042] The vehicle controller 10 communicates with the compressor 40 via the LI N / CAN bus. The vehicle controller 10 sends instructions to the compressor 40 to control the working power of the compressor 40, start the compressor 40 or shut it down. Specifically, the vehicle controller 10 can send a target speed or target power instruction to the compressor 40, and the compressor 40 then uses the current loop and speed loop control according to the target speed or target power instruction. The speed loop control is mainly used to execute state switching and speed PID control, with a cycle of 1ms. The current loop control is mainly used to execute phase current reading, observer algorithm, SVPWM, current PID control, and is synchronized with the PWM cycle. In parameter debugging, the current loop is adjusted first, and the current loop parameters are adjusted through the current waveforms in the pre-positioning stage and the open-loop stage, and then the speed loop PI parameters are adjusted.

[0043] The compressor 40 includes a controller 402 and a motor 401, the motor 401 is connected to the controller 402, and the controller 402 is connected to the vehicle controller 10. During the operation of the compressor 40, the controller 402 receives instructions issued by the vehicle controller 10, and can perform motor stall detection, system voltage, current and other fault detection, and then report the fault status to the vehicle controller 10 through the LI N. The controller 402 can also output a PWM signal through the PID and SMC control algorithms according to the instructions issued by the vehicle controller 10, and the PWM signal controls the working state of the three-phase bridge, thereby controlling the speed, current or power of the motor 401.

[0044] During the operation of the compressor 40, the bus current and bus voltage can be detected, and the phase current and phase voltage can be detected, and then a stall detection can be performed based on the bus current, bus voltage or the phase current and phase voltage. Alternatively, the speed of the motor 401 can be detected, and then a stall detection can be performed based on the speed of the motor 401 to determine whether the motor 401 is stalled.

[0045] The current stall detection scheme only determines whether a stall occurs by current, and only performs a stall detection once. The stall detection is relatively simple, prone to misjudgment of a stall, and the stall detection is inaccurate.

[0046] Based on the above reasons, an embodiment of the present application provides a motor stall detection method, which includes first obtaining a first current and a first speed in a current detection cycle of the motor, and then determining whether the motor is stalled based on the first current, the first speed and a preset threshold value. If stalled, the detection times are updated, and a judgment is made as to whether the detection times reach a first preset time, wherein the first preset time is greater than 1 time. If reached, a motor stall fault is reported. If not reached, the motor is controlled to stop, and the motor is restarted after a preset delay time, and a stall detection is performed for the next detection cycle until the detection times reach the first preset time.

[0047] Therefore, the motor stall detection method can perform multiple detections to determine whether the motor is stalled, thereby improving the accuracy of motor stall detection to prevent false detection. Moreover, in each detection cycle, the motor is stalled after restarting, thereby further improving the accuracy and reliability of stall detection.

[0048] Please also read Figure 2 , Figure 2 402 is a schematic diagram of the hardware structure of a controller provided in an embodiment of the present application. The controller 402 includes at least one processor 4021 (connected by a system bus or other communication methods). Figure 2 A processor is used as an example) and a memory 4022. The controller 402 may exist in the form of a chip.

[0049] Among them, the memory 4022 stores instructions that can be executed by the at least one processor 4021, and the instructions are executed by the at least one processor 4021. The processor 4021 is used to provide computing and control capabilities to execute related commands, for example, to control the compressor 40 to execute any one of the motor stall detection methods provided in the following embodiments of the present application.

[0050] The memory 4022, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the motor stall detection method provided in the following embodiments of the present application. The processor 4021 can implement the motor stall detection method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 4022. Specifically, the memory 4022 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 4022 may also include a memory remotely arranged relative to the processor 4021, and these remote memories may be connected to the processor 4021 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0051] In some embodiments, the controller 402 may be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single chip microcomputer, an ARM (Acorn RICS Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. In addition, the controller 402 may also be any conventional processor, controller, microcontroller, or state machine. The controller 402 may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP, and / or any other such configuration.

[0052] The present application provides a method for detecting a motor stall. Figure 3 , Figure 3 The flowchart of the motor stall detection method provided in the embodiment of the present application is shown in S100, the method includes but is not limited to the following steps:

[0053] S10: Obtaining a first current and a first speed of the motor in a current detection cycle;

[0054] The detection cycle T0 is for detecting the stall time. In each detection cycle, the first current and the first speed of the motor are obtained, and whether the motor is stalled is determined based on the first current and the first speed, wherein the first current is the current current of the motor, and the first speed is the current speed of the motor.

[0055] The detection period can be set as needed. In this embodiment, T0=100us.

[0056] During the detection cycle, one detection can be performed to determine whether the motor is blocked. Multiple detections can also be performed, such as three consecutive detections. If the motor is blocked during multiple detections, it is determined that the motor is blocked during the detection cycle. Multiple detections can be used to improve the accuracy of detection.

[0057] S20: Determine whether the motor is stalled according to the first current, the first speed, and a preset threshold;

[0058] When the motor is working, the vehicle controller sends the target speed to the controller in the compressor. The controller generates a PWM control signal based on the target speed. The PWM control signal drives the corresponding three-phase bridge, thereby controlling the speed of the motor to reach the target speed.

[0059] If the motor is stalled, the actual speed of the motor cannot reach the target speed, and its actual working current will also increase. Therefore, whether the motor is stalled can be determined by the current speed and current current of the motor.

[0060] Specifically, the preset threshold value includes a first current threshold value and a first speed threshold value. If the first current is greater than the first current threshold value, it is determined that the motor is stalled.

[0061] Alternatively, if the first rotation speed is less than the first rotation speed threshold, it is determined that the motor is stalled.

[0062] Alternatively, if the first current is greater than the first current threshold, and the first speed is less than the first speed threshold, it is determined that the motor is stalled. In the embodiment of the present application, the actual current and actual speed of the motor are used together as the basis for determining whether the motor is stalled, thereby improving the accuracy of stall judgment.

[0063] In some embodiments, multiple consecutive detections may be performed within a detection cycle, such as three consecutive detections. In each detection, the actual current and actual speed of the motor are used to determine whether a stall occurs. If a stall occurs each time, it is determined that the motor has stalled within the detection cycle to improve the accuracy of the stall detection.

[0064] Specifically, if the first current is greater than the first current threshold for a second preset number of times in a row, it is determined that the motor is stalled.

[0065] Alternatively, if the first rotation speed is less than the first rotation speed threshold for a second preset number of times in a row, it is determined that the motor is stalled.

[0066] Alternatively, if the first current is greater than the first current threshold for a second preset number of consecutive times, and the first speed is less than the first speed threshold for a second preset number of consecutive times, it is determined that the motor is stalled.

[0067] The second preset number of times can be set as needed and is greater than 1 time. In the present embodiment, the second preset number of times is 3 times.

[0068] In some embodiments, if the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, it is determined that the motor operation state is abnormal, and whether the motor is stuck can be determined by detecting the motor operation state under different speeds.

[0069] Specifically, Figure 4 As shown, step S20 also includes:

[0070] S201: If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, adjusting the target speed of the motor;

[0071] S202: Acquire a second current and a second speed of the motor after adjustment;

[0072] For example, if the first target speed of the motor is 1000r / min, at this target speed, a first current and a first speed are obtained. If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, it is determined that the motor has an abnormal operation. The target speed of the motor is adjusted to 2000r / min or 2500r / min. At the target speed of 2000r / min or 2500r / min, the second current and second speed of the motor are obtained, wherein the second current is the current working current of the motor, and the second speed is the current operating speed of the motor.

[0073] The target speed of the motor is adjusted within the detection period T0, such as increasing from 1000RPM, 2000RPM, 2500RPM to the maximum speed (6000RPM), or decreasing from the maximum speed (6000RPM) to 2500RPM, 2000RPM, 1000RPM. In other embodiments, the target speed of the adjustment can be set as needed.

[0074] S203: Determine whether the motor is stalled according to the second current, the second speed, and the preset threshold.

[0075] The preset thresholds also include a second current threshold and a second speed threshold, and whether the motor is stalled is determined based on the second current, the second speed, the second current threshold and the second speed threshold.

[0076] Specifically, if the second current is greater than the second current threshold, it is determined that the motor is stalled.

[0077] Alternatively, if the second rotation speed is less than the second rotation speed threshold, it is determined that the motor is stalled.

[0078] Alternatively, if the second current is greater than the second current threshold, and the second speed is less than the second speed threshold, it is determined that the motor is stalled. In the embodiment of the present application, the actual current and actual speed of the motor are used together as the basis for determining whether the motor is stalled, thereby improving the accuracy of stall judgment.

[0079] In some embodiments, the accuracy of motor stall detection can also be improved by repeatedly determining the magnitude of the second current and the second current threshold and / or the magnitude of the second rotational speed and the second rotational speed threshold.

[0080] If the second current is greater than the second current threshold for a third preset number of times in a row, it is determined that the motor is stalled.

[0081] Alternatively, if the second rotation speed is less than the second rotation speed threshold for a third preset number of times in a row, it is determined that the motor is stalled.

[0082] Alternatively, if the second current is greater than the second current threshold for a third consecutive preset number of times, and the second speed is less than the second speed threshold for a third consecutive preset number of times, it is determined that the motor is stalled.

[0083] The third preset number of times can be set as needed and is greater than 1 time. In the present embodiment, the third preset number of times is 3 times.

[0084] S30: if a stall occurs, updating the number of abnormalities, and determining whether the number of abnormalities reaches a first preset number, wherein the first preset number is greater than 1;

[0085] S40: If reached, report that the motor has stalled;

[0086] If a stall occurs, the number of abnormalities is increased once to obtain a cumulative result, and the cumulative result is updated as the current number of abnormalities. Then it is determined whether the current number of abnormalities has reached the first preset number, that is, the motor is tested multiple times in multiple detection cycles. If the number of stall abnormalities in multiple detection cycles reaches the first preset number, the motor stall fault is reported to the vehicle controller, so that the vehicle controller can take stall abnormality measures in time, and shut down the motor and enter standby mode. It can only resume work after powering on again.

[0087] S50: If not reached, the motor is controlled to stop for a preset time and then restarted to perform a stall detection in the next detection cycle until the detection times reach the first preset times.

[0088] If the first preset number of times has not been reached, the motor is controlled to stop for a preset time, and then restarted to perform a stall detection on the motor in the next detection cycle to confirm again whether the motor is stalled. The preset time is the downtime of the motor and also the restart interval of the motor.

[0089] Specifically, if the first preset number is n times, after the motor is detected to be stalled for the first n-1 times, the motor is controlled to stop for a preset time t and then restarted to perform stall detection in the next detection cycle. For example, if the motor is detected to be stalled in the first detection cycle, the number of abnormalities is updated to 1, and then the motor is controlled to stop for a preset time, and then the motor is restarted to perform detection in the second detection cycle to determine whether the motor is stalled. If it is determined that the motor is stalled, the number of abnormalities is updated to 2, and then the motor is controlled to stop for a preset time, and then the motor is restarted to perform detection in the third detection cycle, and so on, until the number of abnormalities reaches n times, then the motor stall fault is reported, and the motor is no longer controlled to restart.

[0090] Moreover, between each detection cycle, the preset time tn of the motor shutdown or the restart interval tn can be the same or different. For example, the preset times are t1, t2...tn, tn can be any time, such as tn = 1s, and t1, t2...tn can be equal or unequal.

[0091] Through multiple stall detections, it is possible to more accurately determine whether the motor is stalled, but the more stall detection times are not necessarily better. The more times the detection is performed, the greater the workload of the compressor, the higher the heat generation, and the greater the probability of compressor failure. Therefore, it is necessary to set an appropriate first preset number of times. In the embodiment of the present application, it is 20 times.

[0092] In some embodiments, in at least one detection cycle, the motor is controlled to rotate forward and reverse, and then the step of obtaining the first current and the first speed of the motor in the current detection cycle is started, and then the detection of the next detection cycle is performed.

[0093] Specifically, if the first preset number of times is n times, after the motor is confirmed to be stuck for the n-1th time, the motor is controlled to stop for a preset time, and then the nth detection is started. In the nth detection cycle, the motor is first controlled to rotate forward, and then the motor is controlled to reverse to try to clear impurities in the motor, and then the detection process is started again to determine whether the motor is stuck during the nth detection, that is, the step of obtaining the first current and the first speed of the motor in the current detection cycle is started.

[0094] In an embodiment of the present application, the motor is controlled to rotate forward and reverse in at least one of the detection cycles to try to remove impurities in the motor, and then a stall detection is performed to avoid misjudgment of a stall, thereby achieving accurate stall detection of the motor and improving the accuracy of the stall detection result.

[0095] In summary, the motor stall detection method can perform multiple detections to determine whether the motor is stalled, thereby improving the accuracy of motor stall detection to prevent false detection. Moreover, in each detection cycle, the motor is stalled after restarting, thereby further improving the accuracy and reliability of stall detection.

[0096] In order to more clearly describe the motor stall detection method, taking the first preset number of times as n times, the detection cycle as T0, and the preset times as t1, t2…tn as an example, the motor stall detection process can be described as follows:

[0097] First, the motor speed, motor current and stall fault position are as follows: Figure 5As shown, in the first detection cycle, it is determined that the motor is blocked according to the first current and the first speed, and the blocking fault bit is set to 1. The holding time of the blocking fault bit = 1 is t1. In the t1 time period, the motor stops. After t1 time, the software automatically clears the blocking fault bit and sets it to 0, and starts the second detection in the second detection cycle T0. In the second detection cycle T0, the motor restarts, and it is determined that the motor is blocked again according to the first current and the first speed, and the blocking fault bit is set to 1, and the motor stops, and the stop time is t2. After t2 time, the software automatically clears the blocking fault bit and sets it to 0, and starts the third detection in the third detection cycle T0. In the third detection cycle T0, the motor restarts, and it is determined that the motor is blocked again according to the first current and the first speed, and the blocking fault bit is set to 1, and the motor stops, and the stop time is t3. By analogy, between each detection cycle, the stall fault bit is set to 0 and restarted after t4...tn time respectively, and the stall fault bit is set to fault 1 for t4...tn respectively.

[0098] After n-1 restarts, repeatedly confirm whether the motor is blocked, which increases the accuracy of the blocking judgment. In the nth detection cycle, after adjusting the target speed of the motor, the second current and second speed of the motor are obtained to determine whether the motor is blocked. Figure 5 In the figure, the target speed of the motor is adjusted as an example. Alternatively, the motor is controlled to rotate forward, and then the motor is controlled to rotate reversely, and then the first current and the first speed of the motor are obtained to determine whether the motor is blocked. Figure 6 As shown, the maximum forward current is 20A, the maximum speed is 6000rpm, and the maximum reverse current is -20A. The preset threshold can be set based on the maximum forward current, maximum reverse current, and maximum speed.

[0099] By adjusting the target speed of the motor, or controlling the forward and reverse rotation of the motor, impurities in the motor can be removed to avoid misjudgment and improve detection accuracy.

[0100] If the motor is determined to be stalled during the nth detection cycle, the stall fault bit is set to 1 and will not be cleared or restarted. If the motor is determined to be stalled multiple times, the stall fault is reported to the vehicle controller and the motor enters standby mode. The motor can only resume operation by powering on again.

[0101] The more stall detection times, the better. If the motor is always stalled or the number of stall detection times is too many, it is easy to cause the current to be too high, the motor's workload to be too large, the heat to be too high, and the probability of motor failure to increase. Therefore, in the embodiment of the present application, after the motor is detected to be stalled in the nth detection cycle, no more detection is performed, and the motor is controlled to enter the standby mode to prevent the motor from being damaged.

[0102] In summary, the motor stall detection method can perform multiple detections to determine whether the motor is stalled, thereby improving the accuracy of motor stall detection to prevent false detection. Moreover, in each detection cycle, the motor is stalled after restarting, thereby further improving the accuracy and reliability of stall detection.

[0103] It should be noted that in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0104] As another aspect of the embodiment of the present application, the embodiment of the present application provides a motor stall detection device. The motor stall detection device can be a software module, and the software module includes a number of instructions, which are stored in a memory in the electric controller. The processor can access the memory and call the instructions for execution to complete the motor stall detection method described in the above embodiments.

[0105] In some embodiments, the motor stall detection device can also be constructed by hardware devices, for example, the motor stall detection device can be constructed by one or more chips, and the chips can work in coordination with each other to complete the motor stall detection method described in the above embodiments. For another example, the motor stall detection device can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0106] See also Figure 7 , Figure 7 An embodiment of the present application provides a motor stall detection device, and the motor stall detection device 200 includes an acquisition module 201, a determination module 202, a judgment module 203, a reporting module 204 and a restart module 205.

[0107] The acquisition module 201 is used to acquire the first current and the first speed of the motor in the current detection cycle;

[0108] The determination module 202 is used to determine whether the motor is stalled according to the first current, the first speed and a preset threshold;

[0109] The judgment module 203 is used to update the number of abnormalities and judge whether the number of abnormalities reaches a first preset number, wherein the first preset number is greater than 1;

[0110] The reporting module 204 reports that the motor has a stall fault;

[0111] The restart module 205 is used to control the motor to restart after stopping for a preset time, and perform a stall detection in the next detection cycle until the number of detections reaches the first preset number of times.

[0112] Therefore, the motor stall detection device can perform multiple detections to determine whether the motor is stalled, thereby improving the accuracy of motor stall detection to prevent false detection. Moreover, in each detection cycle, the motor is stalled after restarting, further improving the accuracy and reliability of stall detection.

[0113] It should be noted that, since the motor stall detection device 200 and the motor stall detection method in the above embodiment are based on the same application concept, the corresponding contents in the above method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0114] The present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example Figure 2 A processor 4021 in the embodiment may enable the one or more processors to execute the motor stall detection method in any of the above method embodiments.

[0115] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the controller 402, the controller 402 executes any one of the motor stall detection methods.

[0116] In summary, the motor stall detection method can perform multiple detections to determine whether the motor is stalled, thereby improving the accuracy of motor stall detection to prevent false detection. Moreover, in each detection cycle, the motor is stalled after restarting, thereby further improving the accuracy and reliability of stall detection.

[0117] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the motor stall detection method described in each embodiment or some parts of the embodiment.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor stall detection method, characterized in that: The method comprises: Obtaining a first current and a first speed of the motor in a current detection cycle; Determining whether the motor is stalled according to the first current, the first speed, and a preset threshold; If a stall occurs, the number of abnormalities is updated to determine whether the number of abnormalities reaches a first preset number, wherein the first preset number is greater than 1; If it is reached, the motor will be reported to have a stall fault; If not, the motor is controlled to stop for a preset time and then restarted to perform a stall detection in the next detection cycle until the number of detections reaches the first preset number of times.

2. The method according to claim 1, characterized in that The preset threshold includes a first current threshold and a first speed threshold, and determining whether the motor is stalled according to the first current, the first speed and the preset threshold includes: If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, it is determined that the motor is stalled.

3. The method according to claim 2, characterized in that The determining whether the motor is stalled according to the first current, the first speed and a preset threshold value further includes: If the first current is greater than the first current threshold for a second preset number of consecutive times and / or the first speed is less than the first speed threshold for the second preset number of consecutive times, it is determined that the motor is stalled, wherein the second preset number of times is greater than 1 time.

4. The method according to claim 2, characterized in that: The determining whether the motor is stalled according to the first current, the first speed and a preset threshold value further includes: If the first current is greater than the first current threshold and / or the first speed is less than the first speed threshold, adjusting the target speed of the motor; Acquire the adjusted second current and second speed of the motor; Whether the motor is stalled is determined according to the second current, the second rotation speed, and the preset threshold.

5. The method according to claim 4, characterized in that The preset threshold value further includes a second current threshold value and a second speed threshold value, and determining whether the motor is stalled according to the second current, the second speed and the preset threshold value includes: If the second current is greater than the second current threshold and / or the second speed is less than the second speed threshold, it is determined that the motor is stalled.

6. The method according to claim 5, characterized in that The determining whether the motor is stalled according to the second current, the second speed and the preset threshold value further includes: If the second current is greater than the second current threshold for a third preset number of times in a row and / or the second speed is less than the second speed threshold for a third preset number of times in a row, it is determined that the motor is stalled, wherein the third preset number of times is greater than 1 time.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: In at least one detection cycle, the motor is controlled to rotate forward and reverse; The step of obtaining the first current and the first speed of the motor in the current detection cycle begins.

8. A controller, characterized in that: The controller comprises: At least one processor; and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the motor stall detection method as described in any one of claims 1-7.

9. A compressor, characterized in that: The method comprises a motor and a controller as claimed in claim 8, wherein the motor is connected to the controller.

10. An automobile, characterized in that: The vehicle controller comprises a vehicle controller, an evaporator, a condenser and the compressor as claimed in claim 9, wherein the vehicle controller is connected to the compressor.

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