Time-sharing health detection method for engine servo control unit

Abstract

The invention discloses a time-sharing health detection method for an engine servo control unit. The time-sharing health detection method comprises the steps that the working stage of the engine servo control unit is divided into a power-on stage position closed-loop stage, a rotating speed closed-loop stage and a current closed-loop stage; the engine servo control unit is subjected to specific item detection in the power-on stage, the position closed-loop stage, the rotating speed closed-loop stage and the current closed-loop stage; current item detection results of the power-on stage, the position closed-loop stage, the rotating speed closed-loop stage and the current closed-loop stage are obtained in real time, and different treatment measures are executed according to the different current item detection results. According to the invention, the working stages of the engine servo control unit are divided into different stages, and specific item detection is carried out for the different stages, so that the fault detection accuracy and effectiveness are improved; by executing different treatment measures according to different current item detection results, fault expansion is avoided, and safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engine detection, and in particular to a time-sharing health detection method for an engine servo control unit. Background Art

[0002] The engine power control system generally uses a servo control unit to control the engine startup, ignition, and shutdown processes. Its working performance affects the overall reliability and safety of the system. Therefore, it is necessary to study the detection method of the engine servo control unit.

[0003] In the prior art, Chinese patent CN117705463A discloses a method, device, electronic device and storage medium for evaluating engine noise in a vehicle. The method comprises: obtaining first noise time domain data of the engine of the vehicle in multiple directions in a test bench state; determining the engine noise time domain data of the engine of the vehicle in the vehicle according to the first noise time domain data; obtaining background noise time domain data of the vehicle in a whole vehicle state, the background noise time domain data representing the changing relationship between the vehicle speed and noise during the deceleration and sliding process of the vehicle; comparing and evaluating the engine noise time domain data and the background noise time domain data to obtain an evaluation result, the evaluation result comprising a noise score level representing the prominence of the engine noise of the vehicle.

[0004] However, the above-mentioned prior art only studies the noise evaluation method of the engine, but does not consider the detection of possible faults that may occur in the engine servo control unit during the working stage, and cannot meet the requirements of the engine power control system for fault detection accuracy and effectiveness; in addition, the above-mentioned prior art also does not consider how to deal with possible faults that may occur in the engine servo control unit during the working stage, there is a risk of fault expansion, and the safety is poor. Summary of the invention

[0005] The present application provides a time-sharing health detection method for an engine servo control unit, which is used to solve the problem that the prior art cannot meet the requirements of the engine power control system for fault detection accuracy and effectiveness, there is a risk of fault expansion, and the safety is poor.

[0006] In one aspect, the present application provides a time-sharing health detection method for an engine servo control unit, comprising the following steps:

[0007] Step 1: divide the working phase of the engine servo control unit into a power-on phase and a closed-loop control phase, and divide the closed-loop control phase into a position closed-loop phase, a speed closed-loop phase and a current closed-loop phase.

[0008] Step 2: During the power-on phase, the engine servo control unit is subjected to processor detection, port detection, ADC detection, memory detection, parameter loading detection and resolver detection.

[0009] In the position closed-loop stage, software limit detection and drive temperature detection are performed on the engine servo control unit.

[0010] In the speed closed-loop stage, the driving temperature of the engine servo control unit is detected.

[0011] In the current closed-loop stage, the engine servo control unit is subjected to drive current detection and drive temperature detection.

[0012] Step three, obtaining the current item detection results of the power-on stage, the position closed-loop stage, the speed closed-loop stage and the current closed-loop stage in real time, and executing different disposal measures according to different current item detection results.

[0013] In a possible implementation, in step 2, during the power-on phase, the processor detection includes: processor arithmetic operation detection, processor logic operation detection, and processor RAM detection.

[0014] The processor arithmetic operation detection is: performing an arithmetic operation test on the processor, if the arithmetic operation result is consistent with the expected value, then the arithmetic operation detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0015] The processor logic operation detection is: performing a logic operation test on the processor, if the logic operation result is consistent with the expected value, then the logic operation detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0016] The processor RAM detection is: performing RAM read and write tests on the processor, if the RAM read and write data are consistent, the RAM detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0017] In a possible implementation, in step 2, during the power-on phase, the port detection is to determine whether the output state of the output port of the processor is consistent with the wraparound state; if so, the port detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0018] The ADC detection is: judging according to the ADC acquisition result, if the physical quantity of a channel exceeds the range within a preset ratio of times continuously, the ADC detection result of the channel is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0019] The memory detection is: write first and then read the memory, if the read data is consistent with the written data, the memory detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0020] The parameter loading detection is as follows: reading the timing parameters and motor operating parameters in the memory, calculating the cumulative sum of the parameters, and if the calculation result is consistent with the cumulative sum of the parameters stored in the memory, the parameter loading detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0021] In a possible implementation, in step 2, during the power-on phase, the resolver detection includes: resolver stability detection and motor resolver consistency detection.

[0022] The resolver stability detection is as follows: counting the number of stability failures of the motor resolver and the unit resolver, and if the total number of stability failures is greater than a preset number, recording the resolver stability detection result as the third detection result.

[0023] The motor resolver consistency detection is as follows: counting the number of consistency failures of the motor resolver, and if the total number of consistency failures is greater than a preset number, recording the motor resolver consistency detection result as a third detection result.

[0024] In a possible implementation, in step 2, the software limit detection includes: soft setting limit detection and soft feedback limit detection.

[0025] The soft setting limit detection is as follows: if the unit setting angle is greater than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting upper limit detection result is recorded as the first detection result; if the unit setting angle is less than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting lower limit detection result is recorded as the first detection result.

[0026] The soft feedback limit detection is as follows: if the unit feedback angle is continuously greater than the soft limit within a preset time, the soft feedback upper limit detection result is recorded as the third detection result; if the unit feedback angle is continuously less than the soft limit within a preset time, the soft feedback lower limit detection result is recorded as the third detection result.

[0027] In one possible implementation, in step 2, the drive temperature detection is: when the drive temperature is higher than the temperature threshold, a timing judgment is performed; if the continuous over-temperature time exceeds the preset time and this is the position closed-loop stage, the drive temperature detection result is recorded as the first detection result; if the continuous over-temperature time exceeds the preset time and this is the speed closed-loop stage or the current closed-loop stage, the drive temperature detection result is recorded as the third detection result.

[0028] In a possible implementation, in step 2, the driving current detection is: calculating a current thermal accumulation value according to the driving current and the continuous working current, and if the current thermal accumulation value is greater than the detection value, recording the driving current detection result as the first detection result.

[0029] In a possible implementation, in step 2, in the position closed-loop stage, the speed closed-loop stage, and the current closed-loop stage, the engine servo control unit performs bus current detection, bus voltage detection, phase loss detection, and motor speed detection.

[0030] In a possible implementation, the bus current detection is: when the bus current of the driver is higher than the peak current, a timing judgment is performed, and if the continuous overcurrent time exceeds a preset time, the bus current detection result is recorded as a second detection result.

[0031] The bus voltage detection is as follows: when the bus voltage of the driver is lower than the voltage lower limit, a timing judgment is performed, and if the continuous low voltage time exceeds a preset time, the bus voltage detection result is recorded as a second detection result.

[0032] The phase loss detection is: when the sum of the three-phase currents of the driving circuit is not within a threshold range, a timing judgment is performed, and if the continuous phase loss time exceeds a preset time, the phase loss detection result is recorded as a second detection result.

[0033] The motor speed detection is as follows: when the actual motor speed exceeds a preset multiple of the rated speed, a timing judgment is performed, and if the continuous overspeed time exceeds the preset time, the motor speed detection result is recorded as the third detection result.

[0034] In a possible implementation, in step three, the handling measures include: no measures, prompt information, drive redundancy strategy and prohibition of drive circuit enablement.

[0035] The drive redundancy strategy includes: when the on-duty drive is abnormal and there is a normal drive, switching the on-duty drive to the normal drive.

[0036] The engine servo control unit time-sharing health detection method in this application has the following advantages:

[0037] By dividing the working stages of the engine servo control unit into different stages and performing specific item detection at different stages, this stage-by-stage specific item detection method can more accurately reflect the actual operating conditions of the engine servo control unit at different working stages, thereby improving the accuracy and effectiveness of fault detection. By executing different disposal measures according to different current item detection results, it can ensure that when an abnormal situation occurs, the system can respond in a timely manner, avoiding the expansion of faults and improving safety.

[0038] The proposed drive redundancy strategy includes: when the on-duty drive is abnormal and there is a normal drive, the on-duty drive is switched to the normal drive to ensure mission continuity and system stability. The design of this redundancy strategy also significantly improves the reliability and safety of the engine power control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A flow chart of a time-sharing health detection method for an engine servo control unit provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] like Figure 1 As shown, the embodiment of the present application provides a time-sharing health detection method for an engine servo control unit, comprising the following steps:

[0043] Step 1: divide the working phase of the engine servo control unit into a power-on phase and a closed-loop control phase, and divide the closed-loop control phase into a position closed-loop phase, a speed closed-loop phase and a current closed-loop phase.

[0044] Step 2: During the power-on phase, the engine servo control unit is subjected to processor detection, port detection, ADC detection, memory detection, parameter loading detection and resolver detection.

[0045] In the position closed-loop stage, software limit detection and drive temperature detection are performed on the engine servo control unit.

[0046] In the speed closed-loop stage, the driving temperature of the engine servo control unit is detected.

[0047] In the current closed-loop stage, the engine servo control unit is subjected to drive current detection and drive temperature detection.

[0048] Step three, obtaining the current item detection results of the power-on stage, the position closed-loop stage, the speed closed-loop stage and the current closed-loop stage in real time, and executing different disposal measures according to different current item detection results.

[0049] Specifically, in the closed-loop control stage, the speed closed-loop stage is within the position closed-loop stage, and the current closed-loop stage is within the speed closed-loop stage.

[0050] In this embodiment, during the power-on phase, after the engine servo control unit completes hardware resource initialization and function initialization, it performs processor detection, port detection, ADC detection, memory detection, parameter loading detection, and resolver detection.

[0051] Exemplarily, in step 2, during the power-on phase, the processor detection includes: processor arithmetic operation detection, processor logic operation detection and processor RAM detection.

[0052] The processor arithmetic operation detection is: performing an arithmetic operation test on the processor, if the arithmetic operation result is consistent with the expected value, then the arithmetic operation detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0053] The processor logic operation detection is: performing a logic operation test on the processor, if the logic operation result is consistent with the expected value, then the logic operation detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0054] The processor RAM detection is: performing RAM read and write tests on the processor, if the RAM read and write data are consistent, the RAM detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0055] Specifically, in this embodiment, the arithmetic operation test adopts addition, subtraction, multiplication and division arithmetic operation test; the logic operation test adopts AND, OR, NOT, XOR operation test; the RAM read and write test includes: assigning, changing and reading the array, and performing read and write test of the RAM memory.

[0056] Exemplarily, in step 2, during the power-on phase, the port detection is to determine whether the output state of the output port of the processor is consistent with the wraparound state; if they are consistent, the port detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0057] The ADC detection is: judging according to the ADC acquisition result, if the physical quantity of a channel exceeds the range within a preset ratio of times continuously, the ADC detection result of the channel is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0058] The memory detection is: write first and then read the memory, if the read data is consistent with the written data, the memory detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0059] The parameter loading detection is as follows: reading the timing parameters and motor operating parameters in the memory, calculating the cumulative sum of the parameters, and if the calculation result is consistent with the cumulative sum of the parameters stored in the memory, the parameter loading detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0060] Specifically, in this embodiment, determining whether the output state of the output port of the processor is consistent with the wrap state includes: outputting a high level and a low level respectively through the output port of the self-checking processor to determine whether its wrap state is consistent with the output state.

[0061] In this embodiment, judging according to the ADC acquisition result includes: periodically and continuously reading the ADC acquisition result N times, converting it into an actual physical quantity and then judging. In this embodiment, the preset ratio is 1 / 2, that is, if the physical quantity of a channel exceeds the range for N / 2 times continuously, the ADC detection result of the channel is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

[0062] In this embodiment, performing a write-before-read operation on the memory includes: performing a write-before-read operation on a certain address of the FeRAM memory.

[0063] In this embodiment, reading the timing parameters and the motor operating parameters in the memory and calculating the cumulative sum of the parameters includes: reading the timing parameters and the motor operating parameters in the FeRAM memory and calculating the cumulative sum of the parameters.

[0064] Exemplarily, in step 2, during the power-on stage, the resolver detection includes: resolver stability detection and motor resolver consistency detection.

[0065] The resolver stability detection is as follows: counting the number of stability failures of the motor resolver and the unit resolver, and if the total number of stability failures is greater than a preset number, recording the resolver stability detection result as the third detection result.

[0066] The motor resolver consistency detection is as follows: counting the number of consistency failures of the motor resolver, and if the total number of consistency failures is greater than a preset number, recording the motor resolver consistency detection result as a third detection result.

[0067] Specifically, in this embodiment, the resolver stability includes the motor resolver stability and the unit resolver stability. Counting the number of stability failures of the motor resolver and the unit resolver includes: periodically and continuously reading the motor and unit positions N times, comparing the current resolver acquisition data with the previous resolver acquisition data, and if the resolver position code values ​​acquired twice exceed a threshold, it is considered that the line has a fault, and the corresponding number of stability failures is accumulated.

[0068] In this embodiment, counting the number of consistency failures of the motor resolver includes: periodically and continuously reading the motor position N times, comparing the main motor resolver acquisition data with the backup motor resolver acquisition data, and if the resolver position code values ​​of the two exceed a threshold, the number of consistency failures is accumulated.

[0069] Exemplarily, in step 2, the software limit detection includes: soft setting limit detection and soft feedback limit detection.

[0070] The soft setting limit detection is as follows: if the unit setting angle is greater than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting upper limit detection result is recorded as the first detection result; if the unit setting angle is less than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting lower limit detection result is recorded as the first detection result.

[0071] The soft feedback limit detection is as follows: if the unit feedback angle is continuously greater than the soft limit within a preset time, the soft feedback upper limit detection result is recorded as the third detection result; if the unit feedback angle is continuously less than the soft limit within a preset time, the soft feedback lower limit detection result is recorded as the third detection result.

[0072] Exemplarily, in step 2, the driving temperature detection is: when the driving temperature is higher than the temperature threshold, a timing judgment is performed; if the continuous over-temperature time exceeds the preset time and this is the position closed-loop stage, the driving temperature detection result is recorded as the first detection result; if the continuous over-temperature time exceeds the preset time and this is the speed closed-loop stage or the current closed-loop stage, the driving temperature detection result is recorded as the third detection result.

[0073] Specifically, in this embodiment, when the driving temperature is higher than the temperature threshold, performing a timing judgment includes: periodically reading the driving temperature, detecting whether the driving temperature is higher than the temperature threshold, and performing a timing judgment if the driving temperature is higher than the temperature threshold.

[0074] Exemplarily, in step 2, the driving current detection is: calculating the current thermal accumulation value according to the driving current and the continuous working current, and if the current thermal accumulation value is greater than the detection value, recording the driving current detection result as the first detection result.

[0075] Specifically, in this embodiment, the driving current detection specifically includes: periodically detecting the driving current I Q After each drive current loop PID output, according to the drive current I Q And the continuous working current calculates the current thermal accumulation value I 2 T. If the current thermal accumulation value is less than 0, the current thermal accumulation value is updated to 0, according to I Q Perform coordinate transformation and update PWM duty cycle; if the current thermal accumulation value is less than the detection value, then according to I QPerform coordinate transformation and update the PWM duty cycle; if the current thermal accumulation value is greater than the detection value, use the continuous working current to calculate the PWM duty cycle, and record the drive current detection result as the first detection result.

[0076] Exemplarily, in step 2, in the position closed-loop stage, the speed closed-loop stage and the current closed-loop stage, the engine servo control unit performs bus current detection, bus voltage detection, phase loss detection and motor speed detection.

[0077] Exemplarily, the bus current detection is as follows: when the bus current of the driver is higher than the peak current, a timing judgment is performed, and if the continuous overcurrent time exceeds a preset time, the bus current detection result is recorded as a second detection result.

[0078] The bus voltage detection is as follows: when the bus voltage of the driver is lower than the voltage lower limit, a timing judgment is performed, and if the continuous low voltage time exceeds a preset time, the bus voltage detection result is recorded as a second detection result.

[0079] The phase loss detection is as follows: when the sum of the three-phase currents of the driving circuit is not within a threshold range, a timing judgment is performed, and if the continuous phase loss time exceeds a preset time, the phase loss detection result is recorded as a second detection result.

[0080] The motor speed detection is as follows: when the actual motor speed exceeds a preset multiple of the rated speed, a timing judgment is performed, and if the continuous overspeed time exceeds the preset time, the motor speed detection result is recorded as the third detection result.

[0081] Specifically, bus current detection, bus voltage detection, phase loss detection and motor speed detection are all performed periodically.

[0082] Exemplarily, in step three, the handling measures include: no measures, prompt information, drive redundancy strategy and prohibition of drive circuit enabling.

[0083] The drive redundancy strategy includes: when the on-duty drive is abnormal and there is a normal drive, switching the on-duty drive to the normal drive.

[0084] Specifically, in this embodiment, if the current item detection result is the zeroth detection result, it means that the current item is normal and no measures are required.

[0085] If the current test result is the first test result, a prompt message such as the corresponding test item is abnormal is given.

[0086] If the current detection result is the second detection result, the drive redundancy strategy is executed. The engine servo control unit in this embodiment adopts a dual redundant drive, including a first drive and a second drive. The drive redundancy strategy of the dual redundant drive is as follows:

[0087] When the shift drive is the first drive, if the first drive is abnormal and the second drive is normal, the first drive circuit is disabled, the PWM output of the first drive is stopped, the drive channel is switched to the second drive, and the second drive takes over the task. When the shift drive is the first drive, if the first drive is normal, the current control state is maintained. When the shift drive is the first drive, if both the first drive and the second drive are abnormal, the first drive and the second drive are disabled. When the shift drive is the second drive, if the second drive is abnormal and the first drive is normal, the second drive circuit is disabled, the PWM output of the second drive is stopped, the drive channel is switched to the first drive, and the first drive takes over the task. When the shift drive is the second drive, if the second drive is normal, the current control state is maintained. When the shift drive is the second drive, if both the second drive and the first drive are abnormal, the first drive and the second drive are disabled.

[0088] If the current detection result is the third detection result, the first drive and the second drive are prohibited from being enabled, including: stopping the PWM output of the first drive and the second drive, applying the brake, and not allowing entry into closed-loop control.

[0089] The embodiment of the present application divides the working phase of the engine servo control unit into different phases and performs specific item detection for different phases. This phased specific item detection method can more accurately reflect the actual operating conditions of the engine servo control unit in different working phases, thereby improving the accuracy and effectiveness of fault detection. By executing different disposal measures according to different current item detection results, it can ensure that when an abnormal situation occurs, the system can respond in a timely manner, avoid the expansion of faults, and improve safety.

[0090] The proposed drive redundancy strategy includes: when the on-duty drive is abnormal and there is a normal drive, the on-duty drive is switched to the normal drive to ensure mission continuity and system stability. The design of this redundancy strategy also significantly improves the reliability and safety of the engine power control system.

[0091] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A time-sharing health detection method for an engine servo control unit, characterized in that: The following steps are involved: Step 1, dividing the working phase of the engine servo control unit into a power-on phase and a closed-loop control phase, and dividing the closed-loop control phase into a position closed-loop phase, a speed closed-loop phase and a current closed-loop phase; Step 2: During the power-on phase, the engine servo control unit is subjected to processor detection, port detection, ADC detection, memory detection, parameter loading detection and resolver detection; In the position closed-loop stage, software limit detection and drive temperature detection are performed on the engine servo control unit; In the speed closed-loop stage, the engine servo control unit is subjected to a driving temperature detection; In the current closed-loop stage, driving current detection and driving temperature detection are performed on the engine servo control unit; Step three, obtaining the current item detection results of the power-on stage, the position closed-loop stage, the speed closed-loop stage and the current closed-loop stage in real time, and executing different disposal measures according to different current item detection results.

2. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, during the power-on phase, the processor detection includes: processor arithmetic operation detection, processor logic operation detection and processor RAM detection; The processor arithmetic operation detection is: performing an arithmetic operation test on the processor, if the arithmetic operation result is consistent with the expected value, then recording the arithmetic operation detection result as the zeroth detection result, otherwise recording it as the first detection result; The processor logic operation detection is: performing a logic operation test on the processor, if the logic operation result is consistent with the expected value, then recording the logic operation detection result as the zeroth detection result, otherwise recording it as the first detection result; The processor RAM detection is: performing RAM read and write tests on the processor, if the RAM read and write data are consistent, the RAM detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

3. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, during the power-on phase, the port detection is to determine whether the output state of the output port of the processor is consistent with the wraparound state, if consistent, the port detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result; The ADC detection is as follows: judging according to the ADC acquisition result, if the physical quantity of a certain channel exceeds the range within a preset ratio of times continuously, the ADC detection result of the channel is recorded as the zeroth detection result, otherwise it is recorded as the first detection result; The memory detection is: performing a write-first-then-read operation on the memory, if the read data is consistent with the written data, the memory detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result; The parameter loading detection is as follows: reading the timing parameters and motor operating parameters in the memory, calculating the cumulative sum of the parameters, and if the calculation result is consistent with the cumulative sum of the parameters stored in the memory, the parameter loading detection result is recorded as the zeroth detection result, otherwise it is recorded as the first detection result.

4. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, during the power-on stage, the resolver detection includes: resolver stability detection and motor resolver consistency detection; The resolver stability detection is as follows: counting the number of stability failures of the motor resolver and the unit resolver, and if the total number of stability failures is greater than a preset number, recording the resolver stability detection result as the third detection result; The motor resolver consistency detection is as follows: counting the number of consistency failures of the motor resolver, and if the total number of consistency failures is greater than a preset number, recording the motor resolver consistency detection result as a third detection result.

5. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, the software limit detection includes: soft setting limit detection and soft feedback limit detection; The soft setting limit detection is as follows: if the unit setting angle is greater than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting upper limit detection result is recorded as the first detection result; if the unit setting angle is less than the soft limit, the unit setting angle is updated to the soft limit, and the soft setting lower limit detection result is recorded as the first detection result; The soft feedback limit detection is as follows: if the unit feedback angle is continuously greater than the soft limit within a preset time, the soft feedback upper limit detection result is recorded as the third detection result; if the unit feedback angle is continuously less than the soft limit within a preset time, the soft feedback lower limit detection result is recorded as the third detection result.

6. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, the driving temperature detection is as follows: when the driving temperature is higher than the temperature threshold, a timing judgment is performed; if the continuous over-temperature time exceeds the preset time and this is the position closed-loop stage, the driving temperature detection result is recorded as the first detection result; if the continuous over-temperature time exceeds the preset time and this is the speed closed-loop stage or the current closed-loop stage, the driving temperature detection result is recorded as the third detection result.

7. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, the driving current detection is: calculating the current thermal accumulation value according to the driving current and the continuous working current, and if the current thermal accumulation value is greater than the detection value, the driving current detection result is recorded as the first detection result.

8. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 2, in the position closed-loop stage, the speed closed-loop stage and the current closed-loop stage, the engine servo control unit performs bus current detection, bus voltage detection, phase loss detection and motor speed detection.

9. The engine servo control unit time-sharing health detection method according to claim 8, characterized in that: The bus current detection is as follows: when the bus current of the driver is higher than the peak current, a timing judgment is performed, and if the continuous overcurrent time exceeds a preset time, the bus current detection result is recorded as a second detection result; The bus voltage detection is as follows: when the bus voltage of the driver is lower than the voltage lower limit, a timing judgment is performed, and if the continuous low voltage time exceeds a preset time, the bus voltage detection result is recorded as a second detection result; The phase loss detection is: when the sum of the three-phase currents of the driving circuit is not within the threshold range, a timing judgment is performed, and if the continuous phase loss time exceeds the preset time, the phase loss detection result is recorded as the second detection result; The motor speed detection is as follows: when the actual motor speed exceeds a preset multiple of the rated speed, a timing judgment is performed, and if the continuous overspeed time exceeds the preset time, the motor speed detection result is recorded as the third detection result.

10. The engine servo control unit time-sharing health detection method according to claim 1, characterized in that: In step 3, the disposal measures include: no measures, prompt information, drive redundancy strategy and prohibition of drive circuit enabling; The drive redundancy strategy includes: when the on-duty drive is abnormal and there is a normal drive, switching the on-duty drive to the normal drive.

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