Magnetic suspension motor anomaly detection method and device, electronic equipment and medium

Abstract

The embodiment of the invention discloses a magnetic suspension motor anomaly detection method and device, electronic equipment and a medium. The method comprises the following steps: traversing each same-function coil in the magnetic suspension motor, electrifying the same-function coils in the traversing process, and detecting sensing data of each sensor in the magnetic suspension motor; comparing the relationship among the sensing data with a preset theoretical sensing relationship, and determining whether sensor abnormality and / or coil connection sequence abnormality exist or not; and if the sensor is abnormal and / or the coil connection sequence is abnormal, comparing the sensing data with a preset sensing data range, and determining an abnormal sensor and / or an abnormal coil connection sequence. According to the scheme, electrification can be carried out by traversing the coils with the same function, the situation of sensor abnormity and / or coil connection sequence abnormity can be accurately detected according to the relation between the sensing data and the specific numerical value of the sensing data, hardware improvement or manual detection is not needed, and the detection accuracy and convenience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of abnormality detection of magnetic levitation motors, and in particular to a method, device, electronic equipment and medium for abnormality detection of magnetic levitation motors. Background Art

[0002] With its excellent performance, the magnetic levitation motor has become one of the key technologies in high-end fields such as semiconductor precision manufacturing, industrial automation, and aerospace. The low vibration, low noise, and high-precision control capabilities of the magnetic levitation motor make it stand out in application scenarios that require extremely high precision and stability. The stability of the magnetic levitation motor is crucial. Failures in key components such as sensors and drivers will directly affect the stability of the magnetic levitation motor and even cause the magnetic bearing to become unstable, leading to hardware damage. Therefore, testing the hardware before operation is a key step to ensure stable operation of the system.

[0003] Existing detection methods mainly rely on manual testing, which has the following main problems: (1) The testing process is cumbersome, and each test requires at least 11 sensors and 10 bearing coils with the same function to be tested separately. (2) Manual testing is difficult to detect subtle changes in hardware. (3) It is highly subjective and requires manual judgment of data results. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and medium for detecting abnormality of a magnetic levitation motor, so as to accurately detect abnormality of the magnetic levitation motor without hardware improvement and manual inspection.

[0005] According to one aspect of the present application, a method for detecting abnormality of a magnetic levitation motor is provided, the method comprising:

[0006] Traversing each coil with the same function in the magnetic levitation motor, energizing the coil with the same function during the traversal process, and detecting the sensing data of each sensor in the magnetic levitation motor; wherein the coil with the same function is a group of coils that drive the rotor to move in the same direction along the direction of freedom;

[0007] Compare the relationship between each sensing data with the preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or an abnormal coil connection sequence;

[0008] If there is a sensor abnormality and / or an abnormal coil connection sequence, the sensing data is compared with a preset sensing data range to determine the abnormal sensor and / or abnormal coil connection sequence.

[0009] According to one aspect of the present application, a magnetic levitation motor abnormality detection device is provided, the device comprising:

[0010] A sensing data detection module, configured to traverse each group of coils with the same function in a magnetic levitation motor, energize the coils with the same function during the traversal, and detect the sensing data of each sensor in the magnetic levitation motor; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom.

[0011] An abnormality detection module, configured to compare the relationship between each sensing data with a preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or a coil connection sequence abnormality.

[0012] An abnormality location module, configured to, if there is a sensor abnormality and / or a coil connection sequence abnormality, compare the sensing data with a preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence.

[0013] According to another aspect of the present application, there is provided an electronic device, which includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the magnetic levitation motor abnormality detection method according to any embodiment of the present application.

[0017] According to another aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the magnetic levitation motor abnormality detection method according to any embodiment of the present application when executed.

[0018] The technical solution of the embodiment of the present application traverses each group of coils with the same function in a magnetic levitation motor, energizes the coils with the same function during the traversal, and detects the sensing data of each sensor in the magnetic levitation motor; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom; compares the relationship between each sensing data with a preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or a coil connection sequence abnormality; if there is a sensor abnormality and / or a coil connection sequence abnormality, compares the sensing data with a preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence. The above solution can accurately detect the situation of sensor abnormality and / or coil connection sequence abnormality by traversing and controlling the energization of the coils with the same function, comparing the relationship between the sensing data of the sensors, and comparing the sensing data with the preset sensing data range, without the need for hardware improvement or manual detection, improving the detection accuracy and convenience.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 Flowchart of a method for detecting abnormalities in a magnetic levitation motor provided by an embodiment of the present application;

[0022] Figure 2 Schematic diagram of the radial cross-section of a magnetic levitation motor;

[0023] Figure 3 Flowchart of a method for detecting abnormalities in a magnetic levitation motor provided by another embodiment of the present application;

[0024] Figure 4 Flowchart of a method for detecting abnormalities in a magnetic levitation motor provided by yet another embodiment of the present application;

[0025] Figure 5 Schematic diagram of the structure of a device for detecting abnormalities in a magnetic levitation motor provided by an embodiment of the present application;

[0026] Figure 6 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] In order to enable those skilled in the art to better understand the solutions of the present application, the following clearly and completely describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "second", "third", "fourth", "actual", "preset", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0029] Figure 1 FIG. is a flowchart of an abnormal detection method for a magnetic levitation motor provided by an embodiment of this application. The embodiments of this application are applicable to the situation of detecting abnormalities in a magnetic levitation motor. This method can be executed by a magnetic levitation motor abnormal detection device, which can be implemented in the form of hardware and / or software, and the magnetic levitation motor abnormal detection device can be configured in an electronic device. As Figure 1 shown, this method includes:

[0030] S110. Traverse each set of coils with the same function in the magnetic levitation motor, energize the coils with the same function during the traversal, and detect the sensing data of each sensor in the magnetic levitation motor; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom direction.

[0031] Among them, the magnetic levitation motor in the embodiments of this application can be a magnetic levitation motor under normal circumstances, including each set of coils with the same function and sensors distributed along the circumference. The coils with the same function are a group of coils that jointly drive the rotor to move in the same direction along the same degree of freedom direction, and can include at least one coil. As Figure 2 shown, Figure 2 is a schematic radial cross-sectional view of a magnetic levitation motor, where the pair labeled 1 is a set of coils with the same function, the pair labeled 2 is a set of coils with the same function, the pair labeled 3 is a set of coils with the same function, the pair labeled 4 is a set of coils with the same function, A, B, C, and D are radial sensors for detecting the radial displacement of the rotor located in the center. The rotor is located Figure 2 in the hollow position of the radial cross-section in the figure, is arranged perpendicular to the paper surface, and is not shown in the figure. In Figure 2Among them, the No. 1 and No. 2 coils with the same function are used to drive the rotor to move along the Y-axis degree of freedom direction, the sensors A and B are used to detect the displacement of the rotor along the Y-axis degree of freedom direction, the No. 3 and No. 4 coils with the same function are used to drive the rotor to move along the X-axis degree of freedom direction, and the sensors C and D are used to detect the displacement of the rotor along the X-axis degree of freedom direction. The coils and sensors on the axial direction are the same in principle. Coils and sensors are respectively arranged on the inner side and the outer side of the paper surface along the axial direction. The layout examples are the No. 1 coil and the sensor A, and the No. 2 coil and the sensor B.

[0032] In the embodiment of the present application, the coils with the same function traversed in the magnetic levitation motor refer to a group of coils that drive the rotor to move in the same orientation along the degree of freedom direction, that is, when the group of coils with the same function is energized, the direction of driving the rotor to move is along the same orientation of the same degree of freedom direction. For example, in Figure 2 Among them, the No. 1 coil is a group of coils with the same function, and when energized, it drives the rotor to move along the positive direction of the Y-axis. The No. 3 coil is a group of coils with the same function, and when energized, it drives the rotor to move along the negative direction of the X-axis. During the traversal process, the coils with the same function are respectively controlled to be energized. Under the normal condition that the coils with the same function are energized, the rotor should move towards a known orientation of a degree of freedom. At this time, the sensing data of each sensor is recorded, and the displacement of the rotor at this time can be reflected according to the sensing data of each sensor. During the process of energizing each coil during each traversal, a group of sensing data of each sensor can be obtained. If the axial sensors are the sensors E and F respectively, during the energization process of the No. 1 coil, a group of sensing data of the sensors A, B, C, D, E, and F will be obtained, and a group of sensing data of the sensors A, B, C, D, E, and F will also be obtained during the energization process of the No. 3 coil.

[0033] S120. Compare the relationship between the sensing data with the preset theoretical sensing relationship to determine whether there is an abnormal sensor and / or an abnormal coil connection sequence.

[0034] Exemplarily, when the coil itself, the coil connection sequence, and the sensor are normal, during the process of energizing each coil with the same function during traversal, the rotor moves according to the theoretical situation, and there will be a theoretical preset theoretical sensing relationship and a preset sensing data range among the sensors. For example, as Figure 2As shown, during the energization of the No. 1 coil, the rotor will move in the positive direction of the Y-axis. At this time, the sensing data of sensor A and other sensors are theoretically not equal. During the actual detection process, the same-function coils are energized, and the sensing data is detected. The relationship between the sensing data is compared with the preset theoretical sensing relationship to determine whether there is an abnormal sensor and / or an abnormal coil connection relationship. If the relationship between the sensing data is inconsistent with the preset theoretical sensing relationship, it is determined that there is an abnormal sensor and / or an abnormal coil connection sequence.

[0035] Specifically, since a set of sensing data is obtained each time a group of the same-function coils is traversed and energized, and multiple sets of sensing data can be obtained by traversing multiple groups of the same-function coils and energizing them, the relationship between the sensing data in the same group can be detected, and the relationship between the sensing data in different groups can also be detected, so that various abnormal situations can be detected, that is, the situation of abnormal sensors and the situation of abnormal coil connection sequences can be distinguished and detected.

[0036] S130. If there is an abnormal sensor and / or an abnormal coil connection sequence, then compare the sensing data with the preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence.

[0037] Exemplarily, if it is determined that there is an abnormal sensor and / or an abnormal coil connection sequence according to the relationship between the sensing data, it can be further determined which sensor is abnormal and / or which two coil connection sequences are abnormal. Specifically, the sensing data can be compared with the preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence. For example, when a sensor abnormality is detected, assuming that the same-function coil is energized, the rotor is adsorbed by the same-function coil, and the data of the sensor corresponding to the same-function coil is theoretically the smallest. If it is not the smallest, it indicates that the sensor is an abnormal sensor. Similarly, in the case of an abnormal coil connection sequence, based on the principle that when the same-function coil is energized, the rotor is adsorbed by the same-function coil and the data of the sensor corresponding to the same-function coil is theoretically the smallest, it can be determined which two coils have opposite connection sequences, so as to accurately locate the abnormal sensor and / or the abnormal coil connection sequence.

[0038] In the technical solution of the embodiment of the present application, each set of coils with the same function in the magnetic levitation motor is traversed, and the coils with the same function are energized during the traversal process, and the sensing data of each sensor in the magnetic levitation motor is detected; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom direction; the relationship between the sensing data is compared with the preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or a coil connection sequence abnormality; if there is a sensor abnormality and / or a coil connection sequence abnormality, the sensing data is compared with the preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence. The above solution can accurately detect the situation of sensor abnormality and / or coil connection sequence abnormality by traversing and controlling the energization of the coils with the same function, comparing the relationship between the sensing data of the sensors and the comparison between the sensing data and the preset sensing data range, without the need for hardware improvement or manual detection, improving the detection accuracy and convenience.

[0039] Figure 3 The flowchart of a method for detecting abnormalities in a magnetic levitation motor provided by another embodiment of the present application is based on the above embodiment for optimization. For the solutions not described in detail in the embodiments of the present application, refer to the above embodiments. As Figure 3 shown, the method of the embodiment of the present application specifically includes the following steps:

[0040] S210. Traverse each set of coils with the same function in the magnetic levitation motor, energize the coils with the same function during the traversal process, and detect the sensing data of each sensor in the magnetic levitation motor; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom direction.

[0041] S220. For the sensing data detected during the energization of the coils with the same function in the target degree of freedom direction, compare whether the same set of sensing data of the sensors in the target degree of freedom direction is equal. If not, execute S230. If equal, execute S240-S250.

[0042] Among them, the degree of freedom direction can be the direction in which the rotor of the magnetic levitation motor can move freely. Generally, it includes two mutually perpendicular radial directions and the axial direction, such as Figure 2 the horizontal direction, the vertical direction in the radial direction, and the axial direction perpendicular to the paper surface in the figure. The target degree of freedom direction refers to any one of the degree of freedom directions, and the direction where the currently traversed coils with the same function are located can be used as the target degree of freedom direction. Generally, there are two sets of coils with the same function in one target degree of freedom direction, one set in the positive direction of the target degree of freedom direction and one set in the negative direction of the target degree of freedom. As Figure 4As shown, the first coil and the second coil are two sets of coils with the same function in the Y-axis degree of freedom direction. The first coil is in the positive direction of the Y-axis degree of freedom, and the second coil is in the negative direction of the Y-axis degree of freedom. The same applies to other degrees of freedom directions.

[0043] Exemplarily, the coils with the same function in the target degree of freedom direction are energized respectively. When the coils with the same function are energized, the sensing data detected by the sensors in the positive direction of the target degree of freedom and the sensing data detected by the sensors in the negative direction are used as the same group of sensing data. During the energization of the coils with the same function, the rotor moves in the target degree of freedom direction towards the energized coils with the same function. Therefore, the same group of sensing data detected by the sensors in the positive direction and the sensors in the negative direction in the target degree of freedom direction should be unequal. Therefore, it is possible to compare whether the same group of sensing data is equal to determine whether there is an abnormality in the sensors.

[0044] S230. Determine that the sensors in the target degree of freedom direction are normal.

[0045] Exemplarily, if the same group of sensing data of the sensors in the target degree of freedom direction is unequal, it reflects that the rotor displacement is normal. The unequal relationship of the same group of data can reflect the situation where the rotor is adsorbed by the energized coils with the same function in the target degree of freedom direction. Therefore, it is determined that the sensors in the target degree of freedom direction are normal.

[0046] S240. Determine that the sensors in the target degree of freedom direction are abnormal.

[0047] Exemplarily, if the same group of sensing data of the sensors in the target degree of freedom direction is equal, it reflects that there is an abnormality in the sensors in the target degree of freedom direction, and the same group of sensing data fails to correctly reflect the current displacement situation of the rotor.

[0048] Exemplarily, in Figure 2 , when the first coil is energized, the target degree of freedom direction is the Y-axis degree of freedom direction. The sensing data of sensors A, B, C, and D are S11, S12, S13, and S14 respectively, and the sensing data of the sensors in the Y-axis degree of freedom direction are S11 and S12. If S11 = S12, it reflects that sensor A and / or sensor B is abnormal. The detection method for other degrees of freedom directions is the same.

[0049] S250. For the same group of sensing data of the sensors in the target degree of freedom direction, if there is the same group of sensing data not within the preset sensing data range, determine that the sensor corresponding to the same group of sensing data is abnormal.

[0050] When it is determined that there is a sensor abnormality in the target degree-of-freedom direction, it is possible to continue to judge the same-group sensing data of the sensor located in the target degree-of-freedom direction. If the same-group sensing data is within the preset sensing data range, it indicates that the sensor detecting the same-group sensing data is normal. If the same-group sensor data is not within the preset sensing data range, it indicates that the sensor detecting the same-group sensing data is an abnormal sensor. For example, assume S11 = S12, which indicates that sensor A and / or sensor B is abnormal. When the rotor is adsorbed to the No. 1 coil, the same-group sensing data of sensor A should be the minimum value, and the same-group sensing data of sensor B should be the maximum value. The preset sensing data range [minimum value - a, minimum value + a] for the same-group sensing data of sensor A can be determined based on the minimum value, and the preset sensing data range [maximum value - b, maximum value + b] for the same-group sensor data of sensor B can be determined based on the maximum value. If S11 is within [minimum value - a, minimum value + a], it is determined that sensor A is normal; otherwise, it is determined that sensor A is an abnormal sensor. If S12 is within [maximum value - b, maximum value + b], it indicates that sensor B is normal; otherwise, it is determined that sensor B is an abnormal sensor.

[0051] In practice, regardless of whether the same-group sensing data of the sensors located in the target degree-of-freedom direction is equal, it is possible to execute S250 to judge the abnormal sensors.

[0052] The embodiment of the present application provides a method for detecting abnormalities in a magnetic levitation motor, which can compare whether the same-group sensing data of sensors located in the target degree-of-freedom direction is equal for the sensing data detected during the energization process of the same-function coils in the target degree-of-freedom direction, so as to reflect whether the sensors can normally detect the displacement of the rotor under the condition of normal displacement of the rotor, and judge whether there is a sensor abnormality. In the case of a sensor abnormality, the specific values of the same-group sensing data are judged to lock the specific sensor with the abnormality, so as to facilitate the repair or replacement of the sensor and avoid affecting the normal detection of the rotor displacement in the magnetic levitation motor.

[0053] As a non-limiting implementation, if it is determined in S220 that the same-group sensor data is not equal, it may not be completely determined that the sensor is normal, and the sensor can be continuously detected, that is, execute S250 to determine whether there is an abnormal sensor.

[0054] Figure 4 The flowchart of a method for detecting abnormalities in a magnetic levitation motor provided by another embodiment of the present application. The embodiment of the present application is optimized based on the above embodiment. The solutions not described in detail in the embodiment of the present application can be seen in the above embodiment. As Figure 4 shown, the method of the embodiment of the present application specifically includes the following steps:

[0055] S310. Traverse each set of coils with the same function in the magnetic levitation motor. During the traversal, energize the coils with the same function and detect the sensing data of each sensor in the magnetic levitation motor. Among them, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom direction.

[0056] S320. For the sensors located in the target degree of freedom direction, compare the sum of the relative sensing data corresponding to the same sensor when the two sets of coils with the same function in the target degree of freedom direction are energized respectively with the preset relationship data range.

[0057] Exemplarily, during the detection of the abnormal connection sequence of the coils, for the sensors in the target degree of freedom direction, when the two sets of coils with the same function in the target degree of freedom direction are energized respectively, compare the sum of the relative sensing data corresponding to the same sensor with the preset relationship data range. Under normal circumstances, when the coils with the same function in the positive direction of the target degree of freedom direction are energized, the rotor moves in the positive direction. At this time, the displacement reflected by the sensing data of the sensor in the positive direction is the smallest. When the coils with the same function in the negative direction are energized, the rotor moves in the negative direction. At this time, the displacement reflected by the sensing data of the sensor in the positive direction is the largest. The sensing data corresponding to the same sensor when the two sets of coils with the same function in the target degree of freedom direction are energized respectively is used as the relative sensing data. The sum of the relative sensing data should be a fixed value and within the preset relationship data range. For example, Figure 2 in, under normal circumstances, the sum of the sensing data of sensor A and sensor B should be 10. If the rotor deflects to the side of sensor A, the sensing data of sensor A becomes smaller, becoming 3, and the sensing data of sensor B should become larger, becoming 7, and the sum is still 10. If the rotor deflects to the side of sensor B, the data of sensor B becomes smaller, maybe becoming 2, and the sensing data of sensor A should become larger, becoming 8, and the sum is still 10. That is, the displacement of the rotor in the degree of freedom direction towards one sensor is the same as the displacement away from the other sensor in the degree of freedom direction.

[0058] S330. Judge whether the sum of the relative sensing data when each set of coils with the same function is energized is within the preset relationship data range. If so, execute S340; otherwise, execute S350 - S370.

[0059] S340. Determine that the connection sequence of the coils is normal.

[0060] Exemplarily, if the sum of the relative sensing data when each co-functional coil is energized is within the preset relationship data range, it is determined that the connection sequence of the coils is normal. Specifically, that is to judge whether Sii + Smi (i = 1, 3; m = i + 1) is within the preset relationship data range and whether Sii + Smi (i = 2, 4; m = i - 1) is within the preset relationship data range. For example, assuming that when the No. 1 coil is energized, the target degree-of-freedom direction is the Y-axis degree-of-freedom direction, and the sensing data of sensors A, B, C, and D are S11, S12, S13, and S14 respectively, and the sensing data of the sensors located in the Y-axis degree-of-freedom direction are S11 and S12. When the No. 2 coil is energized, the target degree-of-freedom direction is the Y-axis degree-of-freedom direction, and the sensing data of sensors A, B, C, and D are S21, S22, S23, and S24 respectively, and the sensing data of the sensors located in the Y-axis degree-of-freedom direction are S21 and S22. When the No. 3 coil is energized, the target degree-of-freedom direction is the X-axis degree-of-freedom direction, and the sensing data of sensors A, B, C, and D are S31, S32, S33, and S34 respectively, and the sensing data of the sensors located in the X-axis degree-of-freedom direction are S33 and S34. When the No. 4 coil is energized, the target degree-of-freedom direction is the X-axis degree-of-freedom direction, and the sensing data of sensors A, B, C, and D are S41, S42, S43, and S44 respectively, and the sensing data of the sensors located in the X-axis degree-of-freedom direction are S43 and S44. When the No. 1 co-functional coil and the No. 2 co-functional coil are energized respectively, the relative sensing data of sensor A in the Y-axis degree-of-freedom direction are S11 and S21, and it is judged whether the sum of S11 and S21 is within the preset relationship data range. When the No. 1 co-functional coil and the No. 2 co-functional coil are energized respectively, the relative sensing data of sensor B in the Y-axis degree-of-freedom direction are S12 and S22, and it is judged whether the sum of S12 and S22 is within the preset relationship data range. When the No. 3 co-functional coil and the No. 4 co-functional coil are energized respectively, the relative sensing data of sensor C in the X-axis degree-of-freedom direction are S33 and S43, and it is judged whether the sum of S33 and S43 is within the preset relationship data range. When the No. 3 co-functional coil and the No. 4 co-functional coil are energized respectively, the relative sensing data of sensor D in the X-axis degree-of-freedom direction are S44 and S34, and it is judged whether the sum of S44 and S34 is within the preset relationship data range. If in the above judgments, the sum of the relative sensors is within the preset relationship data range, it is determined that there is no problem with the coil connection. If there is a sum of relative sensing data that is not within the preset relationship data range, it is determined that there is a problem with the coil connection.

[0061] S350. It is determined that there is an abnormality in the coil connection sequence.

[0062] As described above, when the sum of the relative sensing data does not fall within the preset relational data range, it is determined that there is an abnormal coil connection sequence. As reflected in the relative sensing data, when two groups of co-functional coils in the same degree of freedom direction are energized respectively, the displacement of the rotor reflected by the relative sensing data of the same sensor does not conform to the law when two groups of co-functional coils in the same degree of freedom direction are energized respectively.

[0063] S360. Compare the sensing data of each sensor when the co-functional coils in the target degree of freedom direction are energized with the preset sensing data range.

[0064] When it is determined that there is an abnormal coil connection sequence, it is impossible to accurately determine which two coils have an abnormal connection sequence. It is necessary to specifically determine the abnormal coil connection sequence according to the comparison result between the specific values of each sensor and the preset sensing data range.

[0065] S370. If the sensing data of the sensor corresponding to the energized co-functional coil is not within the preset sensing data range and the sensing data of the sensor corresponding to the non-energized co-functional coil is within the preset sensing data range, it is determined that the energized co-functional coil and the non-energized co-functional coil are connected reversely; wherein, the sensor corresponding to the co-functional coil is the sensor located in the same target degree of freedom direction as the co-functional coil.

[0066] Among them, the preset sensing data range is the theoretically sensing data of the corresponding sensor when the co-functional coil is energized. For example, Figure 2When the No. 1 coil is energized, the rotor is adsorbed by the No. 1 coil. The sensing data of sensor A should theoretically be 0. Then the preset sensing data range can be a range near 0, [0, 0 + c]. For the sensing data of each sensor when the same-function coils are energized, if the sensing data of the sensor corresponding to the energized same-function coil is not within the preset sensing data range, it reflects that the rotor is not adsorbed by the energized same-function coil. And if the sensing data of the sensor corresponding to the non-energized same-function coil is within the preset sensing data range, that is, the rotor is adsorbed by the non-energized same-function coil, it reflects that the energized same-function coil and the non-energized same-function coil are connected reversely. The energized same-function coil is actually not energized, while the non-energized same-function coil is actually energized. Exemplarily, assume that when the No. 1 coil is energized, the sensing data of each sensor is S11, S12, S13, S14, and the rotor is adsorbed by the No. 1 coil. The sensing data S11 of sensor A corresponding to the No. 1 coil should theoretically be within the preset sensing data range. If S11 is not within the preset sensing data range, and there is sensing data within the preset sensing data range among S12, S13, S14, then it is determined that the coil corresponding to the sensor with the sensing data within the preset sensing data range is connected reversely with the No. 1 coil. Assume that S13 is within the preset sensing data range, then it is determined that the No. 1 coil and the No. 3 coil are connected reversely. Further, verification can be continued, that is, the energization processes of the originally energized same-function coil and the originally non-energized same-function coil that are initially judged to be connected reversely are swapped. Energize the originally non-energized same-function coil, and determine whether it satisfies that the sensing data of the sensor corresponding to the currently energized same-function coil is not within the preset sensing data range, while the sensing data of the sensor corresponding to the originally energized and now non-energized same-function coil is within the preset sensing data range. If it is satisfied, it is further verified that the connection order of these two groups of same-function coils is indeed reversed. For example, in the case where it has been initially judged that the No. 1 coil and the No. 3 coil are connected reversely as above, for the sensing data S31, S32, S33, S34 collected when the No. 3 coil is energized and the No. 1 coil is not energized, if S33 is not within the preset sensing data range, and S31 is within the preset sensing data range, then it is further verified that the No. 1 coil and the No. 3 coil are connected reversely.

[0067] In the embodiments of the present application, if two groups of same-function coils in the same degree-of-freedom direction are connected reversely, modifications can be made in the control program to achieve the swapping of the coil order from the control aspect. For example, in the case where the No. 1 coil and the No. 2 coil are connected reversely, the signal for controlling the No. 1 coil is changed to control the No. 2 coil, achieving the effect of swapping the connection order of the No. 1 coil and the No. 2 coil. If two groups of same-function coils in mutually perpendicular degree-of-freedom directions are connected reversely, actual adjustment of the hardware wiring is required.

[0068] An embodiment of the present application provides a method for detecting abnormalities in a magnetic levitation motor. For sensors in the target degree of freedom direction, the sum of the relative sensing data corresponding to the same sensor when two groups of coils with the same function in the target degree of freedom direction are energized respectively is compared with a preset relationship data range; if the sum of the relative sensing data is not within the preset relationship data range, it is determined that there is an abnormality in the coil connection sequence, so as to preliminarily judge whether there is an abnormality in the coil connection sequence, and the sensing data of each sensor when the coils with the same function in the target degree of freedom direction are energized is compared with a preset sensing data range; if the sensing data of the sensor corresponding to the energized coil with the same function is not within the preset sensing data range, and the sensing data of the sensor corresponding to the non-energized coil with the same function is within the preset sensing data range, it is determined that the energized coil with the same function and the non-energized coil with the same function are connected reversely; wherein, the sensor corresponding to the coil with the same function is the sensor located in the same target degree of freedom direction as the coil with the same function, so that the reversely connected coil with the same function can be accurately detected only through the sensing data, which is convenient for timely correction and avoids affecting the normal operation of the magnetic levitation motor.

[0069] As a non-limiting implementation manner, before traversing each coil with the same function in the magnetic levitation motor, the method further includes:

[0070] Detecting the resistance value and inductance value of the coil with the same function in the magnetic levitation motor;

[0071] If the resistance value is within the preset resistance value range and the inductance value is within the preset inductance value range, it is determined that the coil with the same function is normal, so as to traverse each coil with the same function in the magnetic levitation motor and detect abnormalities in the sensor and / or coil connection sequence.

[0072] Exemplarily, before detecting abnormalities in the connection sequence of the sensor and the coil, the abnormality of the coil itself can be excluded first. Only when it is determined that there is no abnormality in the coil itself and the rotor can be normally adsorbed when energized, can the abnormality be determined to be from the abnormality of the connection sequence of the sensor and the coil. Therefore, the resistance value and inductance value of the coil with the same function in the magnetic levitation motor can be measured first. If the resistance value is within the preset resistance value range and the inductance value is within the preset inductance value range, it is determined that the coil with the same function is normal, so as to be able to determine that it is a sensor abnormality and / or coil connection sequence abnormality when an abnormality is judged based on the sensing data later. The resistance value and inductance value can be determined by conventional detection methods. The resistance value can be detected by using the resistance measurement function of a multimeter or a digital bridge, and the inductance value can be detected by methods such as the AC volt-ampere method, the resonance method, and the digital bridge method.

[0073] As a non-limiting implementation manner, the method further includes:

[0074] For the sensing data of the same sensor when the same functional coil is energized, determine the difference in the sensing data for adjacent traversal periods;

[0075] If the difference is greater than a preset difference threshold, determine that the sensor or the functional coil is abnormal, and stop the process of traversing each functional coil in the maglev motor until the sensor and the functional coil are repaired normally.

[0076] Exemplarily, for different traversal detection periods, if the difference in the sensing data of the same sensor when the same functional coil is energized in adjacent traversal periods is greater than the preset threshold, it indicates that the sensor data has a large error and a large drift has occurred. It is necessary to repair the sensor or the functional coil until it is normal. That is, when the sensing data of the sensor detected again is less than or equal to the preset difference threshold compared with the sensing data of the sensor detected in the previous period, it is determined that the sensor and the coil are normal, and the detection process continues.

[0077] Figure 5 The following is a schematic structural diagram of an abnormal detection device for a maglev motor provided by an embodiment of the present application. This device can execute the abnormal detection method for a maglev motor provided by any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method. As Figure 5 shown, the device includes:

[0078] A sensing data detection module 410, configured to traverse each functional coil in the maglev motor, energize the functional coil during the traversal, and detect the sensing data of each sensor in the maglev motor; wherein, the functional coil is a group of coils that drive the rotor to move in the same direction along the degree of freedom;

[0079] An abnormal detection module 420, configured to compare the relationship between each sensing data with a preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or a coil connection sequence abnormality;

[0080] An abnormal positioning module 430, configured to, if there is a sensor abnormality and / or a coil connection sequence abnormality, compare the sensing data with a preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence.

[0081] In an embodiment of the present application, the abnormal detection module 420 compares the relationship between each sensing data with a preset theoretical sensing relationship to determine whether there is a sensor abnormality, including:

[0082] For the sensing data detected during the energization process of the functional coil in the target degree of freedom direction, compare whether the same group of sensing data of the sensors in the target degree of freedom direction are equal;

[0083] If the sensing data of the same group of sensors in the target degree of freedom direction are not equal, it is determined that the sensors in the target degree of freedom direction are normal;

[0084] Otherwise, it is determined that the sensors in the target degree of freedom direction are abnormal.

[0085] In the embodiment of the present application, if the abnormal positioning module 430 determines that the sensors in the target degree of freedom direction are abnormal, it compares the sensing data with a preset sensing data range to determine the abnormal sensors, including:

[0086] For the sensing data of the same group of sensors in the target degree of freedom direction, if there is sensing data of the same group that is not within the preset sensing data range, it is determined that the sensor corresponding to the sensing data of the same group is abnormal.

[0087] In the embodiment of the present application, the abnormal detection module 420 compares the relationship between the sensing data with a preset theoretical sensing relationship to determine whether there is an abnormal coil connection sequence, including:

[0088] For the sensors in the target degree of freedom direction, the sum of the relative sensing data corresponding to the same sensor when two groups of co-functional coils in the target degree of freedom direction are energized respectively is compared with a preset relationship data range;

[0089] If the sum of the relative sensing data is not within the preset relationship data range, it is determined that there is an abnormal coil connection sequence.

[0090] In the embodiment of the present application, if the abnormal positioning module 430 determines that there is an abnormal coil connection sequence, it compares the sensing data with a preset sensing data range to determine the abnormal coil connection sequence, including:

[0091] The sensing data of each sensor when the co-functional coils in the target degree of freedom direction are energized is compared with a preset sensing data range;

[0092] If the sensing data of the sensor corresponding to the energized co-functional coil is not within the preset sensing data range and the sensing data of the sensor corresponding to the non-energized co-functional coil is within the preset sensing data range, it is determined that the energized co-functional coil and the non-energized co-functional coil are connected in reverse; wherein, the sensor corresponding to the co-functional coil is the sensor located in the same target degree of freedom direction as the co-functional coil.

[0093] In the embodiment of the present application, the device further includes:

[0094] A detection module, configured to detect the resistance value and inductance value of the co-functional coils in the magnetic levitation motor;

[0095] A judgment module, configured to determine that a same-functional coil is normal if the resistance value is within a preset resistance value range and the inductance value is within a preset inductance value range, so as to execute traversing each same-functional coil in the magnetic levitation motor to detect abnormalities in the connection sequence of sensors and / or coils.

[0096] In an embodiment of the present application, the device further includes:

[0097] A difference calculation module, configured to determine the difference between sensing data of the same sensor when the same same-functional coil is energized for adjacent traversal periods;

[0098] A difference comparison module, configured to determine that a sensor or a same-functional coil is abnormal if the difference is greater than a preset difference threshold, and stop the process of traversing each same-functional coil in the magnetic levitation motor until the sensors and the same-functional coils are repaired normally.

[0099] An abnormal detection device for a magnetic levitation motor provided in an embodiment of the present application can execute an abnormal detection method for a magnetic levitation motor provided in any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.

[0100] Figure 6 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described and / or claimed herein.

[0101] As Figure 6 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by at least one processor, and the processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless transceiver for abnormal detection of maglev motors, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0103] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for abnormal detection of maglev motors.

[0104] In some embodiments, the method for abnormal detection of maglev motors can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for abnormal detection of maglev motors described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for abnormal detection of maglev motors by any other suitable means (e.g., by means of firmware).

[0105] The various embodiments of the systems and technologies described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] The computer program for implementing the method of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable maglev motor anomaly detection devices, such that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0110] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0111] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this application can be executed in parallel, sequentially, or in a different order, as long as the information desired by the technical solution of this application can be achieved, and this is not limited herein.

[0112] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A method for detecting abnormalities in a magnetic levitation motor, characterized in that, The method includes: Traverse each group of coils with the same function in the maglev motor, energize the coils with the same function during the traversal, and detect the sensing data of each sensor in the maglev motor; wherein, the coils with the same function are a group of coils that drive the rotor to move in the same direction along the degree of freedom; Compare the relationship between the sensing data with a preset theoretical sensing relationship to determine whether there is an abnormal sensor and / or an abnormal coil connection sequence; If there is an abnormal sensor and / or an abnormal coil connection sequence, then compare the sensing data with a preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence.

2. The method according to claim 1, wherein Comparing the relationship between the sensing data with a preset theoretical sensing relationship to determine whether there is an abnormal sensor includes: For the sensing data detected during the energization of the coils with the same function in the target degree of freedom direction, compare whether the same group of sensing data of the sensors in the target degree of freedom direction are equal; If the same group of sensing data of the sensors in the target degree of freedom direction are not equal, then determine that the sensors in the target degree of freedom direction are normal; Otherwise, determine that the sensors in the target degree of freedom direction are abnormal.

3. The method according to claim 1 or 2, characterized in that, If it is determined that the sensors in the target degree of freedom direction are abnormal, then compare the sensing data with a preset sensing data range to determine the abnormal sensor, including: For the same group of sensing data of the sensors in the target degree of freedom direction, if there is a same group of sensing data that is not within the preset sensing data range, then determine that the sensor corresponding to this same group of sensing data is abnormal.

4. The method according to claim 1, wherein Comparing the relationship between the sensing data with a preset theoretical sensing relationship to determine whether there is an abnormal coil connection sequence includes: For the sensors in the target degree of freedom direction, compare the sum of the relative sensing data corresponding to the same sensor when the two groups of coils with the same function in the target degree of freedom direction are energized respectively, with a preset relationship data range; If the sum of the relative sensing data is not within the preset relationship data range, then determine that there is an abnormal coil connection sequence.

5. The method according to claim 1 or 4, characterized in that If it is determined that there is an abnormal coil connection sequence, then compare the sensing data with a preset sensing data range to determine the abnormal coil connection sequence, including: Compare the sensing data of each sensor when the coils with the same function in the target degree of freedom direction are energized with a preset sensing data range; If the sensing data of the sensors corresponding to the energized coils with the same function is not within the preset sensing data range, and there is sensing data of the sensors corresponding to the non-energized coils with the same function within the preset sensing data range, then determine that the energized coils with the same function and the non-energized coils with the same function are connected in reverse; wherein, the sensors corresponding to the coils with the same function are the sensors located in the same target degree of freedom direction as the coils with the same function.

6. The method according to claim 1, wherein Before traversing each group of coils with the same function in the maglev motor, the method further includes: Detect the resistance value and inductance value of the coils with the same function in the maglev motor; If the resistance value is within the preset resistance value range and the inductance value is within the preset inductance value range, then determine that the coils with the same function are normal, so as to perform traversing each group of coils with the same function in the maglev motor to detect abnormal sensors and / or abnormal coil connection sequences.

7. The method according to claim 1, wherein The method further includes: Determine the difference in sensing data for adjacent traversal periods for the sensing data of the same sensor when the same co-functional coil is energized. If the difference is greater than a preset difference threshold, determine that the sensor or the co-functional coil is abnormal, and stop the process of traversing each co-functional coil in the magnetic levitation motor until the sensor and the co-functional coil are repaired normally.

8. An abnormal detection device for a magnetic levitation motor, characterized in that, The device includes: A sensing data detection module, configured to traverse each co-functional coil in the magnetic levitation motor, energize the co-functional coil during the traversal process, and detect the sensing data of each sensor in the magnetic levitation motor; wherein, the co-functional coil is a group of coils that drive the rotor to move in the same direction along the degree of freedom direction. An abnormality detection module, configured to compare the relationship between the sensing data with a preset theoretical sensing relationship to determine whether there is a sensor abnormality and / or a coil connection sequence abnormality. An abnormality location module, configured to, if there is a sensor abnormality and / or a coil connection sequence abnormality, compare the sensing data with a preset sensing data range to determine the abnormal sensor and / or the abnormal coil connection sequence.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the magnetic levitation motor abnormality detection method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the magnetic levitation motor abnormality detection method according to any one of claims 1-7 when executed by a processor.

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