Vehicle traction motor steering determination method, device, medium, equipment and system

Abstract

The invention belongs to the technical field of rail transit vehicle traction transmission system control, and particularly relates to a method, a device, a medium, equipment and a system for determining the steering direction of a vehicle traction motor. The method comprises the following steps: when a target vehicle supplies power to each traction motor according to a test instruction during a steering test, obtaining rotor information of each traction motor; and determining an actual steering sequence of each traction motor in the steering test period according to the rotor information of each traction motor. According to the method, all the traction motors on the target vehicle are tested at the same time, the corresponding actual steering sequence is generated for each traction motor, so that the steering test of all the traction motors on the target vehicle can be completed through one-time test, the test time consumption is reduced, the sensor signals of the traction motors are directly obtained, and the test efficiency is improved. And each traction motor has a plurality of test data in the test process, so that the accuracy of the test result is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of the control of the traction drive system of rail transit vehicles, and particularly relates to a method, device, medium, equipment and system for determining the rotation direction of a vehicle traction motor. Background Art

[0002] As one of the important components for power conversion and transmission in the traction drive system of rail transit vehicles, the traction motor is suspended on the bogie frame, converts the three-phase alternating current provided by the frequency converter into electric power through the principle of magnetic induction, and is flexibly connected to the wheel set through transmission devices such as couplings and gearboxes to transmit the power to the wheel-rail to drive the vehicle to run.

[0003] Two traction motors on the same bogie of the vehicle are usually installed axially symmetrically. When the phase sequence of the three-phase alternating current output by the frequency converter is fixed, the rotation direction of the traction motor is related to its three-phase line sequence. Therefore, for the vehicle control or bogie control traction drive system, the three main lines (U, V, W phases) from the frequency converter to the traction motor need to be cross-connected. The rotation shaft directions of the two traction motors on the same bogie are opposite to each other to ensure that the rotation directions of all the powered wheel sets of the vehicle are the same. If any two of the three-phase line sequences of the traction motor are reversed, it will cause the traction motor to reverse, which is opposite to the rotation direction of other traction motors, and the temperature of the traction motor winding will rise abnormally. In the lightest case, it will cause the vehicle to lose power due to overheating of the motor, and in the worst case, it will lead to the burnout of the traction motor. Therefore, during the routine commissioning of newly manufactured vehicles, the replacement of traction motors due to faults at the operation site, or the troubleshooting and restoration of the traction motor wiring, it is required to conduct a traction motor rotation direction test.

[0004] The methods for conducting a rotation direction test on a motor in the prior art can be mainly divided into three categories, namely: the overall vehicle jacking test method, the vehicle dynamic cut-off test method, and the vehicle start static test method. These methods all have the problems of long time consumption and low accuracy. Summary of the Invention

[0005] In view of the above technical problems, the present invention provides a method, device, medium, equipment and system for determining the steering of a vehicle traction motor. In this application, when the target vehicle supplies power to each traction motor according to a test instruction during a steering test, the rotor information of each traction motor is obtained; according to the rotor information of each traction motor, the actual steering sequence of each traction motor during the steering test is determined, where the actual steering sequence includes a plurality of actual rotation directions; according to the test instruction and the shaft position information of each traction motor, the expected steering sequence of each traction motor is determined, and the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; the actual steering sequence of the corresponding traction motor is judged for consistency according to the expected steering sequence of each traction motor; according to the result of the consistency judgment, it is determined whether the rotation direction of each traction motor is correct. By testing all the traction motors on the target vehicle simultaneously in this application, and generating a corresponding actual steering sequence for each traction motor, it is possible to complete the steering test of all the traction motors on the target vehicle through one test, reducing the test time. Moreover, this application directly obtains the sensor signals of the traction motors, and each traction motor will have multiple test data during the test, improving the accuracy of the test results.

[0006] To solve the above technical problems, the technical solutions provided by the present invention include five aspects.

[0007] In a first aspect, this application provides a method for determining the steering of a vehicle traction motor, including: when the target vehicle supplies power to each traction motor according to a test instruction during a steering test, obtaining the rotor information of each traction motor; determining the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, where the actual steering sequence includes a plurality of actual rotation directions; determining the expected steering sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, and the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; judging the consistency of the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; determining whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0008] In some embodiments, when the traction motor is an asynchronous traction motor, the rotor information includes: rotor steering information; the obtaining of the rotor rotation information of each traction motor includes: performing the following operations for each traction motor: obtaining the pulse signal output by the speed sensor on the traction motor; determining the rotor steering information of the traction motor according to the pulse signal.

[0009] In some embodiments, when the traction motor is a permanent magnet traction motor, the rotor information includes: rotor position information; and the obtaining of the rotor rotation information of each traction motor further includes: performing the following operations for each traction motor: obtaining the resolver signal output by the position sensor on the traction motor; and generating the rotor position information at each moment according to the resolver signals at each moment.

[0010] In some embodiments, the determining of the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor includes: generating a rotor position change curve according to the timing relationship of each rotor position information; generating a rotor position sequence from the starting value and multiple extreme values of the rotor position change curve according to the timing relationship; in the rotor position sequence, determining the single rotation angle of the rotor according to adjacent values; obtaining a preset angle change reference table; determining each actual rotation direction in the actual steering sequence according to each rotation angle and the angle change reference table; and generating the actual steering sequence according to the timing relationship of each actual rotation direction.

[0011] In some embodiments, the determining of the consistency between the actual steering sequence of the corresponding traction motor and the desired steering sequence of each traction motor according to the consistency judgment includes: performing the following operations for each traction motor: performing a consistency determination on each corresponding actual rotation direction in the actual steering sequence according to the desired steering sequence, and forming a determination result sequence.

[0012] In some embodiments, the determining of whether the rotation direction of each traction motor is correct according to the result of the consistency judgment includes: counting the number of consistent determination results in the determination result sequence; obtaining a preset determination threshold; and when the number of consistent determination results is greater than or equal to the determination threshold, determining that the rotation direction of the traction motor is correct.

[0013] In some embodiments, the determining of whether the rotation direction of each traction motor is correct according to the result of the consistency judgment includes: when the number of consistent determination results is less than the determination threshold, determining whether there is a test anomaly flag; and when there is the test anomaly flag, determining that the steering test of the target vehicle fails.

[0014] In some embodiments, the method further includes: during the steering test, controlling the asynchronous traction motor to be in the excited state all the time until the steering test ends or a frequency converter failure occurs.

[0015] In some embodiments, before the target vehicle supplies power to each traction motor according to a test instruction during a steering test, it includes: performing precondition detection on the target vehicle; in the case where the target vehicle passes the precondition detection, controlling the target vehicle to execute a preset steering test instruction, so that the target vehicle supplies power to each traction motor according to the steering test instruction.

[0016] In some embodiments, the steering test instruction includes multiple test cycles with preset durations; each of the test cycles includes: a forward instruction with a preset duration, a zero-position instruction with a preset duration, and a backward instruction with a preset duration; there is a zero-position instruction after the forward instruction and the backward instruction in each test cycle.

[0017] In a second aspect, the present application discloses a determination device for the steering of a vehicle traction motor, including: a first acquisition module, configured to acquire the rotor information of each traction motor when the target vehicle supplies power to each traction motor according to a test instruction during a steering test; a first determination module, configured to determine the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, where the actual steering sequence includes multiple actual rotation directions; a second determination module, configured to determine the expected steering sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, the expected steering sequence including multiple expected rotation directions corresponding to the actual rotation directions; a first execution module, configured to perform a consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; a third determination module, configured to determine whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0018] In a third aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the steps of the method according to any one of the first aspect.

[0019] In a fourth aspect, the present application proposes a computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, it implements the steps of the method according to any one of the first aspect.

[0020] In a fifth aspect, the present application proposes a determination system for the steering of a vehicle traction motor, comprising: a console display, a network control system, a vehicle-mounted controller, an inverter, a traction motor, and vehicle-mounted sensors; the console display is connected to the network control system and is used to issue a start test instruction to the network control system, so that the vehicle is in a test state; the network control system is connected to the vehicle-mounted controller and is used to send a steering instruction and an inverter control instruction to the vehicle-mounted controller according to a preset steering test instruction after receiving the start test instruction; the vehicle-mounted controller is connected to the inverter and is used to generate a PWM signal according to the steering instruction and the inverter control instruction, and send the PWM signal to the inverter; the inverter is connected to the traction motor and is used to supply power to the traction motor according to the PWM signal; the vehicle-mounted sensors are connected to the vehicle-mounted controller and are used to generate a sensor signal when the traction motor rotates and send the sensor signal to the vehicle-mounted controller; the vehicle-mounted controller is further used to determine the steering test result of each traction motor according to the sensor signal and the steering instruction; the network control system is further used to obtain the steering test result of the vehicle-mounted controller and send the steering test result to the console display.

[0021] In some embodiments, the vehicle-mounted controller includes: a logic processing unit, a signal processing unit, and a frequency converter control unit; the logic processing unit is connected to the network control system and the frequency converter control unit, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit; the frequency converter control unit is connected to the frequency converter, and is configured to generate a PWM signal according to the direction control instruction and the frequency converter control instruction; the sensor signals include: sensor position information, pulse signal, or resolver signal; the signal processing unit is connected to the vehicle-mounted sensors, and is configured to determine the motor position of the corresponding traction motor according to the sensor position information; the signal processing unit is further configured to filter the pulse signal; the signal processing unit is further configured to determine the rotor position information of the rotor of the traction motor at each moment according to the resolver signal; the signal processing unit is further connected to the logic processing unit, and is configured to send the motor position, the filtered pulse signal, or the rotor position information at each moment to the logic processing unit; the logic processing unit is further configured to determine the steering test result of each traction motor according to the motor position, the pulse signal, or the rotor position information; the network control system is further configured to obtain the steering test result of the logic processing unit. In some embodiments, the logic processing unit includes: a direction control module, a single-motor steering judgment module, a vehicle-level steering judgment module, and a result determination module; the direction control module is connected to the network control system, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit; the single-motor steering judgment module is connected to the signal processing unit, and is configured to determine the actual rotation direction of the traction motor when each steering instruction is executed according to the pulse signal or the rotor position information at each moment; the single-motor steering judgment module is further connected to the vehicle-level steering judgment module, and is further configured to send the actual rotation direction and the motor position to the vehicle-level steering judgment module; the vehicle-level steering judgment module is connected to the result determination module, and is configured to determine the expected rotation direction according to the motor position and the corresponding steering instruction, and determine whether the rotation direction of the traction motor is correct when executing the steering instruction according to the expected rotation direction and the actual rotation direction, and form a first judgment result; the result determination module is connected to the network control system, and is configured to obtain a plurality of first judgment results generated by each traction motor when each steering instruction is executed, and determine the steering test result of each traction motor during the steering test according to the plurality of first judgment results.

[0022] In some embodiments, the logic processing unit further includes: a test anomaly determination module; the test anomaly determination module is connected to the network control system and is configured to monitor whether the network control system sends a frequency converter control instruction that affects the progress of the test. When it monitors that the network control system sends a frequency converter control instruction that affects the progress of the test, it generates an abnormal test flag; the test anomaly determination module is further connected to the result determination module and is configured to send the abnormal test flag to the result determination module; the result determination module is further configured to determine the steering test results of each traction motor during the steering test according to a plurality of first judgment results and the abnormal test flag.

[0023] In some embodiments, when the traction motor is an asynchronous traction motor, the logic processing unit further includes: an excitation module; the excitation module is connected to the network control system and is configured to generate an excitation start instruction according to the frequency converter control instruction, so that the excitation part of the traction motor is always in the start state during the test state; the excitation module is further configured to generate an excitation cancellation instruction when the frequency converter control instruction includes a frequency converter blocking instruction or a frequency converter removal instruction, and cancel the excitation of the traction motor.

[0024] In some embodiments, the steering test instruction includes a plurality of test cycles with preset time lengths; each test cycle includes: a forward instruction with a preset time length, a zero position instruction with a preset time length, and a backward instruction with a preset time length; there is a zero position instruction after the forward instruction and the backward instruction of each test cycle.

[0025] In some embodiments, before issuing the start test instruction, the console display is further configured to issue a prerequisite detection instruction to the network control system; the network control system detects the prerequisites required for the steering test according to the prerequisite detection instruction and sends the detection result to the console display.

[0026] In some embodiments, the required prerequisites include: the console is in the active state, the vehicle is in the stationary state, the direction instruction is valid, the vehicle high-voltage power supply is valid, the 7-level braking is valid, the brake release is valid, the EB loop is closed effectively, the UB loop is closed effectively, and the non-emergency mode is valid.

[0027] Advantageous effects of the present invention: By simultaneously testing all the traction motors on the target vehicle in this application, a corresponding actual steering sequence is generated for each traction motor, so that the steering test of all the traction motors on the target vehicle can be completed through one test, reducing the test time consumption. Moreover, this application directly obtains the sensor signals of the traction motors, and each traction motor will have multiple test data during the test, improving the accuracy of the test results. Description of the Drawings

[0028] The scope of the present disclosure can be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. The accompanying drawings included are:

[0029] Figure 1 The overall flowchart of a method for determining the steering of a vehicle traction motor provided in an embodiment of the present application;

[0030] Figure 2 The periodic relationship diagram between a steering test instruction and other instructions provided in an embodiment of the present application;

[0031] Figure 3 The structural block diagram of a device for determining the steering of a vehicle traction motor provided in an embodiment of the present application;

[0032] Figure 4 The structural block diagram of a system for determining the steering of a vehicle traction motor provided in an embodiment of the present application;

[0033] Figure 5 The structural block diagram of an on-vehicle controller provided in an embodiment of the present application.

[0034] In the figures:

[0035] 1 - First acquisition module, 2 - First determination module, 3 - Second determination module, 4 - First execution module, 5 - Third determination module, 100 - Console display, 200 - Network control system, 300 - On-vehicle controller, 310 - Logic processing unit, 311 - Single-vehicle steering judgment module, 312 - Vehicle-level steering judgment module, 313 - Result determination module, 314 - Direction control module, 315 - Test anomaly judgment module, 316 - Excitation module, 320 - Signal processing unit, 330 - Inverter control unit, 400 - Inverter, 500 - Traction motor, 600 - On-vehicle sensor. Detailed embodiments

[0036] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0037] In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0038] If similar descriptions such as "first / second / third" appear in the application documents, the following description shall be added. In the following description, the terms "first / second / third" involved are only used to distinguish similar objects and do not represent a specific order for the objects. Understandably, "first / second / third" can be interchanged with a specific order or sequence under allowable circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0040] Embodiment 1:

[0041] The methods for testing the steering of a motor in the prior art can be mainly divided into three categories, namely: the overall vehicle lifting test method, the vehicle dynamic cut-off test method, and the vehicle start static test method. These methods all have the problems of long time consumption and low accuracy.

[0042] Regarding the problems existing in the prior art, such as Figure 1 As shown, this application provides a method for determining the steering of a vehicle traction motor. The method is implemented on an electronic device, and the electronic device can be a server, a mobile terminal, a computer, a cloud platform, etc. The functions realized by the device data processing in the embodiments of this application can be achieved by the processor of the electronic device calling program code. Among them, the program code can be stored in a computer storage medium. The method for determining the steering of the vehicle traction motor includes:

[0043] Since there is a flexible connection between the traction motor and the coupling and there is a gap between the gears in the gearbox, in the case of wheel lock, a maximum traction force of 5% can also cause the coupling to rotate slightly, generating a certain rotation angle. Therefore, based on this principle, during the steering test, this application can control the vehicle to apply the maximum service brake to lock the wheels and supply power to the traction motor according to the test instruction, so that the traction motor rotates within a certain range according to the test instruction on the premise that the vehicle does not move.

[0044] Step S1: Obtain the sensor signals of each traction motor on the target vehicle during the steering test.

[0045] In some embodiments, before step S1 "the target vehicle supplies power to each traction motor according to the test instruction during the steering test", the method includes:

[0046] Step S11: Perform precondition detection on the target vehicle.

[0047] Step S12: When the precondition detection of the target vehicle is passed, control the target vehicle to execute a preset steering test instruction, so that the target vehicle supplies power to each traction motor according to the steering test instruction.

[0048] The technical solution of the present application does not require additional test tools and tooling, etc. It only needs to cooperate with the existing sensors, control systems, etc. of the target vehicle to complete the steering test of the target vehicle. Therefore, precondition detection of the target vehicle needs to be carried out before the test. The preconditions that need to be detected include: the console is in an active state, the vehicle is in a stationary state, the direction command is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop is closed effectively, the UB loop is closed effectively, and the non-emergency mode is valid. When all these preconditions are met, it is determined that the target vehicle can use the method of the present application for the steering test of the vehicle. At this time, a steering test instruction can be issued to the vehicle, so that the vehicle supplies power to each traction motor according to the steering test instruction. The traction motor can rotate within a certain angle range, and at the same time, a Hall sensor or a resolver installed on the traction motor outputs a sensor signal.

[0049] In some embodiments, the steering test instruction includes multiple test cycles with preset durations; each test cycle includes: a forward instruction with a preset duration, a zero-position instruction with a preset duration, and a backward instruction with a preset duration; there is a zero-position instruction after the forward instruction and the backward instruction in each test cycle.

[0050] Before the test, the clearance of the gear and the state of the coupling may not be in an ideal state. That is, the clearance of the gearbox of some traction motors may happen to be in the preset target rotation direction, which may cause the traction motor to be unable to generate effective rotation under the current test instruction, and thus unable to obtain sensor signals. Therefore, this application needs to conduct multiple reciprocating tests on each traction motor to ensure the accuracy of the test results. When conducting multiple tests, multiple steering test instructions need to be input. If the input process of the instructions is operated by humans, it is easy to make mistakes, and it is also difficult to control the interval between each instruction, which poses a great obstacle to the subsequent processing of sensor signals. Therefore, in order to eliminate the problems of easy mistakes and difficult sensor signal processing caused by multiple steering instructions, this application presets the steering test instructions, so that the steering test instructions include multiple test cycles with preset durations. Each of the test cycles includes: a forward instruction with a preset duration, a zero-position instruction with a preset duration, and a backward instruction with a preset duration. There is a zero-position instruction after the forward instruction and the backward instruction in each test cycle. For example, the overall duration of a steering test instruction is 55 s, which includes 5 test cycles. The instruction arrangement order of each test cycle is: 3 s forward traction → 2 s zero position → 3 s backward traction → 2 s zero position. The instruction relationship diagram is as shown in Figure 2 shown.

[0051] Due to the backlash between gears and the flexible connection between couplings, the test of the rotation direction of the traction motor rotor can be used to replace the test of the rotation angle of the coupling. To test the rotation direction of the rotor, it is necessary to clarify the rotor information during the test, that is, the rotor information. Each traction motor of the vehicle is equipped with sensors for detecting the rotation speed and direction of the traction motor. Among them, for different types of traction motors, different sensors are used. When the traction motor is an asynchronous traction motor, a Hall sensor is used to detect the rotation direction and speed of the traction motor. When the traction motor is a permanent magnet traction motor, a resolver is used to detect the rotation direction and speed of the traction motor. Therefore, if the traction motor is an asynchronous traction motor, the rotor information is the rotor rotation direction information. If the traction motor is a permanent magnet traction motor, the rotor information is the rotor position information at each moment.

[0052] Therefore, in some embodiments, step S1, "obtain the rotor information of each traction motor", includes:

[0053] Step S13: Obtain the pulse signal output by the speed sensor on the traction motor.

[0054] Step S14: Determine the rotor rotation direction information of the traction motor according to the pulse signal.

[0055] When the traction motor is an asynchronous traction motor, the sensor installed on the traction motor for monitoring the rotor rotation information is a Hall sensor, and the Hall sensor outputs a pulse signal. The rotation direction of the rotor during rotation can be obtained through the pulse signal, that is, the rotor rotation direction information of the traction motor.

[0056] When the traction motor is a permanent magnet motor, in some embodiments, step S1 "obtain the rotor rotation information of each traction motor" further includes:

[0057] Step S15: Obtain the resolver signal output by the position sensor on the traction motor.

[0058] Step S16: Generate the rotor position information at each moment according to the resolver signal at each moment.

[0059] When the traction motor is a permanent magnet traction motor, the sensor for detecting the rotor rotation condition is usually a resolver. The resolver can generate a resolver signal, and the rotor position information of the rotor at each moment can be obtained through the resolver signal.

[0060] Step S2: Determine the actual rotation sequence of each traction motor during the steering test according to the rotor information of each traction motor, where the actual rotation sequence includes a plurality of actual rotation directions.

[0061] For the convenience of expression and understanding, the following steps are all operations for a single traction motor. Although the following examples introduce the processing for a single traction motor, in fact, in this application, the steering tests of all traction motors of the target vehicle can be carried out simultaneously, and whether the steering of all traction motors is correct can be determined simultaneously.

[0062] In some embodiments, step S2 "determine the actual rotation sequence of each traction motor during the steering test according to the rotor information of each traction motor" includes:

[0063] Step S21: Generate a rotor position change curve according to the timing relationship of each rotor position information.

[0064] Step S22: Generate a rotor position sequence according to the starting value and multiple extreme values of the rotor position change curve according to the timing relationship.

[0065] Step S23: In the rotor position sequence, determine the single rotation angle of the rotor according to adjacent values.

[0066] Step S24: Obtain a preset angle change reference table.

[0067] Step S25: Determine each actual rotation direction in the actual rotation sequence according to each rotation angle and the angle change reference table.

[0068] Step S26: generating the actual steering sequence according to the timing relationship of each actual rotation direction.

[0069] The test method of the present application can be applied to various traction motors, among which the common traction motors are asynchronous traction motors and permanent magnet traction motors. For permanent magnet traction motors, the speed and direction of the permanent magnet traction motor are generally obtained through a rotary transformer. The rotary transformer outputs sinusoidal voltage and cosine voltage. The rotor position information of the traction motor at each moment can be obtained through the sinusoidal voltage and cosine voltage, and the rotor position change curve can be obtained through the timing relationship of the rotor position information at each moment. Since the rotor position information obtained through the sinusoidal voltage and cosine voltage is expressed in the form of angle, and the wheelset in the present application is in a locked state, the rotation range of the traction motor is only the cumulative result of the gear clearance in the gear box and the deformation amount of the flexible connection between the traction motor and the coupling, so the rotation range of the traction motor is limited, so the traction motor will reach a maximum / minimum rotor position during the execution of the forward command or the reverse command, so the rotor position change curve formed is expressed as multiple segments going back and forth between two extreme values. The extreme values ​​of the rotor position curve and the starting value of the starting point are used to generate a rotor position sequence according to the timing relationship. In the rotor position sequence, the rotation angle of the traction motor can be obtained by subtracting the next value from the previous value according to the timing, and the size and positive and negative of this rotation angle can indicate the rotation direction of the traction motor and the effectiveness of the rotation. The present application also obtains a preset angle change reference table, and the preset reference information in the angle change reference table includes: when ab>c, the traction motor is judged to be forward; when ab<-c, the traction motor is judged to be reverse; when -c≤ab≤c, the traction motor is judged to have no result, where c is a value preset according to the actual rotation range of the traction motor, and in the rotor position sequence, the timing of a is earlier than b, and a is adjacent to b, and ab represents the rotation angle. Therefore, the actual steering sequence of the traction motor during the steering test can be generated according to the rotor position sequence and the angle change reference value.

[0070] The asynchronous traction motor uses a Hall sensor to detect the speed and direction of rotation of the traction motor, and the Hall sensor outputs a pulse signal, which is divided into two channels, namely, pulse signal A and pulse signal B. By studying the corresponding relationship between the rising edge, falling edge, high level and low level of pulse signal A and pulse signal B, it is easy to understand the actual rotation direction of the corresponding traction motor at each stage, and the actual steering sequence of the traction motor can be obtained by combining these actual rotation directions according to the timing relationship.

[0071] For a vehicle, when the traction motor is an asynchronous traction motor, when the vehicle stops or has zero potential, the excitation command of the asynchronous traction motor will be revoked. When there is a direction command, it will re-enter the excitation stage. However, due to the rotor jitter of the asynchronous traction motor during the excitation stage, it will have a greater impact on the steering test.

[0072] Therefore, in some embodiments, during the steering test, the asynchronous traction motor is controlled to be in the excited state all the time until the steering test ends or a frequency converter fault occurs.

[0073] That is, during the steering test, regardless of the commands given to the vehicle, the asynchronous traction motor needs to be in the excited state to prevent the frequent start of the excitation stage during the test from affecting the vehicle steering test results.

[0074] Step S3: Determine the expected steering sequence of each traction motor according to the test command and the axle position information of each traction motor. The expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions.

[0075] For a vehicle, especially a locomotive used in rail transit, there is a situation where one frequency converter supplies power to multiple traction motors. During installation, the steering of traction motors at different axle positions is different, but in essence, the rotation directions of the driven wheel sets are the same, so that the multiple wheel sets of the vehicle can rotate in the same direction. Therefore, it is necessary to determine the expected steering sequence for each traction motor according to the axle position where it is located and in combination with the steering test command.

[0076] Step S4: Make a consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor.

[0077] In some embodiments, step S4, "Make a consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor", includes:

[0078] Step S41: Make a consistency determination on each corresponding actual rotation direction in the actual steering sequence according to the expected steering sequence, and form a determination result sequence.

[0079] After knowing the actual steering sequence and the expected steering sequence of each traction motor, it is possible to determine whether each actual rotation direction in the actual steering sequence is correct, and then obtain whether the rotation direction of each traction motor is correct. Through the expected steering sequence, it is possible to judge each actual rotation direction in the actual steering sequence to determine whether they are consistent. If they are consistent, it means that the actual rotation direction is correct. If they are inconsistent, it means that it is wrong, and then a determination result sequence can be formed.

[0080] Step S5: Determine whether the rotation directions of the traction motors are correct according to the result of the consistency judgment

[0081] Therefore, in some embodiments, step S5, "Determine whether the rotation directions of the traction motors are correct according to the result of the consistency judgment", includes:

[0082] Step S51: Count the number of consistent judgment results in the judgment result sequence.

[0083] Step S52: Obtain a preset judgment threshold.

[0084] Step S53: When the number of consistent judgment results is greater than or equal to the judgment threshold, determine that the rotation direction of the traction motor is correct.

[0085] Since at the beginning of the test, the backlash of the gearbox corresponding to some traction motors may be far from the initial target rotation direction, resulting in a small rotation range of the traction motor or inability to rotate, thus there may be a problem of inability to judge the rotation direction or an incorrect rotation direction. Therefore, it is necessary to count the number of consistent values in the judgment result sequence and obtain a preset judgment threshold. When the number of consistent judgments is greater than or equal to the judgment threshold, it indicates that the rotation direction of the traction motor is correct. The expected rotation direction in the expected rotation sequence corresponds to the actual rotation direction in the actual rotation sequence according to the time range.

[0086] In some embodiments, step S5, "Determine whether the rotation directions of the traction motors are correct according to the result of the consistency judgment", further includes:

[0087] Step S54: When the number of consistent judgment results is less than the judgment threshold, determine whether there is a test anomaly flag.

[0088] Step S55: When there is the test anomaly flag, determine that the steering test of the target vehicle fails.

[0089] Although theoretically, if the number of consistencies is less than the judgment threshold, it indicates that there may be a wiring error in the traction motor. However, in actual tests, it is very likely that the vehicle has a fault, and some of these faults need to prevent further losses by blocking or removing the frequency converter. Blocking or removing the frequency converter will cause the test process to be unable to proceed, and it will also result in a situation where the number of consistencies in the judgment result is less than the judgment threshold. However, this situation cannot indicate whether the traction motor is correctly wired. Therefore, in the present application, when the number of consistencies in the judgment result is less than the judgment threshold, it is necessary to analyze the reasons for such a result. Therefore, it is first necessary to determine whether there is a test anomaly flag, and the test anomaly flag can characterize whether a fault that requires blocking or removing the frequency converter has occurred during the test. Therefore, if there is a test anomaly flag, it indicates that a fault that requires blocking or removing the frequency converter has occurred during the test, making the test unable to proceed, and thus resulting in a situation where the number of consistencies in the judgment result is less than the judgment threshold. However, at this time, it is impossible to determine whether the wiring of each traction motor is correct, so this situation is set as a test failure.

[0090] Therefore, the method of the present application solves the problems of long test time and low accuracy existing in the background art when testing the steering of vehicle traction motors. The present application simultaneously tests all the traction motors on the target vehicle, and generates corresponding actual steering sequences for each traction motor, enabling the steering test of all the traction motors on the target vehicle to be completed through one test, reducing the test time. Moreover, the present application directly obtains the sensor signals of the traction motors, and each traction motor will have multiple test data during the test, improving the accuracy of the test results. Moreover, in order to prevent the influence of the jitter during the frequent start of the excitation part of the asynchronous traction motor on the test results during the test stage, the asynchronous traction motor is kept in the excited state throughout the test stage. Moreover, compared with the existing conventional technical solutions, the present application does not require additional new test tools and tooling, and through one-key operation on the console display, it realizes the automatic test of the steering of all the traction motors of the vehicle under static conditions, and the duration and accuracy of the vehicle steering test are not affected by the length of the vehicle formation. Moreover, during the entire test process, the operator does not need to be in an environment with potential safety hazards, which greatly guarantees the life safety of the staff.

[0091] Embodiment 2:

[0092] Based on the foregoing embodiments, an embodiment of the present application provides a device for determining the steering of a vehicle traction motor. Each module included in the device, as well as each unit included in each module, can be implemented by a processor in a computer device; of course, it can also be implemented by specific logic circuits. During implementation, the processor can be a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Microprocessor Unit), a digital signal processor (DSP, Digital Signal Processing), or a field programmable gate array (FPGA), etc.

[0093] As Figure 3 shown, a device for determining the steering of a vehicle traction motor includes: a first acquisition module 1, a first determination module 2, a second determination module 3, a first execution module 4, and a third determination module 5.

[0094] The first acquisition module 1 is configured to acquire the rotor information of each traction motor when the target vehicle supplies power to each traction motor according to a test instruction during a steering test. The first determination module 2 is configured to determine the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, where the actual steering sequence includes a plurality of actual rotation directions. The second determination module 3 is configured to determine the expected steering sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, and the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions. The first execution module 4 is configured to perform a consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor. The third determination module 5 is configured to determine whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0095] Each module in the above device for determining the steering of a vehicle traction motor can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the device in hardware form or be independent of the processor, or can be stored in the memory in the processing device in software form, so that the processor can call and execute the operations corresponding to the above modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0096] Embodiment 3:

[0097] In a third aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the method described in any one of the first aspects.

[0098] Example 4:

[0099] Fourthly, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0100] Example 5:

[0101] Fifthly, as Figure 4 shown, the present application proposes a determination system for the steering of a vehicle traction motor 500, including: a console display 100, a network control system 200, a vehicle-mounted controller 300, an inverter 400, a traction motor 500, and a vehicle-mounted sensor 600.

[0102] Due to the flexible connection between the traction motor and the coupling and the clearance between the gears of the gearbox, in the case of wheel locking, a maximum traction force of 5% can also cause the coupling to rotate slightly, generating a certain rotation angle. Therefore, based on this principle, during the steering test, the present application can control the vehicle to apply the maximum service brake to lock the wheels and supply power to the traction motor 500 according to the test instruction, so that the traction motor 500 rotates within a certain range according to the test instruction on the premise that the vehicle does not move.

[0103] Due to the existence of backlash and flexible connection of the coupling, in the present application, the test of the rotation angle of the coupling can be replaced by the test of the rotation direction of the rotor of the traction motor 500. Since the traction motor 500 itself is provided with a vehicle-mounted sensor 600 for detecting the rotation state of the rotor, it is only necessary to make the traction motor 500 rotate according to the steering instruction and the vehicle as a whole be stationary during the test, and the vehicle's own system can achieve this function. Therefore, in the present application, there is no need to additionally add test tools and tooling, etc. It is only necessary to cooperate with the existing console display 100, network control system 200, and vehicle-mounted controller 300 of the vehicle to make the traction motor 500 rotate in a stationary state of the vehicle. Of course, the vehicle-mounted equipment itself does not have the ability to judge the rotation direction of each traction motor 500 according to the sensor signal of the vehicle-mounted sensor 600. Therefore, some settings need to be made to the console controller, network control system 200, and vehicle-mounted controller 300. The settings for each existing vehicle-mounted equipment to realize the steering test of each motor on the vehicle through the existing vehicle-mounted equipment are as follows.

[0104] The console display 100 is connected to the network control system 200 and is used to issue a start test instruction to the network control system 200 to make the vehicle in a test state.

[0105] In some embodiments, before issuing the start test instruction, the console display 100 is further configured to issue a prerequisite detection instruction to the network control system 200.

[0106] The network control system 200 detects the prerequisites required for the steering test according to the prerequisite detection instruction, and sends the detection result to the console display 100.

[0107] In some embodiments, the required prerequisites include:

[0108] The console is in an active state, the vehicle is in a stationary state, the direction command is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop closure is valid, the UB loop closure is valid, and the non-emergency mode is valid.

[0109] Since the vehicle needs to rotate the traction motor 500 within a certain range when it is stationary, before starting the test, it is necessary to detect the functions on the vehicle used to achieve this purpose, that is, the precondition detection.

[0110] The network control system 200 is connected to the vehicle-mounted controller 300, and is configured to send a steering instruction and an inverter control instruction to the vehicle-mounted controller 300 according to a preset steering test instruction after receiving the start test instruction.

[0111] In some embodiments, the steering test instruction includes multiple test cycles with preset durations.

[0112] Each test cycle includes: a forward instruction with a preset duration, a zero-position instruction with a preset duration, and a backward instruction with a preset duration. There is a zero-position instruction after the forward instruction and the backward instruction of each test cycle.

[0113] Before the test, the clearances of the gears and the states of the couplings may not be in an ideal state. That is, the clearances of the gearboxes of some traction motors 500 may happen to be in the preset target rotation direction, which may cause the traction motors 500 to be unable to generate effective rotations under the current test instructions, and further cause the sensor signals not to be obtained. Therefore, this application needs to perform multiple reciprocating tests on each traction motor 500 to ensure the accuracy of the test results. When performing multiple tests, multiple steering test instructions need to be input. If the input process of the instructions is operated by humans, it is easy to make mistakes, and it is also difficult to control the interval between each instruction, which poses a great obstacle to the subsequent processing of sensor signals. Therefore, in order to eliminate the problems of easy mistakes and difficult sensor signal processing caused by multiple steering instructions, the steering test instructions are preset in this application, so that the steering test instructions include multiple test cycles with preset durations. Each of the test cycles includes: a forward instruction with a preset duration, a zero-position instruction with a preset duration, and a backward instruction with a preset duration. There is a zero-position instruction after the forward instruction and the backward instruction of each test cycle. For example, the overall duration of a steering test instruction is 55 s, which includes 5 test cycles. The instruction arrangement order of each test cycle is: 3 s forward traction → 2 s zero position → 3 s backward traction → 2 s zero position. The instruction relationship diagram is as shown in Figure 2 shown. Therefore, the steering instructions output by the network control system 200 in this application are forward traction instructions or backward traction instructions.

[0114] The vehicle-mounted controller 300 is connected to the frequency converter 400, and is configured to generate a PWM signal according to the steering instruction and the frequency converter control instruction, and send the PWM signal to the frequency converter 400.

[0115] In some embodiments, the vehicle-mounted controller 300 includes: a logic processing unit 310, a signal processing unit 320, and a frequency converter control unit 320.

[0116] The logic processing unit 310 is connected to the network control system 200 and the frequency converter control unit 320, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit 320.

[0117] In some embodiments, as shown in Figure 5 shown, the logic processing unit 310 includes: a direction control module 314, a single-machine steering judgment module 311, a vehicle-level steering judgment module 312, and a result determination module 313.

[0118] The direction control module 314 is connected to the network control system 200, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit 320.

[0119] During the operation of the frequency converter 400, various faults may occur. In the face of these faults, it is necessary to make timely handling to reduce the losses caused by the faults. Among the fault handling measures, blocking the frequency converter and removing the frequency converter will cause the frequency converter 400 to be unable to output externally, making the traction motor 500 connected to the blocked or removed frequency converter 400 unable to rotate, which will affect the steering test. Therefore, it is necessary to directly detect these during the test process, and if they exist, an abnormal test flag is formed.

[0120] Therefore, in some embodiments, the logic processing unit 310 further includes: a test abnormality determination module 315.

[0121] The test abnormality determination module 315 is connected to the network control system 200, and is configured to monitor whether the network control system 200 sends a frequency converter control instruction that affects the test. When it is monitored that the network control system 200 sends a frequency converter control instruction that affects the test, an abnormal test flag is generated.

[0122] The test method of the present application can be applied to various traction motors 500. Among them, common traction motors 500 include asynchronous traction motors and permanent magnet traction motors. When the traction motor 500 is an asynchronous traction motor, when the vehicle stops or has a zero potential, the excitation instruction of the asynchronous traction motor is revoked. When there is a direction instruction, it will re-enter the excitation stage. However, since the rotor of the asynchronous traction motor shakes during the excitation stage, the backlash will change, making the next rotation range of the traction motor 500 unable to be determined, which will have a greater impact on the steering test.

[0123] Therefore, in some embodiments, when the traction motor 500 is an asynchronous traction motor, the logic processing unit 310 further includes: an excitation module 316.

[0124] The excitation module 316 is connected to the network control system 200, and is configured to generate an excitation start instruction according to the frequency converter control instruction, so that the excitation part of the traction motor 500 is always in the start state in the test state.

[0125] That is, during the steering test, regardless of what instructions are given to the vehicle, the asynchronous traction motor needs to be in the excited state to prevent the frequent start of the excitation stage during the test from affecting the vehicle steering test results.

[0126] The excitation module 316 is further configured to generate an excitation cancellation command to cancel the excitation of the traction motor 500 when the frequency converter control command includes a frequency converter blocking command or a frequency converter removal command.

[0127] Of course, this does not include a fault that requires blocking or removing the frequency converter. If such a fault occurs, the excitation module 316 will generate an excitation cancellation command.

[0128] The frequency converter control unit 320 is connected to the frequency converter 400 and is configured to generate a PWM signal according to the direction control command and the frequency converter control command.

[0129] The frequency converter 400 is connected to the traction motor 500 and is configured to supply power to the traction motor 500 according to the PWM signal.

[0130] The vehicle-mounted sensor 600 is connected to the vehicle-mounted controller 300 and is configured to generate a sensor signal when the traction motor 500 rotates and send the sensor signal to the vehicle-mounted controller 300.

[0131] The vehicle-mounted controller 300 is further configured to determine the steering test result of each traction motor 500 according to the sensor signal and the steering command.

[0132] The sensor signal: sensor position information, pulse signal or resolver signal.

[0133] The signal processing unit 320 is connected to the vehicle-mounted sensor 600 and is configured to determine the motor position of the corresponding traction motor 500 according to the sensor position information.

[0134] The signal processing unit 320 is further configured to filter the pulse signal.

[0135] The signal processing unit 320 is further configured to determine the rotor position information of the rotor of the traction motor 500 at each moment according to the resolver signal.

[0136] Each traction motor 500 of the vehicle is equipped with sensors for detecting the rotational speed and direction of the traction motor 500. For different types of traction motors 500, different sensors are used. When the traction motor 500 is an asynchronous traction motor, a Hall sensor is used to detect the rotational direction and speed of the traction motor 500. When the traction motor 500 is a permanent magnet traction motor, a resolver is used to detect the rotational direction and speed of the traction motor 500. Therefore, if the traction motor 500 is an asynchronous traction motor, the rotor information is the rotor steering information, and if the traction motor 500 is a permanent magnet traction motor, the rotor information is the rotor position information at each moment.

[0137] When the traction motor 500 is an asynchronous traction motor, the sensor installed on the traction motor 500 for monitoring the rotor rotation information is a Hall sensor, and the Hall sensor outputs a pulse signal. The rotation direction of the rotor during rotation can be obtained through the pulse signal, that is, the rotor rotation direction information of the traction motor 500. When the traction motor 500 is a permanent magnet traction motor, the sensor for detecting the rotor rotation condition is usually a resolver. The resolver can generate a resolver signal, and the rotor position information of the rotor at each moment can be obtained through the resolver signal.

[0138] For a permanent magnet traction motor, generally, the speed and rotation direction of the permanent magnet traction motor are obtained through a resolver. The resolver outputs a sine voltage and a cosine voltage. The rotor position information of the traction motor 500 at each moment can be known through the sine voltage and the cosine voltage. The rotor position change curve can be obtained through the timing relationship of the rotor position information at each moment. Since the rotor position information known through the sine voltage and the cosine voltage is expressed in terms of angles, and the wheel set in this application is in a locked state, the rotation range of the traction motor 500 is only the cumulative result of the gear clearances in the gearbox and the deformation amount at the flexible connection between the traction motor 500 and the coupling. Therefore, the rotation range of the traction motor 500 is limited. Therefore, the traction motor 500 will reach an extreme rotor position during the execution of the forward command or the reverse command. The difference between two adjacent extreme rotor positions can represent the rotation direction of the traction motor 500 during the execution of the steering command. Therefore, the judgment process is as follows: when a - b < -c, it is judged that the traction motor 500 rotates in reverse; when -c ≤ a - b ≤ c, it is judged that there is no result for the traction motor 500, where c is a preset value according to the actual rotation range of the traction motor 500, a and b respectively represent two adjacent extreme rotor positions, and the occurrence time of a is earlier than that of b.

[0139] On the asynchronous traction motor, the speed and rotation direction of the traction motor 500 are detected through a Hall sensor, and the Hall sensor outputs a pulse signal. The output pulse signal is divided into two paths, namely the A-path pulse signal and the B-path pulse signal. By studying the corresponding relationship between the rising edge, falling edge, high level, and low level of the A-path pulse signal and the B-path pulse signal, it is easy to understand the actual rotation direction of the corresponding traction motor 500 at each stage.

[0140] The signal processing unit 320 is also connected to the logic processing unit 310, and is used to send the motor position, the filtered pulse signal, or the rotor position information at each moment to the logic processing unit 310.

[0141] The logic processing unit 310 is further configured to determine the steering test results of each traction motor 500 according to the motor position, the pulse signal, or the rotor position information.

[0142] The single-machine steering judgment module 311 is connected to the signal processing unit 320, and is configured to determine the actual rotation direction of the traction motor 500 when each steering instruction is executed according to the pulse signal or the rotor position information at each moment.

[0143] The single-machine steering judgment module 311 is further connected to the vehicle-level steering judgment module 312, and is further configured to send the actual rotation direction and the motor position to the vehicle-level steering judgment module 312.

[0144] The vehicle-level steering judgment module 312 is connected to the result determination module 313, and is configured to determine the expected rotation direction according to the motor position and the corresponding steering instruction, and determine whether the rotation direction of the traction motor 500 is correct when executing the steering instruction according to the expected rotation direction and the actual rotation direction, so as to form a first judgment result.

[0145] For a vehicle, especially a locomotive used in rail transit, there is a situation where one frequency converter supplies power to multiple traction motors 500. During installation, the steering directions of the traction motors 500 at different axle positions are different, but the rotation directions of the wheel sets they drive are the same in essence, so that the multiple wheel sets of the vehicle can rotate in the same direction. Therefore, it is necessary to determine the expected rotation direction for each traction motor 500 according to the motor position and in combination with the steering instruction. After knowing the actual rotation direction and the expected rotation direction of each traction motor 500, it is possible to determine whether the actual rotation direction of the traction motor 500 is correct, and a first judgment result can be formed.

[0146] The result determination module 313 is connected to the network control system 200, and is configured to obtain multiple first judgment results generated by each traction motor 500 when each steering instruction is executed, and determine the steering test results of each traction motor 500 during the steering test according to the multiple first judgment results.

[0147] Since at the beginning of the test, the backlash of the gearbox corresponding to some traction motors 500 may be far from the initial target rotation direction, resulting in a small rotation range of the traction motor 500, or the inability to generate rotation, and then there may be problems such as the inability to judge the rotation direction or the wrong rotation direction. Therefore, it is necessary to count the number of results judged to be correct among the multiple first judgment results, and obtain a preset judgment threshold. When the number of results judged to be correct is greater than or equal to the judgment threshold, it indicates that the rotation direction of the traction motor 500 is correct.

[0148] The test anomaly determination module 315 is also connected to the result determination module 313, and is configured to send the anomaly test flag to the result determination module 313.

[0149] The result determination module 313 is further configured to determine the steering test results of each traction motor 500 during the steering test according to a plurality of first judgment results and the anomaly test flag.

[0150] Although theoretically, if the number of correctly judged results is less than the judgment threshold, it indicates that there may be a wiring error in the traction motor 500. However, in actual tests, it is very likely that the vehicle has a fault, and some of these faults require blocking or removing the frequency converter to prevent further losses. Blocking or removing the frequency converter will cause the test process to be unable to proceed, and will also result in the situation where the number of consistent judgment results is less than the judgment threshold. However, this situation cannot indicate whether the traction motor 500 is correctly wired. Therefore, in this application, when the number of correctly judged results is less than the judgment threshold, it is necessary to analyze the reasons for such a result. Therefore, it is first necessary to determine whether there is a test anomaly flag, and the test anomaly flag can characterize whether a fault that requires blocking or removing the frequency converter has occurred during the test. Therefore, if there is a test anomaly flag, it indicates that a fault that requires blocking or removing the frequency converter has occurred during the test, making the test unable to proceed, and thus resulting in the situation where the number of correctly judged results is less than the judgment threshold. However, at this time, it is impossible to determine whether the wiring of each traction motor 500 is correct, so this situation is set as a test failure.

[0151] The network control system 200 is further configured to obtain the steering test results of the logic processing unit 310.

[0152] The network control system 200 is further configured to obtain the steering test results of the vehicle-mounted controller 300, and send the steering test results to the console display 100.

[0153] There are two process lines in the system of this application during the entire steering test. One is the process line for issuing instructions, and the other is the process line for data processing.

[0154] Among them, the process line for issuing instructions is: console display 100 - network control system 200 - vehicle-mounted controller 300 (logic processing unit 310 (direction control module 314, excitation module 316 (when the traction motor 500 is an asynchronous motor, it has an excitation module 316)) - frequency converter control unit 320) - frequency converter 400.

[0155] The console monitor 100 sends a start test instruction to the network control system 200, and the network control system 200 sends a frequency converter control instruction and a steering instruction to the vehicle-mounted controller 300. The direction control module 314 generates a direction control instruction according to the steering instruction, the excitation module 316 generates an excitation start instruction according to the frequency converter control instruction, the frequency converter control unit 320 generates a PWM signal according to the frequency converter control instruction and the direction control instruction, and the frequency converter 400 supplies power to the traction motor 500 according to the PWM signal.

[0156] Since vehicle-mounted sensors 600 are installed on the traction motors 500, when the traction motors 500 rotate, the vehicle-mounted sensors 600 will generate sensor signals. The traction motors 500 used in general vehicles may be asynchronous traction motors or permanent magnet traction motors. If the traction motor 500 is an asynchronous traction motor, the vehicle-mounted sensor 600 at this time is a Hall sensor, and the generated sensor signal is a pulse signal. If the traction motor 500 is a permanent magnet traction motor, the vehicle-mounted sensor 600 at this time is a resolver, and the generated sensor signal is a resolver signal.

[0157] The data processing flow line is as follows: vehicle-mounted sensor 600 - vehicle-mounted controller 300 (signal processing unit 320 - logic processing unit 310 (single-machine steering judgment module 311 - vehicle-level steering judgment module 312 - result determination module 313)) - network control system 200 - console monitor 100.

[0158] The vehicle-mounted sensor 600 sends a pulse signal or a resolver signal to the signal processing unit 320 of the vehicle-mounted controller 300. The signal processing filters the pulse signal to obtain a filtered pulse signal and decodes the resolver signal to obtain rotor position information. The single-machine steering judgment module 311 obtains the actual rotation direction of each traction motor 500 during the execution of each steering instruction according to the filtered pulse signal or the rotor position information. The vehicle-level steering judgment module 312 determines the expected rotation direction of each traction motor 500 during the execution of each steering instruction according to the motor positions of each motor and each steering instruction, and then determines whether the rotation direction of each traction motor 500 during the execution of each steering instruction is correct according to the expected rotation direction and the actual rotation direction, that is, the first judgment result. The result determination module 313 is used to count the number of results where the first judgment result is correct, and determine the steering test results generated by each traction motor 500 during the entire test period through the number of results.

[0159] If the steering test result indicates that there may be a wiring error in the traction motor 500, it is necessary to further determine whether there is really a wiring error or it is caused by other reasons. Therefore, an abnormal detection line is also included.

[0160] The anomaly detection line is: Network control system 200 - Test anomaly determination module 315 - Result determination module 313.

[0161] The network control system 200 issues frequency converter control commands, but these frequency converter control commands may affect the test process. Therefore, the test anomaly determination module 315 monitors the frequency converter control commands. When a command to block or cut off the frequency converter appears in the frequency converter control commands, an abnormal test flag is generated and sent to the result determination module 313. The result determination module 313 can determine based on the abnormal test flag that the reason for the unsatisfactory test result is due to a fault, rather than indicating a wiring error in the traction motor 500.

[0162] Therefore, the method of this application solves the problems of long time consumption and low accuracy in the background art when performing a steering test on the vehicle traction motor 500. This application simultaneously tests all the traction motors 500 on the target vehicle, and generates corresponding actual steering sequences for each traction motor 500, enabling the completion of the steering test for all the traction motors 500 on the target vehicle through one test, reducing the test time consumption. Moreover, this application directly obtains the sensor signals of the traction motor 500, and there are multiple test data for each traction motor 500 during the test, improving the accuracy of the test results. In addition, to prevent the influence of the jitter during the frequent start of the excitation part of the asynchronous traction motor on the test results during the test stage, the asynchronous traction motor is kept in the excited state throughout the test stage. Moreover, compared with the existing conventional technical solutions, this application does not require additional new test tools and tooling. Through one-key operation on the console display 100, it realizes the automatic test of the steering of all the traction motors of the vehicle in a static state, and the time consumption and accuracy of completing the vehicle steering test are not affected by the length of the vehicle formation. Moreover, during the whole test process, the operator does not need to be in an environment with potential safety hazards, which greatly guarantees the life safety of the staff.

[0163] Those of ordinary skill in the art can understand that all or part of the processes in the above-described embodiment methods can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above various methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0164] It should be understood that the term "one embodiment" or "an embodiment" mentioned throughout the specification means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the order numbers of the above processes do not indicate the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0165] It should be noted that in this text, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0166] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the couplings, direct couplings, or communication connections between the various components shown or discussed can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0167] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] In addition, each functional unit in the embodiments of this application can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit. The above integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0169] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments. The foregoing storage medium includes: removable storage devices, read-only memories (ROMs), magnetic disks, or optical disks and other various media that can store program codes.

[0170] Alternatively, if the above integrated units of this application are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a controller to execute all or part of the methods described in the embodiments of this application. The foregoing storage medium includes: removable storage devices, ROMs, magnetic disks, or optical disks and other various media that can store program codes.

[0171] As described above, it is only the implementation mode of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claimed rights.

Claims

1. A method for determining the direction of rotation of a vehicle traction motor, characterized in that: include: When the target vehicle supplies power to each traction motor according to a test instruction during a steering test, rotor information of each traction motor is obtained; determining an actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence includes a plurality of actual rotation directions; Determining an expected steering sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, wherein the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; Performing consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; Whether the rotation direction of each traction motor is correct is determined based on the result of the consistency judgment.

2. The method according to claim 1, characterized in that When the traction motor is an asynchronous traction motor, the rotor information includes: rotor rotation information; the step of obtaining the rotor rotation information of each traction motor includes: For each traction motor, proceed as follows: Acquiring a pulse signal output by a speed sensor on the traction motor; The rotor rotation information of the traction motor is determined according to the pulse signal.

3. The method according to claim 1, characterized in that When the traction motor is a permanent magnet traction motor, the rotor information includes: rotor position information; the step of obtaining the rotor rotation information of each traction motor also includes: For each traction motor, proceed as follows: Acquire a resolver signal output by a position sensor on the traction motor; The rotor position information at each moment is generated according to the resolver signal at each moment.

4. The method according to claim 3, characterized in that The determining, according to the rotor information of each traction motor, an actual steering sequence of each traction motor during the steering test comprises: Generate a rotor position change curve according to the time sequence relationship of each rotor position information; Generate a rotor position sequence based on the starting value and multiple extreme values ​​of the rotor position change curve according to a time sequence relationship; In the rotor position sequence, a single rotation angle of the rotor is determined according to adjacent values; Obtain a preset angle change reference table; Determine each actual rotation direction in the actual steering sequence according to each rotation angle and the angle change reference table; The actual turning sequence is generated according to the timing relationship of each of the actual rotation directions.

5. The method according to claim 1, characterized in that The performing consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor includes: For each traction motor, proceed as follows: According to the expected steering sequence, a consistency determination is performed on each corresponding actual rotation direction in the actual steering sequence, and a determination result sequence is formed.

6. The method according to claim 5, characterized in that The step of determining whether the rotation direction of each traction motor is correct according to the consistency judgment result includes: Counting the number of consistent determination results in the determination result sequence; Obtaining a preset determination threshold; When the number of the consistent results is greater than or equal to the judgment threshold, it is determined that the rotation direction of the traction motor is correct.

7. The method according to claim 6, characterized in that The step of determining whether the rotation direction of each traction motor is correct according to the consistency judgment result includes: When the number of the judgment results that are consistent is less than the judgment threshold, determining whether there is a test abnormality flag; When the test abnormality flag is present, it is determined that the steering test on the target vehicle has failed.

8. The method according to claim 2, characterized in that: The method further comprises: During the steering test, the asynchronous traction motor is controlled to be in an excited state until the steering test is completed or a frequency converter failure occurs.

9. The method according to any one of claims 1 to 8, characterized in that: Before the target vehicle supplies power to each traction motor according to a test instruction during a steering test, the method includes: Performing a precondition detection on the target vehicle; In a case where the target vehicle passes the precondition detection, the target vehicle is controlled to execute a preset steering test instruction, so that the target vehicle supplies power to each traction motor according to the steering test instruction.

10. The method according to claim 9, characterized in that The steering test instruction includes a plurality of test cycles of preset duration; Each of the test cycles includes: a forward instruction of a preset duration, a zero position instruction of a preset duration, and a backward instruction of a preset duration; There is a zero position instruction after the forward instruction and the backward instruction of each test cycle.

11. A device for determining the direction of a vehicle traction motor, characterized in that: include: A first acquisition module, configured to acquire rotor information of each traction motor when the target vehicle supplies power to each traction motor according to a test instruction during a steering test; A first determination module, configured to determine an actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence includes a plurality of actual rotation directions; a second determination module, configured to determine an expected steering sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, wherein the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; A first execution module, configured to perform consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; The third determination module is used to determine whether the rotation direction of each traction motor is correct according to the result of consistency judgment.

12. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

14. A system for determining the direction of rotation of a vehicle traction motor (500), characterized in that: include: A driver's console display (100), a network control system (200), an on-board controller (300), a frequency converter (400), a traction motor (500), and an on-board sensor (600); The driver console display (100) is connected to the network control system (200) and is used to issue a test start instruction to the network control system (200), so that the vehicle is in a test state; The network control system (200) is connected to the vehicle-mounted controller (300) and is used to send a steering instruction and a frequency converter control instruction to the vehicle-mounted controller (300) according to a preset steering test instruction after receiving the start test instruction; The vehicle-mounted controller (300) is connected to the frequency converter (400) and is used to generate a PWM signal according to the steering instruction and the frequency converter control instruction, and send the PWM signal to the frequency converter (400); The frequency converter (400) is connected to the traction motor (500) and is used to supply power to the traction motor (500) according to the PWM signal; The on-board sensor (600) is connected to the on-board controller (300) and is used to generate a sensor signal when the traction motor (500) rotates, and send the sensor signal to the on-board controller (300); The on-board controller (300) is also used to determine the steering test results of each traction motor (500) according to the sensor signal and the steering instruction; The network control system (200) is also used to obtain a steering test result of the vehicle-mounted controller (300), and send the steering test result to the driver's console display (100).

15. The system according to claim 14, characterized in that The vehicle-mounted controller (300) comprises: a logic processing unit (310), a signal processing unit (320) and a frequency converter control unit (330); The logic processing unit (310) is connected to the network control system (200) and the inverter control unit (330), and is used to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the inverter control instruction to the inverter control unit (330); The inverter control unit (330) is connected to the inverter (400) and is used to generate a PWM signal according to the direction control instruction and the inverter control instruction; The sensor signal: sensor position information, pulse signal or resolver signal; The signal processing unit (320) is connected to the vehicle-mounted sensor (600) and is used to determine the motor position of the corresponding traction motor (500) according to the sensor position information; The signal processing unit (320) is also used to filter the pulse signal; The signal processing unit (320) is further used to determine rotor position information of the rotor of the traction motor (500) at each moment according to the resolver signal; The signal processing unit (320) is also connected to the logic processing unit (310) and is used to send the motor position, the filtered pulse signal or the rotor position information at each moment to the logic processing unit (310); The logic processing unit (310) is further used to determine the steering test result of each traction motor (500) according to the motor position, the pulse signal or the rotor position information; The network control system (200) is also used to obtain a steering test result of the logic processing unit (310).

16. The system according to claim 15, characterized in that The logic processing unit (310) comprises: a direction control module (314), a single-machine steering judgment module (311), a vehicle-level steering judgment module (312) and a result determination module (313); The direction control module (314) is connected to the network control system (200) and is used to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the inverter control instruction to the inverter control unit (330); The single-machine steering judgment module (311) is connected to the signal processing unit (320) and is used to determine the actual rotation direction of the traction motor (500) when each steering instruction is executed according to the pulse signal or the rotor position information at each moment; The stand-alone steering judgment module (311) is also connected to the vehicle-level steering judgment module (312), and is also used to send the actual rotation direction and the motor position to the vehicle-level steering judgment module (312); The vehicle-level steering judgment module (312) is connected to the result determination module (313) and is used to determine the expected rotation direction according to the motor position and the corresponding steering instruction, and determine whether the rotation direction of the traction motor (500) when executing the corresponding steering instruction is correct according to the expected rotation direction and the actual rotation direction, thereby forming a first judgment result; The result determination module (313) is connected to the network control system (200) and is used to obtain a plurality of first judgment results generated by each traction motor (500) when each steering instruction is executed, and to determine the steering test results of each traction motor (500) during the steering test according to the plurality of first judgment results.

17. The system according to claim 16, characterized in that The logic processing unit (310) further includes: a test abnormality determination module (315); The test abnormality determination module (315) is connected to the network control system (200) and is used to monitor whether the network control system (200) sends a frequency converter control instruction that affects the test, and generates an abnormal test flag when it is detected that the network control system (200) sends a frequency converter control instruction that affects the test; The test abnormality determination module (315) is also connected to the result determination module (313) and is used to send the abnormal test flag to the result determination module (313); The result determination module (313) is also used to determine the steering test results of each traction motor (500) during the steering test according to the multiple first judgment results and the abnormal test flag.

18. The system according to any one of claims 16-17, characterized in that: When the traction motor (500) is an asynchronous traction motor (500), the logic processing unit (310) further includes: an excitation module (316); The excitation module (316) is connected to the network control system (200) and is used to generate an excitation start instruction according to the inverter control instruction, so that the excitation part of the traction motor (500) is always in a start state in a test state; The excitation module (316) is also used to generate an excitation cancellation instruction to cancel the excitation of the traction motor (500) when the inverter control instruction includes a inverter blocking instruction or an inverter cutting instruction.

19. The system according to claim 14, characterized in that The steering test instruction includes a plurality of test cycles of preset duration; Each of the test cycles includes: a forward instruction of a preset duration, a zero position instruction of a preset duration, and a backward instruction of a preset duration; There is a zero position instruction after the forward instruction and the backward instruction of each test cycle.

20. The system according to claim 14, characterized in that The control console display (100) is also used to issue a prerequisite detection instruction to the network control system (200) before issuing a start test instruction; The network control system (200) detects the prerequisites required for the steering test according to the prerequisite detection instruction, and sends the detection result to the driver's console display (100).

21. The system according to claim 20, characterized in that The required prerequisites include: The driver's console is activated, the vehicle is stationary, the direction command is valid, the vehicle high-voltage power supply is valid, 7-level braking is valid, brake relief is valid, EB loop closure is valid, UB loop closure is valid, and non-emergency mode is valid.

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