Motor operation parameter detection method, device and system, vehicle and storage medium

Abstract

The invention discloses a motor operation parameter detection method and device, equipment, a vehicle and a storage medium. The method comprises the steps that the motor is driven in a time-sharing mode based on a first preset voltage and a second preset voltage so as to obtain induction currents of a first phase and a second phase, the phase voltage of the first preset voltage in the first phase is 0, and the phase voltage of the second preset voltage in the second phase is 0; and determining motor operation parameters based on the induced currents of the first phase and the second phase. The motor is driven in a time-sharing manner at the first preset voltage with the phase voltage of the first phase being 0 and the second preset voltage with the phase voltage of the second phase being 0, so that the induced current generated by cutting a rotor rotating magnetic field by a closed winding loop is detected respectively, and the motor operation parameters are quickly determined based on the corresponding relation between the induced current and the motor operation parameters. The algorithm complexity is low, a detection part does not need to be additionally arranged, and the cost is low.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular, relates to a method for detecting motor operating parameters, an electronic device, an electric execution system, a vehicle, and a computer-readable storage medium. Background Art

[0002] As the craze for new energy vehicles sweeps the entire industry, more and more new energy vehicles are beginning to surge. The application of brushless motors in vehicles is also increasing, and their application in electronic fans, blowers and other products is particularly important. The startup of such products requires that the motor can be quickly controlled when it has a certain speed. However, since it is a brushless motor, it is necessary to obtain the effective rotor position, rotor angular velocity and direction before starting to ensure the smoothness of the startup. The traditional headwind and headwind starting method requires the detection of the back electromotive force of the uvw three-phase motor to determine the electronic rotor position and rotation direction to achieve headwind starting. This method relies on three comparators and corresponding circuits, which is costly and has a complex algorithm. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method for detecting motor operating parameters, an electronic device, a system, a vehicle and a computer-readable storage medium, which can realize low-cost motor operating parameter detection with a simple algorithm.

[0004] In a first aspect, the present application provides a method for detecting motor operating parameters, including driving the motor in a time-sharing manner based on a first preset voltage and a second preset voltage to obtain the induced current of the first phase and the second phase, the first preset voltage having a phase voltage of 0 in the first phase, and the second preset voltage having a phase voltage of 0 in the second phase; determining the motor operating parameters based on the induced current of the first phase and the second phase.

[0005] In some embodiments, driving the motor in a time-sharing manner based on the first preset voltage and the second preset voltage includes: driving the motor alternately according to a preset pulse width modulation period based on the first preset voltage and the second preset voltage.

[0006] In some embodiments, the step of driving the motor in a time-sharing manner based on the first preset voltage and the second preset voltage to obtain the induced current of the first phase and the second phase includes:

[0007] When the motor is running based on the first preset voltage and the second preset voltage, obtaining a sampling current of the sampling resistor;

[0008] The induced currents of the first phase and the second phase are reconstructed based on the sampled currents.

[0009] In some embodiments, the motor includes a three-phase motor, the three-phase motor includes a phase, a phase and a phase, the phases of the a phase, the b phase and the c phase are 120 degrees apart, and the reconstructing the induced current of the first phase and the second phase based on the sampled current includes:

[0010] Acquire a first sampled current collected in a preset first sampling interval and a second sampled current collected in a preset second sampling interval;

[0011] Based on the first sampling current, the second sampling current and the current relationship between the phase a, the phase b and the phase c, the induced current of the first phase and the second phase are reconstructed.

[0012] In some embodiments, the sampled current is obtained based on single resistor sampling.

[0013] In some embodiments, the first preset voltage is determined by a first voltage vector and a second voltage vector, the first voltage vector is 0, and the second voltage vector is a preset value; the second preset voltage is determined by a third voltage vector and a fourth voltage vector, and the third voltage vector and the fourth voltage vector are determined based on the preset value.

[0014] In some embodiments, the third voltage vector is -0.866U, the fourth voltage vector is -0.5U, and U is the preset value.

[0015] In some embodiments, the motor includes a three-phase motor, the three-phase motor includes phase a, phase b and phase c, the phases of phase a, phase b and phase c differ by 120 degrees respectively, and the first phase and the second phase are any two phases of the three-phase motor.

[0016] In some embodiments, the motor operating parameter includes a motor rotor position, and determining the motor operating parameter based on the induced current of the first phase and the second phase includes:

[0017] The rotor position of the motor is determined based on the extreme point and the zero point of the induced current of the first phase.

[0018] In some embodiments, the motor rotor position includes 0 degrees, 90 degrees, 180 degrees and 270 degrees, and determining the motor rotor position based on the extreme point and the zero point of the induced current of the first phase includes:

[0019] When the induced current of the first phase is at a maximum value, determining that the motor rotor position is 0 degrees;

[0020] When the induced current of the first phase is a first zero point, determining the motor rotor position to be 0 degrees, the first zero point is located between a maximum value and a minimum value;

[0021] When the induced current of the first phase is at a minimum value, determining that the motor rotor position is 180 degrees;

[0022] When the induced current of the first phase is at the second zero point, the motor rotor position is determined to be 270 degrees, and the second zero point is located after the minimum value.

[0023] In some embodiments, the motor operating parameter includes a motor rotation direction, and determining the motor operating parameter based on the induced current of the first phase and the second phase includes:

[0024] The motor rotation direction is determined based on the phase leading conditions of the induced currents of the first phase and the second phase.

[0025] In some embodiments, the motor includes a three-phase motor, the three-phase motor includes phase a, phase b and phase c, the phases of phase a, phase b and phase c differ by 120 degrees respectively, the first phase is phase a, the second phase is phase b, and the motor direction is determined based on the phase leading condition of the induced current of the first phase and the second phase, including:

[0026] When the phase of the induced current of the first phase is ahead of the induced current of the second phase, the motor rotates counterclockwise;

[0027] When the phase of the induced current of the second phase is ahead of the induced current of the first phase, the motor rotates clockwise.

[0028] In some embodiments, the motor operating parameters further include motor speed, and determining the motor operating parameters based on the induced currents of the first phase and the second phase includes:

[0029] The motor speed is determined based on the current period of the induced current of the first phase or the second phase, a preset carrier frequency and the number of motor pole pairs.

[0030] In some embodiments, the motor speed is determined based on the following formula:

[0031]

[0032] Wherein, T is the cycle time of the induced current, Fs is the preset carrier frequency, and p is the number of motor pole pairs.

[0033] In a second aspect, the present application provides an electronic device, including a motor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for detecting motor operating parameters of any of the above-mentioned embodiments when executing the program.

[0034] In a third aspect, the present application provides an electric execution system, which includes the above-mentioned electronic device, a motor and an execution device, wherein the electronic device is used to control the operation of the motor, and the motor is used to drive the execution device.

[0035] In a fourth aspect, the present application provides a vehicle comprising the above-mentioned electronic device or electric execution system.

[0036] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for detecting motor operating parameters of any of the above-mentioned embodiments.

[0037] The motor operating parameter detection method, electronic device, electric execution system, vehicle and computer-readable storage medium provided in the embodiments of the present application drive the motor in a time-sharing manner by using a first preset voltage when the phase voltage of the first phase is 0 and a second preset voltage when the phase voltage of the second phase is 0, thereby respectively detecting the induced current generated by the closed winding loop cutting the rotating magnetic field of the rotor, and calculating the three-phase stator current through current reconstruction, without the need to calibrate the preset value, thereby reducing the workload.

[0038] Since what is detected is the induced current, there is a definite corresponding relationship between the change of the induced current and the motor operating parameters (such as motor rotor position, motor direction and speed). Therefore, the motor operating parameters can be quickly determined through a relatively simple algorithm, thereby reducing the algorithm complexity of the motor operating parameter detection.

[0039] There is no need to set up an additional comparator or other circuits, and the detection of the induced current can be achieved by using the existing sampling resistor, which is low in cost.

[0040] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 It is a first flow chart of a method for detecting motor operating parameters provided in an embodiment of the present application;

[0043] Figure 2 is a second flow chart of the method for detecting motor operating parameters provided in an embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of the principle of single resistor sampling provided in an embodiment of the present application;

[0045] Figure 4 It is a first principle schematic diagram of a method for detecting motor operating parameters provided in an embodiment of the present application;

[0046] Figure 5 is a second principle schematic diagram of the method for detecting motor operating parameters provided in an embodiment of the present application;

[0047] Figure 6 is a schematic diagram of a module of a detection device provided in an embodiment of the present application;

[0048] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0050] The present application provides a method for detecting motor operating parameters. The method for detecting motor operating parameters is described in detail below:

[0051] See also Figure 1 A method for detecting motor operating parameters provided in an embodiment of the present application is implemented by steps 011 and 012, which are described in detail below.

[0052] Step 011: Drive the motor in a time-sharing manner based on a first preset voltage and a second preset voltage to obtain an induced current of a first phase and a second phase, wherein the first preset voltage has a phase voltage of 0 in the first phase and the second preset voltage has a phase voltage of 0 in the second phase.

[0053] Among them, the motor includes a three-phase motor, which is a widely used type of AC motor and is driven by a three-phase AC power supply.

[0054] Optionally, the three-phase motor is a three-phase asynchronous motor, the working principle of which is based on the law of electromagnetic induction. The stator winding of the motor is powered by a three-phase symmetrical alternating current, which generates a rotating magnetic field. This rotating magnetic field interacts with the conductor on the rotor (usually a squirrel cage or wound structure), generating an induced current and torque, thereby rotating the rotor. The speed of the rotor is always lower than the speed of the rotating magnetic field, so it is called "asynchronous".

[0055] Wherein, the first preset voltage and the second preset voltage are both voltages input to the motor. The first preset voltage has a phase voltage of 0 in the first phase, and the second preset voltage has a phase voltage of 0 in the second phase;

[0056] In a three-phase asynchronous motor, the input voltage includes two line voltages. The line voltage refers to the voltage between any two phase lines in a three-phase system. There is a preset proportional relationship between the line voltage and the phase voltage. Therefore, by controlling the line voltage, the voltage output to each phase can be controlled.

[0057] Taking the motor winding connected in a triangle as an example, one end of each phase winding is connected to the other end of the other phase winding to form a closed loop, and then the three connection points are connected to each phase of the three-phase power supply. At this time, the line voltage is approximately equal to 0.577 times the phase voltage.

[0058] When the motor windings are connected in a star configuration, one end of each phase winding is connected together to form a neutral point, and the other end is connected to each phase of the three-phase power supply. The phase voltage is equal to the line voltage.

[0059] Optionally, the first preset voltage is determined by a first voltage vector and a second voltage vector, the first voltage vector is 0, and the second voltage vector is a preset value; the second preset voltage is determined by a third voltage vector and a fourth voltage vector, and the third voltage vector and the fourth voltage vector are determined based on the preset value.

[0060] Among them, the first voltage vector and the second voltage vector are two line voltages, and the third voltage vector and the fourth voltage vector are also two line voltages. For example, a three-phase motor includes phase a, phase b and phase c, and the phases of phase a, phase b and phase c are 120 degrees apart, and phase a is perpendicular to the axial direction of the motor. The first voltage vector and the third voltage vector can be the line voltage between phase a and phase b, and the second voltage vector and the fourth voltage vector can be the line voltage between phase b and phase c.

[0061] Optionally, the second voltage vector is a preset value U, and its value does not affect the startup noise. In order to reduce the startup noise, the value of the second voltage can be reduced as much as possible, and it is only necessary to ensure that the sampling current can be detected.

[0062] Therefore, by setting the first voltage vector to 0 and the second voltage vector to U, the phase voltage of phase a can be made 0, the phase voltage of phase b can be made 0.577U, and the phase voltage of phase c can be made -0.577U, that is, the current direction of phase c is opposite to that of phase b.

[0063] In this way, by inputting the first preset voltage into the motor, the phase voltage of phase a can be made 0. At this time, the current generated by phase a is the induced current generated by the closed winding loop cutting the rotating magnetic field of the rotor. The phase a current can be detected by current sampling.

[0064] By setting the third voltage vector to -0.866U and the fourth voltage vector to -0.5U, the phase voltage of phase b can be made 0, the phase voltage of phase c can be made 0.577U, and the phase voltage of phase a can be made -0.577U.

[0065] In this way, by inputting a second preset voltage into the motor, the phase voltage of phase b can be made 0. At this time, the current generated by phase b is the induced current generated by the closed winding loop cutting the rotating magnetic field of the rotor. The phase b current can be detected by current sampling.

[0066] It can be understood that the above embodiment is described by taking the first phase as phase a and the second phase as phase b, so that the voltage of phase a is 0 and the voltage of phase b is 0 as an example, but the first phase and the second phase can be any two of the three phases, such as phase a and phase c, phase b and phase c, and it is only necessary to set the corresponding first preset voltage and second preset voltage so that the phase voltage of the first phase and the second phase is 0.

[0067] It can be understood that in order to obtain the induced current of the first phase and the second phase of a complete cycle and reduce the complexity of subsequent determination of the motor operating parameters, the first preset voltage and the second preset voltage can be used to alternately drive the motor according to a preset pulse width modulation cycle.

[0068] For example, a first preset voltage is used to drive the motor in the 2nth pulse width modulation (PWM) cycle, and a second preset voltage is used to drive the motor in the 2n+1th pulse width modulation cycle, where n is an integer.

[0069] See also Figure 2 Optionally, step 011 includes:

[0070] Step 0111: when the motor is running based on the first preset voltage and the second preset voltage, obtaining a sampling current of the sampling resistor;

[0071] Step 0112: Reconstruct the induced current of the first phase and the second phase based on the sampled current.

[0072] The sampling resistor of the motor is generally arranged on one side of the driver, such as on the line between the output end of the driver and the motor. This method can conveniently monitor the actual current flowing through the motor.

[0073] Optionally, the sampling resistor may be one or more to implement single-resistance sampling and multi-resistance sampling.

[0074] Among them, single-resistance sampling has a lower cost due to the small number of sampling resistors. The following is an introduction to the single-resistance sampling process. In the single-resistance sampling scheme, the sampling resistor is generally set at the low end of the circuit, that is, one end is connected to the ground (GND), so that when the low-side MOS tube is turned on, current will flow through the sampling resistor, and this freewheeling current is the phase current.

[0075] The single resistor sampling scheme controls the sampling time of the sampling resistor based on the PWM cycle, thereby realizing the reconstruction of the three-phase current. Figure 3 For example, when sampling in sampling interval T1 (i.e., the first sampling interval), since the voltages of phases a and b are high and phase c is low, i1 (i.e., the first sampling current) = ia + ib, that is, the sum of the currents of phases a and b is obtained by sampling. When sampling in sampling interval T2 (i.e., the second sampling interval), since phase a is high and phases b and c are low, i2 (i.e., the second sampling current) = ia, that is, the voltage of phase a is directly sampled. The current vectors of the three phases satisfy the preset relationship ia + ib + ic = 0. In this way, ia = i2, ib = i1-i2, ic = -i1 can be quickly reconstructed and calculated to obtain the three-phase current.

[0076] Specifically, when the motor is running based on a first preset voltage, the three-phase current can be quickly reconstructed by acquiring the current sampled by the sampling resistor, thereby obtaining the induced current of the first phase; when the motor is running based on a second preset voltage, the three-phase current can be quickly reconstructed by acquiring the current sampled by the sampling resistor, thereby obtaining the induced current of the second phase.

[0077] Step 012: Determine motor operating parameters based on the induced current of the first phase and the second phase.

[0078] The motor operating parameters include at least one of the motor rotor position, the motor direction, and the motor speed.

[0079] The motor rotor position refers to the current angle of the motor rotor, which can be 0, 90, 180, or 270 degrees. The motor rotation direction refers to the direction of rotation of the rotor, such as clockwise or counterclockwise. The motor speed refers to the speed of rotation of the rotor.

[0080] Specifically, after obtaining the induced current of the first phase and the second phase, based on the corresponding relationship between the induced current and the motor rotor position, the motor direction, and the motor speed, if the motor rotor position is different, the induced current is different, at 0 degrees, the a-phase current reaches the maximum, and at 90 degrees, the a-phase current reaches the minimum. Or, when the motor direction is different, there is a difference in the phase sequence of the a-phase current and the b-phase power; or, when the motor speed is different, the period of the induced current also changes accordingly.

[0081] Therefore, through the correspondence between the induced current of the first phase and the second phase and the motor operating parameters, the motor operating parameters can be quickly determined through a simple algorithm.

[0082] The determination of the motor rotor position, motor direction, and motor speed is described in detail below.

[0083] 1. Determination of the motor rotor position

[0084] Optionally, step 012: Based on the induced currents of the first phase and the second phase, determine the motor operating parameters, including:

[0085] Step 0121: Based on the extreme points and zero points of the induced current of the first phase, determine the motor rotor position (the motor rotor position includes 0 degrees (°), 90 degrees, 180 degrees, and 270 degrees).

[0086] Specifically, refer to Figure 4 , when the rotor of the motor is at different motor rotor positions, due to the change in the angle of cutting the magnetic induction line, the induced current also changes accordingly.

[0087] Taking the first phase as phase a as an example, when analyzing position (1), the magnetic field intensity is the strongest in phase a, theta (i.e., the motor rotor position) = 0°, and the amplitude of the induced current in phase a is the largest; that is, when the induced current in the first phase is at the maximum value (i.e., position (1)), determine the motor rotor position to be 0 degrees.

[0088] When analyzing the process from (1) to (2), the magnetic field intensity in phase a gradually decreases. Since 0 < theta < 90°, the current in phase a is positive and gradually decreases.

[0089] When analyzing position (2), the equivalent coil in phase a is parallel to the magnetic field, theta = 90°, and the amplitude of the induced current in phase a decreases to 0. That is, when the induced current in the first phase is at the first zero point (i.e., position (2)), determine the motor rotor position to be 90 degrees, and the first zero point is located between the maximum value and the minimum value.

[0090] When analyzing the process from (2) to (3), the magnetic field intensity in phase a increases gradually in the reverse direction. Since 90° < theta < 180°, the current in phase a is negative and the amplitude gradually increases.

[0091] When analyzing position (3), the magnetic field intensity in phase a is the strongest in the reverse direction, theta = 180°, and the amplitude of the induced reverse current in phase a is the largest; that is, when the induced current in the first phase is at the minimum value (i.e., position (3)), determine the motor rotor position to be 180 degrees.

[0092] When analyzing the process from (3) to (4), the magnetic field intensity in phase a decreases gradually in the reverse direction. Since 180° < theta < 270°, the current in phase a is negative and the amplitude gradually decreases.

[0093] When analyzing position (4), the equivalent coil of phase a is parallel to the magnetic field, theta = 270°, and the amplitude of the induced current of phase a increases to 0. When the induced current of the first phase is the second zero point (i.e. position (4)), the motor rotor position is determined to be 270 degrees, and the second zero point is located after the minimum value.

[0094] See also Figure 5 , the solid line is the phase a induced current, the dotted line is the phase b induced current, and positions (1) to (4) can be quickly determined in the waveform of the phase a induced current, such as positions (1) and (3) corresponding to the maximum and minimum values, and positions (2) and (4) corresponding to the zero position. In this way, the current position can be quickly determined through the waveform of the induced current.

[0095] 2. Determination of motor direction

[0096] Optionally, step 012: determining the motor operating parameters based on the induced current of the first phase and the second phase includes:

[0097] Step 0122: Determine the direction of rotation of the motor based on the phase lead of the induced current of the first phase and the second phase.

[0098] Specifically, the phase lead of the induced current of the first phase and the second phase corresponds to the direction of rotation of the motor. For example, when the first phase is phase a and the second phase is phase b, when the induced current of phase a leads the induced current of phase b by 120°, the direction of rotation of the motor is forward counterclockwise; conversely, when the induced current of phase b leads the induced current of phase a by 120°, the direction of rotation of the motor is reverse clockwise.

[0099] Specifically by Figure 5 It can be seen that when in the process of (1)->(2)->(3), the induced current of phase a changes from positive to 0 to negative, and the induced current of phase b changes from negative to 0 to positive. Therefore, the following conclusions can be drawn:

[0100] ①When phase a passes through zero (crosses the 0 axis), the induced current of phase b is greater than 0, which means it is counterclockwise (forward) A->B->C;

[0101] ②When phase a passes through zero (crosses the 0 axis), the induced current of phase b is less than 0, and it also turns counterclockwise from A->B->C;

[0102] That is, when phase a leads, the motor rotates counterclockwise.

[0103] The same analysis:

[0104] ③When phase b passes through zero (crosses the 0 axis), the induced current of phase a is greater than 0, and it also turns clockwise from C->B->A;

[0105] ④When phase b passes through zero (crosses the 0 axis), the induced current of phase a is less than 0, and it also turns clockwise from C->B->A;

[0106] That is, when the b phase leads, the motor rotates in the reverse clockwise direction.

[0107] In this way, the motor speed can be quickly determined by the phase advance of phase a and phase b without the need for complex algorithms.

[0108] 3. Determination of motor speed

[0109] Optionally, step 012: determining the motor operating parameters based on the induced current of the first phase and the second phase includes:

[0110] Step 0123: Determine the motor speed based on the current period of the induced current of the first phase or the second phase, the preset carrier frequency and the number of motor pole pairs.

[0111] Specifically, by recording the time when the first phase or second phase induced current is at the extreme value position or the zero point position, the current cycle of the induced current can be quickly determined. Please refer to Figure X. Taking the first phase as an example, based on the time t1 of the position (2) and the time t2 of the position (4) of the induced current of the first phase, or recording the time t1 of the a phase induced current at the position (1) and the time t2 of the position (3), a current cycle time can be quickly determined, that is, the current cycle time T = 2*(t2-t1), the time unit is seconds, the preset carrier frequency is Fs (9 Hz), assuming that the number of motor pole pairs is p, the motor speed n can be calculated according to the following formula:

[0112] The unit is rpm (rotations per minute);

[0113] In this way, based on the negative correlation between the current cycle of the induced current and the motor speed, the motor speed can be quickly calculated. Moreover, by calculating the motor speed through the current cycle, there is no need for phase-locked loop operation, and it can be switched to closed-loop control at a fixed position, reducing the complexity of the algorithm. In theory, only one current cycle is needed to complete all calculations, with fast startup speed and high success rate.

[0114] The motor operating parameter detection method of the present application drives the motor in a time-sharing manner by using a first preset voltage when the phase voltage of the first phase is 0 and a second preset voltage when the phase voltage of the second phase is 0, thereby respectively detecting the induced current generated by the closed winding loop cutting the rotating magnetic field of the rotor, and calculating the three-phase stator current through current reconstruction, without the need to calibrate the preset value, thereby reducing the workload.

[0115] Since what is detected is the induced current, there is a definite corresponding relationship between the change of the induced current and the motor operating parameters (such as motor rotor position, motor direction and speed). Therefore, the motor operating parameters can be quickly determined through a relatively simple algorithm, thereby reducing the algorithm complexity of the motor operating parameter detection.

[0116] There is no need to set up an additional comparator or other circuits, and the detection of the induced current can be achieved by using the existing sampling resistor, which is low in cost.

[0117] In addition, compared with comparing the calculated angular velocity with the preset value to determine whether it is in the start-up state with or without wind, there will be a speed limit. If the speed is too high or too low, it is considered not in the start-up state with or without wind. However, this application does not have this restriction condition. As long as the calculated motor is not in a stationary state (the speed is not 0), it can enter the start-up state with or without wind, that is, calculate the motor operating parameters during the rotation process, so as to facilitate the access to the state of motor start control.

[0118] According to the method described in the above embodiment, the present application embodiment also provides a detection device 300, which is used to perform the steps in the above motor operating parameter detection method. Figure 6 , Figure 6 300 is a schematic diagram of the structure of the detection device 300 provided in the embodiment of the present application. The detection device 300 includes a time-sharing driving module 301 and a determination module 302, wherein:

[0119] The time-sharing driving module 301 is used to drive the motor in a time-sharing manner based on a first preset voltage and a second preset voltage to obtain an induced current of a first phase and a second phase, wherein the first preset voltage is 0 when the phase voltage of the first phase is 0, and the second preset voltage is 0 when the phase voltage of the second phase is 0;

[0120] The determination module 302 is used to determine the motor operation parameters based on the induced current of the first phase and the second phase.

[0121] It should be noted that the specific details of each module unit in the above-mentioned detection device 300 have been described in detail in the embodiment of the above-mentioned motor operation parameter detection method, and will not be repeated here.

[0122] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0123] In some embodiments, the detection device in the embodiments of the present application can be implemented in hardware, such as an electronic device, or a component in an electronic device, such as an integrated circuit or a chip; the detection device can also be implemented in software, such as as an application installed in an electronic device.

[0124] In some embodiments, see Figure 7 , Figure 7 4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 400 includes a processor 401 and a memory 402. The memory 402 stores a computer program 403 that can be run on the processor 401. When the program 403 is executed by the processor 401, each process of the embodiment of the motor operating parameter detection method is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0125] Optionally, the electronic device may be any device with data processing capability, such as a vehicle controller, a terminal device, etc.

[0126] In some embodiments, the electric execution system provided in the embodiments of the present application includes the above-mentioned electronic device, motor and execution device.

[0127] Optionally, the electric actuator system may be a device including the motor of the above embodiment, for example, a household appliance, a vehicle-mounted appliance, an electronic fan, a blower, etc.

[0128] The processor of the electronic device can control the movement of the motor based on the computer program stored in the memory. The output shaft of the motor is connected to the actuator. When the motor rotates, it can drive the actuator to move together, thereby realizing the corresponding function.

[0129] It can be understood that when the electric execution system is running, the various processes of the embodiment of the above-mentioned motor operating parameter detection method can be implemented and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0130] Optionally, the actuator may be a device that moves based on motor drive, such as a fan, a compressor, etc.

[0131] In some embodiments, the vehicle provided by the embodiments of the present application includes an electronic device, that is, the electronic device is a device installed on the vehicle.

[0132] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the embodiment of the above-mentioned motor operating parameter detection method are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0133] The processor may be a processor in the electronic device in the above embodiment. The computer readable storage medium may be a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0134] Computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM, ROM, Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), flash memory or other solid-state memory technology, CD-ROM, Digital Versatile Disc (DVD) or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will know that computer storage media are not limited to the above.

[0135] The embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned method for detecting motor operating parameters when executed by a processor. The processor may be a processor in the electronic device in the above-mentioned embodiment. When the computer program is executed by the processor, each process of the embodiment of the method for detecting motor operating parameters is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0136] It is understandable that in the specific implementation of this application, data related to user identity or characteristics is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0137] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for detecting motor operating parameters, characterized in that: include: Driving the motor in a time-sharing manner based on a first preset voltage and a second preset voltage to obtain an induced current of a first phase and a second phase, wherein the first preset voltage has a phase voltage of 0 in the first phase and the second preset voltage has a phase voltage of 0 in the second phase; The motor operation parameters are determined based on the induced currents of the first phase and the second phase.

2. The method for detecting motor operating parameters according to claim 1, characterized in that: The time-sharing driving of the motor based on the first preset voltage and the second preset voltage includes: driving the motor alternately according to a preset pulse width modulation period based on the first preset voltage and the second preset voltage.

3. The method for detecting motor operating parameters according to claim 1 or 2, characterized in that: The method of driving the motor in time-sharing mode based on the first preset voltage and the second preset voltage to obtain the induced current of the first phase and the second phase includes: When the motor is running based on the first preset voltage and the second preset voltage, obtaining a sampling current of the sampling resistor; The induced currents of the first phase and the second phase are reconstructed based on the sampled currents.

4. The method for detecting motor operating parameters according to claim 3, characterized in that: The motor includes a three-phase motor, the three-phase motor includes a phase, a phase and a phase, the phases of the a phase, the b phase and the c phase are 120 degrees apart, and the reconstructing the induced current of the first phase and the second phase based on the sampled current includes: Acquire a first sampled current collected in a preset first sampling interval and a second sampled current collected in a preset second sampling interval; Based on the first sampling current, the second sampling current and the current relationship between the phase a, the phase b and the phase c, the induced current of the first phase and the second phase are reconstructed.

5. The method for detecting motor operating parameters according to claim 3, characterized in that: The sampling current is obtained based on single resistor sampling.

6. The method for detecting motor operating parameters according to claim 1, characterized in that: The first preset voltage is determined by a first voltage vector and a second voltage vector, the first voltage vector is 0, and the second voltage vector is a preset value; the second preset voltage is determined by a third voltage vector and a fourth voltage vector, and the third voltage vector and the fourth voltage vector are determined based on the preset value.

7. The method for detecting motor operating parameters according to claim 6, characterized in that: The third voltage vector is -0.866U, the fourth voltage vector is -0.5U, and U is the preset value.

8. The method for detecting motor operating parameters according to claim 1, characterized in that: The motor comprises a three-phase motor, the three-phase motor comprises phase a, phase b and phase c, the phases of phase a, phase b and phase c differ by 120 degrees respectively, and the first phase and the second phase are any two phases of the three-phase motor.

9. The method for detecting motor operating parameters according to claim 1, characterized in that: The motor operation parameter includes a motor rotor position, and determining the motor operation parameter based on the induced current of the first phase and the second phase includes: The rotor position of the motor is determined based on the extreme point and the zero point of the induced current of the first phase.

10. The method for detecting motor operating parameters according to claim 9, characterized in that: The motor rotor position includes 0 degrees, 90 degrees, 180 degrees and 270 degrees, and the motor rotor position is determined based on the extreme point and the zero point of the induced current of the first phase, including: When the induced current of the first phase is at a maximum value, determining that the motor rotor position is 0 degrees; When the induced current of the first phase is a first zero point, determining the motor rotor position to be 0 degrees, the first zero point is located between a maximum value and a minimum value; When the induced current of the first phase is at a minimum value, determining that the motor rotor position is 180 degrees; When the induced current of the first phase is at the second zero point, the motor rotor position is determined to be 270 degrees, and the second zero point is located after the minimum value.

11. The method for detecting motor operating parameters according to claim 1, characterized in that: The motor operation parameter includes the motor rotation direction, and the determining the motor operation parameter based on the induced current of the first phase and the second phase includes: The motor rotation direction is determined based on the phase leading conditions of the induced currents of the first phase and the second phase.

12. The method for detecting motor operating parameters according to claim 11, characterized in that: The motor includes a three-phase motor, the three-phase motor includes a phase, a phase and a phase, the phases of the a phase, the b phase and the c phase are 120 degrees apart, the first phase is the a phase, the second phase is the b phase, and the motor direction is determined based on the phase leading condition of the induced current of the first phase and the second phase, including: When the phase of the induced current of the first phase is ahead of the induced current of the second phase, the motor rotates counterclockwise; When the phase of the induced current of the second phase is ahead of the induced current of the first phase, the motor rotates clockwise.

13. The method for detecting motor operating parameters according to any one of claims 1, 9 to 12, characterized in that: The motor operation parameter further includes a motor speed, and determining the motor operation parameter based on the induced current of the first phase and the second phase includes: The motor speed is determined based on the current period of the induced current of the first phase or the second phase, a preset carrier frequency and the number of motor pole pairs.

14. The method for detecting motor operating parameters according to claim 13, characterized in that: The motor speed is determined based on the following formula: Wherein, T is the cycle time of the induced current, Fs is the preset carrier frequency, and p is the number of motor pole pairs.

15. An electronic device 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 program, the method for detecting the motor operating parameters as described in any one of claims 1-14 is implemented.

16. An electric execution system, characterized in that: It comprises the electronic device, motor and execution device as described in claim 15, wherein the electronic device is used to control the operation of the motor, and the motor is used to drive the execution device.

17. A vehicle, characterized in that: Includes the electronic device described in claim 15 or the electric execution system described in claim 16.

18. A non-transitory 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 detecting the motor operating parameters as described in any one of claims 1 to 14 is implemented.

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