Water pump locked-rotor fault determination method, controller, medium and product

Abstract

The invention discloses a water pump locked-rotor fault determination method, a controller, a medium and a product, and relates to the technical field of electrical equipment maintaining.The method comprises the steps that the rotation speed a of a water pump at the current moment and the rotation speed b of the water pump at the last moment are obtained; acquiring a current loop reference value Iqref 1 of the water pump at the current moment and a current loop reference value Iqref2 of the water pump at the previous moment; when a-b is less than 0 and Iqref 1-Iqref2 is greater than 0, automatically increasing the current value of the delay variable T to obtain a first new value of the delay variable T; if the first new value is larger than or equal to a preset threshold value, it is determined that the water pump is locked, and the preset threshold value is larger than the initial value of the delay variable T. According to the method, frequent errors are not reported, and the success rate of self-repairing after the water pump is locked can be increased.

Description

Technical Field

[0001] The present application relates to the technical field of electrical equipment maintenance, and in particular to a method, controller, medium and product for determining a water pump stall fault. Background Art

[0002] Water pumps are frequently used in daily life and production. For example, vehicles are equipped with water pumps to cool down the engine. However, the structure of water pumps is complex and prone to failure. Water pump failure can cause the engine cooling system to fail, especially when the vehicle is driving under heavy load, the water pump is prone to occasional stalling.

[0003] The existing technology usually determines whether the water pump is stuck by judging whether the water pump speed is less than the minimum speed. When the minimum speed is set too small, the water pump will be completely blocked before it can be determined that the water pump is stuck. The timing of judging the water pump blocking is late, causing foreign objects to be stuck deeper, often missing the best time for self-repair, and thus resulting in a low success rate of self-repair; when the minimum speed of the water pump is set too large, it will cause frequent faults, reducing the user experience. Summary of the invention

[0004] The purpose of the present application is to provide a method, a controller, a medium and a product for determining a water pump stall fault, so as to solve the problems described in the background technology.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for determining a water pump stall fault, comprising:

[0007] Get the current rotation speed a of the water pump and the previous rotation speed b;

[0008] Get the current loop reference value Iqref 1 of the water pump at the current moment and the current loop reference value Iqref2 of the previous moment;

[0009] When ab<0 and Iqref1-Iqref2>0, the current value of the delay variable T is incremented to obtain the first new value of the delay variable T;

[0010] If the first new value is greater than or equal to a preset threshold, it is determined that the water pump is blocked, and the preset threshold is greater than the initial value of the delay variable T.

[0011] Optionally, after the current value of the delay variable T is incremented to obtain a first new value of the delay variable T, the method further includes:

[0012] When the first new value of the delay variable T is less than a predetermined threshold, the step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment is re-executed.

[0013] Optionally, after obtaining the current loop reference value Iqref1 of the water pump at the current moment and the current loop reference value Iqref2 at the previous moment, the method further includes:

[0014] When ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is equal to the initial value of the delay variable T, the current value of the delay variable T is kept unchanged;

[0015] The step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b at the previous moment is re-executed.

[0016] Optionally, after obtaining the current loop reference value Iqref1 of the water pump at the current moment and the current loop reference value Iqref2 of the previous moment, the method further includes:

[0017] When ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is greater than the initial value of the delay variable T, the current value of the delay variable T is decremented to obtain a second new value of the delay variable T;

[0018] When the second new value is greater than or equal to the initial value of T, the step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment is re-executed.

[0019] Optionally, the method further comprises:

[0020] When the second new value of the delay variable T is less than the initial value of T, reassign the delay variable T and set the value of the delay variable T to the initial value of T;

[0021] The step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment is re-executed.

[0022] Optionally, after determining that the water pump is blocked, the method further includes:

[0023] generating a first self-repair instruction, wherein the first self-repair instruction is used to instruct the water pump to rotate in a reverse direction by a first predetermined degree, and then rotate in a forward direction by a second predetermined degree;

[0024] When the first predetermined degree and the second predetermined degree are completed, it is determined that the water pump self-modification is successful.

[0025] Optionally, the method further comprises:

[0026] When the first predetermined degree and the second predetermined degree are not completed, generating a stop instruction, the stop instruction is used to instruct the water pump to stop rotating for a predetermined period of time;

[0027] When the predetermined time is reached, a second self-repair instruction is generated, wherein the second self-repair instruction is used to instruct the water pump to rotate in the reverse direction by a third predetermined degree, and then rotate in the forward direction by a fourth predetermined degree;

[0028] When the third predetermined degree and the fourth predetermined degree are completed, it is determined that the water pump self-modification is successful;

[0029] When the third predetermined degree and the fourth predetermined degree are not completed, the second self-repair instruction is generated in a loop until the number of loops reaches a predetermined number, and when the third predetermined degree and the fourth predetermined degree are still not completed, a shutdown instruction is generated, and the shutdown instruction is used to instruct the water pump to stop working.

[0030] In a second aspect, the present application provides a controller comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the methods described in the first aspect above.

[0031] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0032] In a fourth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any one of the methods in the first aspect.

[0033] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0034] The method for determining a water pump stall fault provided by the present application is to obtain the rotation speed a at the current time and the rotation speed b at the previous moment, and to obtain the current loop reference value Iqref 1 at the current moment and the current loop reference value Iqref2 at the previous moment; and to determine whether to increment the delay variable T by a, b, Iqref 1 and Iqref2, and to determine that the water pump is stalled when the value of T is greater than the preset threshold; in this way, it can be determined whether the water pump is stalled at the beginning of the decrease in the rotation speed of the water pump, so that after determining the stall, self-repair measures can be taken in time to improve the success rate of self-repair. As for the prior art, it is usually determined whether the water pump is stalled by judging whether the water pump speed is less than the minimum speed. If the minimum speed is too small, it will cause the judgment of the water pump stall to be too delayed, and the success rate of self-repair is low. When the minimum speed of the water pump is set too large, it will cause frequent fault reports, reducing the user experience. Therefore, compared with the prior art, the present application will not only not report errors frequently, but also improve the success rate of self-repair after the water pump is stalled. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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 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.

[0036] Figure 1 This is an application environment diagram of a method for determining a water pump stall fault in one embodiment of the present application;

[0037] Figure 2 A schematic flow chart of a method for determining a water pump stall fault provided in one embodiment of the present application;

[0038] Figure 3 A schematic flow chart of a method for determining a water pump stall fault provided in one embodiment of the present application;

[0039] Figure 4 A flow chart of another method for determining a water pump stall fault provided in an embodiment of the present application;

[0040] Figure 5 A flow chart of another method for determining a water pump stall fault provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the structure of a controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] 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.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] The method for determining a water pump stall fault provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the application environment includes a water pump control system and a water pump.

[0045] Among them, the water pump control system includes a controller with storage function, a brushless motor drive module, a phase current detection module and a position detection module.

[0046] The position detection module may be an algorithm module without a position sensor or a detection module with a sensor.

[0047] Among them, the brushless motor drive module is a drive circuit composed of MOS tubes.

[0048] The water pump control system is a PCB circuit board that integrates the above components.

[0049] The water pump control system controls the stator magnetic field to couple with the rotor magnetic field to make the water pump rotor rotate. The rotation of the water pump rotor will generate back electromotive force. The controller calculates the current rotor position through the back electromotive force or the speed and position sensor. After a fixed time interval, the rotor position is obtained again, and the current water pump rotor speed can be calculated.

[0050] Among them, the current acquisition module calculates the phase current of the water pump in the current state by testing the voltage on the sampling resistor.

[0051] The water pump can be an electronic water pump or a mechanical water pump.

[0052] In an exemplary embodiment, Figure 2 As shown, combined with Figure 3 , provides a method for determining a water pump stall fault, which is executed by a controller. In an embodiment of the present application, the method is applied to Figure 1 The controller in FIG. 1 is taken as an example to illustrate, including the following steps 201 to 204:

[0053] Step 201, obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment.

[0054] The water pump in the present application can be an electronic water pump or a mechanical water pump.

[0055] The controller samples the rotation speed of the water pump once every preset time interval. The last moment is the last sampling time point relative to the current moment. The preset time interval can be determined based on experience, for example, set to 20 seconds.

[0056] In addition, when the water pump is used for the first time, at the first sampling time point, only the rotation speed a at the current moment is sampled.

[0057] The rotation speed is the rotation angle of the water pump per unit time, which is used to reflect the speed of the water pump rotation.

[0058] Step 202, obtaining the current loop reference value Iqref1 of the water pump at the current moment and the current loop reference value Iqref2 at the previous moment.

[0059] The controller samples the current loop reference value of the water pump once at a preset time interval.

[0060] In addition, when the water pump is used for the first time, at the first sampling time point, only the current loop reference value Iqref 1 at the current moment is sampled.

[0061] Among them, the current loop reference value refers to the target current value used to guide the operation of the current regulator in the current control system. In the control system of the motor, the current loop reference value is usually provided by the speed loop output as a reference input of the inner current loop. The operation of the water pump also requires the motor to drive it. Therefore, in this application, the current loop reference value is also used to reflect the speed of the water pump rotation, and the rotation speed of the water pump is determined by the target current value of the water pump. When the water pump is blocked, the speed will drop, and a larger current is required to adjust it at this time, so the rotation speed of the water pump can also be reflected by the current loop reference value of the water pump.

[0062] Step 203: When ab<0 and Iqref1-Iqref2>0, the current value of the delay variable T is incremented to obtain the first new value of the delay variable T.

[0063] When ab<0, it indicates that the rotation speed of the water pump is decreasing, and Iqref1-Iqref2>0 also indicates that the rotation speed of the water pump is decreasing.

[0064] It should be noted here that in the production process, there are also cases where the speed is artificially reduced or increased. Artificially reducing or increasing the speed is achieved by reducing or increasing the target current of the water pump, and at this time the current loop reference value will also be reduced or increased.

[0065] Therefore, if only one of the conditions of reduced rotation speed and increased current loop reference value is used to determine whether the water pump is blocked, misjudgment may occur, so the two conditions of reduced rotation speed and increased current loop reference value are required for joint judgment.

[0066] The current current loop reference value Iqref1 is the water pump current loop reference value, which is the value obtained after PID calculation of the difference between the speed loop target speed and the actual speed. The specific calculation process can refer to the relevant content of the prior art, which will not be introduced in this application.

[0067] When the water pump is in normal operation, Iqref1 remains basically unchanged. If Iqref1 becomes larger, it indicates that the actual speed of the current water pump is less than the target speed, and a larger current is needed to adjust the speed. When Iqref1 becomes smaller, it indicates that the actual speed of the current water pump is close to the target speed. When Iqref1-Iqref2>0, it indicates that the speed of the water pump at this moment is less than the speed of the water pump at the previous moment, which increases the current of the water pump, but the speed of the water pump tends to decrease. Because the load of the water pump is stable, such a situation will not occur during the normal operation of the water pump. When such an abnormality occurs, it means that the water pump may be blocked, so the delay variable T is incremented to obtain a new T value, which is recorded as the first new value.

[0068] The increment step size may be determined according to actual conditions, for example, it is generally set to 1.

[0069] Step 204: If the first new value is greater than or equal to a preset threshold, it is determined that the water pump is blocked, and the preset threshold is greater than the initial value of the delay variable T.

[0070] In addition, when the water pump is used for the first time, it is necessary to initialize the delay variable T to obtain the initial value of T. During use, every time it is determined that the water pump has the possibility of stalling, that is, the condition of step 203 exists, T is incremented once, that is, the delay variable T is used to reflect the possibility of the water pump stalling. The closer the value of T is to the preset threshold, the greater the possibility of stalling. When it is greater than or equal to the preset threshold, it is determined that the water pump is stalled. Therefore, the preset threshold is greater than the initial value of T.

[0071] In addition, since the speed reduction caused by various non-human reasons is a stall, the above method can be used to determine that the water pump is stalled.

[0072] The initial value of T can be determined according to actual conditions, for example, set to 0.

[0073] The present application provides a method for determining a water pump stall fault through the above-mentioned embodiments, by obtaining the rotation speed a at the current time and the rotation speed b at the previous moment, and obtaining the current loop reference value Iqref 1 at the current moment and the current loop reference value Iqref2 at the previous moment; and determining whether to increment the delay variable T through a, b, Iqref 1 and Iqref2, and when the value of T is greater than the preset threshold, determining that the water pump is stalled; in this way, when the rotation speed of the water pump decreases in the early stage, it can be determined whether the water pump is stalled, so that when the stall is determined, self-repair measures can be taken in time, thereby improving the success rate of self-repair. For the prior art, it is usually determined whether the water pump is stalled by judging whether the water pump speed is less than the minimum speed. If the minimum speed is too small, it will cause the judgment of the water pump stall to be too delayed, and the success rate of self-repair is low. When the minimum speed of the water pump is set too large, it will cause frequent fault reports, reducing the user experience. Therefore, compared with the prior art, the present application will not only not report errors frequently, but also improve the success rate of self-repair after the water pump is stalled.

[0074] Alternatively, see Figure 4 , and combined with Figure 3 After step 203, the method further comprises the following step 301:

[0075] Step 301: When the first new value of the delay variable T is less than a predetermined threshold, re-execute step 201.

[0076] When the first new value of the delay variable T is less than the predetermined threshold, it indicates that the water pump may only have a short-term speed drop and may return to normal speed in a very short time. Therefore, step 201 is re-executed to continuously observe the status of the water pump.

[0077] Alternatively, see Figure 4 , and combined with Figure 3 After step 202, the method further comprises step 401:

[0078] Step 401, when ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is equal to the initial value of the delay variable T, the current value of the delay variable T is kept unchanged; and step 201 is re-executed.

[0079] When ab≥0 or Iqref1-Iqref2≤0, it means that the speed of the water pump is unchanged or in an accelerated state; and because the current value of the delay variable T is equal to the initial value of the delay variable T, it means that the value of the delay variable T has been restored to its initial value, and the water pump is in a normal operating state. Therefore, it is necessary to keep the value of the delay variable T unchanged and re-execute step 201 to continuously observe the state of the water pump.

[0080] Alternatively, see Figure 4 , and combined with Figure 3 After step 202, the method further includes the following steps 501 and 502:

[0081] Step 501, when ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is greater than the initial value of the delay variable T, the current value of the delay variable T is decremented to obtain a second new value of the delay variable T;

[0082] When ab≥0 or Iqref 1-Iqref2≤0, it means that the speed of the water pump remains unchanged or is in an accelerating state; and when the current value of the delay variable T is greater than the initial value of the delay variable T, it means that the water pump is in a normal operating state or is slowly recovering. Therefore, the value of T needs to be decremented so that the value of T gradually returns to the initial value.

[0083] Among them, the step size of self-decrement is generally equal to the step size of self-increment, for example, the step size of self-decrement is also set to 1.

[0084] Step 502: When the second new value is greater than or equal to the initial value of T, re-execute step 201.

[0085] Step 201 is executed again to continuously observe the status of the water pump.

[0086] It should be noted here that, in general, the increment step and decrement step are the same and are both 1. Therefore, during the decrement process, when the value of T is decremented to the initial value, the decrement can be stopped. Therefore, the value of T will not be less than its initial value. However, if for other reasons, the step size is not equal to 1, but a number greater than 1, the second new value after decrement may be less than the initial value of T. In order to ensure that the value of T is always greater than or equal to the initial value of T, when this happens, the value of T is directly assigned to the initial value of T. Therefore, optionally, still refer to Figure 4 , and combined with Figure 3 After step 501, the method further includes the following step 601:

[0087] Step 601, when the second new value of the delay variable T is less than the initial value of T, reassign the delay variable T and set the value of the delay variable T to the initial value of T; and re-execute step 201.

[0088] Alternatively, see Figure 5 After step 204, the method further includes the following steps 701 and 702:

[0089] Step 701, generating a first self-repair instruction, wherein the first self-repair instruction is used to instruct the water pump to rotate in the reverse direction by a first predetermined degree, and then rotate in the forward direction by a second predetermined degree;

[0090] The reverse direction is the direction opposite to the current rotation speed, and the forward direction is the direction consistent with the current rotation speed.

[0091] The first predetermined degree and the second predetermined degree can be determined according to actual experience, and the first predetermined degree and the second predetermined degree can be the same or different. For example, the first predetermined degree and the second predetermined degree are both set to 3600 degrees.

[0092] Step 702: When the first predetermined degree and the second predetermined degree are completed, it is determined that the water pump self-modification is successful.

[0093] Alternatively, see Figure 5 After step 701, the method further includes the following steps 801 to 804:

[0094] Step 801: when the first predetermined degree and the second predetermined degree are not completed, generating a stop instruction, the stop instruction is used to instruct the water pump to stop rotating for a predetermined time period;

[0095] When the first predetermined degree and the second predetermined degree are not completed, it means that it is difficult for the water pump to repair itself, so a stop instruction can be generated to stop rotating for a predetermined period of time and then re-concentrate.

[0096] Furthermore, the predetermined duration may be determined based on experience, for example, 5 seconds.

[0097] Step 802, when the predetermined time is reached, generating a second self-repair instruction, wherein the second self-repair instruction is used to instruct the water pump to rotate in the reverse direction by a third predetermined degree, and then rotate in the forward direction by a fourth predetermined degree;

[0098] The third predetermined degree and the fourth predetermined degree can be determined according to actual experience, and the third predetermined degree and the fourth predetermined degree can be the same or different; in addition, the third predetermined degree and the fourth predetermined degree can also be the same as the first predetermined degree and the second predetermined degree. For example, the third predetermined degree and the fourth predetermined degree are also set to 3600 degrees.

[0099] Step 803, when the third predetermined degree and the fourth predetermined degree are completed, it is determined that the water pump self-modification is successful;

[0100] Step 804, when the third predetermined degree and the fourth predetermined degree are not completed, the "generate second self-repair instruction" is executed in a loop until the number of loops reaches a predetermined number of times, and when the third predetermined degree and the fourth predetermined degree are still not completed, a shutdown instruction is generated, and the shutdown instruction is used to instruct the water pump to stop working.

[0101] When the third predetermined degree and the fourth predetermined degree are not completed, multiple attempts can be made to repair the water pump. If the repair fails, the pump needs to be shut down for maintenance.

[0102] It should be noted here that the shutdown here means stopping the water pump from working, for example, by disconnecting the power supply of the water pump so that the water pump does not work at all; while the above-mentioned stoppage only pauses the water pump and does not require disconnecting the power supply.

[0103] In an exemplary embodiment, a controller is provided, the internal structure diagram of the controller can be as follows: Figure 6 As shown. The controller includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the controller is used to store data related to the determination of a water pump stall fault. The input / output interface of the controller is used to exchange information between the processor and an external device. The communication interface of the controller is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for determining a water pump stall fault is implemented.

[0104] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the controller to which the scheme of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0105] In an exemplary embodiment, a controller is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0106] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0107] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0108] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0109] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0110] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0111] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for determining a water pump stall fault, characterized in that: include: Get the current rotation speed a of the water pump and the previous rotation speed b; Get the current loop reference value Iqref 1 of the water pump at the current moment and the current loop reference value Iqref2 of the previous moment; When ab<0 and Iqref1-Iqref2>0, the current value of the delay variable T is incremented to obtain the first new value of the delay variable T; If the first new value is greater than or equal to a preset threshold, it is determined that the water pump is blocked, and the preset threshold is greater than the initial value of the delay variable T.

2. The method for determining a water pump stall fault according to claim 1, characterized in that: After the current value of the delay variable T is incremented to obtain a first new value of the delay variable T, the method further includes: When the first new value of the delay variable T is less than a predetermined threshold, the step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment is re-executed.

3. The method for determining a water pump stall fault according to claim 2, characterized in that: After obtaining the current loop reference value Iqref1 of the water pump at the current moment and the current loop reference value Iqref2 of the previous moment, the method further includes: When ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is equal to the initial value of the delay variable T, the current value of the delay variable T is kept unchanged; The step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b at the previous moment is re-executed.

4. The method for determining a water pump stall fault according to claim 1, characterized in that: After obtaining the current loop reference value Iqref1 of the water pump at the current moment and the current loop reference value Iqref2 of the previous moment, the method further includes: When ab≥0 or Iqref1-Iqref2≤0, and the current value of the delay variable T is greater than the initial value of the delay variable T, the current value of the delay variable T is decremented to obtain a second new value of the delay variable T; When the second new value is greater than or equal to the initial value of T, the step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b of the water pump at the previous moment is re-executed.

5. The method for determining a water pump stall fault according to claim 4, characterized in that: After decrementing the current value of the delay variable T to obtain a second new value of the delay variable T, the method further includes: When the second new value of the delay variable T is less than the initial value of T, reassign the delay variable T and set the value of the delay variable T to the initial value of T; The step of obtaining the rotation speed a of the water pump at the current moment and the rotation speed b at the previous moment is re-executed.

6. The method for determining a water pump stall fault according to any one of claims 1 to 5, characterized in that: After determining that the water pump is blocked, the method further includes: generating a first self-repair instruction, wherein the first self-repair instruction is used to instruct the water pump to rotate in a reverse direction by a first predetermined degree, and then rotate in a forward direction by a second predetermined degree; When the first predetermined degree and the second predetermined degree are completed, it is determined that the water pump self-modification is successful.

7. The method for determining a water pump stall fault according to claim 6, characterized in that: After generating the first self-repair instruction, the method further includes: When the first predetermined degree and the second predetermined degree are not completed, generating a stop instruction, the stop instruction is used to instruct the water pump to stop rotating for a predetermined period of time; When the predetermined time is reached, a second self-repair instruction is generated, wherein the second self-repair instruction is used to instruct the water pump to rotate in the reverse direction by a third predetermined degree, and then rotate in the forward direction by a fourth predetermined degree; When the third predetermined degree and the fourth predetermined degree are completed, it is determined that the water pump self-modification is successful; When the third predetermined degree and the fourth predetermined degree are not completed, the second self-repair instruction is generated in a loop until the number of loops reaches a predetermined number, and when the third predetermined degree and the fourth predetermined degree are still not completed, a shutdown instruction is generated, and the shutdown instruction is used to instruct the water pump to stop working.

8. A controller comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for determining a water pump stall fault according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining a water pump stall fault according to any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for determining a water pump stall fault according to any one of claims 1 to 7 is implemented.

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