Motor stalling detection method and system, electronic equipment and medium

Abstract

The invention relates to the technical field of motor fault detection, and discloses a motor stalling detection method and system, electronic equipment and a medium, and the method comprises the steps: obtaining the actual torque of a motor and the stroke position of a piston in real time; wherein the stroke position of the piston represents the moving distance between the piston in the motor and the initial position when the piston moves; according to the piston stroke position, the rotational inertia and the actual rotating speed at the current moment, the corresponding theoretical torque of the motor at the current moment is determined through a preset relation curve; wherein the relation curve is a relation curve between the piston stroke position and the motor torque obtained through an offline calibration process; and detecting the locked-rotor state of the motor according to the actual torque and the theoretical torque which are acquired in real time. According to the invention, based on the large difference between the actual torque and the theoretical torque in the locked-rotor state and the heavy-load working condition, whether the motor is in the locked-rotor working condition or not can be accurately judged by comparing the actual torque with the theoretical torque, and misjudgment caused by the heavy-load working condition is avoided.

Description

Background Art

[0002] The wire-controlled hydraulic brake converts the rotational force of the motor into the push-pull force of the piston through the ball screw. During the process of the piston moving forward or backward to build pressure, if the motor is blocked due to mechanical stagnation and is not identified and protected in time, it will cause irreversible hardware damage to the controller or motor.

[0003] The existing technology mainly uses information such as current and speed to identify whether the motor is stuck. When the motor enters a stuck condition due to a jam, the current often increases and the speed becomes extremely low. Therefore, the stuck condition is identified by setting corresponding judgment thresholds such as current and speed.

[0004] However, the defect of the above technical solution is that the method that relies on current and speed as the main basis for judgment is prone to misjudgment under heavy load conditions. Because under heavy load conditions, the motor will also have high current and low speed. The threshold setting of current and speed alone cannot fundamentally distinguish between stall and heavy load conditions, so it will cause stall error protection under normal heavy load conditions. Summary of the invention

[0005] In order to overcome the problem of misjudgment caused by heavy load conditions in the existing motor stall detection process, the present invention provides a motor stall detection method, system, electronic equipment and medium.

[0006] In a first aspect, in order to solve the above technical problems, the present invention provides a motor stall detection method, comprising:

[0007] Obtain the actual torque of the motor and the piston stroke position in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves;

[0008] According to the piston stroke position, moment of inertia and actual speed at the current moment, the theoretical torque corresponding to the motor at the current moment is determined through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process;

[0009] The stall state of the motor is detected based on the actual torque and theoretical torque obtained in real time.

[0010] In a second aspect, the present invention provides a motor stall detection system, comprising:

[0011] A data acquisition module is used to obtain the actual torque of the motor and the piston stroke position in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves;

[0012] Theoretical torque acquisition module, used to determine the theoretical torque corresponding to the motor at the current moment according to the piston stroke position, rotational inertia and actual speed at the current moment through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process;

[0013] The real-time detection module is used to detect the stall state of the motor according to the actual torque and theoretical torque obtained in real time.

[0014] In a third aspect, the present invention provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a motor stall detection method as described above are implemented.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a motor stall detection method as described above.

[0016] The beneficial effects of the present invention are as follows: a relationship curve between the piston stroke position and the motor torque is obtained through an offline calibration process, and a theoretical torque corresponding to the piston stroke position is obtained through the relationship curve. Since the difference between the actual torque and the theoretical torque is large under a stalled state and a heavy load condition, it is possible to accurately determine whether the motor is in a stalled condition by comparing the actual torque with the theoretical torque, thereby avoiding misjudgment caused by a heavy load condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 A schematic diagram of a flow chart of a motor stall detection method according to an embodiment of the present invention;

[0019] Figure 2 The present invention is a schematic structural diagram of a motor stall detection system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0021] A motor stall detection method, system, electronic device and medium according to an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0022] like Figure 1 As shown, the present invention provides a motor stall detection method, for each preset load detection area, comprising:

[0023] S1. Acquire the actual torque of the motor and the piston stroke position in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves.

[0024] S2. According to the piston stroke position, moment of inertia and actual speed at the current moment, the theoretical torque corresponding to the motor at the current moment is determined through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process.

[0025] S3. Detect the stall state of the motor according to the actual torque and theoretical torque obtained in real time.

[0026] In this embodiment, the relationship curve between the piston stroke position and the motor torque is obtained through an offline calibration process, and the theoretical torque corresponding to the piston stroke position is obtained through the relationship curve. Since the difference between the actual torque and the theoretical torque is different under the stalled state and the overload condition, the actual torque and the theoretical torque can be compared to accurately determine whether the motor is in a stalled condition, thereby avoiding misjudgment caused by overload conditions.

[0027] In the hydraulic brake system of this embodiment, the torque generated by the motor and the force generated by the hydraulic pressure are balanced, that is, the force of the motor pushing the piston = the reaction force of the hydraulic pressure. To obtain a greater hydraulic pressure P, the piston needs to push a larger piston stroke position L in the pressure-building direction. The piston stroke position L multiplied by the piston cross-sectional area S is equal to the volume V of the pushed liquid, that is, V = L*S, so the PV curve (pressure-volume curve) reflects that the more the piston stroke moves, the greater the pressure built, and the greater the torque output by the motor.

[0028] Therefore, in the process of PV curve calibration, the motor torque-piston stroke position curve obtained reflects the relationship between the piston stroke position and the actual torque, and the PV curve is a pressure-volume curve, which is obtained through offline calibration and reflects the relationship between the brake fluid volume and the master cylinder pressure. The master cylinder pressure is proportional to the motor torque, and the brake fluid volume is proportional to the piston movement distance, so the relationship curve between the piston stroke position and the torque required by the motor at the piston stroke position can be obtained through the above relationship.

[0029] In this embodiment, the offline calibration process is specifically as follows:

[0030] The motor is driven at an extremely slow speed to push the piston to move in the direction of pressure building. During this process, the hydraulic pressure P (measured by the pressure sensor) and the pushed-out liquid volume V are recorded in real time, that is, the PV curve is obtained;

[0031] In the above process, the piston stroke position L and the estimated motor torque Tq are recorded to obtain a relationship curve.

[0032] In this embodiment, the actual torque is obtained according to the following formula:

[0033]

[0034] Among them, Tq real Indicates the actual torque, represents the flux linkage of the permanent magnet of the motor rotor, ρ represents the number of motor pole pairs, Iq represents the Q-axis current, Id represents the D-axis current, Lq represents the Q-axis inductance, and Ld represents the D-axis inductance.

[0035] Optionally, according to the piston stroke position, moment of inertia and actual speed at the current moment, the theoretical torque corresponding to the motor at the current moment is determined by a preset relationship curve, including:

[0036] According to the piston stroke position at the current moment, find the steady-state torque corresponding to the motor at the current moment from the preset relationship curve;

[0037] Calculate the acceleration torque at the current moment according to the moment of inertia and the actual speed at the current moment;

[0038] According to the steady-state torque and acceleration torque corresponding to the current moment, the theoretical torque corresponding to the motor at the current moment is determined.

[0039] In this embodiment, the acceleration torque at the current moment is calculated based on the moment of inertia and the actual speed at the current moment, and the formula is as follows:

[0040]

[0041] Where, Tq2 represents the acceleration torque, J represents the moment of inertia, a represents the rotation acceleration, Represents the differential of speed, where Δspeed represents the difference between the actual speed of this cycle and the actual speed of the previous cycle, and ΔT represents the unit cycle time.

[0042] According to the steady-state torque and acceleration torque corresponding to the current moment, the theoretical torque corresponding to the motor at the current moment is determined. The formula is as follows:

[0043] Tq est =Tq1+Tq2

[0044] Among them, Tq est represents the theoretical torque, and Tq1 represents the steady-state torque.

[0045] Optionally, the stall state of the motor is detected according to the actual torque and theoretical torque acquired in real time, including:

[0046] Get the absolute value deviation between the actual torque and the theoretical torque corresponding to the current moment;

[0047] The stall state of the motor is detected based on the absolute value deviation obtained in real time.

[0048] In this embodiment, when the motor is stuck, the motor torque will be increased to the maximum due to the speed closed-loop control. At this time, the torque generated and the stroke position do not correspond, so the stall can be identified;

[0049] When encountering a heavy load condition, if the motor also increases the torque to the maximum, according to the relationship curve, the piston stroke should also match to the maximum stroke at this time, so it can be identified as a heavy load rather than a stall condition.

[0050] Therefore, in actual operation, the theoretical torque required when the piston moves to this position against the hydraulic pressure can be obtained based on the relationship curve according to the piston stroke position, and the actual torque can be estimated through the motor algorithm. By comparing the two, it can be determined whether it is in a stalled condition at this time. If it is a heavy-load condition, the absolute value deviation between the theoretical torque and the actual torque is not large. On the contrary, if it is a stalled condition, the absolute value deviation between the theoretical torque and the actual torque is large.

[0051] Optionally, detecting the stall state of the motor according to the absolute value deviation obtained in real time includes:

[0052] If the absolute value deviation within the preset time period meets the preset condition, it is determined that the stall state of the motor is a stall fault.

[0053] Compared with the traditional current and speed determination method, in the wire-controlled hydraulic brake, the absolute value deviation between the theoretical torque and the actual torque within a preset time period is compared with the preset conditions, so that the stall condition can be identified more accurately, avoiding false alarms and missed alarms due to the inability to distinguish between heavy load and stall conditions.

[0054] In this embodiment, the preset duration is set according to actual conditions.

[0055] Optionally, if the absolute value deviation within a preset time period meets a preset condition, determining that the stall state of the motor is a stall fault includes:

[0056] If the absolute value deviations within the preset time are all greater than the preset threshold, it is determined that the motor's stall state is a stall fault.

[0057] In this embodiment, the preset threshold is set according to actual conditions.

[0058] Optionally, if the absolute value deviations within the preset time length are all greater than a preset threshold, it is determined that the stall state of the motor is a stall fault, and further includes:

[0059] If it is determined that the motor's stall state is a stall fault, stall fault protection is performed.

[0060] In this embodiment, when a stall fault is determined, the stall fault protection needs to be activated in time to avoid damage to the engine caused by a long-term stall condition.

[0061] Optionally, the piston stroke position of the motor is obtained in real time, including:

[0062] Get the mechanical angle of the motor in real time;

[0063] The product of the mechanical angle corresponding to the current moment and the preset coefficient is used as the piston stroke position corresponding to the current moment; wherein the preset coefficient is the motor rotation angle to piston displacement coefficient.

[0064] In this embodiment, the product of the mechanical angle corresponding to the current moment and the preset coefficient is used as the piston stroke position corresponding to the current moment, and the formula is as follows:

[0065] L=Ang*K

[0066] Among them, L represents the piston stroke position, Ang represents the mechanical angle, and K represents the preset coefficient.

[0067] like Figure 2 As shown, the present invention provides a motor stall detection system, comprising:

[0068] A data acquisition module is used to obtain the actual torque of the motor and the piston stroke position in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves;

[0069] Theoretical torque acquisition module, used to determine the theoretical torque corresponding to the motor at the current moment according to the piston stroke position, rotational inertia and actual speed at the current moment through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process;

[0070] The real-time detection module is used to detect the stall state of the motor according to the actual torque and theoretical torque obtained in real time.

[0071] Optionally, the theoretical torque acquisition module is specifically used for:

[0072] According to the piston stroke position at the current moment, find the steady-state torque corresponding to the motor at the current moment from the preset relationship curve;

[0073] Calculate the acceleration torque at the current moment according to the moment of inertia and the actual speed at the current moment;

[0074] According to the steady-state torque and acceleration torque corresponding to the current moment, the theoretical torque corresponding to the motor at the current moment is determined.

[0075] Optionally, the real-time detection module is specifically used to:

[0076] Get the absolute value deviation between the actual torque and the theoretical torque corresponding to the current moment;

[0077] The stall state of the motor is detected based on the absolute value deviation obtained in real time.

[0078] Optionally, the real-time detection module is specifically used to:

[0079] If the absolute value deviation within the preset time period meets the preset condition, it is determined that the stall state of the motor is a stall fault.

[0080] Optionally, the real-time detection module is specifically used to:

[0081] If the absolute value deviations within the preset time are all greater than the preset threshold, it is determined that the motor's stall state is a stall fault.

[0082] Optionally, the real-time detection module is further used to:

[0083] If it is determined that the motor's stall state is a stall fault, stall fault protection is performed.

[0084] Optionally, the data acquisition module is specifically used to:

[0085] Get the mechanical angle of the motor in real time;

[0086] The product of the mechanical angle corresponding to the current moment and the preset coefficient is used as the piston stroke position corresponding to the current moment; wherein the preset coefficient is the motor rotation angle to piston displacement coefficient.

[0087] An embodiment of the present invention also provides a computing device, including a memory, a manager, and a program stored in the memory and running on the manager. When the manager executes the program, some or all steps of the above-mentioned motor stall detection method are implemented.

[0088] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in the computing device of the present invention can refer to the parameters and steps in the embodiment of a motor stall detection method mentioned above, and will not be repeated here.

[0089] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0091] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A motor stall detection method, characterized in that: include: Acquire the actual torque, piston stroke position and actual speed of the motor in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves; According to the piston stroke position, moment of inertia and actual speed at the current moment, the theoretical torque corresponding to the motor at the current moment is determined through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process; The stall state of the motor is detected according to the actual torque and the theoretical torque acquired in real time.

2. The method according to claim 1, characterized in that According to the piston stroke position, moment of inertia and actual speed at the current moment, the theoretical torque corresponding to the motor at the current moment is determined through a preset relationship curve, including: According to the piston stroke position at the current moment, searching the steady-state torque corresponding to the motor at the current moment from the preset relationship curve; Calculate the acceleration torque at the current moment according to the moment of inertia and the actual speed at the current moment; According to the steady-state torque and acceleration torque corresponding to the current moment, the theoretical torque corresponding to the motor at the current moment is determined.

3. The method according to claim 1, characterized in that Detecting the stall state of the motor according to the actual torque and the theoretical torque acquired in real time, including: Obtaining an absolute value deviation between the actual torque and the theoretical torque corresponding to the current moment; The stall state of the motor is detected according to the absolute value deviation obtained in real time.

4. The method according to claim 3, characterized in that: Detecting the stall state of the motor according to the absolute value deviation obtained in real time includes: If the absolute value deviation within the preset time period meets the preset condition, it is determined that the stall state of the motor is a stall fault.

5. The method according to claim 4, characterized in that If the absolute value deviation within the preset time period meets the preset condition, it is determined that the stall state of the motor is a stall fault, including: If the absolute value deviations within the preset time period are all greater than the preset threshold value, it is determined that the stall state of the motor is a stall fault.

6. The method according to claim 4, characterized in that The method further includes: If it is determined that the motor's stall state is a stall fault, stall fault protection is performed.

7. The method according to any one of claims 1 to 6, characterized in that: Obtain the piston stroke position of the motor in real time, including: Get the mechanical angle of the motor in real time; The product of the mechanical angle corresponding to the current moment and the preset coefficient is used as the piston stroke position corresponding to the current moment; wherein the preset coefficient is the motor rotation angle to piston displacement coefficient.

8. A motor stall detection system, characterized in that: include: A data acquisition module is used to acquire the actual torque of the motor and the piston stroke position in real time; wherein the piston stroke position represents the moving distance of the piston in the motor from the starting position when the piston moves; Theoretical torque acquisition module, used to determine the theoretical torque corresponding to the motor at the current moment according to the piston stroke position, moment of inertia and actual speed at the current moment through a preset relationship curve; wherein the relationship curve is a relationship curve between the piston stroke position and the motor torque obtained through an offline calibration process; The real-time detection module is used to detect the stall state of the motor according to the actual torque and the theoretical torque obtained in real time.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a motor stall detection method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a motor stall detection method as described in any one of claims 1 to 7.

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