Detection method, device and equipment for vehicle-mounted driving motor

Abstract

The invention discloses a detection method, device and equipment for a vehicle-mounted driving motor, and relates to the technical field of vehicles. The method comprises the following steps: acquiring excitation current through an excitation control module, and acquiring d-axis current through a stator winding control module; based on the excitation current and the d-axis current, determining the rotor position of the driving motor by using a preset expansion reverse electric equation; wherein the preset extended reverse electric equation is obtained by converting a voltage equation under a static coordinate system into a form containing rotor position angle information; and calculating a rotor angle and a rotor angular speed of the driving motor based on the rotor position and a phase-locked loop control algorithm, and determining an operation state of the driving motor based on the rotor angle and the rotor angular speed. The method is used for realizing the detection function of the vehicle-mounted driving motor.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a detection method, device and equipment for a vehicle-mounted drive motor. Background Art

[0002] With the improvement of living standards, the relevant technologies of new energy vehicles are also constantly developing. Traditional on-board drive motors are generally permanent magnet synchronous motors, but with the development of technology, hybrid synchronous excitation motors have gradually become mainstream. The hybrid excitation synchronous motor HESM (Hybrid Excited Synchronous Motor, HESM for short) not only has stator armature windings, but also retains some magnetic steel on the rotor and adds an electric excitation winding that can adjust the air gap magnetic field. As the power source of new energy vehicles, the operation of the drive motor will directly affect the user's driving safety. Therefore, the detection of on-board drive motors is particularly important.

[0003] At present, in the existing vehicle drive motor detection process, it is generally necessary to set up a special sensor to detect the rotor of the drive motor to determine its operating status. However, in actual applications, the existing detection method relies on sensors. Once the sensor is abnormal or damaged, it will affect the smooth execution of the detection function. Summary of the invention

[0004] The embodiments of the present application provide a method, device and equipment for detecting a vehicle drive motor, the main purpose of which is to solve the problem that in the existing vehicle drive motor detection process, once the sensor is abnormal or damaged, the smooth execution of the detection function is affected.

[0005] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, the present application provides a method for detecting a vehicle-mounted drive motor, which is applied to a detection device for a vehicle-mounted drive motor, wherein the detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control a d-axis current; and the excitation control module is used to collect and control an excitation current; the method includes:

[0007] The excitation current is obtained through the excitation control module, and the d-axis current is obtained through the stator winding control module;

[0008] The rotor position of the drive motor is determined based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information;

[0009] The rotor angle and the rotor angular velocity of the drive motor are calculated based on the rotor position and a phase-locked loop control algorithm, and the operating state of the drive motor is determined based on the rotor angle and the rotor angular velocity.

[0010] In a second aspect, the present application further provides a detection device for a vehicle-mounted drive motor, which is applied to a detection device for a vehicle-mounted drive motor, wherein the detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; the device includes:

[0011] An acquisition unit, used to acquire the excitation current through the excitation control module, and acquire the d-axis current through the stator winding control module;

[0012] A first determination unit is used to determine the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information;

[0013] The second determining unit is used to calculate the rotor angle and the rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determine the operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0014] In a third aspect, an embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the detection method for the vehicle drive motor described in any one of the second aspects.

[0015] In a fourth aspect, an embodiment of the present application provides a detection device for a vehicle-mounted drive motor, the device comprising a storage medium; and one or more processors, the storage medium being coupled to the processor, the processor being configured to execute program instructions stored in the storage medium; when the program instructions are executed, the detection method for the vehicle-mounted drive motor described in any one of the second aspects is executed.

[0016] In a fifth aspect, the present application provides a vehicle-mounted drive motor detection device, comprising:

[0017] A motor controller and a processing module, wherein the motor controller includes a stator winding control module and an excitation control module;

[0018] The stator winding control module is provided with a three-phase full-bridge circuit structure composed of 6 IGBT power modules, which is used for real-time acquisition and control of the stator three-phase current, wherein the three-phase current includes the d-axis current;

[0019] The excitation control module is provided with an H-bridge circuit structure composed of four IGBT power modules, which is used to collect the excitation current and implement current feedback control on the excitation current so as to control the generated excitation magnetic flux;

[0020] Wherein, each of the IGBT power modules includes an IGBT chip and a freewheeling diode; the IGBT chip and the freewheeling diode are connected in parallel;

[0021] The processing module is used to determine the rotor position of the drive motor based on the d-axis current and the excitation current in combination with a preset extended back-electromotive force equation, and to determine the operating state of the drive motor based on the rotor position and the rotor angle and rotor angular velocity determined by a phase-locked loop control algorithm.

[0022] By means of the above technical solution, the technical solution provided by this application has at least the following advantages:

[0023] The present application provides a detection method, device and equipment for a vehicle-mounted drive motor, which are applied to the detection equipment for the vehicle-mounted drive motor, wherein the detection equipment for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; in the present application, the excitation current is firstly obtained by the excitation control module, and the d-axis current is obtained by the stator winding control module; then, the rotor position of the drive motor is determined based on the excitation current and the d-axis current using a preset extended back-electromotive force equation; wherein the preset extended back-electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; finally, the rotor angle and rotor angular velocity of the drive motor are calculated based on the rotor position and a phase-locked loop control algorithm, and the operating state of the drive motor is determined based on the rotor angle and the rotor angular velocity, thereby realizing the detection function of the vehicle-mounted drive motor. Compared with the prior art, the present application can directly detect the operating status of the motor based on the d-axis current and the excitation current during the detection process of the vehicle-mounted drive motor. That is to say, during the entire detection process, it is no longer necessary to use sensors and other equipment to directly detect the drive motor. This avoids the situation in which the prior art relies on dedicated sensors when detecting the motor operating status of the vehicle-mounted drive motor, thereby avoiding the problem that the motor operating status detection function cannot be smoothly performed when the sensor is abnormal or fails, thereby ensuring that no matter what state the sensor is in, the detection function of the vehicle-mounted drive motor can be achieved based on the method of the present application.

[0024] In addition, in the present application, the motor controller and processing module, wherein the motor controller includes a stator winding control module and an excitation control module; the stator winding control module is provided with a three-phase full-bridge circuit structure composed of 6 IGBT power modules, which is used for real-time acquisition and control of the stator three-phase current, and the three-phase current includes the d-axis current; the excitation control module is provided with an H-bridge circuit structure composed of 4 IGBT power modules, which is used for acquiring the excitation current and implementing current feedback control on the excitation current so as to control the generated excitation flux; wherein each of the IGBT power modules includes an IGBT chip and a freewheeling diode; the IGBT chip and the freewheeling diode are connected in parallel; the processing module is used to determine the rotor position of the drive motor based on the d-axis current and the excitation current, combined with a preset extended back-electromotive equation, and determine the operating state of the drive motor based on the rotor position and the rotor angle and rotor angular velocity determined by the phase-locked loop control algorithm. That is to say, with the motor controller of the present application, the d-axis current of the drive motor can be directly collected based on the stator winding control module, and the excitation current can be directly collected based on the excitation control module. In this way, the rotor position of the motor can be realized based on these two currents, and the detection function of the drive motor can be realized based on the rotor position. Compared with the prior art, no sensor is required for detection, which solves the problem of failure to smoothly perform the detection function due to sensor abnormality or failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0026] Figure 1 A flow chart of a detection method for a vehicle-mounted drive motor provided in an embodiment of the present application is shown;

[0027] Figure 2 A flow chart of another vehicle-mounted drive motor detection method provided in an embodiment of the present application is shown;

[0028] Figure 3 A block diagram showing a component of a vehicle-mounted drive motor detection device provided in an embodiment of the present application is shown;

[0029] Figure 4 A block diagram showing another vehicle-mounted drive motor detection device provided in an embodiment of the present application is shown;

[0030] Figure 5 A schematic block diagram of a vehicle-mounted drive motor detection device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0032] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0033] The embodiment of the present application provides a detection method for a vehicle-mounted drive motor, which is applied to a detection device for a vehicle-mounted drive motor, wherein the detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; specifically, Figure 1 As shown, the method includes:

[0034] 101. Obtain the excitation current through the excitation control module, and obtain the d-axis current through the stator winding control module.

[0035] In this embodiment, the excitation current can be understood as the current involved in the excitation component involved in the rotor of the drive motor, and the d-axis current is one of the three-phase currents in the stator of the drive motor.

[0036] In the prior art, the voltage equation of the hybrid excitation motor in the stationary coordinate system (α-β coordinate system) is expressed as follows:

[0037]

[0038] Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; ω is the motor rotor angular velocity. ; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β They are the α and β axis currents in the stationary coordinate system; The air gap magnetic field flux generated by the rotor magnet. The air gap magnetic field flux generated by the rotor excitation winding. ; θ is the rotor angle; L0 is for

[0039] From the voltage equation, we can see that in the process of determining the angular velocity and angle of the motor rotor, the main parameters are known or can be calculated. For example, the resistance and inductance of the motor are fixed parameters. As long as the drive motor is fixed, then R in the above formula a , L d , etc. are known. At the same time, V α 、V β Can be based on i α 、i β Therefore, it can be known from the analysis that the angular velocity and speed of the motor's rotor are actually related to the current, that is, as long as the d-axis current involved in the stator and the excitation current designed for the rotor under the current running state of the motor can be determined, the angular velocity and angle of the rotor can be determined based on the formula.

[0040] In view of this, in this embodiment, the excitation current designed for the rotor can be obtained through the excitation control module; similarly, the d-axis current involved in the stator can be obtained based on the stator winding control module, wherein the d-axis current can specifically be a negative current. Since the effects of the two on the drive motor are negatively correlated, in order to ensure the accuracy of subsequent detection results of the drive motor, the excitation current can be an excitation positive current, and the d-axis current determined at this time can specifically be a negative current.

[0041] 102. Determine the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation.

[0042] The preset extended back electromotive force equation is obtained by converting the voltage equation in the stationary coordinate system into a form including rotor position angle information.

[0043] Based on the description of the above steps, it can be known that since the rotor angular velocity and angle of the motor in the voltage equation of the hybrid excitation motor in the stationary coordinate system (α-β coordinate system) are correlated with the excitation current and the d-axis current, in order to facilitate calculation, in this embodiment, the voltage equation in the stationary coordinate system can also be converted to obtain an equation that can reflect the rotor position angle information, that is, the preset extended back electromotive force equation.

[0044] Since the preset extended back-electromotive force equation is obtained by converting the voltage equation of the hybrid excitation motor in the stationary coordinate system (α-β coordinate system) in the previous step, it can more intuitively reflect the relationship between current and rotor position. Therefore, based on this equation, the position of the rotor of the drive motor under the current excitation current and d-axis current can be more intuitively determined.

[0045] 103. Calculate a rotor angle and a rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determine an operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0046] In this embodiment, in order to determine the operating state of the drive motor, it is actually necessary to determine the current angular velocity and angle of the motor rotor. Since the position of the motor rotor at this time has been determined in the previous steps, the phase-locked loop control algorithm can be used for calculation. The phase-locked loop algorithm, also known as the PLL algorithm (Phase Locked Loop, PLL for short) is a control algorithm widely used in electronic engineering, mainly used for synchronizing the phase of the signal. The following are the main functions of the PLL algorithm: 1. Phase synchronization: The PLL algorithm can lock the phase of the input signal so that the phase of the output signal is synchronized with the input signal. This is particularly important in communication systems, because the phase information of the signal is crucial for the correct transmission and reception of data; 2. Frequency synchronization: In addition to phase synchronization, PLL can also synchronize the frequency of the signal to ensure that the frequency of the output signal is consistent with the frequency of the input signal; 3. Signal recovery: In some applications, PLL can be used to recover the original signal from the modulated carrier signal, such as in frequency modulation (FM) or phase modulation (PM) demodulation; 4. Noise suppression: PLL algorithm can improve the signal-to-noise ratio of the signal because it can filter out noise that is not synchronized with the signal phase; 5. Angle and speed estimation: In the field of motor control, PLL algorithm is often used to estimate the angle and speed of the motor rotor. By measuring the back electromotive force or other signals of the motor, PLL can provide accurate rotor position information, which is very important for realizing motor systems without position sensor control; 6. System stability: PLL can improve the stability of the system because it can automatically adjust to cope with changes in the input signal; 7. Signal generation: In some applications, PLL can be used to generate signals that are synchronized with the input signal phase and frequency, which is very useful in test and measurement equipment.

[0047] In this embodiment, it is mainly based on function 5, that is, using the PLL algorithm and the current rotor position information to calculate the angular velocity and angle of the rotor. The angular velocity and angle determined in this way can reflect the current operating status of the drive motor and ensure that the motor operating status determined in this way has good real-time performance.

[0048] The present embodiment provides a detection method for a vehicle-mounted drive motor, which is applied to a detection device for a vehicle-mounted drive motor, wherein the detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; in the embodiment of the present application, the excitation current is firstly obtained by the excitation control module, and the d-axis current is obtained by the stator winding control module; then, the rotor position of the drive motor is determined based on the excitation current and the d-axis current using a preset extended back-electromotive force equation; wherein the preset extended back-electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; finally, the rotor angle and rotor angular velocity of the drive motor are calculated based on the rotor position and a phase-locked loop control algorithm, and the operating state of the drive motor is determined based on the rotor angle and the rotor angular velocity, thereby realizing the detection function of the vehicle-mounted drive motor. Compared with the prior art, the present application can directly detect the operating status of the motor based on the d-axis current and the excitation current during the detection process of the vehicle-mounted drive motor. That is to say, during the entire detection process, it is no longer necessary to use sensors and other equipment to directly detect the drive motor. This avoids the situation in which the prior art relies on dedicated sensors when detecting the motor operating status of the vehicle-mounted drive motor, thereby avoiding the problem that the motor operating status detection function cannot be smoothly performed when the sensor is abnormal or fails, thereby ensuring that no matter what state the sensor is in, the detection function of the vehicle-mounted drive motor can be achieved based on the method of the present application.

[0049] To explain in more detail below, the present application embodiment provides another method for detecting a vehicle-mounted drive motor, as follows: Figure 2 As shown, the method includes:

[0050] 201. Obtain the excitation current through the excitation control module, and obtain the d-axis current through the stator winding control module.

[0051] Based on the description of the above embodiments, it can be known that in the prior art, the voltage equation of the hybrid excitation motor in the stationary coordinate system (α-β coordinate system) is:

[0052]

[0053] Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; ω is the motor rotor angular velocity. ; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; iα 、i β They are the α and β axis currents in the stationary coordinate system; The air gap magnetic field flux generated by the rotor magnet. The air gap magnetic field flux generated by the rotor excitation winding. ; θ is the rotor angle; L0 is for

[0054] It can be seen from the voltage equation and the description of the above embodiment that in the process of determining the angular velocity and angle of the rotor of the motor, the main parameters of most parts are known quantities or can be obtained by calculation. For example, the resistance and inductance of the motor are fixed parameters. Therefore, R in the above formula a , L d , etc. are known. At the same time, V α 、V β Can be based on i α 、i β Therefore, it can be found through analysis that the parameters related to the rotor position of the motor, namely the angular velocity of the rotor and the angle of the rotor, are actually related to the current.

[0055] Therefore, it can be known from the above equations that, in fact, the excitation current and the d-axis current are related to the position of the rotor of the motor. Therefore, in the process of determining the operating state of the motor, it is necessary to obtain the excitation current and the d-axis current. It should be noted that in this embodiment, the description of the excitation current and the d-axis current are consistent with the previous embodiment and will not be repeated here.

[0056] In addition, it should be noted that, in the present embodiment, since the effects of the excitation current and the d-axis current on the motor are opposite, that is, the effects produced by the positive excitation current and the negative d-axis current are the same, in order to facilitate the accuracy of subsequent detection results, the positive excitation current of the excitation current and the negative d-axis current of the d-axis current are used here.

[0057] 202. Determine the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation.

[0058] The preset extended back electromotive force equation is obtained by converting the voltage equation in the stationary coordinate system into a form including rotor position angle information.

[0059] Specifically, this step may include:

[0060] The rotor excitation winding voltage and the rotor excitation winding magnetic field are calculated based on the excitation current;

[0061] Based on the rotor excitation winding voltage and the rotor excitation winding magnetic field, converting through the voltage equation in the stationary coordinate system, obtaining an equation containing a back electromotive force, recorded as a preset extended back electromotive force equation, and determining the back electromotive force of the drive motor based on the preset extended back electromotive force equation;

[0062] Wherein, the back electromotive force is used to characterize the rotor position;

[0063] The preset extended back electromotive force equation includes:

[0064]

[0065] Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; ω is the motor rotor electrical angular velocity; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β are the α-axis and β-axis currents in the stationary coordinate system; e α 、e β They are the back electromotive force of the α and β axes in the stationary coordinate system.

[0066] In this embodiment, based on the above description, it can be known that the back electromotive force equation can actually be converted from the voltage equation in the stationary coordinate system, wherein the voltage equation in the stationary coordinate system is:

[0067]

[0068] Next, the rotor field winding voltage and field winding magnetic field are calculated based on the field current using the following two equations:

[0069] V f =R f ×i f ;

[0070]

[0071] Among them, R f is the rotor excitation winding resistance; M sf is the mutual inductance between the stator winding and the rotor excitation winding; i f is the rotor excitation current.

[0072] Then, the obtained excitation winding voltage and excitation winding magnetic field are substituted into the voltage equation in the static coordinate system and converted to obtain the inverse electromotive force equation described in this embodiment:

[0073]

[0074] Since the back electromotive force e in the static coordinate system α and e β Contains the rotor position angle information, and this equation can be used to estimate the rotor position, that is, by determining the back electromotive force e α and e β It can characterize the current position of the rotor of the drive motor.

[0075] Furthermore, the relationship between the angle of the rotor of the motor and the back electromotive force can be as follows:

[0076]

[0077] Furthermore, based on the relationship between the rotor angle and the back electromotive force and using the back electromotive force equation, the extended back electromotive force equation can be further derived as follows:

[0078]

[0079] At the same time, based on the secondary extended back electromotive force equation, the voltage equation can be further derived as:

[0080]

[0081] Among them, e α 、e β are the back electromotive force of the α and β axes in the stationary coordinate system; V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β are the α and β axis currents in the stationary coordinate system; ω is the rotor angular velocity of the motor.

[0082] Based on this, we can know that the back electromotive force e α and e β It can be calculated based on the excitation positive current and the d-axis negative current. Therefore, the back electromotive force that can characterize the rotor position of the drive motor can be determined through the excitation positive current and the d-axis negative current, thereby laying the foundation for the subsequent determination of the relevant parameters of the motor's rotor position based on the back electromotive force, thereby obtaining the motor's operating status.

[0083] 203. Calculate a rotor angle and a rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determine an operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0084] Specifically, in this step, “calculating the rotor angle and rotor angular velocity of the drive motor based on the rotor position and the phase-locked loop control algorithm” may include:

[0085] Calculating the rotor angle and rotor angular velocity of the drive motor based on the back electromotive force and a preset phase-locked loop equation group;

[0086] Wherein, the phase-locked loop algorithm equation group includes:

[0087]

[0088]

[0089] Among them, e α 、e β are the back electromotive force of the α and β axes in the stationary coordinate system; θ is the rotor angle; ω is the rotor angular velocity of the motor.

[0090] Based on this, the back electromotive force e determined in the previous steps is α 、e β According to the phase-locked loop algorithm equation group, θ and ω, that is, the rotor angle and rotor angular velocity of the drive motor, can be determined. In this way, the operating condition of the drive motor can be determined based on the two, thereby obtaining the operating state of the motor, and then achieving the effect of actually detecting the operating state of the drive motor without the need for a sensor specifically for detecting the operating condition of the motor, thereby ensuring that the detection function is not affected by sensor abnormalities or failures, so that the detection function can be smoothly executed.

[0091] 204. If it is determined based on the rotor angle and the rotor angular velocity that the operating state of the segment motor is abnormal, based on a preset equal torque curve, the d-axis current is increased through the stator winding control module and / or the excitation current is increased through the excitation control module to increase the back electromotive force of the motor.

[0092] In some embodiments, in some cases, there may be some problems with the operation of the drive motor. At the same time, since the operation of the drive motor will directly affect its output torque, in order to ensure that the torque output is normal and does not affect the normal operation of the vehicle, it is also possible to increase the d-axis current and the excitation current by presetting the equal torque curve based on the method of this step, that is, increase the excitation positive current and increase the d-axis negative current to select at least one as the back electromotive force of the motor, so that the torque of the drive motor can be maintained stable under this action. It should be noted that the preset equal torque curve is a concept in motor control, which describes the constant torque that the motor can provide at different operating points. On the torque-speed characteristic curve of the motor, the equal torque curve is represented as a set of curves, each curve corresponding to the working area of ​​the motor at a specific torque value. These curves are very important for understanding and designing motor control systems because they can help determine the performance and response of the motor at different speeds.

[0093] In this step, the preset equal torque curve is particularly important, based on which the working point of the motor can be adjusted at the angle of the current of the motor to achieve precise control of the motor torque and speed. For example, when the motor angle sensor fails, a high back electromotive force voltage can be generated by increasing the positive current of the rotor excitation and the negative current of the d-axis, thereby ensuring that the driving torque generated by the motor remains unchanged on the equal torque curve.

[0094] 205. When it is determined that the drive motor is in a low speed state, the excitation current is increased through the excitation control module to increase the excitation magnetic flux.

[0095] In some embodiments, under certain circumstances, the drive motor may be in a low speed state. At this time, if the user needs to improve the operating conditions, the user can also increase the excitation current through the excitation control module based on the method of this step. Since the increase in excitation current will affect the generated magnetic flux, this method can increase the effect of the excitation magnetic flux, thereby achieving adjustment and control of the operating state of the drive motor on this basis.

[0096] On the equal torque curve, the command current of the d-axis and the excitation current of the excitation winding are increased to increase the extended back electromotive force of the motor and improve the angle detection accuracy in the medium and low speed areas. This can be done based on the following equation:

[0097] i d_ref =i d_t +K1×Δi d

[0098] i f_ref =i f_t +K2×Δi f

[0099] Among them, i d_t and i f_t are the current d-axis current and the excitation current of the excitation winding respectively; the threshold coefficient K1+K2=1. Δi d is a negative value, Δi f is a positive value. The threshold coefficients K1 and K2 are set according to the motor operation area. Specifically, the d-axis current i d_ref and the excitation current i f_ref PID current feedback control is performed. At the same time, the equal torque curve equation of the motor can be expressed as follows:

[0100]

[0101] Among them, when increasing the d-axis current i d_ref The excitation current i f_ref When the q-axis current i q_ref The calculation of is as follows:

[0102]

[0103] 206. When it is determined that the drive motor is in a high speed state, a target operation is performed through an excitation control module.

[0104] The target operation includes a first operation, a second operation and a third operation.

[0105] Specifically, the first operation is used to turn off the excitation current through the excitation control mode; the second operation is used to reduce the excitation current through the excitation control mode; and the third operation is used to increase the excitation current through the excitation control mode.

[0106] In some embodiments, the drive motor may be in a high speed state, then it may be necessary to increase the magnetic flux or reduce the magnetic flux. In the case of increasing the magnetic flux, the third operation is performed, and in the case of reducing the magnetic flux, the excitation current can be directly turned off or reduced, and the specific methods are the first operation and the second operation. Here, there is no limitation on the specific selection of the target operation, which can be based on the actual needs of the user.

[0107] Furthermore, as a response to the above Figure 1 and Figure 2In order to realize the method shown, another embodiment of the present application further provides a detection device for a vehicle-mounted drive motor. The detection device embodiment of the vehicle-mounted drive motor corresponds to the aforementioned method embodiment. For ease of reading, the detection device embodiment of the vehicle-mounted drive motor will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the system in this embodiment can correspond to all the contents of the aforementioned method embodiment. Among them, the device is applied to a detection device for a vehicle-mounted drive motor, and the detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current, as shown in the following figure. Figure 3 As shown, the detection device of the vehicle-mounted drive motor includes:

[0108] The acquisition unit 31 may be used to acquire the excitation current through the excitation control module and acquire the d-axis current through the stator winding control module;

[0109] The first determination unit 32 may be used to determine the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information;

[0110] The second determination unit 33 may be configured to calculate the rotor angle and the rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determine the operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0111] Further, such as Figure 4 As shown, the first determination unit 32 is specifically used to calculate the rotor excitation winding voltage and the rotor excitation winding magnetic field based on the excitation current; and, based on the rotor excitation winding voltage and the rotor excitation winding magnetic field, convert through the voltage equation in the stationary coordinate system to obtain an equation containing back electromotive force, recorded as a preset extended back electromotive force equation, and determine the back electromotive force of the drive motor based on the preset extended back electromotive force equation;

[0112] Wherein, the back electromotive force can be used to characterize the rotor position;

[0113] The preset extended back electromotive force equation includes:

[0114]

[0115] Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R ais the motor phase resistance; ω is the motor rotor electrical angular velocity; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β are the α-axis and β-axis currents in the stationary coordinate system; e α 、e β They are the back electromotive force of the α and β axes in the stationary coordinate system.

[0116] Further, such as Figure 4 As shown, the second determination unit 33 is specifically used to calculate the rotor angle and rotor angular velocity of the drive motor based on the back electromotive force and the preset phase-locked loop equation group;

[0117] Wherein, the phase-locked loop algorithm equation group includes:

[0118]

[0119]

[0120] Among them, e α 、e β are the back electromotive force of the α and β axes in the stationary coordinate system; θ is the rotor angle; ω is the rotor angular velocity of the motor.

[0121] Further, such as Figure 4 As shown, the device also includes:

[0122] The first execution unit 34 is used to increase the d-axis current through the stator winding control module and / or the excitation current through the excitation control module based on a preset equal torque curve, if it is determined that the operating state of the segment motor is abnormal based on the rotor angle and the rotor angular velocity, so as to increase the back electromotive force of the motor.

[0123] Further, such as Figure 4 As shown, the device also includes:

[0124] The second execution unit 35 is used to increase the excitation current through the excitation control module so as to increase the excitation magnetic flux when it is determined that the drive motor is in a low speed state.

[0125] Further, such as Figure 4 As shown, the device also includes:

[0126] a third execution unit 36, configured to execute a target operation through an excitation control module when it is determined that the drive motor is in a high speed state, wherein the target operation includes a first operation, a second operation and a third operation;

[0127] The first operation may be used to turn off the excitation current through the excitation control mode; the second operation may be used to reduce the excitation current through the excitation control mode; and the third operation may be used to increase the excitation current through the excitation control mode.

[0128] In some embodiments, the present application also provides a vehicle-mounted drive motor detection device, such as Figure 5 As shown, including:

[0129] A motor controller and a processing module, wherein the motor controller includes a stator winding control module and an excitation control module;

[0130] The stator winding control module is provided with a three-phase full-bridge circuit structure composed of 6 IGBT power modules, which is used for real-time acquisition and control of the stator three-phase current (U, V, W), wherein the three-phase current includes the d-axis current;

[0131] The excitation control module is provided with an H-bridge circuit structure composed of four IGBT power modules, which is used to collect the excitation current and implement current feedback control on the excitation current so as to control the generated excitation magnetic flux;

[0132] Wherein, each of the IGBT power modules includes an IGBT chip and a freewheeling diode; the IGBT chip and the freewheeling diode are connected in parallel;

[0133] The processing module is used to determine the rotor position of the drive motor based on the d-axis current and the excitation current in combination with a preset extended back-electromotive force equation, and to determine the operating state of the drive motor based on the rotor position and the rotor angle and rotor angular velocity determined by a phase-locked loop control algorithm.

[0134] like Figure 5 As shown, specifically, the stator winding control module is composed of 6 IGBT power modules, each of which includes 1 IGBT chip and 1 freewheeling diode (FWD) for real-time control of the stator three-phase current (U, V, W). In addition, the excitation control module is composed of 4 IGBT power modules (①-④) to form an H-bridge circuit to control the current of the excitation control module, mainly for current feedback control of the excitation current to achieve the required excitation flux.

[0135] Specifically, in the process of controlling the excitation current, when the H-bridge control circuit ①, ④ is ON and ②, ③ is OFF, the excitation current in the excitation winding is positive, which can realize the magnetization control of the air gap magnetic field flux; and when ②, ③ is ON and ①, ④ is OFF, the excitation current in the excitation winding is negative, which can realize the weakening magnetic field control of the air gap magnetic field flux.

[0136] The embodiment of the present application provides a detection method, device and equipment for a vehicle-mounted drive motor, which is applied to the detection equipment of the vehicle-mounted drive motor, wherein the detection equipment of the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; in the present application, the excitation current is firstly obtained by the excitation control module, and the d-axis current is obtained by the stator winding control module; then, the rotor position of the drive motor is determined based on the excitation current and the d-axis current using a preset extended back-electromotive force equation; wherein the preset extended back-electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; finally, the rotor angle and rotor angular velocity of the drive motor are calculated based on the rotor position and a phase-locked loop control algorithm, and the operating state of the drive motor is determined based on the rotor angle and the rotor angular velocity, thereby realizing the detection function of the vehicle-mounted drive motor. Compared with the prior art, the present application can directly detect the operating status of the motor based on the d-axis current and the excitation current during the detection process of the vehicle-mounted drive motor. That is to say, during the entire detection process, it is no longer necessary to use sensors and other equipment to directly detect the drive motor. This avoids the situation in which the prior art relies on dedicated sensors when detecting the motor operating status of the vehicle-mounted drive motor, thereby avoiding the problem that the motor operating status detection function cannot be smoothly performed when the sensor is abnormal or fails, thereby ensuring that no matter what state the sensor is in, the detection function of the vehicle-mounted drive motor can be achieved based on the method of the present application.

[0137] In addition, in the present application, the motor controller and processing module, wherein the motor controller includes a stator winding control module and an excitation control module; the stator winding control module is provided with a three-phase full-bridge circuit structure composed of 6 IGBT power modules, which is used for real-time acquisition and control of the stator three-phase current, and the three-phase current includes the d-axis current; the excitation control module is provided with an H-bridge circuit structure composed of 4 IGBT power modules, which is used for acquiring the excitation current and implementing current feedback control on the excitation current so as to control the generated excitation flux; wherein each of the IGBT power modules includes an IGBT chip and a freewheeling diode; the IGBT chip and the freewheeling diode are connected in parallel; the processing module is used to determine the rotor position of the drive motor based on the d-axis current and the excitation current, combined with a preset extended back-electromotive equation, and determine the operating state of the drive motor based on the rotor position and the rotor angle and rotor angular velocity determined by the phase-locked loop control algorithm. That is to say, with the motor controller of the present application, the d-axis current of the drive motor can be directly collected based on the stator winding control module, and the excitation current can be directly collected based on the excitation control module. In this way, the rotor position of the motor can be realized based on these two currents, and the detection function of the drive motor can be realized based on the rotor position. Compared with the prior art, no sensor is required for detection, which solves the problem of failure to smoothly perform the detection function due to sensor abnormality or failure.

[0138] An embodiment of the present application also provides a detection device for a vehicle-mounted drive motor, the device comprising a storage medium; and one or more processors, the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are executed, the above-mentioned vehicle-mounted drive motor detection method is executed.

[0139] The embodiment of the present application provides a device, which is applied to a detection device for a vehicle-mounted drive motor. The detection device for the vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; wherein the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the following steps when executing the program: obtaining the excitation current through the excitation control module, and obtaining the d-axis current through the stator winding control module; determining the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back-electromotive force equation; wherein the preset extended back-electromotive force equation is obtained by converting a voltage equation in a stationary coordinate system into a form containing rotor position angle information; calculating the rotor angle and rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0140] Furthermore, the determining of the rotor position of the drive motor based on the excitation current and the d-axis current by using a preset extended back electromotive force equation comprises:

[0141] The rotor excitation winding voltage and the rotor excitation winding magnetic field are calculated based on the excitation current;

[0142] Based on the rotor excitation winding voltage and the rotor excitation winding magnetic field, converting through the voltage equation in the stationary coordinate system, obtaining an equation containing a back electromotive force, recorded as a preset extended back electromotive force equation, and determining the back electromotive force of the drive motor based on the preset extended back electromotive force equation;

[0143] Wherein, the back electromotive force is used to characterize the rotor position;

[0144] The preset extended back electromotive force equation includes:

[0145]

[0146] Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; ω is the motor rotor electrical angular velocity; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β are the α-axis and β-axis currents in the stationary coordinate system; e α 、e β They are the back electromotive force of the α and β axes in the stationary coordinate system.

[0147] Further, the calculating of the rotor angle and the rotor angular velocity of the drive motor based on the rotor position and the phase-locked loop control algorithm includes:

[0148] Calculating the rotor angle and rotor angular velocity of the drive motor based on the back electromotive force and a preset phase-locked loop equation group;

[0149] Wherein, the phase-locked loop algorithm equation group includes:

[0150]

[0151]

[0152] Among them, e α 、e β are the back electromotive force of the α and β axes in the stationary coordinate system; θ is the rotor angle; ω is the rotor angular velocity of the motor.

[0153] Further, after determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes:

[0154] If it is determined that the operating state of the segment motor is abnormal based on the rotor angle and the rotor angular velocity, based on the preset equal torque curve, the d-axis current is increased through the stator winding control module and / or the excitation current is increased through the excitation control module to increase the back electromotive force of the motor.

[0155] Further, after determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes:

[0156] When it is determined that the drive motor is in a low speed state, the excitation current is increased through the excitation control module to increase the excitation magnetic flux.

[0157] Further, after determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes:

[0158] When it is determined that the drive motor is in a high speed state, a target operation is performed by an excitation control module, wherein the target operation includes a first operation, a second operation and a third operation;

[0159] The first operation is used to turn off the excitation current through the excitation control mode; the second operation is used to reduce the excitation current through the excitation control mode; and the third operation is used to increase the excitation current through the excitation control mode.

[0160] The present application also provides a computer program product, which is applied to a detection device for a vehicle-mounted drive motor, wherein the detection device for the vehicle-mounted drive motor is provided with a motor controller, wherein the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; wherein. When executed on a data processing device, it is suitable for executing a program code having the following method steps for initialization: obtaining the excitation current through the excitation control module, and obtaining the d-axis current through the stator winding control module; determining the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; calculating the rotor angle and rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity.

[0161] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0162] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0166] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0167] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0168] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0169] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0170] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for detecting a vehicle drive motor, characterized in that: A detection device for a vehicle-mounted drive motor is provided with a motor controller, and the motor controller includes a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; and the method includes: The excitation current is obtained through the excitation control module, and the d-axis current is obtained through the stator winding control module; The rotor position of the drive motor is determined based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; The rotor angle and the rotor angular velocity of the drive motor are calculated based on the rotor position and a phase-locked loop control algorithm, and the operating state of the drive motor is determined based on the rotor angle and the rotor angular velocity.

2. The method according to claim 1, characterized in that The method of determining the rotor position of the drive motor based on the excitation current and the d-axis current by using a preset extended back electromotive force equation comprises: The rotor excitation winding voltage and the rotor excitation winding magnetic field are calculated based on the excitation current; Based on the rotor excitation winding voltage and the rotor excitation winding magnetic field, converting through the voltage equation in the stationary coordinate system, obtaining an equation containing a back electromotive force, recorded as a preset extended back electromotive force equation, and determining the back electromotive force of the drive motor based on the preset extended back electromotive force equation; Wherein, the back electromotive force is used to characterize the rotor position; The preset extended back electromotive force equations include: Among them, V α 、V β are the motor voltages of the α and β axes in the stationary coordinate system; R a is the motor phase resistance; ω is the motor rotor electrical angular velocity; L d is the d-axis inductance of the stator winding; L q Stator winding q-axis inductance; i α 、i β are the α-axis and β-axis currents in the stationary coordinate system; e α 、e β They are the back electromotive force of the α and β axes in the stationary coordinate system.

3. The method according to claim 2, characterized in that The calculating the rotor angle and the rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm comprises: Calculating the rotor angle and rotor angular velocity of the drive motor based on the back electromotive force and a preset phase-locked loop equation group; Wherein, the phase-locked loop algorithm equation group includes: Among them, e α 、e β are the back electromotive force of the α and β axes in the stationary coordinate system; θ is the rotor angle; ω is the rotor angular velocity of the motor.

4. The method according to claim 3, characterized in that After determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes: If it is determined that the operating state of the segment motor is abnormal based on the rotor angle and the rotor angular velocity, based on the preset equal torque curve, the d-axis current is increased through the stator winding control module and / or the excitation current is increased through the excitation control module to increase the back electromotive force of the motor.

5. The method according to claim 3, characterized in that: After determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes: When it is determined that the drive motor is in a low speed state, the excitation current is increased through the excitation control module to increase the excitation magnetic flux.

6. The method according to claim 3, characterized in that: After determining the operating state of the drive motor based on the rotor angle and the rotor angular velocity, the method further includes: When it is determined that the drive motor is in a high speed state, a target operation is performed by an excitation control module, wherein the target operation includes a first operation, a second operation and a third operation; The first operation is used to turn off the excitation current through the excitation control mode; the second operation is used to reduce the excitation current through the excitation control mode; and the third operation is used to increase the excitation current through the excitation control mode.

7. A detection device for a vehicle-mounted drive motor, characterized in that: A detection device for a vehicle-mounted drive motor, wherein the detection device is provided with a motor controller, wherein the motor controller comprises a stator winding control module and an excitation control module; wherein the stator winding control module is used to collect and control the d-axis current; and the excitation control module is used to collect and control the excitation current; and the device comprises: An acquisition unit, used to acquire the excitation current through the excitation control module, and acquire the d-axis current through the stator winding control module; A first determination unit is used to determine the rotor position of the drive motor based on the excitation current and the d-axis current using a preset extended back electromotive force equation; wherein the preset extended back electromotive force equation is obtained by converting a voltage equation based on a stationary coordinate system into a form containing rotor position angle information; The second determining unit is used to calculate the rotor angle and the rotor angular velocity of the drive motor based on the rotor position and a phase-locked loop control algorithm, and determine the operating state of the drive motor based on the rotor angle and the rotor angular velocity.

8. A vehicle-mounted drive motor detection device, characterized in that: include: A motor controller and a processing module, wherein the motor controller includes a stator winding control module and an excitation control module; The stator winding control module is provided with a three-phase full-bridge circuit structure composed of 6 IGBT power modules, which is used for real-time acquisition and control of the stator three-phase current, wherein the three-phase current includes the d-axis current; The excitation control module is provided with an H-bridge circuit structure composed of four IGBT power modules, which is used to collect the excitation current and implement current feedback control on the excitation current so as to control the generated excitation magnetic flux; Wherein, each of the IGBT power modules comprises an IGBT chip and a freewheeling diode; the IGBT chip and the freewheeling diode are connected in parallel; The processing module is used to determine the rotor position of the drive motor based on the d-axis current and the excitation current in combination with a preset extended back-electromotive force equation, and to determine the operating state of the drive motor based on the rotor position and the rotor angle and rotor angular velocity determined by a phase-locked loop control algorithm.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the detection method for the vehicle-mounted drive motor according to any one of claims 1 to 6.

10. A detection device for a vehicle-mounted drive motor, characterized in that: The device includes a storage medium; and one or more processors, the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are executed, the detection method for the vehicle drive motor described in any one of claims 1 to 6 is executed.

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