Motor fault detection method and device, electronic equipment and storage medium

Abstract

The invention provides a motor fault detection method and device, electronic equipment and a storage medium. The detection method comprises the steps of periodically collecting a set position value and an actual position value of a target motor; respectively determining a theoretical position value and an actual position deviation value of the target motor in the current period based on the set position value and the actual position value of the target motor collected in the current period and the previous period; whether the theoretical position value and the actual position deviation value meet corresponding preset fault conditions or not is judged; and if yes, determining that the target motor has an unexpected response fault in the current period. By means of the method, efficient control over the motor is achieved, the robustness of motor fault detection is enhanced, and then the effectiveness of motor control is improved.

Description

Technical Field

[0001] The present application relates to the technical field of power fault detection, and in particular to a motor fault detection method, device, electronic device and storage medium. Background Art

[0002] Motors are important components of mechanical and electrical systems. The normal operation of motors is crucial to ensuring the overall reliability and efficiency of the system. Motor failure will not only cause system operation problems and increase maintenance and repair costs, but may also cause serious safety problems.

[0003] At present, motor fault detection mainly relies on real-time rotation information fed back by the motor to detect whether the motor has a working fault. However, when the motor has problems due to its own quality or control defects, the motor may fail to respond according to the expected settings, causing the motor control accuracy to drop significantly. The motor may even go against control, reducing the robustness of motor fault detection and, in turn, the effectiveness of motor control. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a motor fault detection method, device, electronic device and storage medium, by collecting the set position value and actual position value of the target motor in the current cycle and the previous cycle, based on the set position value and the actual position value, determine the theoretical position value and actual position deviation value of the target motor in the current cycle, and when the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions, determine that the target motor has an unexpected response fault in the current cycle, provide necessary support for motor control, realize efficient control of the motor, enhance the robustness of motor fault detection, and thereby improve the effectiveness of motor control.

[0005] The present application provides a method for detecting a motor fault, the method comprising:

[0006] Periodically collect the set position value and actual position value of the target motor;

[0007] Based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle, respectively determine the theoretical position value and the actual position deviation value of the target motor in the current cycle;

[0008] Determining whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions;

[0009] If so, it is determined that the target motor has an unexpected response fault in the current cycle.

[0010] Further, the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle are respectively determined to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle, including:

[0011] The actual position value of the target motor in the current cycle is subtracted from the set position value, and the obtained difference is determined as the actual position deviation value of the target motor in the current cycle;

[0012] Difference is taken between the set position value of the target motor in the current cycle and the set position value of the target motor in the previous cycle, and the absolute value of the difference is determined as the set position deviation value of the target motor in the current cycle;

[0013] Determine whether the set position deviation value is equal to a first preset value to obtain a first determination result;

[0014] According to the first judgment result, a metered position value of the target motor in the current cycle is determined, and based on the metered position value, a theoretical position value of the target motor in the current cycle is determined.

[0015] Further, determining a metered position value of the target motor in the current cycle according to the first judgment result, and determining a theoretical position value of the target motor in the current cycle based on the metered position value, includes:

[0016] When the first judgment result is that the set position deviation value is not equal to the first preset value, the actual position value of the target motor in the current cycle is determined as the first metered position value of the target motor in the current cycle, and the first metered position value is determined as the theoretical position value of the target motor in the current cycle;

[0017] When the first judgment result is that the set position deviation value is equal to the first preset value, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle, and the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained;

[0018] The theoretical position value of the target motor in the current cycle is determined based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

[0019] Further, determining the theoretical position value of the target motor in the current cycle based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes:

[0020] Subtracting the second metering position value from the set position value of the target motor in the current cycle, and determining the obtained difference as the metering position deviation value of the target motor in the current cycle;

[0021] Determine whether the metering position deviation value is less than the first preset value, and obtain a second determination result;

[0022] According to the second judgment result, and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the theoretical position value of the target motor in the current cycle is determined.

[0023] Further, the determining the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes:

[0024] When the second judgment result is that the metering position deviation value is less than the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are subtracted, and the obtained difference is determined as the first candidate theoretical position value of the target motor in the current cycle;

[0025] A target peak value is determined between the set position value of the target motor in the current cycle and the first candidate theoretical position value, and the target peak value is determined as the theoretical position value of the target motor in the current cycle.

[0026] Further, the determining the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes:

[0027] When the second judgment result is that the metering position deviation value is greater than or equal to the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are added, and the obtained added value is determined as the second candidate theoretical position value of the target motor in the current cycle;

[0028] A target valley value is determined between the set position value of the target motor in the current cycle and the second candidate theoretical position value, and the target valley value is determined as the theoretical position value of the target motor in the current cycle.

[0029] Further, the determining whether both the theoretical position value and the actual position deviation value satisfy corresponding preset fault conditions includes:

[0030] Determine whether the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, and whether the actual position deviation value is greater than a preset unexpected response factor parameter value;

[0031] If the theoretical position value is equal to the set position value and the actual position deviation value is greater than the unexpected response factor parameter value, it is determined that both the theoretical position value and the actual position deviation value meet corresponding preset fault conditions;

[0032] If the theoretical position value is not equal to the set position value and / or the actual position deviation value is less than or equal to the unexpected response factor parameter value, it is determined that the theoretical position value and / or the actual position deviation value do not meet the corresponding preset fault condition.

[0033] The embodiment of the present application further provides a motor fault detection device, the detection device comprising:

[0034] A data acquisition module, used for periodically acquiring a set position value and an actual position value of a target motor;

[0035] A position calculation module is used to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle;

[0036] A fault judgment module is used to judge whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions;

[0037] The fault determination module is used to determine that the target motor has an unexpected response fault in the current cycle if the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions.

[0038] Further, when the position calculation module is used to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle, the position calculation module is used to:

[0039] The actual position value of the target motor in the current cycle is subtracted from the set position value, and the obtained difference is determined as the actual position deviation value of the target motor in the current cycle;

[0040] Difference is taken between the set position value of the target motor in the current cycle and the set position value of the target motor in the previous cycle, and the absolute value of the difference is determined as the set position deviation value of the target motor in the current cycle;

[0041] Determine whether the set position deviation value is equal to a first preset value to obtain a first determination result;

[0042] According to the first judgment result, a metered position value of the target motor in the current cycle is determined, and based on the metered position value, a theoretical position value of the target motor in the current cycle is determined.

[0043] Further, when the position calculation module is used to determine the metered position value of the target motor in the current cycle according to the first judgment result, and to determine the theoretical position value of the target motor in the current cycle based on the metered position value, the position calculation module is used to:

[0044] When the first judgment result is that the set position deviation value is not equal to the first preset value, the actual position value of the target motor in the current cycle is determined as the first metered position value of the target motor in the current cycle, and the first metered position value is determined as the theoretical position value of the target motor in the current cycle;

[0045] When the first judgment result is that the set position deviation value is equal to the first preset value, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle, and the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained;

[0046] The theoretical position value of the target motor in the current cycle is determined based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

[0047] Further, when the position calculation module is used to determine the theoretical position value of the target motor in the current cycle based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module is used to:

[0048] Subtracting the second metering position value from the set position value of the target motor in the current cycle, and determining the obtained difference as the metering position deviation value of the target motor in the current cycle;

[0049] Determine whether the metering position deviation value is less than the first preset value, and obtain a second determination result;

[0050] According to the second judgment result, and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the theoretical position value of the target motor in the current cycle is determined.

[0051] Further, when the position calculation module is used to determine the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module is used to:

[0052] When the second judgment result is that the metering position deviation value is less than the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are subtracted, and the obtained difference is determined as the first candidate theoretical position value of the target motor in the current cycle;

[0053] A target peak value is determined between the set position value of the target motor in the current cycle and the first candidate theoretical position value, and the target peak value is determined as the theoretical position value of the target motor in the current cycle.

[0054] Further, when the position calculation module is used to determine the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module is used to:

[0055] When the second judgment result is that the metering position deviation value is greater than or equal to the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are added, and the obtained added value is determined as the second candidate theoretical position value of the target motor in the current cycle;

[0056] A target valley value is determined between the set position value of the target motor in the current cycle and the second candidate theoretical position value, and the target valley value is determined as the theoretical position value of the target motor in the current cycle.

[0057] Further, when the fault judgment module is used to judge whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions, the fault judgment module is used to:

[0058] Determine whether the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, and whether the actual position deviation value is greater than a preset unexpected response factor parameter value;

[0059] If the theoretical position value is equal to the set position value and the actual position deviation value is greater than the unexpected response factor parameter value, it is determined that both the theoretical position value and the actual position deviation value meet corresponding preset fault conditions;

[0060] If the theoretical position value is not equal to the set position value and / or the actual position deviation value is less than or equal to the unexpected response factor parameter value, it is determined that the theoretical position value and / or the actual position deviation value do not meet the corresponding preset fault condition.

[0061] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the motor fault detection method as described above are performed.

[0062] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the motor fault detection method as described above are executed.

[0063] The embodiments of the present application provide a motor fault detection method, device, electronic device and storage medium, the detection method comprising: periodically collecting the set position value and actual position value of the target motor; based on the set position value and actual position value of the target motor collected in the current cycle and the previous cycle, respectively determining the theoretical position value and actual position deviation value of the target motor in the current cycle; judging whether the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions; if so, determining that the target motor has an unexpected response fault in the current cycle.

[0064] Compared with the method in the prior art of detecting whether a motor has a working fault by using real-time rotation information fed back by the motor, the set position value and actual position value of the target motor in the current cycle and the previous cycle are collected, and based on the set position value and the actual position value, the theoretical position value and the actual position deviation value of the target motor in the current cycle are determined. When the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions, it is determined that an unexpected response fault of the target motor is detected in the current cycle, thereby providing necessary support for motor control, realizing efficient control of the motor, enhancing the robustness of motor fault detection, and thereby improving the effectiveness of motor control.

[0065] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0067] Figure 1 A schematic diagram of a communication structure of a motor control system provided in an embodiment of the present application;

[0068] Figure 2 A flow chart of a method for detecting a motor fault provided in an embodiment of the present application;

[0069] Figure 3 A schematic diagram of the structure of a motor fault detection device provided in an embodiment of the present application;

[0070] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0072] Research has found that, at present, motor fault detection mainly relies on real-time rotation information fed back by the motor to detect whether the motor has a working fault. However, when the motor has problems such as its own quality or control defects, the motor will fail to respond according to the expected settings, causing the motor control accuracy to drop significantly, and even the opposite motor control may occur, reducing the robustness of motor fault detection and thus reducing the effectiveness of motor control.

[0073] Based on this, an embodiment of the present application provides a method for detecting a motor fault, by collecting the set position value and the actual position value of the target motor in the current cycle and the previous cycle, and based on the set position value and the actual position value, determining the theoretical position value and the actual position deviation value of the target motor in the current cycle, and when the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions, determining that the target motor has an unexpected response fault in the current cycle, providing necessary support for motor control, realizing efficient control of the motor, enhancing the robustness of motor fault detection, and thereby improving the effectiveness of motor control.

[0074] See also Figure 1 , Figure 1 A schematic diagram of the communication structure of a motor control system provided in an embodiment of the present application.

[0075] like Figure 1 As shown in , the motor control system 10 includes: a main control unit 110 and a motor control unit 120, and the main control unit 110 and the motor control unit 120 establish a communication connection through a communication protocol set by the system.

[0076] Among them, the main control unit 110 can send control instructions, detection instructions, data acquisition instructions, etc. to the motor control unit 120 in response to the preset configuration or external settings of the system, and perform data analysis based on the relevant state parameters fed back by the motor control unit 120 to perform fault detection or motor protection operations on the target motor.

[0077] The motor control unit 120 can collect relevant state parameters of the target motor in real time. For example, the relevant state parameters may include but are not limited to position value parameters, motor operation speed parameters, motor operation state parameters, etc.; the motor control unit 120 can control the actual operation of the target motor according to the instructions sent by the main control unit 110 (for example, setting the position value, etc.).

[0078] In an embodiment of the present application, the motor includes a motor with communication function and integrated control function. For example, the motor may include but is not limited to a LIN motor, a CAN motor, an Ether motor, a Profinet motor, and a Modbus motor.

[0079] Here, the application scenarios of the motor may include but are not limited to vehicle internal application equipment, smart home and small-scale automation industry.

[0080] Taking the application of LIN motor in vehicle air conditioning system as an example, the LIN motor refers to the motor under the LIN (Local Interconnect Network) communication control protocol. Due to the advantages of LIN motors such as small size, convenient layout, moderate cost, wide control parameters, and high adjustability, when LIN motors are used in vehicle air conditioning systems, for example, in the vehicle air conditioning system, the angle adjustment of the air outlet, the adjustment of each damper of the air conditioning box, or the valve adjustment of the water system, the LIN motor has more precise angle control of the vehicle air conditioning system, making the temperature, flow, etc. of the vehicle air conditioning more stable and fast, improving customer satisfaction.

[0081] See also Figure 2 , Figure 2 A flow chart of a method for detecting motor faults provided in an embodiment of the present application.

[0082] like Figure 2 As shown in the embodiment of the present application, the motor fault detection method provided by the present invention can be implemented by the motor control system 10 (for example, Figure 1 The motor control system 10) is executed, and the detection method includes:

[0083] S100: Periodically collect the set position value and actual position value of the target motor.

[0084] In this step, a plurality of cycles are divided in the working process of the target motor according to preset time intervals; for each cycle, the motor control unit in the target motor collects the actual position value corresponding to the target motor in real time, and the main control unit obtains the actual position value.

[0085] Furthermore, the main control unit of the target motor periodically collects the set position value of the target motor input externally.

[0086] In the embodiment of the present application, the set position value refers to a target position value set externally for the target motor; the actual position value refers to a position value corresponding to the actual position of the target motor collected by the motor control unit.

[0087] Here, the position value may be represented by different units according to the design of the control object and application scenario of the motor and the type of sensor, for example, an angle value, a ratio value, a step value, a temperature value, etc.

[0088] S200 , based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle, respectively determine the theoretical position value and the actual position deviation value of the target motor in the current cycle.

[0089] In an embodiment of the present application, the set position value and actual position value of the target motor collected in the current cycle can be expressed as "SetPosi" and "ActPosi", respectively; the set position value and actual position value of the target motor collected in the previous cycle can be expressed as "PreSetPosi" and "PreActPosi", respectively.

[0090] In an embodiment of the present application, the theoretical position value (TheoActPosi) of the target motor in the current cycle refers to the position that the target motor should be in in the current cycle, calculated based on set parameters, control instructions or other relevant information; the theoretical position value is determined based on the expected behavior and control instructions of the target motor, and is not the actual measured position. It is used to verify whether the target motor moves in the expected manner and as part of a closed-loop control system to ensure the accuracy and reliability of the target motor position control.

[0091] In one implementation of the present application, during specific implementation, step S200 may include:

[0092] S210: Subtract the actual position value of the target motor in the current cycle from the set position value, and determine the obtained difference as the actual position deviation value of the target motor in the current cycle.

[0093] In this step, the actual position value of the target motor in the current cycle is subtracted from the set position value of the target motor in the current cycle, and the actual position deviation value of the target motor in the current cycle is obtained by performing a difference calculation.

[0094] S220, subtracting the set position value of the target motor in the current cycle from the set position value of the target motor in the previous cycle and taking the absolute value, and determining the obtained absolute value of the difference as the set position deviation value of the target motor in the current cycle.

[0095] In this step, the set position values ​​of the target motor in the current cycle and the previous cycle are subtracted respectively, and the difference is obtained by difference calculation; then, the absolute value of the difference is taken, and the obtained absolute value of the difference is determined as the set position deviation value of the target motor in the current cycle.

[0096] Here, the set position deviation value (DiffSetPreSetPosi) is obtained by subtracting the set position value in the current cycle from the set position value in the previous cycle and taking the absolute value. In this way, it can be determined whether the target motor has control behavior relative to the previous cycle in the current cycle based on the set position deviation value.

[0097] S230: Determine whether the set position deviation value is equal to a first preset value, and obtain a first determination result.

[0098] In this step, the obtained set position deviation value is compared with the first preset value to determine whether the set position deviation value is equal to the first preset value, thereby obtaining a first determination result.

[0099] In an embodiment of the present application, the first preset value may be set to 0, or may be set to other values ​​close to 0 according to actual application scenarios, and the present application will not make any further limitations thereon.

[0100] Exemplarily, when the first preset value is set to 0, based on whether the difference between the set position values ​​of the target motor in the current cycle and the previous cycle is 0, it can be determined whether the target motor has a control behavior in the current cycle relative to the previous cycle.

[0101] S240. Determine a metered position value of the target motor in a current cycle according to the first judgment result, and determine a theoretical position value of the target motor in the current cycle based on the metered position value.

[0102] In an embodiment of the present application, the metered position value (CalActPosi) of the target motor in the current cycle refers to the actual position value of the target motor corresponding to the current cycle determined by metering based on whether the target motor has a control behavior in the current cycle relative to the previous cycle.

[0103] In one implementation of the present application, during specific implementation, step S240 may include:

[0104] S241. When the first judgment result is that the set position deviation value is not equal to the first preset value, the actual position value of the target motor in the current cycle is determined as the first metered position value of the target motor in the current cycle, and the first metered position value is determined as the theoretical position value of the target motor in the current cycle.

[0105] In this step, when the first judgment result is that the set position deviation value is not equal to the first preset value, it indicates that the target motor has a control behavior in the current cycle relative to the previous cycle, that is, the actual position of the target motor in the current cycle has changed. At this time, the actual position value of the target motor in the current cycle is determined as the first metering position value of the target motor in the current cycle.

[0106] Furthermore, since the theoretical position value of the target motor in the current cycle refers to the position that the target motor should be in the current cycle calculated based on set parameters and other relevant information, when the target motor has control behavior in the current cycle, the first measured position value (the actual position value in the current cycle) is determined as the theoretical position value of the target motor in the current cycle.

[0107] S242. When the first judgment result is that the set position deviation value is equal to the first preset value, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle, and the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained.

[0108] In this step, when the first judgment result is that the set position deviation value is equal to the first preset value, it indicates that there is no control behavior of the target motor in the current cycle relative to the previous cycle, that is, the actual position of the target motor in the current cycle has not changed according to external instructions. At this time, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle.

[0109] Furthermore, the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained.

[0110] In the embodiment of the present application, the motor operation step value (NumStepPerCycle) refers to the number of steps that the target motor can run in each cycle, and the motor operation step value is a value obtained by converting and calculating the motor speed value (ActSped) of the target motor itself according to the motor model of the target motor; the theoretical position value (PreTheoActPosi) of the target motor in the previous cycle refers to the calculated position value corresponding to the position that the target motor should be in the previous cycle.

[0111] S243, determining the theoretical position value of the target motor in the current cycle based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

[0112] In this step, after determining that the second metered position value of the target motor in the current cycle is the actual position value of the target motor in the previous cycle, the calculation of the theoretical position value of the target motor in the current cycle needs to consider the offset direction of the second metered position value of the target motor in the current cycle relative to the set position value, that is, according to the positive or negative corresponding to the difference between the second metered position value and the set position value of the target motor in the current cycle, determine whether the target motor is positively offset or reversely offset in the current cycle.

[0113] Here, the deviation direction of the second metering position value of the target motor in the current cycle relative to the set position value may indicate whether the external control received by the target motor in the current cycle is over-controlled or under-controlled.

[0114] In one implementation of the present application, during specific implementation, step S243 may include:

[0115] S2431. Subtract the second metering position value from the set position value of the target motor in the current cycle, and determine the obtained difference as the metering position deviation value of the target motor in the current cycle.

[0116] In this step, the set position value of the target motor in the current cycle is subtracted from the second metering position value, and the metering position deviation value of the target motor in the current cycle is obtained by performing a difference calculation.

[0117] S2432. Determine whether the measurement position deviation value is less than the first preset value, and obtain a second determination result.

[0118] In this step, the metering position deviation value of the target motor in the current cycle is compared with the first preset value to determine whether the metering position deviation value of the target motor in the current cycle is less than the first preset value, and a second judgment result corresponding to the judgment is obtained.

[0119] Exemplarily, when the first preset value is set to 0, based on the judgment result of whether the metering position deviation value (DiffSetCalActPosi) of the target motor in the current cycle is less than 0, the offset direction of the second metering position value of the target motor in the current cycle relative to the set position value can be determined, that is, whether the target motor in the current cycle is over-controlled or under-controlled.

[0120] S2433. Determine the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

[0121] In an embodiment of the present application, based on the second judgment result, the offset direction of the second metered position value of the target motor in the current cycle relative to the set position value can be determined, and a calculation method for the theoretical position value of the target motor in the current cycle can be configured based on the offset direction.

[0122] Specifically, when the target motor is in reverse offset, it is necessary to make a difference between the theoretical position value of the target motor in the previous cycle and the motor operation step value, so as to further determine the theoretical position value of the target motor in the current cycle based on the maximum value between the difference and the set position value of the target motor in the current cycle.

[0123] Furthermore, when the target motor is in a positive offset, it is necessary to sum the theoretical position value of the target motor in the previous cycle and the motor operation step value, so as to further determine the theoretical position value of the target motor in the current cycle based on the minimum value between the added value and the set position value of the target motor in the current cycle.

[0124] In one implementation of the present application, during specific implementation, step S2433 may include:

[0125] S24331. When the second judgment result is that the metering position deviation value is less than the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are subtracted, and the obtained difference is determined as the first candidate theoretical position value of the target motor in the current cycle.

[0126] In this step, when the second judgment result is that the metering position deviation value of the target motor in the current cycle is less than the first preset value, it indicates that the target motor is in a reverse offset in the current cycle, that is, whether there is over-control in the external control of the target motor in the current cycle. At this time, the theoretical position value of the target motor in the previous cycle is subtracted from the motor operation step value, and the first candidate theoretical position value of the target motor in the current cycle is obtained by performing a difference calculation.

[0127] S24332. Determine a target peak value between the set position value of the target motor in the current cycle and the first candidate theoretical position value, and determine the target peak value as the theoretical position value of the target motor in the current cycle.

[0128] In this step, during the specific implementation, first, the set position value of the target motor in the current cycle and the first candidate theoretical position value are compared in quantitative relationship; then, the maximum value between the set position value and the first candidate theoretical position value is determined to determine the target peak value; finally, the target peak value is determined as the theoretical position value of the target motor in the current cycle.

[0129] Optionally, in addition to the method for determining the theoretical position value of the target motor in the current cycle when the second judgment result is that the metering position deviation value is less than the first preset value as described in steps S24331 to S24332, steps S24333 to S24334 are also included. Specifically, steps S24333 to S24334 are used to illustrate the method for determining the theoretical position value of the target motor in the current cycle when the second judgment result is that the metering position deviation value is greater than or equal to the first preset value.

[0130] S24333. When the second judgment result is that the metering position deviation value is greater than or equal to the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are added, and the added value is determined as the second candidate theoretical position value of the target motor in the current cycle.

[0131] In this step, when the second judgment result is that the metering position deviation value of the target motor in the current cycle is greater than or equal to the first preset value, it indicates that the target motor is in a positive offset in the current cycle, that is, whether there is an inadequate control in the external control of the target motor in the current cycle. At this time, the theoretical position value of the target motor in the previous cycle is added to the motor operation step value, and the second candidate theoretical position value of the target motor in the current cycle is obtained by addition calculation.

[0132] S24334, determining a target valley value between the set position value of the target motor in the current cycle and the second candidate theoretical position value, and determining the target valley value as the theoretical position value of the target motor in the current cycle.

[0133] In this step, during the specific implementation, first, the set position value of the target motor in the current cycle and the second candidate theoretical position value are compared in quantitative relationship; then, the minimum value is determined between the set position value and the second candidate theoretical position value to determine the target valley value; finally, the target valley value is determined as the theoretical position value of the target motor in the current cycle.

[0134] S300: Determine whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions.

[0135] In an embodiment of the present application, the preset fault condition corresponding to the theoretical position value includes that the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle; the preset fault condition corresponding to the actual position deviation value includes that the actual position deviation value of the target motor in the current cycle is greater than the preset unexpected response factor parameter value.

[0136] Here, when the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, it means that when the target motor accepts external settings in the current cycle, the calculated position that the target motor should be in in the current cycle is consistent with the set position, that is, there is a possibility that the target motor has an unexpected response failure in the current cycle.

[0137] When the position deviation value of the target motor in the current cycle is greater than the preset unexpected response factor parameter value, it indicates that the position deviation of the target motor in the current cycle exceeds the position error index of the unexpected response, that is, the target motor is very likely to have an unexpected response failure in the current cycle.

[0138] Among them, the preset unexpected response factor represents a position indicator. The unexpected response factor refers to a measure or indicator of the position error when the target motor detects an unexpected response. This indicator can help evaluate the position control performance and position error degree of the target motor when facing an unexpected response.

[0139] In one implementation of the present application, during specific implementation, step S300 may include:

[0140] S310, determining whether the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, and whether the actual position deviation value is greater than a preset unexpected response factor parameter value.

[0141] In this step, the theoretical position value and the actual position deviation value of the target motor in the current cycle are compared with the set position value and the preset unexpected response factor parameter value respectively, to determine whether the theoretical position value of the target motor in the current cycle is equal to the set position value, and whether the actual position deviation value of the target motor in the current cycle is greater than the preset unexpected response factor parameter value, so as to determine whether the theoretical position value and the actual position deviation value of the target motor in the current cycle both meet the corresponding preset fault conditions.

[0142] S320: If the theoretical position value is equal to the set position value and the actual position deviation value is greater than the unexpected response factor parameter value, it is determined that both the theoretical position value and the actual position deviation value satisfy corresponding preset fault conditions.

[0143] In this step, when the theoretical position value of the target motor in the current cycle is equal to the set position value, and the actual position deviation value of the target motor in the current cycle is greater than the preset unexpected response factor parameter value, it means that the calculated position of the target motor in the current cycle is consistent with the set position, and the position deviation of the target motor in the current cycle exceeds the position error index of the unexpected response. At this time, it is determined that the theoretical position value and position deviation value of the target motor in the current cycle both meet the corresponding preset fault conditions.

[0144] S330: If the theoretical position value is not equal to the set position value and / or the actual position deviation value is less than or equal to the unexpected response factor parameter value, it is determined that the theoretical position value and the actual position deviation value do not satisfy corresponding preset fault conditions.

[0145] In this step, when at least one of the following situations exists: the theoretical position value of the target motor in the current cycle is not equal to the set position value and the actual position deviation value of the target motor in the current cycle is less than or equal to the preset unexpected response factor parameter value, it means that the target motor responds normally as expected. At this time, it is determined that the theoretical position value and position deviation value of the target motor in the current cycle do not meet the corresponding preset fault conditions.

[0146] S400: If yes, determine that the target motor has an unexpected response fault in the current cycle.

[0147] In the embodiment of the present application, the unexpected response fault refers to that when the motor performs an action according to an external control instruction, it expects to get a specific response, but actually gets a result that does not meet the expectations. For example, when the unexpected response fault occurs in the LIN motor used in the vehicle air-conditioning system, there will be an unexpected response fault in the actions such as the damper control and fan speed control in the air-conditioning system.

[0148] In this step, if the theoretical position value and the actual position deviation value of the target motor in the current cycle both meet the corresponding preset fault conditions, the unexpected response fault flag position in the target motor is set to 1 to determine that an unexpected response fault exists in the target motor in the current cycle.

[0149] Furthermore, if at least one of the theoretical position value and the actual position deviation value of the target motor in the current cycle does not satisfy the corresponding preset fault condition, the unexpected response fault flag in the target motor is set to 0 to determine that there is no unexpected response fault in the target motor in the current cycle.

[0150] The motor fault detection method provided in the embodiment of the present application collects the set position value and the actual position value of the target motor in the current cycle and the previous cycle, and determines the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value. When the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions, it is determined that the target motor has an unexpected response fault in the current cycle, thereby providing necessary support for motor control, realizing efficient control of the motor, enhancing the robustness of motor fault detection, and thereby improving the effectiveness of motor control.

[0151] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a motor fault detection device provided in an embodiment of the present application. Figure 3 As shown in , the detection device 300 includes:

[0152] The data acquisition module 310 is used to periodically acquire the set position value and the actual position value of the target motor;

[0153] The position calculation module 320 is used to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle respectively;

[0154] A fault judgment module 330 is used to judge whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions;

[0155] The fault determination module 340 is used to determine that the target motor has an unexpected response fault in the current cycle if the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions.

[0156] Further, when the position calculation module 320 is used to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle, the position calculation module 320 is used to:

[0157] The actual position value of the target motor in the current cycle is subtracted from the set position value, and the obtained difference is determined as the actual position deviation value of the target motor in the current cycle;

[0158] Difference is taken between the set position value of the target motor in the current cycle and the set position value of the target motor in the previous cycle, and the absolute value of the difference is determined as the set position deviation value of the target motor in the current cycle;

[0159] Determine whether the set position deviation value is equal to a first preset value to obtain a first determination result;

[0160] According to the first judgment result, a metered position value of the target motor in the current cycle is determined, and based on the metered position value, a theoretical position value of the target motor in the current cycle is determined.

[0161] Further, when the position calculation module 320 is used to determine the metered position value of the target motor in the current cycle according to the first judgment result, and to determine the theoretical position value of the target motor in the current cycle based on the metered position value, the position calculation module 320 is used to:

[0162] When the first judgment result is that the set position deviation value is not equal to the first preset value, the actual position value of the target motor in the current cycle is determined as the first metered position value of the target motor in the current cycle, and the first metered position value is determined as the theoretical position value of the target motor in the current cycle;

[0163] When the first judgment result is that the set position deviation value is equal to the first preset value, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle, and the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained;

[0164] The theoretical position value of the target motor in the current cycle is determined based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

[0165] Further, when the position calculation module 320 is used to determine the theoretical position value of the target motor in the current cycle based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module 320 is used to:

[0166] Subtracting the second metering position value from the set position value of the target motor in the current cycle, and determining the obtained difference as the metering position deviation value of the target motor in the current cycle;

[0167] Determine whether the metering position deviation value is less than the first preset value, and obtain a second determination result;

[0168] According to the second judgment result, and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the theoretical position value of the target motor in the current cycle is determined.

[0169] Further, when the position calculation module 320 is used to determine the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module 320 is used to:

[0170] When the second judgment result is that the metering position deviation value is less than the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are subtracted, and the obtained difference is determined as the first candidate theoretical position value of the target motor in the current cycle;

[0171] A target peak value is determined between the set position value of the target motor in the current cycle and the first candidate theoretical position value, and the target peak value is determined as the theoretical position value of the target motor in the current cycle.

[0172] Further, when the position calculation module 320 is used to determine the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the position calculation module 320 is used to:

[0173] When the second judgment result is that the metering position deviation value is greater than or equal to the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are added, and the obtained added value is determined as the second candidate theoretical position value of the target motor in the current cycle;

[0174] A target valley value is determined between the set position value of the target motor in the current cycle and the second candidate theoretical position value, and the target valley value is determined as the theoretical position value of the target motor in the current cycle.

[0175] Further, when the fault judgment module 330 is used to judge whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions, the fault judgment module 330 is used to:

[0176] Determine whether the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, and whether the actual position deviation value is greater than a preset unexpected response factor parameter value;

[0177] If the theoretical position value is equal to the set position value and the actual position deviation value is greater than the unexpected response factor parameter value, it is determined that both the theoretical position value and the actual position deviation value meet corresponding preset fault conditions;

[0178] If the theoretical position value is not equal to the set position value and / or the actual position deviation value is less than or equal to the unexpected response factor parameter value, it is determined that the theoretical position value and / or the actual position deviation value do not meet the corresponding preset fault condition.

[0179] The motor fault detection device provided in the embodiment of the present application collects the set position value and the actual position value of the target motor in the current cycle and the previous cycle, and determines the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value. When the theoretical position value and the actual position deviation value both meet the corresponding preset fault conditions, it is determined that the target motor has an unexpected response fault in the current cycle, thereby providing necessary support for motor control, realizing efficient control of the motor, enhancing the robustness of motor fault detection, and thereby improving the effectiveness of motor control.

[0180] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0181] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the motor fault detection method in the method embodiment shown, the specific implementation method can be found in the method embodiment, and will not be repeated here.

[0182] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the motor fault detection method in the method embodiment shown, the specific implementation method can be found in the method embodiment, and will not be repeated here.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0184] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0185] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0186] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0187] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0188] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for detecting motor failure, characterized in that: The detection method comprises: Periodically collect the set position value and actual position value of the target motor; Based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle, the theoretical position value and the actual position deviation value of the target motor in the current cycle are determined respectively; Determining whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions; If so, it is determined that the target motor has an unexpected response fault in the current cycle.

2. The method according to claim 1, characterized in that The method of determining the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle respectively includes: The actual position value of the target motor in the current cycle is subtracted from the set position value, and the obtained difference is determined as the actual position deviation value of the target motor in the current cycle; Difference is taken between the set position value of the target motor in the current cycle and the set position value of the target motor in the previous cycle, and the absolute value of the difference is determined as the set position deviation value of the target motor in the current cycle; Determine whether the set position deviation value is equal to a first preset value to obtain a first determination result; According to the first judgment result, a metered position value of the target motor in the current cycle is determined, and based on the metered position value, a theoretical position value of the target motor in the current cycle is determined.

3. The method according to claim 2, characterized in that Determining the metered position value of the target motor in the current cycle according to the first judgment result, and determining the theoretical position value of the target motor in the current cycle based on the metered position value, includes: When the first judgment result is that the set position deviation value is not equal to the first preset value, the actual position value of the target motor in the current cycle is determined as the first metered position value of the target motor in the current cycle, and the first metered position value is determined as the theoretical position value of the target motor in the current cycle; When the first judgment result is that the set position deviation value is equal to the first preset value, the actual position value of the target motor in the previous cycle is determined as the second metering position value of the target motor in the current cycle, and the motor operation step value of the target motor in the current cycle and the theoretical position value of the target motor in the previous cycle are obtained; The theoretical position value of the target motor in the current cycle is determined based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle.

4. The method according to claim 3, characterized in that The determining the theoretical position value of the target motor in the current cycle based on the second metering position value, the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes: Subtracting the second metering position value from the set position value of the target motor in the current cycle, and determining the obtained difference as the metering position deviation value of the target motor in the current cycle; Determine whether the metering position deviation value is less than the first preset value, and obtain a second determination result; According to the second judgment result, and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle, the theoretical position value of the target motor in the current cycle is determined.

5. The method according to claim 4, characterized in that Determining the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes: When the second judgment result is that the metering position deviation value is less than the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are subtracted, and the obtained difference is determined as the first candidate theoretical position value of the target motor in the current cycle; A target peak value is determined between the set position value of the target motor in the current cycle and the first candidate theoretical position value, and the target peak value is determined as the theoretical position value of the target motor in the current cycle.

6. The method according to claim 4, characterized in that Determining the theoretical position value of the target motor in the current cycle according to the second judgment result and based on the motor operation step value, the theoretical position value of the target motor in the previous cycle and the set position value of the target motor in the current cycle includes: When the second judgment result is that the metering position deviation value is greater than or equal to the first preset value, the theoretical position value of the target motor in the previous cycle and the motor operation step value are added, and the obtained added value is determined as the second candidate theoretical position value of the target motor in the current cycle; A target valley value is determined between the set position value of the target motor in the current cycle and the second candidate theoretical position value, and the target valley value is determined as the theoretical position value of the target motor in the current cycle.

7. The method according to claim 2, characterized in that The determining whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions includes: Determine whether the theoretical position value of the target motor in the current cycle is equal to the set position value of the target motor in the current cycle, and whether the actual position deviation value is greater than a preset unexpected response factor parameter value; If the theoretical position value is equal to the set position value and the actual position deviation value is greater than the unexpected response factor parameter value, it is determined that both the theoretical position value and the actual position deviation value meet corresponding preset fault conditions; If the theoretical position value is not equal to the set position value and / or the actual position deviation value is less than or equal to the unexpected response factor parameter value, it is determined that the theoretical position value and / or the actual position deviation value do not meet the corresponding preset fault condition.

8. A motor fault detection device, characterized in that: The detection device comprises: A data acquisition module, used for periodically acquiring a set position value and an actual position value of a target motor; A position calculation module is used to determine the theoretical position value and the actual position deviation value of the target motor in the current cycle based on the set position value and the actual position value of the target motor collected in the current cycle and the previous cycle; A fault judgment module is used to judge whether the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions; The fault determination module is used to determine that the target motor has an unexpected response fault in the current cycle if the theoretical position value and the actual position deviation value both meet corresponding preset fault conditions.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the motor fault detection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor fault detection method according to any one of claims 1 to 7 are executed.

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