Motor fault detection method and device, vehicle-mounted controller and storage medium
By detecting the steering information and motor operation indicators when the low-speed autonomous vehicle is steering the motor, determining whether the motor has ablation fault, solving the problem of insufficient detection accuracy in the prior art, realizing timely identification of faults and improving safety.
Patent Information
- Application Number
- CN202311132919.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-04
- Publication Date
- 2025-03-04
AI Technical Summary
The prior art detects ablation faults of low-speed unmanned vehicle steering motors, and the accuracy is insufficient and the fault cannot be identified in time, resulting in possible collision accidents in the vehicle.
By detecting the rotation of the motor in the vehicle's electronic power steering system, the steering information of the steering column is obtained. If the information meets the setting conditions, it is determined that the motor has ablation fault. Specific methods include calculating the difference between the initial steering angle and the desired steering angle, and obtaining the terminal voltage, feedback current and angular velocity of the motor. If these indicators meet the set conditions, confirm the fault.
It improves the accuracy of detection of motor ablation faults, can identify faults in a timely manner, and reduces vehicle collisions caused by faults.
Smart Images
Figure CN119551058A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of automobile technology, and in particular relates to a motor fault detection method, device, vehicle-mounted controller and storage medium. Background Art
[0002] With the emergence of driverless vehicles, the control of the steering system also needs to be upgraded in all aspects to achieve safe driving of the vehicle. Among them, low-speed driverless vehicles have light weight and small steering load. Therefore, the steering motor of low-speed driverless vehicles can be matched with a low-power, low-cost brushed motor to meet the steering performance requirements of low-speed driverless vehicles. Specifically, when a low-speed driverless vehicle needs to turn, it has no steering wheel torque input. Instead, when the vehicle controller VCU sends a turning angle command to the electronic power steering system (Electric Power Steering, EPS), the EPS motor can be used as a full power output to provide power for wheel steering. However, when the EPS motor has a burn-in failure, if the fault cannot be identified in time, the vehicle will be unable to avoid obstacles or personnel in time, resulting in a serious collision accident. Therefore, there is an urgent need to detect motor burn-in failures in real time;
[0003] However, the prior art usually simply detects whether the motor has a burn-in fault based on whether there is a feedback current in the motor, which is not comprehensive enough, thereby reducing the accuracy of detecting the burn-in fault of the motor. Summary of the invention
[0004] The embodiments of the present application provide a motor fault detection method, device, vehicle-mounted controller and storage medium, which improve the detection accuracy of motor ablation faults.
[0005] In a first aspect, an embodiment of the present application provides a motor fault detection method, comprising:
[0006] When it is detected that a motor in an electronic power steering system of the vehicle starts to rotate, obtaining steering information of a steering column of the vehicle;
[0007] If the steering information meets the set conditions, it is determined that the motor has a burnout fault.
[0008] Optionally, the steering information includes an initial steering angle of the steering column, and after acquiring the steering information of the steering column of the vehicle, the method further includes:
[0009] calculating a first difference between the initial steering angle and a desired steering angle carried by a steering command of the vehicle;
[0010] If the first difference is greater than or equal to a set difference, then respectively calculating the differences between each steering angle of the steering column within the first set time and the expected steering angle to obtain a difference set;
[0011] Correspondingly, if the steering information meets the set condition, determining that the motor has ablation fault includes:
[0012] If all the differences in the difference set are greater than or equal to the set difference, it is determined that a burnout fault occurs in the motor.
[0013] Optionally, after calculating the first difference between the initial steering angle and the expected steering angle carried by the steering instruction of the vehicle, the method further includes:
[0014] If the first difference is smaller than the set difference, it is determined that the motor does not have a burnout fault.
[0015] Optionally, after respectively calculating the differences between the steering angles of the steering column within the first set time and the expected steering angle to obtain a difference set, the method further includes:
[0016] If there is a second difference value smaller than the set difference value in the difference value set, it is determined that no ablation fault occurs in the motor.
[0017] Optionally, the steering information includes a first angular velocity of the steering column; after acquiring the steering information of the steering column of the vehicle, the method further includes:
[0018] Acquiring a first terminal voltage and a first feedback current of the motor;
[0019] If the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, then the terminal voltage set and the feedback current set of the motor within the second set time length are obtained, and the angular velocity set of the steering column within the second set time length is obtained; wherein the terminal voltage set includes the terminal voltage of the motor at each moment within the second set time length; the feedback current set includes the feedback current of the motor at each moment within the second set time length; and the angular velocity set includes the angular velocity of the steering column at each moment within the second set time length;
[0020] Correspondingly, if the steering information meets the set condition, determining that the motor has ablation fault includes:
[0021] If all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity, it is determined that the motor has a burnout fault.
[0022] Optionally, after acquiring a terminal voltage set and a feedback current set of the motor within a second set time period, and acquiring an angular velocity set of the steering column within the second set time period, the method further includes:
[0023] If there is a second terminal voltage less than or equal to the set voltage in the terminal voltage set, if there is a second feedback current greater than or equal to the set current in the feedback current set, or if there is a second angular velocity greater than or equal to the set angular velocity in the angular velocity set, it is determined that the motor has not generated ablation fault.
[0024] Optionally, after determining that the motor has ablation fault, the method further includes:
[0025] Determining a fault indicator corresponding to the ablation fault of the motor;
[0026] Outputting a prompt message carrying the fault identifier to prompt that the motor has a burnout fault.
[0027] In a second aspect, an embodiment of the present application provides a motor fault detection device, comprising:
[0028] A first acquisition unit, configured to acquire steering information of a steering column of the vehicle when detecting that a motor in an electronic power steering system of the vehicle starts to rotate;
[0029] The first determination unit is used to determine that the motor has a burnout fault if the steering information meets a set condition.
[0030] In a third aspect, an embodiment of the present application provides a vehicle-mounted controller, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the motor fault detection method as described in any one of the first aspects above is implemented.
[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the motor fault detection method as described in any one of the above-mentioned first aspects is implemented.
[0032] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted controller, the vehicle-mounted controller can execute the motor fault detection method described in any one of the first aspects above.
[0033] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:
[0034] The embodiment of the present application provides a motor fault detection method, which obtains the steering information of the vehicle's steering column when the motor in the vehicle's electronic power steering system starts to rotate; if the steering information meets the set conditions, it is determined that the motor has a burnout fault. In practical applications, after the motor sends a burnout fault, it will affect the steering column used for steering in the vehicle, that is, it causes the steering information of the steering column to change. Therefore, the method provided by the present application can determine that the motor has a burnout fault after detecting that the steering information of the steering column meets the set conditions, thereby improving the detection accuracy of the motor's burnout fault. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 any creative work.
[0036] Figure 1 is a flow chart of an implementation of a motor fault detection method provided in an embodiment of the present application;
[0037] Figure 2 is a flow chart of an implementation of a motor fault detection method provided by another embodiment of the present application;
[0038] Figure 3 is a flow chart of an implementation of a motor fault detection method provided in yet another embodiment of the present application;
[0039] Figure 4 is a structural schematic diagram of a motor fault detection device provided in one embodiment of the present application;
[0040] Figure 5 It is a structural diagram of a vehicle-mounted controller provided in one embodiment of the present application. DETAILED DESCRIPTION
[0041] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.
[0042] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.
[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0044] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.
[0045] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.
[0046] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0047] In all embodiments of the present application, the vehicles are low-speed unmanned vehicles, and when the vehicles are turning, there is no steering wheel torque input.
[0048] It should be noted that the motor in the above-mentioned vehicle is a brushed motor.
[0049] See also Figure 1 , Figure 1 This is a flow chart of a motor fault detection method provided in an embodiment of the present application. In the embodiment of the present application, the motor fault detection method is executed by a vehicle controller.
[0050] like Figure 1 As shown, the motor fault detection method provided in an embodiment of the present application may include S101 to S102, which are described in detail as follows:
[0051] In S101, when it is detected that a motor in an electronic power steering system of a vehicle starts to rotate, steering information of a steering column of the vehicle is acquired.
[0052] In the embodiment of the present application, the vehicle controller can determine the environmental information of the area where the vehicle is located in real time through the camera and laser radar connected to it by wireless communication. The environmental information includes the location information of obstacles.
[0053] In actual applications, when a low-speed unmanned vehicle needs to turn, there is no steering wheel torque input. Instead, when the vehicle controller VCU sends a steering command to the electronic power steering system (Electric Power Steering, EPS), the EPS motor can be used as a full power output to provide power for wheel steering.
[0054] Therefore, when the vehicle-mounted controller detects that the location information of the obstacle is within the driving range of the vehicle, it can send a steering instruction to the electronic power steering system, so that the electronic power steering system controls the steering of the vehicle according to the steering instruction.
[0055] It should be noted that the above steering instruction carries the expected steering information of the steering column, wherein the expected steering information includes but is not limited to: the expected steering angle.
[0056] Based on this, in the embodiment of the present application, when the vehicle is a low-speed unmanned vehicle, in order to detect in real time whether the motor of the vehicle has a burnout fault, the on-board controller can obtain the steering information of the vehicle's steering column when it detects that the motor in the vehicle's electronic power steering system starts to rotate. The steering column is used to control the steering of the vehicle.
[0057] It should be noted that, in actual applications, when the above-mentioned motor has ablation failure, it may specifically manifest as: the motor is disconnected and there is no power output; or the motor response times out and the steering response becomes slow.
[0058] In the embodiment of the present application, the steering information that meets the set conditions and is used to characterize the steering column is different from the expected steering information.
[0059] The steering information of the steering column includes but is not limited to: the angular velocity and steering angle of the steering column.
[0060] Based on this, in one embodiment of the present application, when the steering information of the steering column is the angular velocity of the steering column, the setting condition may be: each angular velocity of the steering column in the first time period is less than or equal to the set angular velocity. The first time period and the set angular velocity may be set according to actual needs and are not limited here.
[0061] It should be noted that, since the steering column is in a working state during the first time period, the angular velocities of the steering column during the first time period may be the same or different.
[0062] Exemplarily, the set angular velocity may be set according to an angular velocity threshold value of the steering column.
[0063] In another embodiment of the present application, when the steering information of the steering column is the steering angle of the steering column, the set condition may be: the second difference between the expected steering angle of the steering column and each steering angle of the steering column in the second time period is greater than or equal to the set difference. The second time period and the set difference may be set according to actual needs and are not limited here.
[0064] It should be noted that, since the steering column is in a working state during the second time period, the steering angles of the steering column during the second time period may be the same or different.
[0065] Based on this, in an embodiment of the present application, when the steering information of the steering column is angular velocity, the vehicle controller detects whether the steering information meets the set conditions by: whether each angular velocity of the steering column in the first time period is less than or equal to the set angular velocity.
[0066] When the steering information of the steering column is a steering angle, the vehicle controller may detect whether the steering information meets the set condition by detecting whether the second difference between the expected steering angle of the steering column and each steering angle of the steering column in the second time period is greater than or equal to the set difference. The set difference may be set according to actual needs and is not limited here.
[0067] In one embodiment of the present application, when the vehicle-mounted controller detects that the steering information of the steering column meets the set conditions, step S102 may be executed.
[0068] In another embodiment of the present application, when the vehicle-mounted controller detects that the steering information of the steering column does not meet the set conditions, it indicates that the steering column is in a normal working state, that is, the steering of the steering column is normal, that is, the motor in the electronic power steering system is in a normal working state. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has not caused ablation failure.
[0069] In S102, if the steering information meets the set conditions, it is determined that the motor has a burnout fault.
[0070] In the embodiment of the present application, when the vehicle-mounted controller detects that the steering information of the steering column meets the set conditions, it indicates that the motor in the electronic power steering system is in an abnormal working state. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has ablation fault.
[0071] Specifically, when the steering information of the steering column is the steering angle, the on-board controller may detect that the steering information of the steering column meets the set conditions: it may detect that the second difference between the expected steering angle of the steering column and the various steering angles of the steering column within the second time period is greater than or equal to the set difference. At this time, it indicates that the motor response of the electronic power steering system has timed out, that is, the steering response has slowed down, resulting in the steering angle of the steering column being unable to reach the expected steering angle within the second time period. Therefore, the on-board controller can determine that the above-mentioned motor has a burn-in failure.
[0072] When the steering information of the steering column is angular velocity, the on-board controller may detect that the steering information of the steering column meets the set conditions: it may detect that each angular velocity of the steering column within a first time period is less than or equal to the set angular velocity. At this time, it indicates that the motor of the electronic power steering system is short-circuited and has no power output, resulting in the angular velocity of the steering column being unable to reach the set angular velocity within the first time period. Therefore, the on-board controller may determine that the above-mentioned motor has ablation failure.
[0073] From the above, it can be seen that the motor fault detection method provided by the embodiment of the present application obtains the steering information of the steering column of the vehicle when it is detected that the motor in the electronic power steering system of the vehicle starts to rotate; if the steering information meets the set conditions, it is determined that the motor has a burnout fault. In practical applications, after the motor sends a burnout fault, it will affect the steering column used for steering in the vehicle, that is, it causes the steering information of the steering column to change. Therefore, the method provided by the present application can determine that the motor has a burnout fault after detecting that the steering information of the steering column meets the set conditions, thereby improving the detection accuracy of the motor's burnout fault.
[0074] See also Figure 2 , Figure 2 FIG. 1 is a flowchart of a motor fault detection method according to another embodiment of the present invention. Figure 1In the embodiment, in this embodiment, when the steering information of the steering column is the initial steering angle, after step S101, this embodiment may further include steps S201 to S202, and correspondingly, step S102 may specifically include step S203, which is described in detail as follows:
[0075] In S201 , a first difference between the initial steering angle and the desired steering angle carried by the steering command of the vehicle is calculated.
[0076] It should be noted that the initial steering angle refers to the steering angle of the steering column when the on-board controller detects that the motor in the electronic power steering system of the vehicle starts to rotate.
[0077] In this embodiment, in order to detect whether the motor of the electronic power steering system has timed out, after obtaining the initial steering angle of the steering column, the on-board controller can calculate the first difference between the initial steering angle and the expected steering angle carried by the steering command of the vehicle, and compare the first difference with the set difference. The set difference can be set according to actual needs and is not limited here.
[0078] In one embodiment of the present application, when the vehicle controller detects that the first difference is greater than or equal to the set difference, steps S202 to S203 may be executed.
[0079] In another embodiment of the present application, when the vehicle-mounted controller detects that the above-mentioned first difference is less than the set difference, it indicates that the steering of the steering column is normal, that is, the motor response of the electronic power steering system has not timed out. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has not caused ablation failure.
[0080] In S202, if the first difference is greater than or equal to a set difference, then the differences between the steering angles of the steering column within the first set time and the expected steering angle are calculated to obtain a difference set.
[0081] In this embodiment, when the vehicle controller detects that the first difference is greater than or equal to the set difference, it indicates that the initial steering angle of the steering column differs too much from the expected steering angle. At this time, in order to detect whether the steering angle of the steering column is rotated to the expected steering angle within the first set time, the vehicle controller can respectively calculate the differences between each steering angle of the steering column within the first set time and the expected steering angle to obtain a difference set. The first set time can be calculated based on the initial steering angle, the expected steering angle and the reference speed of the steering column.
[0082] After obtaining the difference value set, the on-board controller may compare each difference value in the difference value set with the set difference value one by one.
[0083] In one embodiment of the present application, when the vehicle controller detects that all the differences in the difference set are greater than or equal to the set difference, step S203 may be executed.
[0084] In another embodiment of the present application, when the vehicle-mounted controller detects that there is a second difference in the difference set that is smaller than the set difference, it means that within the first set time, the difference between the steering angle of the steering column at a certain moment and the expected steering angle is small, indicating that the steering of the steering column is normal, that is, the motor response of the electronic power steering system has not timed out. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has not caused ablation failure.
[0085] In S203, if all the differences in the difference set are greater than or equal to the set difference, it is determined that a burnout fault occurs in the motor.
[0086] In this embodiment, when the vehicle-mounted controller detects that all differences in the difference set are greater than or equal to the set difference, it indicates that the motor response of the electronic power steering system has timed out, that is, the steering response has slowed down, resulting in the steering angle of the steering column being unable to reach the desired steering angle within the first set time. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has a burn-in failure.
[0087] From the above, it can be seen that the motor fault detection method provided in this embodiment calculates the first difference between the initial steering angle and the expected steering angle carried by the vehicle's steering command; when it is detected that the first difference is greater than or equal to the set difference, the respective differences between the steering angles of the steering column within the first set time and the expected steering angle are calculated to obtain a difference set; finally, when it is detected that all the differences in the difference set are greater than or equal to the set difference, it is determined that the motor has a burn-in fault, thereby further improving the detection accuracy of the motor's burn-in fault.
[0088] See also Figure 3 , Figure 3 FIG. 1 is a flowchart of a motor fault detection method according to another embodiment of the present invention. Figure 1 In the embodiment, in this embodiment, when the steering information of the steering column is the first angular velocity, after step S101, this embodiment may further include steps S301 to S302, and correspondingly, step S102 may specifically include step S303, which is described in detail as follows:
[0089] In S301, a first terminal voltage and a first feedback current of the motor are obtained.
[0090] In this embodiment, the first angular velocity of the steering column is usually related to the output power of the motor of the electronic power steering system. That is to say, the vehicle controller can detect whether the above-mentioned motor is open-circuited according to the first angular velocity of the steering column, and then determine whether the motor has ablation failure.
[0091] In actual applications, after the motor is disconnected, when the electronic control unit of the electronic power steering system applies a driving voltage to both ends of the motor, the motor has no feedback current. However, when the motor rotates at high speed, due to the effect of back electromotive force, there will be no feedback current. Therefore, in order to further improve the detection accuracy of motor faults, in this embodiment, the on-board controller can also obtain the first terminal voltage and the first feedback current of the motor after obtaining the first angular velocity of the steering column.
[0092] Afterwards, the vehicle controller can compare the first terminal voltage with the set voltage, compare the first feedback current with the set current, and compare the first angular velocity with the set angular velocity. The set voltage, set current, and set angular velocity can all be set according to actual needs and are not limited here.
[0093] Exemplarily, the set voltage may be set according to a terminal voltage threshold value of the motor, the set current may be set according to a current threshold value of the motor, and the set angular velocity may be set according to an angular velocity threshold value.
[0094] In one embodiment of the present application, when the vehicle controller detects that the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, steps S302 to S303 may be executed.
[0095] In another embodiment of the present application, when the vehicle-mounted controller detects that there is a second terminal voltage less than or equal to the set voltage in the terminal voltage set, or there is a second feedback current greater than or equal to the set current in the feedback current set, or there is a second angular velocity greater than or equal to the set angular velocity in the angular velocity set, it indicates that the steering of the steering column is normal, that is, the motor of the electronic power steering system has power output and the motor is not short-circuited. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has not caused ablation failure.
[0096] In S302, if the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, then the terminal voltage set and the feedback current set of the motor within the second set time length are obtained, and the angular velocity set of the steering column within the second set time length is obtained; wherein the terminal voltage set includes the terminal voltage of the motor at each moment within the second set time length; the feedback current set includes the feedback current of the motor at each moment within the second set time length; and the angular velocity set includes the angular velocity of the steering column at each moment within the second set time length.
[0097] In this embodiment, when the vehicle controller detects that the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, at this time, in order to further detect whether the motor is open-circuited, the vehicle controller can obtain the terminal voltage set and feedback current set of the motor within the second set time length, and obtain the angular velocity set of the steering column within the second set time length. Among them, the terminal voltage set includes the terminal voltage of the motor at each moment within the second set time length; the feedback current set includes the feedback current of the motor at each moment of the second set time length; the angular velocity set includes the angular velocity of the steering column at each moment within the second set time length. Among them, the second set time can be set according to actual needs and is not limited here.
[0098] The on-board controller can compare each terminal voltage in the terminal voltage set with the set voltage one by one, compare each feedback current in the feedback current set with the set current one by one, and compare each second angular velocity in the angular velocity set with the set angular velocity one by one.
[0099] In one embodiment of the present application, the vehicle controller may execute step S303 when it detects that all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity.
[0100] In another embodiment of the present application, when the vehicle-mounted controller detects that the terminal voltage at a certain moment in the terminal voltage set is less than or equal to the set voltage, the feedback current at this moment is equal to or equal to the set current, and the second angular velocity at this moment is greater than or equal to the set angular velocity, it indicates that the steering column is steering normally at this time, that is, the motor is not short-circuited. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has not caused ablation failure.
[0101] In S303, if all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity, it is determined that the motor has a burnout fault.
[0102] In this embodiment, when the vehicle-mounted controller detects that all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity, it indicates that the motor of the electronic power steering system is short-circuited and has no power output, resulting in the angular velocity of the steering column being unable to reach the set angular velocity. Therefore, the vehicle-mounted controller can determine that the above-mentioned motor has a burn-in failure.
[0103] It can be seen from the above that the motor fault detection method provided in this embodiment obtains the first terminal voltage and the first feedback current of the motor; if the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, then the terminal voltage set and the feedback current set of the motor within the second set time length are obtained, and the angular velocity set of the steering column within the second set time length is obtained; if all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity, then it is determined that the motor has ablation fault, thereby further improving the detection accuracy of the motor's ablation fault.
[0104] In one embodiment of the present application, after the motor of the electronic power steering system has a burnout fault, in order to facilitate relevant personnel to identify the motor fault and perform relevant repairs, the on-board controller can also perform the following steps, which are detailed as follows:
[0105] Determining a fault indicator corresponding to the ablation fault of the motor;
[0106] Outputting a prompt message carrying the fault identifier to prompt that the motor has a burnout fault.
[0107] It should be noted that the fault identifier may be a fault code.
[0108] In practical applications, various faults generated by various components in a vehicle usually have fixed fault identifiers. Therefore, in this embodiment, the on-board controller pre-stores the corresponding relationship between different motor faults and different fault identifiers.
[0109] Based on this, after determining that the above-mentioned motor has a burnout fault, the on-board controller can determine the fault identifier corresponding to the burnout fault of the motor according to the pre-stored correspondence between different motor faults and different fault identifiers.
[0110] Afterwards, the vehicle controller can output a prompt message of the fault identification corresponding to the ablation fault of the carrying motor through the language prompter and / or the central control screen in the vehicle.
[0111] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
[0112] Corresponding to the motor fault detection method described in the above embodiment, Figure 4 The structure diagram of a motor fault detection device provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Figure 4 The motor fault detection device 400 includes: a first acquisition unit 41 and a first determination unit 42. Wherein:
[0113] The first acquisition unit 41 is used to acquire the steering information of the steering column of the vehicle when it is detected that the motor in the electronic power steering system of the vehicle starts to rotate.
[0114] The first determination unit 42 is configured to determine whether the motor has a burnout fault if the steering information meets a set condition.
[0115] In one embodiment of the present application, the steering information includes the initial steering angle of the steering column, and the motor fault detection device 400 further includes: a first calculation unit and a second calculation unit; accordingly, the first determination unit 42 specifically includes: a second determination unit. Among them:
[0116] The first calculation unit is used to calculate a first difference between the initial steering angle and a desired steering angle carried by the steering command of the vehicle.
[0117] The second calculation unit is used for respectively calculating the differences between the steering angles of the steering column within the first set time and the expected steering angle to obtain a difference set if the first difference is greater than or equal to a set difference.
[0118] The second determination unit is used to determine that a burnout fault occurs in the motor if all the differences in the difference set are greater than or equal to the set difference.
[0119] In one embodiment of the present application, the motor fault detection device 400 further includes: a third determination unit.
[0120] The third determination unit is used to determine that the motor does not have ablation fault if the first difference is smaller than the set difference.
[0121] In one embodiment of the present application, the motor fault detection device 400 further includes: a fourth determination unit.
[0122] The fourth determination unit is used to determine that the motor does not have a burnout fault if a second difference value smaller than the set difference value exists in the difference value set.
[0123] In one embodiment of the present application, the steering information includes the first angular velocity of the steering column; the motor fault detection device 400 further includes: a second acquisition unit and a third acquisition unit, and correspondingly, the first determination unit 42 specifically includes: a fifth determination unit. Among them:
[0124] The second acquisition unit is used to acquire the first terminal voltage and the first feedback current of the motor.
[0125] The third acquisition unit is used to acquire the terminal voltage set and feedback current set of the motor within a second set time length, and acquire the angular velocity set of the steering column within the second set time length if the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity; wherein the terminal voltage set includes the terminal voltage of the motor at each moment within the second set time length; the feedback current set includes the feedback current of the motor at each moment within the second set time length; and the angular velocity set includes the angular velocity of the steering column at each moment within the second set time length.
[0126] The fifth determination unit is used to determine that the motor has a burn-in fault if all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity.
[0127] In one embodiment of the present application, the motor fault detection device 400 further includes: a sixth determination unit.
[0128] The sixth determination unit is used to determine that the motor has not generated ablation fault if there is a second terminal voltage less than or equal to the set voltage in the terminal voltage set, a second feedback current greater than or equal to the set current in the feedback current set, or a second angular velocity greater than or equal to the set angular velocity in the angular velocity set.
[0129] In one embodiment of the present application, the motor fault detection device 400 further includes: a seventh determination unit and an output unit.
[0130] The seventh determination unit is used to determine a fault identifier corresponding to the ablation fault generated by the motor.
[0131] The output unit is used to output the prompt information carrying the fault identifier to prompt that the motor has a burnout fault.
[0132] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.
[0133] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.
[0134] Figure 5 This is a schematic diagram of the structure of a vehicle controller provided in one embodiment of the present application. Figure 5 As shown, the vehicle controller 5 of this embodiment includes: at least one processor 50 ( Figure 5 Only one is shown in the figure) a processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, and when the processor 50 executes the computer program 52, the steps in any of the above-mentioned motor fault detection method embodiments are implemented.
[0135] The vehicle-mounted controller may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the vehicle-mounted controller 5 and does not constitute a limitation of the vehicle-mounted controller 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.
[0136] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.
[0137] In some embodiments, the memory 51 may be an internal storage unit of the vehicle controller 5, such as the memory of the vehicle controller 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle controller 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle controller 5. Further, the memory 51 may also include both the internal storage unit of the vehicle controller 5 and an external storage device. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
[0138] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.
[0139] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted controller, the vehicle-mounted controller can implement the steps in the above-mentioned method embodiments when executing the computer program product.
[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the on-board controller, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.
[0141] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0142] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A motor fault detection method, characterized in that: include: When it is detected that a motor in an electronic power steering system of the vehicle starts to rotate, obtaining steering information of a steering column of the vehicle; If the steering information meets the set conditions, it is determined that the motor has a burnout fault.
2. The motor fault detection method according to claim 1, characterized in that: The steering information includes an initial steering angle of the steering column. After the steering information of the steering column of the vehicle is acquired, the method further includes: calculating a first difference between the initial steering angle and a desired steering angle carried by a steering command of the vehicle; If the first difference is greater than or equal to the set difference, then respectively calculating the differences between each steering angle of the steering column within the first set time and the expected steering angle to obtain a difference set; Correspondingly, if the steering information meets the set condition, determining that the motor has ablation fault includes: If all the differences in the difference set are greater than or equal to the set difference, it is determined that a burnout fault occurs in the motor.
3. The motor fault detection method according to claim 2, characterized in that: After calculating the first difference between the initial steering angle and the desired steering angle carried by the steering command of the vehicle, the method further includes: If the first difference is smaller than the set difference, it is determined that the motor does not have a burnout fault.
4. The motor fault detection method according to claim 2, characterized in that: After respectively calculating the differences between the steering angles of the steering column within the first set time and the expected steering angle to obtain a difference set, the method further includes: If there is a second difference value smaller than the set difference value in the difference value set, it is determined that no ablation fault occurs in the motor.
5. The motor fault detection method according to claim 1, characterized in that: The steering information includes a first angular velocity of the steering column; After the steering information of the steering column of the vehicle is obtained, the method further includes: Acquiring a first terminal voltage and a first feedback current of the motor; If the first terminal voltage is greater than the set voltage, the first feedback current is less than the set current, and the first angular velocity is less than the set angular velocity, then the terminal voltage set and the feedback current set of the motor within the second set time length are obtained, and the angular velocity set of the steering column within the second set time length is obtained; wherein the terminal voltage set includes the terminal voltage of the motor at each moment within the second set time length; the feedback current set includes the feedback current of the motor at each moment within the second set time length; and the angular velocity set includes the angular velocity of the steering column at each moment within the second set time length; Correspondingly, if the steering information meets the set condition, determining that the motor has ablation fault includes: If all terminal voltages in the terminal voltage set are greater than the set voltage, all feedback currents in the feedback current set are less than the set current, and all angular velocities in the angular velocity set are less than the set angular velocity, it is determined that the motor has a burnout fault.
6. The motor fault detection method according to claim 5, characterized in that: After obtaining the terminal voltage set and the feedback current set of the motor within the second set time length, and obtaining the angular velocity set of the steering column within the second set time length, the method further includes: If there is a second terminal voltage less than or equal to the set voltage in the terminal voltage set, if there is a second feedback current greater than or equal to the set current in the feedback current set, or if there is a second angular velocity greater than or equal to the set angular velocity in the angular velocity set, it is determined that the motor has not generated ablation fault.
7. The motor fault detection method according to any one of claims 1 to 6, characterized in that: After determining that the motor has ablation fault, the method further includes: Determining a fault indicator corresponding to the ablation fault of the motor; Outputting a prompt message carrying the fault identifier to prompt that the motor has a burnout fault.
8. A motor fault detection device, characterized in that: include: A first acquisition unit, configured to acquire steering information of a steering column of the vehicle when detecting that a motor in an electronic power steering system of the vehicle starts to rotate; The first determination unit is used to determine that the motor has a burnout fault if the steering information meets a set condition.
9. A vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the motor fault detection method according to any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the motor fault detection method according to any one of claims 1 to 7 is implemented.