Safety redundancy control method, system and equipment of combined magnetic field six-phase motor and medium thereof

Abstract

The invention provides a safety redundancy control method, system and device for a combined magnetic field six-phase motor and a medium thereof, and the method comprises the following steps: 1, monitoring the operation state of the combined magnetic field six-phase motor in real time in a multi-dimensional manner, and obtaining the real-time operation parameters of the combined magnetic field six-phase motor; according to the invention, through multi-dimensional real-time monitoring of the operation state of the motor and an advanced intelligent diagnosis algorithm, more accurate and faster fault diagnosis is realized, and the reliability and safety of the motor are greatly improved; the redundancy strategy is dynamically selected according to the fault condition and the motor operation state, so that the fault-tolerant capability is improved, and the influence of the fault on the motor performance is reduced; through the adaptive optimization control strategy, it is ensured that the motor always keeps the optimal output performance and safety under the fault condition, the usability and adaptability of the motor are improved, the system can continuously improve the performance of the system and adapt to different working environments and fault conditions, and stronger vitality and competitiveness are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a safety redundant control method, system, device and medium thereof for a combined magnetic field six-phase motor. Background Art

[0002] With the rapid development of industrial technology, motors, as one of the core components of modern industry, have become increasingly prominent in many key fields. In advanced fields such as aerospace, intelligent manufacturing, and new energy vehicles, the performance of motors is directly related to the operating efficiency and stability of the entire system. The combined magnetic field six-phase motor stands out among many motor types with its unique advantages. It has high power density and can output powerful power in a limited space to meet the needs of various high-load applications. At the same time, its excellent dynamic performance enables the motor to perform excellently under conditions of rapid response and frequent start-stop, providing reliable power support for high-precision control systems. Therefore, the combined magnetic field six-phase motor has become the core power source of many advanced equipment and is widely used in important fields such as high-end manufacturing, transportation, and energy development. However, traditional motor control methods have gradually exposed many shortcomings in the face of today's complex and changeable working environment and various possible faults:

[0003] 1. In a complex and changing working environment, the motor may be affected by factors such as high temperature, high humidity, and strong electromagnetic interference, which will pose serious challenges to the performance and reliability of the motor;

[0004] Second, as the motor runs longer, various faults may gradually appear. For example, when a sensor fails, the motor control system will not be able to accurately obtain the motor's operating status information, resulting in reduced control accuracy and even unstable system operation. Power device failure is also a common problem. Once a power device has a short circuit, open circuit or other faults, the output power of the motor system will be seriously affected, which may cause the motor performance to drop sharply or even shut down.

[0005] 3. In the production field, motor failure may cause the production line to stop working, resulting in huge economic losses; in the field of life, motor failure may affect the normal operation of important infrastructure such as transportation and energy supply, causing inconvenience to people's lives;

[0006] To this end, a safety redundant control method, system, device and medium of a combined magnetic field six-phase motor are proposed. Summary of the invention

[0007] In view of this, the embodiments of the present invention hope to provide a safety redundant control method, system, device and medium of a combined magnetic field six-phase motor to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0008] In order to solve the above technical problems, a technical solution adopted in the present application is: a safety redundant control method of a combined magnetic field six-phase motor, comprising the following steps:

[0009] Step 1: Monitor the operating status of the combined magnetic field six-phase motor in real time in multiple dimensions to obtain real-time operating parameters of the combined magnetic field six-phase motor;

[0010] Step 2: pre-process the real-time operation data and transmit it to the control center of the combined magnetic field six-phase motor for analysis and processing;

[0011] Step 3: Based on the intelligent diagnosis algorithm of the control center, a comprehensive analysis of the real-time operating parameters is performed in combination with historical data and real-time dynamic changes to determine whether the combined magnetic field six-phase motor has a fault and determine the type of fault;

[0012] Step 4: intelligently select a safe redundant control mode from a plurality of preset redundant control schemes according to the type of fault and the real-time operating condition of the combined magnetic field six-phase motor;

[0013] Step 5: In the safety redundant control mode, the control parameter range and weight are automatically adjusted using the adaptive optimization control strategy according to the real-time operating parameters of the motor and the type of fault, and the combined magnetic field six-phase motor is reconfigured and controlled;

[0014] Step 6: Monitor and evaluate the reconfigured and controlled combined field six-phase motor in real time, discover the change of faults and the emergence of new faults in time, and collect operation data to analyze the effect of safety redundant control;

[0015] Step 7. If the fault is effectively resolved and the combined magnetic field six-phase motor resumes normal operation, gradually exit the safety redundant control mode and return to normal control; if the fault still exists or a new fault occurs, continue to intelligently select the safety redundant control mode from a variety of preset redundant control schemes.

[0016] As a further preferred embodiment of the present technical solution, in step one, the real-time operating parameters of the combined magnetic field six-phase motor include electrical parameters, mechanical parameters and magnetic field parameters; the electrical parameters include current, voltage, power, frequency and position; the mechanical parameters include speed, torque, vibration, temperature and acceleration; the magnetic field parameters include magnetic field strength and magnetic flux.

[0017] As a further preferred embodiment of the present technical solution, in step 2, the preprocessing of the real-time operation data includes data cleaning, data normalization and data compression processing; wherein, the current, voltage, power and frequency in the electrical parameters are judged as abnormal values ​​by setting a threshold range, and if the current, voltage, power or frequency value exceeds ±10% of the normal working range, it is regarded as an abnormal value and eliminated;

[0018] The vibration data in the mechanical parameters uses a filtering algorithm to remove high-frequency noise. The vibration value calculation formula after filtering is as follows:

[0019]

[0020] Among them, V(t) is the original vibration value, w(n) is the filter weight coefficient, and N is the filter window size;

[0021] The power data in the electrical parameters uses the maximum and minimum normalization method, and the normalized power value calculation formula is:

[0022]

[0023] Among them, P is the original power value, P min is the minimum value of the power data, P max This is the maximum value of the power data.

[0024] The speed in the mechanical parameters is normalized using the mean variance method, and the normalized speed value calculation formula is:

[0025]

[0026] Among them, R is the original speed value, μ R is the mean value of the speed data, σ R is the standard deviation of the speed data;

[0027] Data compression uses a lossless compression algorithm, and the data compression ratio calculation formula is:

[0028]

[0029] The transmission method to the control center of the combined magnetic field six-phase motor includes wired transmission and wireless transmission. The wired transmission performs data transmission through a cable or optical fiber physical medium, and the wireless transmission performs data transmission through Wi-Fi, Bluetooth or Zigbee wireless communication technology.

[0030] As a further preferred embodiment of the present technical solution, in step three, the intelligent diagnosis algorithm includes a machine learning algorithm or a deep learning algorithm, which is used to perform pattern recognition and anomaly detection on real-time operating parameters. The machine learning algorithm or deep learning algorithm should be trained with a specific number of samples, and the training data contains different fault types and operating conditions.

[0031] As a further preferred embodiment of the present technical solution, in step 4, the method for intelligently selecting a safety redundant control mode comprises the following steps:

[0032] Step 1: Use machine learning algorithms to perform pattern recognition on fault types and real-time operating conditions, and select the most appropriate solution from the preset redundant control solutions based on the recognition results;

[0033] Step 2: according to the fault type and the severity of the real-time operating condition, different priorities are set, and the redundant control scheme with the least impact on the performance of the combined field six-phase motor is preferentially selected;

[0034] Step 3: monitor the key performance indicators of the combined field six-phase motor in real time, and dynamically adjust the redundant control scheme according to the changing trends of these indicators;

[0035] The various preset redundant control schemes include but are not limited to at least one of the following:

[0036] Cut off the three-phase system to which the faulty phase belongs and enable the remaining three-phase system to continue operation;

[0037] Only the faulty phase is cut off, and the current and voltage of the remaining phases are adjusted to maintain the stable operation of the motor;

[0038] Enable the backup phase to replace the faulty phase, and adjust the control strategy to adapt to the new motor structure;

[0039] Dynamically adjust the current distribution of each phase to compensate for the performance loss caused by the faulty phase.

[0040] As a further preferred embodiment of the present technical solution, in step five, the adaptive optimization control strategy includes an adaptive strategy based on model predictive control, an adaptive strategy based on reinforcement learning, and an adaptive strategy based on fuzzy logic.

[0041] As a further preferred embodiment of the present technical solution, in step 6, the method for discovering changes in faults and occurrence of new faults comprises the following steps:

[0042] Step S1: set a fault warning threshold. If the real-time monitored data exceeds the threshold, a fault warning is triggered;

[0043] Step S2: Use machine learning algorithms to perform pattern recognition on the real-time monitored data to detect potential failure trends and abnormal patterns;

[0044] Step S3: Record and classify the detected fault changes and new faults for subsequent analysis and processing;

[0045] The collection of operating data to analyze the effect of safety redundant control includes comparing motor performance data before and after the safety redundant control mode is enabled, analyzing the impact of the safety redundant control mode on the motor operating cost, and evaluating the effectiveness and economy of the safety redundant control mode.

[0046] To solve the above technical problems, another technical solution adopted in the present application is: a safety redundant control system of a combined magnetic field six-phase motor, comprising: a data acquisition module, a data preprocessing module, a fault diagnosis module, a scheme selection module, an adaptive control module, a real-time monitoring and evaluation module and a communication module;

[0047] The data acquisition module is used for real-time multi-dimensional acquisition of real-time operating parameters of the combined magnetic field six-phase motor, wherein the real-time operating parameters include electrical parameters, mechanical parameters and magnetic field parameters; the data acquisition module is composed of a plurality of sensors;

[0048] The data preprocessing module is used to perform data cleaning, data normalization and data compression on the collected real-time operation data, and transmit the processed data to the control center module;

[0049] The fault diagnosis module is used to perform a comprehensive analysis on the pre-processed real-time operating parameters based on an intelligent diagnosis algorithm to determine whether the combined magnetic field six-phase motor has a fault and determine the type of fault;

[0050] The scheme selection module is used to intelligently select a safe redundant control mode from a plurality of preset redundant control schemes according to the fault type and the real-time operating conditions;

[0051] The adaptive control module is used to automatically adjust the control parameter range and weight by using the adaptive optimization control strategy in the safety redundant control mode to reconfigure and control the combined magnetic field six-phase motor;

[0052] The real-time monitoring and evaluation module is used to monitor the reconfigured and controlled combined magnetic field six-phase motor in real time, promptly detect the change of faults and the emergence of new faults, and collect operation data for safety redundant control effect analysis;

[0053] The communication module is used for data transmission between various modules of the system, including transmitting the collected data to the control center module, and transmitting the instructions of the control center module to the motor actuator.

[0054] To solve the above technical problems, another technical solution adopted in the present application is: a computer device, which includes a processor and a memory coupled to the processor, wherein program instructions are stored in the memory, and when the program instructions are executed by the processor, the processor executes a safety redundant control method for a combined magnetic field six-phase motor as described above.

[0055] In order to solve the above technical problems, another technical solution adopted by the present application is: a storage medium storing program instructions capable of implementing a safety redundant control method for a combined magnetic field six-phase motor as described above.

[0056] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0057] 1. The present invention realizes more accurate and faster fault diagnosis through multi-dimensional real-time monitoring of the motor's operating status and advanced intelligent diagnosis algorithms, greatly improving the reliability and safety of the motor;

[0058] 2. The present invention improves fault tolerance and reduces the impact of faults on motor performance by dynamically selecting a redundancy strategy based on the fault condition and motor operating status;

[0059] 3. The present invention ensures that the motor always maintains the best output performance and safety in the event of a fault through an adaptive optimization control strategy, thereby improving the availability and adaptability of the motor, enabling the system to continuously improve its own performance, adapt to different working environments and fault conditions, and have stronger vitality and competitiveness.

[0060] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 It is a flow chart of a safety redundant control method of a combined magnetic field six-phase motor of the present invention;

[0063] Figure 2 A schematic diagram of a flow chart of a method for intelligently selecting a safety redundant control mode according to the present invention;

[0064] Figure 3 A schematic diagram of a flow chart of a method for discovering fault changes and new fault occurrences according to the present invention;

[0065] Figure 4 It is a functional module schematic diagram of a safety redundant control system of a combined magnetic field six-phase motor of the present invention;

[0066] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention.

[0067] In the figure: 100, computer equipment; 102, processor; 104, memory; 106, transmission device. DETAILED DESCRIPTION

[0068] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0069] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0070] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0071] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0072] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0073] Embodiment 1

[0074] Figure 1 FIG. 1 is a flow chart of a safety redundant control method for a combined magnetic field six-phase motor according to an embodiment of the present invention. It should be noted that if there are substantially the same results, the method of the present application is not limited to the method of FIG. Figure 1 The process sequence shown is limited. Figure 1-Figure 3 As shown: A safety redundant control method for a combined magnetic field six-phase motor, comprising the following steps:

[0075] Step 1: Monitor the operating status of the combined magnetic field six-phase motor in real time in multiple dimensions to obtain real-time operating parameters of the combined magnetic field six-phase motor;

[0076] Step 2: pre-process the real-time operation data and transmit it to the control center of the combined magnetic field six-phase motor for analysis and processing;

[0077] Specifically: First, according to the requirements of the control center and the communication environment, select the appropriate communication protocol, for example, use TCP / IP protocol for network communication to ensure the reliability and stability of data transmission; then, transmit the pre-processed data to the control center in real time for timely analysis and processing. For large amounts of data, batch transmission can be used to transmit the data to the control center in batches; at the same time, monitor the data transmission process in real time to ensure that the data can be accurately and completely transmitted to the control center, and issue alarms and handle transmission failures or data loss in a timely manner; finally, the control center receives the transmitted data, parses it, converts the data into a format that can be recognized by the control center, and stores it in the corresponding database;

[0078] Step 3: Based on the intelligent diagnosis algorithm of the control center, a comprehensive analysis of the real-time operating parameters is performed in combination with historical data and real-time dynamic changes to determine whether the combined magnetic field six-phase motor has a fault and determine the type of fault;

[0079] Among them, the intelligent diagnosis algorithm is a fault diagnosis method based on artificial intelligence technology. It uses advanced algorithms and models to process and analyze motor operation data to achieve accurate diagnosis of motor faults. These algorithms usually include advanced technologies such as machine learning, neural networks, and deep learning. They can automatically learn the operating laws and fault characteristics of the motor, thereby achieving intelligent diagnosis of motor faults.

[0080] Comprehensive analysis process:

[0081] First, the real-time operating parameters and historical data of the motor are obtained from the control center, and the data is pre-processed by cleaning, formatting and other operations to ensure the accuracy and consistency of the data;

[0082] Then, characteristic information related to motor faults is extracted from real-time operating parameters. The characteristic information may include abnormal changes in current, voltage, temperature, vibration and other parameters.

[0083] Next, the intelligent diagnosis algorithm is trained using historical data to learn the normal operation rules and fault characteristics of the motor, and the model is verified using a validation data set to ensure the accuracy and reliability of the model;

[0084] Finally, the real-time operating parameters are input into the trained intelligent diagnosis model, and the model outputs the fault type and fault probability based on the input data;

[0085] Step 4: intelligently select a safe redundant control mode from a plurality of preset redundant control schemes according to the type of fault and the real-time operating condition of the combined magnetic field six-phase motor;

[0086] Among them, the redundant control scheme includes:

[0087] Electrical redundancy solutions: such as spare windings, overcurrent protection devices, etc.

[0088] Mechanical redundancy solutions: such as spare bearings, rotor balancing adjustment devices, etc.

[0089] Magnetic field redundancy solutions: such as magnetic field regulator, magnetic field sensor redundancy, etc.;

[0090] Control redundancy scheme: such as backup sensors, controller redundancy design, etc.;

[0091] Step 5: In the safety redundant control mode, the control parameter range and weight are automatically adjusted using the adaptive optimization control strategy according to the real-time operating parameters of the motor and the type of fault, and the combined magnetic field six-phase motor is reconfigured and controlled;

[0092] Among them, the safety redundant control mode is a method of introducing redundant components and control strategies into the motor control system to improve the reliability and safety of the system. When the motor fails, the safety redundant control mode can ensure that the system can continue to operate and minimize the impact on production;

[0093] Adaptive optimization control strategy is a method that can automatically adjust control parameters according to the real-time operating parameters and fault types of the motor. It uses advanced algorithms and models to monitor and analyze the operating status of the motor in real time, and automatically adjusts control parameters according to the analysis results to achieve optimal control of the motor.

[0094] Step 6: Real-time monitoring and evaluation of the reconfigured and controlled combined magnetic field six-phase motor can timely detect changes in faults and the emergence of new faults, and collect operating data to analyze the effect of safety redundant control; Real-time monitoring and evaluation of the reconfigured and controlled combined magnetic field six-phase motor can timely detect changes in faults and the emergence of new faults, and collect operating data to analyze the effect of safety redundant control. This helps to ensure the continuous and stable operation of the motor and improve production efficiency and safety;

[0095] Step 7. If the fault is effectively resolved and the combined magnetic field six-phase motor resumes normal operation, gradually exit the safety redundant control mode and return to conventional control; if the fault still exists or a new fault occurs, continue to intelligently select the safety redundant control mode from a variety of preset redundant control schemes; among them, when exiting the safety redundant control mode or switching to a new redundant control scheme, the transition process should be ensured to be smooth to avoid unnecessary impact on the motor; regardless of whether the motor is in the safety redundant control mode or the conventional control mode, it should be continuously monitored and evaluated to promptly discover and deal with potential fault hazards to ensure the long-term stable operation of the motor; based on the actual operating conditions and data analysis results, continuously optimize the redundant control strategy and improve the diversity and flexibility of the redundant control scheme to better cope with different types of faults.

[0096] In one embodiment, specifically, in step 1, the real-time operating parameters of the combined magnetic field six-phase motor include electrical parameters, mechanical parameters and magnetic field parameters; the electrical parameters include current, voltage, power, frequency and position;

[0097] Current: including the amplitude and phase of the six-phase current. These parameters reflect the load and operating status of the motor and are crucial for the control and protection of the motor.

[0098] Voltage: The magnitude and phase of the six-phase voltage. Voltage parameters can help determine the power supply condition of the motor and the stability of the electrical system;

[0099] Power: active power, reactive power and apparent power. Power parameters can reflect the load capacity and energy efficiency of the motor.

[0100] Frequency: The operating frequency of the motor, which is usually related to the power supply frequency. The stability of the frequency has an important impact on the performance and control accuracy of the motor;

[0101] Position: The position information of the motor rotor is very important for applications that require precise position control;

[0102] Mechanical parameters include speed, torque, vibration, temperature and acceleration;

[0103] Speed: The rotation speed of the motor, usually measured in revolutions per minute (RPM). The speed parameter is one of the important indicators of motor control and can reflect the output power and load conditions of the motor.

[0104] Torque: The torque output by the motor. The torque parameter can reflect the load capacity of the motor and the operating status of the mechanical system;

[0105] Vibration: The vibration amplitude and frequency of the motor. The vibration parameters can reflect whether the motor's mechanical structure is normal, and whether there are problems such as imbalance and looseness;

[0106] Temperature: The temperature of various parts of the motor, such as stator winding temperature, bearing temperature, etc. The temperature parameters can reflect the heat dissipation and operating status of the motor, which is very important for the protection and life prediction of the motor;

[0107] Acceleration: The acceleration of the motor is very important for applications that require fast response and dynamic control;

[0108] Magnetic field parameters include magnetic field strength and magnetic flux;

[0109] Magnetic field strength: The strength of the magnetic field inside the motor. The magnetic field strength parameter can reflect the magnetic circuit design and operating status of the motor, and has an important impact on the performance and efficiency of the motor;

[0110] Magnetic flux: The flux size of the magnetic field inside the motor. The magnetic flux parameters can reflect the magnetic circuit design and operating status of the motor, and have an important impact on the performance and efficiency of the motor.

[0111] In one embodiment, specifically, in step 2, preprocessing the real-time operation data includes data cleaning, data normalization and data compression processing; wherein, the current, voltage, power and frequency in the electrical parameters are judged as abnormal values ​​by setting a threshold range, and if the current, voltage, power or frequency value exceeds ±10% of the normal working range, it is regarded as an abnormal value and removed;

[0112] The vibration data in the mechanical parameters uses a filtering algorithm to remove high-frequency noise. The vibration value calculation formula after filtering is as follows:

[0113]

[0114] Among them, V(t) is the original vibration value, w(n) is the filter weight coefficient, and N is the filter window size;

[0115] The power data in the electrical parameters uses the maximum and minimum normalization method, and the normalized power value calculation formula is:

[0116]

[0117] Among them, P is the original power value, P min is the minimum value of the power data, P max This is the maximum value of the power data.

[0118] The speed in the mechanical parameters is normalized using the mean variance method, and the normalized speed value calculation formula is:

[0119]

[0120] Among them, R is the original speed value, μ R is the mean value of the speed data, σ R is the standard deviation of the speed data;

[0121] Data compression uses a lossless compression algorithm, and the data compression ratio calculation formula is:

[0122]

[0123] The transmission methods to the control center of the combined magnetic field six-phase motor include wired transmission and wireless transmission. The wired transmission transmits data through cable or optical fiber physical media, and the wireless transmission transmits data through Wi-Fi, Bluetooth or Zigbee wireless communication technology.

[0124] In one embodiment, specifically, in step three, the intelligent diagnosis algorithm includes a machine learning algorithm or a deep learning algorithm, which is used to perform pattern recognition and anomaly detection on real-time operating parameters. The machine learning algorithm or the deep learning algorithm should be trained with a specific number of samples, and the training data contains different fault types and operating conditions; specifically, a suitable machine learning algorithm is selected, such as support vector machine (SVM), random forest, K-nearest neighbor (KNN), etc., for pattern recognition and anomaly detection on real-time operating parameters; deep learning algorithm: consider using algorithms such as convolutional neural network (CNN), recurrent neural network (RNN) or long short-term memory network (LSTM), etc., which perform well in processing complex data and high-dimensional features.

[0125] In one embodiment, specifically, in step 4, the method for intelligently selecting a safety redundant control mode includes the following steps:

[0126] Step 1: Use machine learning algorithms to perform pattern recognition on fault types and real-time operating conditions, and select the most appropriate solution from preset redundant control solutions based on the recognition results; wherein the preset solutions include different control strategies, control parameter adjustment ranges, activation of standby motors or components, etc.;

[0127] Step 2. According to the fault type and the severity of the real-time operating condition, different priorities are set, and the redundant control scheme with the least impact on the performance of the combined magnetic field six-phase motor is preferentially selected; wherein, the priority setting should ensure that in the event of a fault, the redundant control scheme with the least impact on the performance of the combined magnetic field six-phase motor is preferentially selected, which helps to minimize the impact on production efficiency and equipment life while ensuring the safe operation of the motor;

[0128] Step 3: Monitor the key performance indicators of the combined field six-phase motor in real time, and dynamically adjust the redundant control scheme according to the changing trends of these indicators; if the indicators show that the motor performance is gradually recovering or remaining stable, consider gradually reducing the use of redundant control elements; if the indicators show that the performance is still deteriorating or there is a new risk of failure, it is necessary to adjust the control strategy in time or enable a higher level of redundant control scheme.

[0129] The various preset redundant control schemes include but are not limited to at least one of the following:

[0130] Cut off the three-phase system to which the faulty phase belongs and enable the remaining three-phase system to continue operation;

[0131] Only the faulty phase is cut off, and the current and voltage of the remaining phases are adjusted to maintain the stable operation of the motor;

[0132] Enable the backup phase to replace the faulty phase, and adjust the control strategy to adapt to the new motor structure;

[0133] Dynamically adjust the current distribution of each phase to compensate for the performance loss caused by the faulty phase.

[0134] In one embodiment, specifically, in step five, the adaptive optimization control strategy includes an adaptive strategy based on model predictive control, an adaptive strategy based on reinforcement learning, and an adaptive strategy based on fuzzy logic; wherein, the adaptive strategy based on model predictive control dynamically adjusts the control parameters by predicting the future state of the motor; the adaptive strategy based on reinforcement learning optimizes the control parameters through continuous trials and feedback; the adaptive strategy based on fuzzy logic adjusts the control parameters according to fuzzy rules and real-time operating parameters.

[0135] In one embodiment, specifically, in step six, the method for discovering a change in a fault and the occurrence of a new fault includes the following steps:

[0136] Step S1, setting a fault warning threshold. If the real-time monitored data exceeds the threshold, a fault warning is triggered; wherein the fault warning threshold includes the upper and lower limits of key parameters such as current, voltage, temperature, and vibration; the warning mechanism includes sound and light alarms, sending text messages or emails to notify relevant personnel, etc.;

[0137] Step S2: Use machine learning algorithms to perform pattern recognition on the real-time monitored data to detect potential fault trends and abnormal patterns; through the output results of the algorithm, identify abnormal data points or data sequences that are significantly different from the normal operating mode, which may indicate changes in faults or the occurrence of new faults;

[0138] Step S3, record and classify the detected fault changes and new faults for subsequent analysis and processing; formulate corresponding treatment measures and emergency plans based on the classification results. For urgent or serious faults, the corresponding processing procedures should be started immediately to ensure the safe operation of the motor and the continuity of production.

[0139] Collecting operating data to analyze the effects of safety redundant control includes comparing motor performance data before and after the safety redundant control mode is enabled, analyzing the impact of the safety redundant control mode on the motor operating cost, and evaluating the effectiveness and economy of the safety redundant control mode.

[0140] Embodiment 2

[0141] Safety redundant control in case of sensor failure: Assuming that the speed sensor of the motor fails, the Kalman filter algorithm is used to optimize the data of other sensors to improve the accuracy of speed estimation. The neural network fault diagnosis algorithm is used to quickly and accurately determine the type of sensor failure, and the weight of selecting redundant sensors or data fusion technology is calculated based on the importance of the sensor and the probability of failure. In the safety redundant control mode, the fuzzy logic control algorithm is used to adjust the control parameters of the motor to ensure that the motor speed is stable within the set range. At the same time, the root mean square error (RMSE) is used to evaluate the effect of the safety redundant control, and the operating status of the motor is continuously monitored. If the fault is effectively resolved, the safety redundant control mode is gradually exited;

[0142] Embodiment 3

[0143] Safety redundant control in case of power device failure: If the power device of the motor fails, such as short circuit or open circuit, the Kalman filter algorithm is used to optimize the measured values ​​of other parameters to more accurately determine the fault condition. The neural network fault diagnosis algorithm is used to determine the fault type and location, and the weights of adjusting the control algorithm or enabling the backup power device are calculated according to the load condition and working requirements of the motor. In the safety redundant control mode, the fuzzy logic control algorithm is used to adjust the control parameters of the motor to reduce the impact of the fault on the motor performance. The operating status of the motor is continuously monitored to evaluate the effect of the safety redundant control. If the fault still exists or a new fault occurs, continue to take corresponding measures.

[0144] Embodiment 4

[0145] Figure 4 is a functional module diagram of a safety redundant control system for a combined magnetic field six-phase motor according to an embodiment of the present application, such as Figure 4 As shown, a safety redundant control system of a combined magnetic field six-phase motor includes: a data acquisition module, a data preprocessing module, a fault diagnosis module, a scheme selection module, an adaptive control module, a real-time monitoring and evaluation module and a communication module;

[0146] The data acquisition module is used to collect the real-time operating parameters of the combined magnetic field six-phase motor in real time in multiple dimensions. The real-time operating parameters include electrical parameters, mechanical parameters and magnetic field parameters. The data acquisition module is composed of multiple sensors. The data acquisition module is composed of a series of high-precision and high-reliability sensors to ensure the accuracy and integrity of the data.

[0147] The data preprocessing module is used to clean, normalize and compress the collected real-time operation data, and transmit the processed data to the control center module to provide a basis for subsequent diagnosis, analysis and control;

[0148] The fault diagnosis module is used to conduct a comprehensive analysis of the pre-processed real-time operating parameters based on the intelligent diagnosis algorithm to determine whether the combined magnetic field six-phase motor has a fault and determine the fault type; the fault diagnosis results will serve as the basis for subsequent solution selection and control adjustment;

[0149] The scheme selection module is used to intelligently select a safe redundant control mode from a variety of preset redundant control schemes according to the fault type and real-time operating conditions; the scheme selection module has self-learning and optimization capabilities, and can continuously optimize the selection strategy based on historical data and experience;

[0150] Adaptive control module, which is used to automatically adjust the control parameter range and weights in the safety redundant control mode using the adaptive optimization control strategy to reconfigure and control the combined field six-phase motor to ensure that the motor can still operate stably in the event of a fault, while minimizing the impact on production efficiency and equipment life;

[0151] The real-time monitoring and evaluation module is used to monitor the reconfigured and controlled combined field six-phase motor in real time, detect fault changes and new faults in a timely manner, and collect operating data for safety redundant control effect analysis; the monitoring data and evaluation results will be used for subsequent control strategy adjustment and optimization;

[0152] The communication module is used for data transmission between the modules of the system, including transmitting the collected data to the control center module, and transmitting the instructions of the control center module to the motor actuator; the communication module has high-speed and reliable data transmission capabilities to ensure information synchronization and collaborative work between the modules of the system.

[0153] In summary, the safety redundant control system of the combined magnetic field six-phase motor provided in this embodiment realizes comprehensive monitoring, intelligent diagnosis and adaptive control of the motor operating status by integrating multiple functional modules, thus providing a strong guarantee for the safe operation of the motor.

[0154] For other details about the technical solutions for implementing each module in the safety redundant control system of the combined magnetic field six-phase motor in the above embodiment, please refer to the description of a safety redundant control method for a combined magnetic field six-phase motor in the above embodiment, which will not be repeated here.

[0155] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0156] Embodiment 5

[0157] like Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure is shown, which is a schematic diagram of the structure of a computer device suitable for implementing the embodiment of the present disclosure. Figure 5 The computer device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0158] like Figure 5As shown, a computer device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a safety redundant control method for a combined magnetic field six-phase motor as provided in the above method embodiment.

[0159] Figure 5 The hardware structure diagram of a device for implementing a safety redundant control method of a combined magnetic field six-phase motor provided in an embodiment of the present application is shown. The device may participate in constituting or include the apparatus or system provided in an embodiment of the present application. Figure 5 As shown, the computer device 100 may include one or more processors 102 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown.

[0160] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer device 100 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is controlled as a processor.

[0161] The memory 104 can be used to store software programs and modules of application software, such as a program instruction / data storage device corresponding to a safety redundant control method for a combined magnetic field six-phase motor in an embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device 100 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0162] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer device 100. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0163] The display device may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer device 100 (or mobile device).

[0164] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0165] Embodiment 6

[0166] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to a safety redundant control method for a combined magnetic field six-phase motor in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement a safety redundant control method for a combined magnetic field six-phase motor provided in the above method embodiment.

[0167] Optionally, in this embodiment, the above storage medium may be located in at least one network server among a plurality of network servers in a computer network.

[0168] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0169] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0170] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0171] In the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0172] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0173] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0174] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0175] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein. The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize some variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A safety redundant control method for a combined magnetic field six-phase motor, characterized in that: The following steps are involved: Step 1: Monitor the operating status of the combined magnetic field six-phase motor in real time in multiple dimensions to obtain real-time operating parameters of the combined magnetic field six-phase motor; Step 2: pre-process the real-time operation data and transmit it to the control center of the combined magnetic field six-phase motor for analysis and processing; Step 3: Based on the intelligent diagnosis algorithm of the control center, a comprehensive analysis of the real-time operating parameters is performed in combination with historical data and real-time dynamic changes to determine whether the combined magnetic field six-phase motor has a fault and determine the type of fault; Step 4: intelligently select a safe redundant control mode from a plurality of preset redundant control schemes according to the type of fault and the real-time operating condition of the combined magnetic field six-phase motor; Step 5: In the safety redundant control mode, the control parameter range and weight are automatically adjusted using the adaptive optimization control strategy according to the real-time operating parameters of the motor and the type of fault, and the combined magnetic field six-phase motor is reconfigured and controlled; Step 6: Monitor and evaluate the reconfigured and controlled combined field six-phase motor in real time, discover the change of faults and the emergence of new faults in time, and collect operation data to analyze the effect of safety redundant control; Step 7: If the fault is effectively resolved and the combined field six-phase motor resumes normal operation, the safety redundant control mode is gradually exited and normal control is returned; If the fault still exists or a new fault occurs, the safe redundant control mode will continue to be intelligently selected from a variety of preset redundant control schemes.

2. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step one, the real-time operating parameters of the combined magnetic field six-phase motor include electrical parameters, mechanical parameters and magnetic field parameters; the electrical parameters include current, voltage, power, frequency and position; the mechanical parameters include speed, torque, vibration, temperature and acceleration; the magnetic field parameters include magnetic field strength and magnetic flux.

3. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step two, the preprocessing of real-time operation data includes data cleaning, data normalization and data compression; the transmission method to the control center of the combined magnetic field six-phase motor includes wired transmission and wireless transmission, the wired transmission performs data transmission through cable or optical fiber physical media, and the wireless transmission performs data transmission through Wi-Fi, Bluetooth or Zigbee wireless communication technology.

4. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step three, the intelligent diagnosis algorithm includes a machine learning algorithm or a deep learning algorithm, which is used to perform pattern recognition and anomaly detection on real-time operating parameters. The machine learning algorithm or deep learning algorithm is trained with a specific number of samples, and the training data contains different fault types and operating conditions.

5. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step 4, the method for intelligently selecting a safety redundant control mode includes the following steps: Step 1: Use machine learning algorithms to perform pattern recognition on fault types and real-time operating conditions, and select the most appropriate solution from the preset redundant control solutions based on the recognition results; Step 2: according to the fault type and the severity of the real-time operating condition, different priorities are set, and the redundant control scheme with the least impact on the performance of the combined field six-phase motor is preferentially selected; Step 3: Monitor the key performance indicators of the combined field six-phase motor in real time, and dynamically adjust the redundant control scheme according to the changing trends of these indicators.

6. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step five, the adaptive optimization control strategy includes an adaptive strategy based on model predictive control, an adaptive strategy based on reinforcement learning, and an adaptive strategy based on fuzzy logic.

7. The safety redundant control method of a combined magnetic field six-phase motor according to claim 1, characterized in that: In step six, the method for discovering changes in faults and the occurrence of new faults includes the following steps: Step S1: set a fault warning threshold. If the real-time monitored data exceeds the threshold, a fault warning is triggered; Step S2: Use machine learning algorithms to perform pattern recognition on the real-time monitored data to detect potential failure trends and abnormal patterns; Step S3, recording and classifying detected fault changes and new faults; The collection of operating data to analyze the effect of safety redundant control includes comparing motor performance data before and after the safety redundant control mode is enabled, analyzing the impact of the safety redundant control mode on the motor operating cost, and evaluating the effectiveness and economy of the safety redundant control mode.

8. A safety redundant control system for a combined magnetic field six-phase motor, applied to a safety redundant control method for a combined magnetic field six-phase motor according to any one of claims 1 to 7, characterized in that: include: Data acquisition module, data preprocessing module, fault diagnosis module, solution selection module, adaptive control module, real-time monitoring and evaluation module and communication module; The data acquisition module is used for real-time acquisition of real-time operating parameters of the combined magnetic field six-phase motor in multiple dimensions, wherein the real-time operating parameters include electrical parameters, mechanical parameters and magnetic field parameters; the data acquisition module is composed of multiple sensors; The data preprocessing module is used to perform data cleaning, data normalization and data compression on the collected real-time operation data, and transmit the processed data to the control center module; The fault diagnosis module is used to perform a comprehensive analysis on the pre-processed real-time operating parameters based on an intelligent diagnosis algorithm to determine whether the combined magnetic field six-phase motor has a fault and determine the type of fault; The scheme selection module is used to intelligently select a safe redundant control mode from a plurality of preset redundant control schemes according to the fault type and the real-time operating conditions; The adaptive control module is used to automatically adjust the control parameter range and weight by using the adaptive optimization control strategy in the safety redundant control mode to reconfigure and control the combined magnetic field six-phase motor; The real-time monitoring and evaluation module is used to monitor the reconfigured and controlled combined magnetic field six-phase motor in real time, promptly detect the change of faults and the emergence of new faults, and collect operation data for safety redundant control effect analysis; The communication module is used for data transmission between various modules of the system, including transmitting the collected data to the control center module, and transmitting the instructions of the control center module to the motor actuator.

9. A computer device, characterized in that: The computer device includes: at least one processor; and a memory communicatively connected to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the safety redundant control method of a combined magnetic field six-phase motor as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the safety redundant control method for a combined magnetic field six-phase motor as described in any one of claims 1-7.

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