Fault detection method of motor Hall sensor transmission cable and related device

Abstract

The invention discloses a motor Hall sensor transmission cable fault detection method and a related device, and relates to the field of cable fault detection, and the method comprises the steps: carrying out the detection of a plurality of level signals outputted by each transmission cable in a target detection time period corresponding to the fault detection of a target type under a constant rotating speed operation state of a motor, and performing a statistical operation corresponding to the fault detection of the target type, and determining a result of the fault detection of the target type at least based on a statistical result, the fault detection of the target type is any one of open-circuit fault detection, three-phase transmission cable short-circuit fault detection, two-phase transmission cable short-circuit fault detection and transmission cable two-phase short-circuit and one-phase open-circuit fault detection. According to the invention, on the basis of the plurality of level signals output by each transmission cable, acquisition of parameters required for fault detection of the transmission cable is realized without disassembling the motor, and the fault detection efficiency of the transmission cable of the Hall sensor is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cable fault detection, and in particular to a method and related device for detecting a fault of a motor Hall sensor transmission cable. Background Art

[0002] Hall effect sensors are sensors that use the Hall effect to monitor the position of a motor's rotor. These sensors are typically installed inside the motor. Each Hall effect sensor's transmission cable transmits the rotor position signals corresponding to the phase sequence to the controller, which then controls the motor based on the rotor position signals.

[0003] Due to the harsh operating environment of motors, transmission cables are prone to aging after long-term use, which can cause transmission cable failures. This necessitates fault detection of the transmission cables. The current fault detection method involves using a multimeter to connect both ends of the transmission cable to measure the resistance of the cable, thereby detecting short circuit and open circuit faults. However, since the Hall effect sensor is located inside the motor, the motor needs to be disassembled when using a multimeter for fault detection, reducing fault detection efficiency. Furthermore, in special application scenarios such as industrial manufacturing, new energy vehicles, and aerospace, there are issues with limited space for motor installation and excessively long transmission cables, further reducing fault detection efficiency. Therefore, improving the fault detection efficiency of Hall effect sensor transmission cables has become an urgent issue to be addressed. Summary of the Invention

[0004] In view of the above problems, this application provides a method and related device for fault detection of a motor Hall sensor transmission cable to achieve the purpose of improving the efficiency of fault detection of the Hall sensor transmission cable. The specific solution is as follows:

[0005] A first aspect of the present application provides a method for detecting a fault in a motor Hall sensor transmission cable, comprising:

[0006] Obtaining multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed;

[0007] A statistical operation corresponding to the target type of fault detection is performed on the multiple level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and a result of the target type of fault detection is determined based at least on the statistical result, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection.

[0008] In a possible implementation, when the target type of fault detection is the open circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0009] Performing the first type of statistical operation on each of the plurality of level signals output by the transmission cables:

[0010] By formula: sumX t1 =(1-hallX t1 )+sumX t0 , calculate the statistical result sumX of the transmission cable in the first detection period t1 , where the hallX t1 is the level signal output by the transmission cable at time t1 of the first detection period, and the sumX t0 is a statistical result of the transmission cable at time t0 in the first detection period, where time t0 is earlier than time t1, and the first detection period is the detection period corresponding to the open circuit fault detection;

[0011] When the statistical result of the first detection period is always 0, the identification of the transmission cable is determined as an open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identification is output; when the statistical result of the first detection period is not 0, the identification of the transmission cable is determined as a no open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identification is output.

[0012] In a possible implementation, when the target type of fault detection is the three-phase transmission cable short circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0013] Performing the second type of statistical operation on the plurality of level signals output by each of the transmission cables within the second detection period:

[0014] The Hall state statistics SUM in the second detection period is obtained by the formula: SUM=(4*hallA+2*hallB+hallC)++, where hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time of the second detection period, hallB is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the target detection time, and hallC is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the target detection time. The second detection period includes multiple target detection times, and the second detection period is the detection period corresponding to short-circuit fault detection of the three-phase transmission cable.

[0015] When the Hall state statistics result is 0, the output content is the result of the short circuit fault detection of the three-phase transmission cable having a fault.

[0016] In one possible implementation, when there is no short-circuit fault or open-circuit fault in the three-phase transmission cable and the target type of fault detection is short-circuit fault detection in the two-phase transmission cable, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0017] The third type of statistical operation is performed based on the multiple level signals at each detection moment in the third detection period: by formula: Hall t =4*hallA t +2*hallB t +hallC t , obtain the Hall state Hall at the detection time t in the third detection period t , wherein the hallA t is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the detection time t of the third detection period, and the hallB t is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t in the third detection period, and the hallC t is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t in the third detection period;

[0018] Determine whether the Hall state with a value of 0 exists within the third detection time period; if not, output the result of the two-phase transmission cable short-circuit fault detection in which no fault exists; if so, perform the two-phase transmission cable short-circuit fault detection based on the statistical results of the Hall state at multiple detection moments.

[0019] In a possible implementation, when there is no short-circuit fault in the three-phase transmission cable and one open-circuit fault exists, and the target type of fault detection is two-phase short-circuit and one-phase open-circuit fault detection in the transmission cable, performing a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0020] The fourth type of statistical operation is performed based on the multiple level signals output by each of the transmission cables within the fourth detection time period: statistics are performed on the level signals output by the two transmission cables other than the transmission cable with the open circuit fault within the fourth detection time period, and it is determined whether the two transmission cables have different level signals. If so, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable without fault; if not, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable including the identification of the two transmission cables and the identification of the transmission cable with the open circuit fault.

[0021] In a possible implementation, before performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, the method further includes:

[0022] Inputting the three-phase power current of the motor in the constant speed operation state into a preset sensorless vector control algorithm to obtain multiple rotor position estimation values, wherein the estimation values represent the position of the motor rotor when the Hall state changes;

[0023] The difference between each of the estimated values and the preset rotor position theoretical value is calculated respectively, and when each of the differences is not greater than a preset deviation threshold, the output content is a fault detection result indicating that there is no line sequence fault.

[0024] In a possible implementation, before respectively calculating the difference between each of the estimated values and the preset theoretical rotor position value, the method further includes:

[0025] Obtain the predicted Hall state corresponding to each of the rotor positions output by the preset sensorless vector control algorithm, and determine whether each of the predicted Hall states has an abnormal Hall state. If not, execute the operation steps of respectively calculating the difference between each of the estimated values and the preset rotor position theoretical value. If so, output an alarm message including the corresponding relationship between the abnormal Hall state and the rotor position, wherein the abnormal Hall state represents the predicted Hall state that is inconsistent with each of the preset Hall states.

[0026] A second aspect of the present application provides a fault detection system for a motor Hall sensor transmission cable, comprising:

[0027] The signal acquisition module is used to obtain multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed;

[0028] A fault detection module is configured to perform a statistical operation corresponding to the target type of fault detection on a plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determine a result of the target type of fault detection based at least on the statistical result, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection.

[0029] In a possible implementation, the fault detection module is configured to:

[0030] When the target type of fault detection is open circuit fault detection, performing the first type of statistical operation on the plurality of level signals output by each of the transmission cables:

[0031] By formula: sumX t1 =(1-hallX t1 )+sumX t0 , calculate the statistical result sumX of the transmission cable in the first detection period t1 , where the hallX t1 is the level signal output by the transmission cable at time t1 of the first detection period, and the sumX t0 is a statistical result of the transmission cable at time t0 in the first detection period, where time t0 is earlier than time t1, and the first detection period is the detection period corresponding to the open circuit fault detection;

[0032] When the statistical result of the first detection period is always 0, the identification of the transmission cable 1 is determined as an open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identification is output; when the statistical result of the first detection period is not 0, the identification of the transmission cable is determined as a no open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identification is output.

[0033] In a possible implementation, the fault detection module is configured to:

[0034] When the target type of fault detection is the three-phase transmission cable short circuit fault detection, performing the second type of statistical operation on the plurality of level signals output by each of the transmission cables within the second detection period:

[0035] The Hall state statistics SUM in the second detection period is obtained by the formula: SUM=(4*hallA+2*hallB+hallC)++, where hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time of the second detection period, hallB is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the target detection time, and hallC is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the target detection time. The second detection period includes multiple target detection times, and the second detection period is the detection period corresponding to short-circuit fault detection of the three-phase transmission cable.

[0036] When the Hall state statistics result is 0, the output content is the result of the short circuit fault detection of the three-phase transmission cable having a fault.

[0037] In a possible implementation, the fault detection module is configured to:

[0038] In the absence of the three-phase transmission cable short-circuit fault and open-circuit fault, and the target type of fault detection is the two-phase transmission cable short-circuit fault detection, the third type of statistical operation is performed based on the multiple level signals at each detection moment in the third detection period: by formula: Hall t =4*hallA t +2*hallB t +hallC t , obtain the Hall state Hall at the detection time t in the third detection period t , wherein the hallA tis the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the detection time t of the third detection period, and the hallB t is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t in the third detection period, and the hallC t is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t in the third detection period;

[0039] Determine whether the Hall state with a value of 0 exists within the third detection time period; if not, output the result of the two-phase transmission cable short-circuit fault detection in which no fault exists; if so, perform the two-phase transmission cable short-circuit fault detection based on the statistical results of the Hall state at multiple detection moments.

[0040] In a possible implementation, the fault detection module is configured to:

[0041] In the case that there is no short-circuit fault of the three-phase transmission cable, there is one open-circuit fault, and the target type of fault detection is the detection of a two-phase short-circuit and one-phase open-circuit fault of the transmission cable, the fourth type of statistical operation is performed based on the multiple level signals output by each of the transmission cables within the fourth detection time period: statistics are performed on the level signals output by the two transmission cables other than the transmission cable with the open-circuit fault within the fourth detection time period, and it is determined whether the two transmission cables have different level signals; if so, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable without fault; if not, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable including the identification of the two transmission cables and the identification of the transmission cable with the open-circuit fault.

[0042] In a possible implementation, the motor Hall sensor transmission cable fault detection system further includes:

[0043] a line sequence fault detection module, configured to input the three-phase power current of the motor in the constant speed operation state into a preset sensorless vector control algorithm before the fault detection module performs a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, to obtain multiple rotor position estimation values, wherein the estimation values represent the position of the motor rotor when the Hall state changes;

[0044] The difference between each of the estimated values and the preset rotor position theoretical value is calculated respectively, and when each of the differences is not greater than a preset deviation threshold, the output content is a fault detection result indicating that there is no line sequence fault.

[0045] In a possible implementation, the motor Hall sensor transmission cable fault detection system further includes:

[0046] A state detection module is used to obtain the predicted Hall state corresponding to each of the rotor positions output by the preset sensorless vector control algorithm before respectively calculating the difference between each of the estimated values and the preset rotor position theoretical value, and to determine whether each of the predicted Hall states has an abnormal Hall state. If not, the operation step of respectively calculating the difference between each of the estimated values and the preset rotor position theoretical value is executed. If so, an alarm information including the corresponding relationship between the abnormal Hall state and the rotor position is output, wherein the abnormal Hall state represents the predicted Hall state that is inconsistent with each of the preset Hall states.

[0047] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0048] The memory is used to store computer programs;

[0049] The processor is used to execute the computer program so that the electronic device can implement the fault detection method of the motor Hall sensor transmission cable according to the first aspect or any implementation of the first aspect.

[0050] A fourth aspect of the present application provides a computer storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the method for detecting faults in a motor Hall sensor transmission cable according to the first aspect or any implementation of the first aspect.

[0051] By means of the above technical solution, the present application provides a method and related device for fault detection of a motor Hall sensor transmission cable. By configuring the method, multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed are obtained. The method then performs statistical operations corresponding to the target type of fault detection on the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection. Based on at least the statistical results, the method determines the result of any target type of fault detection, including open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection. Since the level signals used for fault detection are all signals output by the transmission cable, it is only necessary to configure a sampling interface on the motor controller to obtain the output level signal of the transmission cable. This makes the present application, compared to the prior art, eliminate the need to connect both ends of the transmission cable to obtain the parameters required for fault detection, thereby eliminating the need to disassemble the motor and being unaffected by the length of the transmission cable. As can be seen, the present application improves the efficiency of fault detection of the Hall sensor transmission cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0053] Figure 1 A flow chart of a method for detecting a fault in a motor Hall sensor transmission cable provided in this application;

[0054] Figure 2 A schematic diagram of the position of a Hall sensor provided in this application;

[0055] Figure 3 A multi-target detection period opening control flow chart provided in this application;

[0056] Figure 4 A schematic diagram of a flow chart of open circuit fault detection provided by this application;

[0057] Figure 5 A schematic diagram of a process for detecting a short-circuit fault in a three-phase transmission cable provided in this application;

[0058] Figure 6 A flow chart of a two-phase transmission cable short circuit fault detection provided by this application;

[0059] Figure 7 A schematic diagram of a flow chart of a two-phase short-circuit and one-phase open-circuit fault detection process for a transmission cable provided by this application;

[0060] Figure 8A flow chart of a transmission cable fault pre-detection method provided by this application;

[0061] Figure 9 This is a schematic diagram of the overall structure of a method for detecting faults in a motor Hall sensor transmission cable provided by this application;

[0062] Figure 10 This is a block diagram of a fault detection system for a motor Hall sensor transmission cable provided by this application;

[0063] Figure 11 This is a schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0064] The following describes the embodiments of the present application in conjunction with the accompanying drawings. The terms used in the implementation methods of the present application are only used to explain the specific embodiments of the present application and are not intended to limit the present application.

[0065] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0066] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, and this is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0067] The first aspect of the present application provides a method for detecting a fault in a motor Hall sensor transmission cable, such as Figure 1 As shown, the fault detection method of the motor Hall sensor transmission cable includes:

[0068] S101 : obtaining a plurality of level signals output by each transmission cable in each detection period when the motor is running at a constant speed.

[0069] It should be noted that in actual application scenarios, since the rotor speed and magnetic field changes are relatively stable when the motor is running at a constant speed, the accuracy of the level signal output by the Hall sensor is improved. Therefore, this application collects multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed, thereby improving the accuracy of subsequent fault detection.

[0070] In one possible implementation, for a three-phase motor (including a three-phase generator and a three-phase motor), three Hall sensors are built in, corresponding to the three phases of the motor. Each Hall sensor is connected to the three-phase motor controller through a corresponding transmission cable. When the motor rotor passes through a Hall sensor, the Hall sensor will output different level signals due to changes in the magnetic field. Therefore, the position of the rotor is determined by the level signal interface output by the three Hall sensors. For example, Figure 2 The figure shows the position diagram of the Hall sensors, where hallA, hallB and hallC represent the Hall sensors corresponding to phase A, phase B and phase C respectively. The three Hall sensors can be used to divide the interior of the motor into six regions (Hall states): 1 (001), 2 (010), 3 (011), 4 (100), 5 (101) and 6 (110). The numbers outside the parentheses are the region identifiers (Hall state values), and the numbers inside the parentheses are binary strings composed of the level signals output by the three Hall sensors. For example, the calculation formula for the Hall state is: Hall = 4*hallA+2*hallB+hallC. For region 1 (Hall state 1): 1 (001) indicates that hallC and hallA output low-level signals 0, and hallB outputs high-level signals 1.

[0071] It should be noted that, in actual application scenarios, the above-mentioned level signal may be a signal sent by a motor controller connected by a transmission cable, and the level signal may also be a Hall signal used to represent the rotor position.

[0072] S102. Perform statistical operations corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determine a result of the target type of fault detection based at least on the statistical results, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection.

[0073] It should be noted that, in actual application scenarios, there may be multiple target detection periods, and the duration of each target detection period may be the duration of one or two rotations of the rotor.

[0074] In one possible implementation, the target detection period can be a detection period that is controlled and started by multiple timers after the motor enters a constant speed operation state. The start method of each target detection period can be:

[0075] like Figure 3 As shown in the figure, it is a control flow chart for opening a multi-target detection period. The specific operation steps are as follows:

[0076] Step S301: receiving a start signal and starting monitoring, and triggering step S302.

[0077] Step S302: Determine whether the current speed of the motor is not less than a preset speed threshold. If so, step S303 is triggered. If not, step S302 is triggered.

[0078] Step S303: Control the motor to run at a constant speed at the current speed, and trigger step S304.

[0079] Step S304: trigger the first timer to start timing and determine whether the detection results of the enable status of the fault detection of each target type in the first detection period are all enabled. If so, trigger step S305; if not, trigger step S306.

[0080] Step S305: When the first timer is detected to have finished timing, the second timer is triggered to start timing, and it is determined whether a line sequence fault detection result is output within the second detection period. If so, step S307 is triggered; if not, step S308 is triggered.

[0081] Step S306: outputting an alarm signal of enabling state detection failure.

[0082] Step S307: When the second timer is detected to have finished timing, the third timer is triggered to start timing, and it is determined whether an open circuit fault detection result is output within the third detection period. If so, step S309 is triggered; if not, step S310 is triggered.

[0083] Step S308: outputting an alarm signal indicating that line sequence fault detection is disabled.

[0084] Step S309: If the third timer is detected to have expired, the fourth timer is triggered to start timing, and a determination is made as to whether a short-circuit fault detection result is output within the fourth detection period. If so, the detection is terminated. If not, step S311 is triggered.

[0085] It should be noted that in actual application scenarios, the above Figure 3The short-circuit fault detection result in step S309 may be output by a short-circuit fault detection thread. This short-circuit fault detection thread can be used to perform three-phase transmission cable short-circuit fault detection, two-phase transmission cable short-circuit fault detection, and transmission cable two-phase short-circuit and one-phase open-circuit fault detection. The execution order can still be controlled by various timers. This application does not further define or elaborate on this process.

[0086] Step S310: outputting an alarm signal indicating that open circuit fault detection is disabled.

[0087] Step S311: outputting an alarm signal indicating that short-circuit fault detection is disabled.

[0088] It should be noted that in actual application scenarios, the above Figure 3 The execution order of steps S305 to S309 shown is for illustration only, and this application does not impose too many restrictions on the specific execution order.

[0089] It should be noted that in the above Figure 3 Based on one possible implementation of the present application shown, in order to facilitate the next fault detection, a trigger reset instruction can be generated to trigger each timer and fault detection thread to reset, thereby avoiding configuration errors affecting the fault detection accuracy.

[0090] The present application obtains multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed through configuration, and performs statistical operations corresponding to the target type of fault detection on the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, and determines the results of any target type of fault detection including open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection based on at least the statistical results. Since the level signals used for fault detection are all signals output by the transmission cable, it is only necessary to configure a sampling interface in the motor controller to obtain the output level signal of the transmission cable. This makes the present application, compared to the prior art, not need to connect the two ends of the transmission cable to obtain the parameters required for fault detection, thus eliminating the need to disassemble the motor and is not affected by the length of the transmission cable. It can be seen that the present application improves the fault detection efficiency of the Hall sensor transmission cable.

[0091] In one possible implementation, when the target type of fault detection is open circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0092] Perform the first type of statistical operation on the multiple level signals output by each transmission cable:

[0093] By formula: sumX t1 =(1-hallX t1 )+sumX t0 , calculate the statistical result sumX of the transmission cable in the first detection period t1 , among which, hallX t1 is the level signal output by the transmission cable at time t1 of the first detection period, sumX t0 is the statistical result of the transmission cable at time t0 in the first detection period, where time t0 is earlier than time t1. The first detection period is the detection period corresponding to open circuit fault detection;

[0094] When the statistical result of the first detection period is always 0, the identification of the transmission cable is determined as an open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identification is output; when the statistical result of the first detection period is not 0, the identification of the transmission cable is determined as a no open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identification is output.

[0095] It should be noted that in actual application scenarios, for a transmission cable with a three-phase Hall sensor, if any phase of the transmission cable has an open circuit fault, the output level signal of the transmission cable in the controller is a high level signal (i.e., 1). Under normal circumstances, when the rotor rotates one circle, the Hall sensor of the same phase will output three high level signals and three low level signals. If there is an open circuit fault in the transmission cable, the rotor rotates one circle and the level signal output by the transmission cable is always a high level signal. Therefore, the present application performs statistics on the level signals of each transmission cable in the first detection period by configuring the statistics, and determines the identifier of the transmission cable whose statistical result is always 0 as the open circuit fault identifier, and outputs the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier, thereby realizing the open circuit fault detection of each transmission cable.

[0096] To facilitate understanding of the execution process of the above-mentioned open circuit fault detection, a possible implementation of the present application is specifically described here:

[0097] like Figure 4 The figure shows a flow chart of open circuit fault detection. The specific steps are as follows:

[0098] Step S401: When it is detected that the first detection period starts timing, a first type of statistical operation is started, and step S402 is triggered.

[0099] Step S402: determine whether the current time is the end time of the first detection period. If not, step S403 is triggered; if so, step S405 is triggered.

[0100] Step S403: For each transmission cable, sum the difference between 1 and the level signal of the transmission cable at the current moment and the statistical result at an adjacent moment before the current moment to obtain the statistical result at the current moment, and trigger step S404.

[0101] It should be noted that, in actual application scenarios, if the current moment is the starting moment of the first detection period, then when executing the above Figure 4 In step S403 shown, the value of the statistical result at an adjacent time before the current time is an initial value of 0.

[0102] Step S404: Update the current time to an adjacent time after the current time, and trigger step S402.

[0103] Step S405: Obtain the statistical results of each transmission cable at the current moment, and trigger step S406.

[0104] It should be noted that in actual application scenarios, the above Figure 4 The specific implementation of step S405 shown is the same as that described above. Figure 4 The step S403 shown is the same, and the only difference is the triggering step.

[0105] Step S406: for each transmission cable, determine whether the statistical result of the transmission cable at the current moment is 0. If yes, step S407 is triggered; if not, step S408 is triggered.

[0106] Step S407 : for each transmission cable: determining the identifier of the transmission cable as an open circuit fault identifier, and outputting the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier.

[0107] Step S408 : for each transmission cable: determining the identifier of the transmission cable as a non-open circuit fault identifier, and outputting the result of the open circuit fault detection of the transmission cable including the non-open circuit fault identifier.

[0108] In one possible implementation, when the target type of fault detection is three-phase transmission cable short circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0109] Performing a second type of statistical operation on the multiple level signals output by each transmission cable during the second detection period:

[0110] The Hall state statistics SUM in the second detection period is obtained by the formula: SUM = (4*hallA + 2*hallB + hallC) ++, where hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time of the second detection period, hallB is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the target detection time, and hallC is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the target detection time. The second detection period includes multiple target detection times and is a detection period corresponding to short-circuit fault detection of the three-phase transmission cable.

[0111] When the Hall state statistics result is 0, the output content is the result of the short circuit fault detection of the three-phase transmission cable with a fault.

[0112] It should be noted that in actual application scenarios, for the transmission cable of the three-phase Hall sensor, if a phase-to-phase short circuit occurs, since one phase outputs a low-level signal, the other two phases will all have their own signals pulled down due to the low-level signal, that is, the three transmission cables always output low-level signals during the rotor's rotation. Therefore, the present application obtains the Hall state statistics within the second detection period by configuring the above-mentioned second type of statistical operation on each level signal of each transmission cable within the second detection period. And when the Hall state statistics result is 0, the output content is the short-circuit fault detection result of the three-phase transmission cable with a fault, thereby realizing the short-circuit fault detection of the three-phase transmission cable.

[0113] It should be noted that in the actual employee scenario, the specific form of the formula in the second type of statistical operation is: SUM t1 =(4*hallA t1 +2*hallB t1 +hallC t1 )+SUM t0 , where t1 is the current detection time, t0 is the adjacent detection time before the current detection time, SUM t1 is the Hall state at time t1, SUM t0 In order to facilitate the understanding of the execution process of the above-mentioned three-phase transmission cable short-circuit fault detection, a possible implementation of the present application is described here:

[0114] like Figure 5 The figure shows a flow chart of a three-phase transmission cable short-circuit fault detection process. The specific steps are as follows:

[0115] Step S501: When it is detected that the second detection period starts timing, the second type of statistical operation is started, and step S502 is triggered.

[0116] Step S502: determine whether the current detection time is the end time of the second detection period. If not, step S503 is triggered; if so, step S505 is triggered.

[0117] Step S503: Substitute the level signals of each transmission cable at the current detection moment into the calculation formula of the second type of statistical operation to obtain the statistical result of the Hall state at the current detection moment, and trigger step S504.

[0118] It should be noted that, in actual application scenarios, if the current detection time is the starting time of the second detection period, then when executing the above Figure 5 In step S503 shown, the value of the statistical result of the Hall state at an adjacent detection moment before the current detection moment is an initial value of 0.

[0119] Step S504: Update the current detection time to an adjacent detection time after the current detection time, and trigger step S502.

[0120] Step S505: Obtain the statistical result of the Hall state at the current detection moment, and trigger step S506.

[0121] It should be noted that in actual application scenarios, the above Figure 5 The specific implementation of step S505 shown is the same as that described above. Figure 5 The step S503 shown is the same, and the only difference is the triggering step.

[0122] Step S506 , determining whether the statistical result of the Hall state at the current detection moment is 0. If so, step S507 is triggered; if not, step S508 is triggered.

[0123] Step S507: outputting a short-circuit fault detection result of a three-phase transmission cable having a fault.

[0124] Step S508: outputting a three-phase transmission cable short-circuit fault detection result indicating that no fault exists.

[0125] It should be noted that in actual application scenarios, for three-phase motors, there are two types of interphase short-circuit faults in their transmission cables: three-phase short-circuit faults and two-phase short-circuit faults. Therefore, this application prioritizes three-phase transmission cable short-circuit fault detection. In the event of a three-phase transmission cable short-circuit fault, there is no need to perform the two-phase transmission cable short-circuit fault detection process or the transmission cable two-phase short-circuit and one-phase open circuit fault detection process, thereby improving fault detection efficiency.

[0126] In one possible implementation, when there is no short-circuit fault or open-circuit fault in the three-phase transmission cable and the target type of fault detection is short-circuit fault detection in the two-phase transmission cable, performing a statistical operation corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes:

[0127] The third type of statistical operation is performed based on multiple level signals at each detection moment in the third detection period: by formula: Hall t =4*hallA t +2*hallB t +hallC t , obtain the Hall state Hall at the detection time t in the third detection period t , among which hallA t is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the detection time t in the third detection period, hallB t is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t in the third detection period, hallC t is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t in the third detection period;

[0128] Determine whether there is a Hall state with a value of 0 in the third detection time period. If not, the output content is the result of the two-phase transmission cable short-circuit fault detection without fault. If so, perform two-phase transmission cable short-circuit fault detection based on the statistical results of the Hall state at multiple detection moments.

[0129] It should be noted that in actual application scenarios, for a three-phase motor, when there is a Hall state with a value of 0 and no three-phase short-circuit fault, only a two-phase short-circuit fault exists.

[0130] It should be noted that, in actual application scenarios, there are multiple implementation methods for detecting a two-phase transmission cable short circuit fault based on the statistical results of the Hall states at multiple detection moments. Here, an exemplary implementation method is provided:

[0131] like Figure 6 The figure shows a flow chart of two-phase transmission cable short circuit fault detection. The specific operation steps are as follows:

[0132] Step S601: The detection time corresponding to the first Hall state with a value of 0 is set as the starting time, and the Hall states corresponding to a preset number of detection times after the starting time in the third detection period are obtained, and step S602 is triggered.

[0133] The value of the preset number in the above step S601 can be set based on the number of control cycles corresponding to a change of 2π in the electrical angle of the motor rotor.

[0134] Step S602: determining the phase identifiers corresponding to the two level signals that are constantly 0 in each Hall state as short-circuit phase identifiers, and outputting a detection result of a two-phase transmission cable short-circuit fault including the short-circuit phase identifiers.

[0135] It should be noted that, in actual application scenarios, the specific implementation of the above step S602 may be: Figure 2 Taking the schematic diagram of the Hall sensor positions shown in the figure as an example, the three-digit binary string in the parentheses in each area (Hall state) in the figure corresponds to phase A, phase B and phase C from left to right. The six preset Hall states obtained in the above step S602 include: 1 (001), 2 (010), 3 (011), 4 (100), 5 (101) and 6 (110). Assuming that when the AC phase transmission cable is short-circuited, if the Hall sensor corresponding to any phase transmission cable outputs a low-level signal, the level signal output by the transmission cable with the short-circuit fault will also be pulled low, then the Hall states of each area are: 1 (000), 2 (010), 3 (010), 4 (000), 5 (101) and 6 (010). It can be seen that when the AC phase transmission cable is short-circuited, the original preset Hall states 1, 3, 4 and 6 are missing. Therefore, it can be determined that the transmission cables with short-circuit faults are the transmission cables of phases A and C only by the missing preset Hall states.

[0136] In one possible implementation, when there is no three-phase transmission cable short-circuit fault and one open-circuit fault, and the target type of fault detection is two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable, performing a statistical operation corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, including:

[0137] A fourth type of statistical operation is performed based on multiple level signals output by each transmission cable within the fourth detection time period: statistics are performed on the level signals output by the two transmission cables other than the transmission cable with the open circuit fault within the fourth detection time period to determine whether the two transmission cables have different level signals. If so, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable without the fault; if not, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cables including the identifiers of the two transmission cables and the identifier of the transmission cable with the open circuit fault.

[0138] It should be noted that, in actual application scenarios, the specific implementation method of the above-mentioned two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable can be:

[0139] like Figure 7 The figure below is a flow chart of the fault detection process for two-phase short circuit and one-phase open circuit of the transmission cable. The specific steps are as follows:

[0140] Step S701: Start performing a two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable at the start time of the fourth detection period, and trigger step S702.

[0141] Step S702 : Analyze the results of each open circuit fault detection to obtain an open circuit fault identifier, and determine the identifiers of the two transmission cables other than the faulty transmission cable corresponding to the open circuit fault identifier as target identifiers, thereby triggering step S703 .

[0142] Step S703: Obtain the level signals of the two transmission cables in the fourth detection period and determine whether the two transmission cables have different level signals. If not, step S704 is triggered; if so, step S705 is triggered.

[0143] Step S704 : determining the two target identifiers of step S703 as short circuit fault identifiers, and outputting the result of the transmission cable two-phase short circuit and one-phase open circuit fault detection including the two short circuit fault identifiers and the open circuit fault identifier obtained in step S703 .

[0144] Step S705 : outputting the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable where no fault exists.

[0145] In a possible implementation, before performing statistical operations corresponding to the target type of fault detection on the multiple level signals output by each transmission cable within the target detection period corresponding to the target type of fault detection, the above-mentioned Figure 1 The fault detection method of the motor Hall sensor transmission cable shown further includes:

[0146] The three-phase power current of the motor at a constant speed is input into a preset sensorless vector control algorithm to obtain multiple rotor position estimates, which represent the position of the motor rotor when the Hall state changes;

[0147] The difference between each estimated value and the preset rotor position theoretical value is calculated respectively, and when each difference is not greater than the preset deviation threshold, the output content is a fault detection result that there is no line sequence fault.

[0148] It will be appreciated by those skilled in the art that, in actual application scenarios, the above-mentioned preset sensorless vector control algorithm is an algorithm based on sensorless vector control (Sensorless vector control) technology, which simulates the motor operation-related control variables by introducing speed and position estimators into the mathematical model of the motor, thereby realizing sensorless feedback control of the electrode state. In addition to being a program script edited by technicians based on actual application scenarios, the above-mentioned preset sensorless vector control algorithm can also be implemented using a combination of existing open source control algorithms, including but not limited to current-frequency ratio (IF) control algorithm + Lumberg observer, high-frequency injection control + sliding mode observer (SMO), current-frequency ratio (IF) control algorithm + sliding mode observer (SMO), etc. This application does not make too many restrictions and redundant descriptions on the specific construction process and use process of the preset sensorless vector control algorithm.

[0149] It should be noted that in actual application scenarios, since the motor is usually assembled with the controller at the assembly site after leaving the factory, or disassembled during the later maintenance process, there is a risk of misconnecting the transmission cable to the corresponding phase interface of the controller, thereby causing a line sequence fault. Although the impact of the line sequence fault on the operation of the motor is relatively low, if there is a line sequence fault when fault detection is performed on the transmission cable, the technician will not be able to quickly and accurately locate the faulty transmission cable, reducing the fault detection accuracy and efficiency of the transmission cable. Therefore, before performing statistical operations, the present application inputs the three-phase power current of the motor at a constant speed into a preset sensorless vector control algorithm to obtain multiple rotor position estimates, calculates the difference between each estimated value and the preset rotor position theoretical value, and outputs a fault detection result that there is no line sequence fault when each difference is not greater than the preset deviation threshold, thereby realizing the detection of line sequence faults in the transmission cable, thereby avoiding the risk of subsequent fault detection results not matching the faulty transmission cable, and improving the fault detection accuracy and efficiency.

[0150] It should be noted that, in actual application scenarios, the above-mentioned preset deviation threshold may be a threshold determined after comprehensive analysis of the Hall sensor installation deviation and the estimated deviation of the preset sensorless vector control algorithm.

[0151] It should be noted that in actual application scenarios, the above estimated value represents the position of the motor rotor when the Hall state changes. For example, θ13 represents the rotor entering the area corresponding to Hall state 3 from the area corresponding to Hall state 1.

[0152] In a possible implementation, before respectively calculating the difference between each estimated value and the preset rotor position theoretical value, the above Figure 1 The fault detection method of the motor Hall sensor transmission cable shown further includes:

[0153] The predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm is obtained, and it is determined whether each predicted Hall state has an abnormal Hall state. If not, the operation steps of respectively calculating the difference between each estimated value and the preset rotor position theoretical value are performed. If so, an alarm information including the corresponding relationship between the abnormal Hall state and the rotor position is output, wherein the abnormal Hall state represents a predicted Hall state that is inconsistent with each preset Hall state.

[0154] It should be noted that, in actual application scenarios, the above-mentioned abnormal Hall state refers to the Hall state that represents a three-phase short circuit fault (000) or a three-phase open circuit fault (111). Since a single line sequence fault will not cause a three-phase short circuit fault or a three-phase open circuit fault. Therefore, the present application obtains the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm before respectively calculating the difference between each estimated value and the preset rotor position theoretical value, and judges whether each predicted Hall state has an abnormal Hall state. If not, the operation steps of respectively calculating the difference between each estimated value and the preset rotor position theoretical value are executed. If so, an alarm message including the corresponding relationship between the abnormal Hall state and the rotor position is output to prompt the technician to disassemble the motor and detect whether the above-mentioned problem is caused by a fault in the transmission cable connection inside the motor, thereby avoiding the time waste caused by subsequent detection when the cause of the fault is unknown, and improving the accuracy and efficiency of fault detection.

[0155] It should be noted that in actual application scenarios, there are many ways to implement the above abnormal Hall state monitoring and line sequence fault detection. Here is an exemplary implementation:

[0156] like Figure 8 The figure shows a flow chart of transmission cable fault pre-detection. The specific steps are as follows:

[0157] Step S801: Obtain the predicted Hall states corresponding to each rotor position output by the preset sensorless vector control algorithm, and trigger step S802.

[0158] Step S802 , determining whether there is an abnormal Hall state of a three-bit binary string of 000 or 111 in each predicted Hall state. If yes, step S803 is triggered; if no, step S804 is triggered.

[0159] Step S803: outputting alarm information including the corresponding relationship between the abnormal Hall state and the rotor position.

[0160] In step S804, the differences between the multiple estimated values output by the preset sensorless vector control algorithm and the preset rotor position theoretical value are calculated respectively, and step S805 is triggered.

[0161] Step S805: Determine whether all the differences are greater than a preset deviation threshold. If so, step S806 is triggered; if not, step S807 is triggered.

[0162] In one possible implementation, for a three-phase motor, the calculation of the differences in step S804 and the comparison of the differences with the preset deviation threshold in step S805 can be implemented by configuring a corresponding conditional function. The conditional function can be: Taking a three-phase motor as an example, Characterizes the estimated value when the Hall state switches from a to b, θ ab The preset theoretical value of the rotor position when the Hall state switches from a to b is represented, and ε is the preset deviation threshold that takes into account the Hall installation deviation and the sensorless algorithm estimation deviation. The above conditional function can be:

[0163]

[0164] Step S806: output an alarm instruction including the identification of the transmission cable and line sequence fault prompt information.

[0165] Step S807: Outputting a fault detection result indicating that there is no line sequence fault.

[0166] In a possible implementation, the overall structural diagram of a fault detection method for a motor Hall sensor transmission cable provided in the first aspect of the present application can be as follows: Figure 9 As shown. The fault detection method of the motor Hall sensor transmission cable includes a control part and a detection part, wherein the control part is composed of a preset sensorless vector control algorithm, and the detection part is composed of a pre-detection unit, a line sequence fault detection unit, an open circuit fault detection unit and a short circuit fault detection unit. The preset sensorless vector control algorithm sends a control pulse signal (Pulse) to the motor in response to the start detection instruction to control the motor to enter a constant speed operation state, and based on the three-phase power current (I ABC) outputs multiple rotor position estimates and predicted Hall states. The preset sensorless vector control algorithm sends each estimate and predicted Hall state to the detection part. The pre-detection unit of the detection part performs abnormal Hall state detection based on the predicted Hall state, the line sequence fault detection unit performs line sequence fault detection based on each estimate, and the open circuit fault detection unit and the short circuit fault detection unit perform open circuit fault detection and short circuit fault detection based on the multiple level signals (hallA, hallB and hallC) output by each transmission cable during each detection period when the motor is running at a constant speed. And output the detection results. When a reset instruction is received, the control part and the detection part are reset.

[0167] The second aspect of the present application provides a fault detection system for a motor Hall sensor transmission cable, such as Figure 10 As shown, the fault detection system of the motor Hall sensor transmission cable includes:

[0168] The signal acquisition module 1001 is used to obtain multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed;

[0169] The fault detection module 1002 is configured to perform statistical operations corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, and determine a result of the target type of fault detection based at least on the statistical results, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and two-phase short circuit and one-phase open circuit fault detection of a transmission cable.

[0170] In a possible implementation, the fault detection module 1002 is configured to:

[0171] When the target type of fault detection is open circuit fault detection, a first type of statistical operation is performed on the multiple level signals WO output by each transmission cable:

[0172] By formula: sumX t1 =(1-hallX t1 )+sumX t0 , calculate the statistical result sumX of the transmission cable in the first detection period t1 , among which, hallX t1 is the level signal output by the transmission cable at time t1 of the first detection period, sumX t0 is the statistical result of the transmission cable at time t0 in the first detection period, where time t0 is earlier than time t1. The first detection period is the detection period corresponding to open circuit fault detection;

[0173] When the statistical result of the first detection period is always 0, the identification of the transmission cable is determined as an open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identification is output; when the statistical result of the first detection period is not 0, the identification of the transmission cable is determined as a no open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identification is output.

[0174] In a possible implementation, the fault detection module 1002 is configured to:

[0175] When the target type of fault detection is three-phase transmission cable short circuit fault detection, a second type of statistical operation is performed on multiple level signals output by each transmission cable during the second detection period:

[0176] The Hall state statistics SUM in the second detection period is obtained by the formula: SUM = (4*hallA + 2*hallB + hallC) ++, where hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time of the second detection period, hallB is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the target detection time, and hallC is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the target detection time. The second detection period includes multiple target detection times and is a detection period corresponding to short-circuit fault detection of the three-phase transmission cable.

[0177] When the Hall state statistics result is 0, the output content is the result of the short circuit fault detection of the three-phase transmission cable with a fault.

[0178] In a possible implementation, the fault detection module 1002 is configured to:

[0179] In the absence of a three-phase transmission cable short-circuit fault and an open-circuit fault, and the target type of fault detection is a two-phase transmission cable short-circuit fault detection, a third type of statistical operation is performed based on multiple level signals at each detection moment within the third detection period: by formula: Hall t =4*hallA t +2*hallB t +hallC t , obtain the Hall state Hall at the detection time t in the third detection period t , among which hallA t is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the detection time t in the third detection period, hallB t is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t in the third detection period, hallC tis the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t in the third detection period;

[0180] Determine whether there is a Hall state with a value of 0 in the third detection time period. If not, the output content is the result of the two-phase transmission cable short-circuit fault detection without fault. If so, perform two-phase transmission cable short-circuit fault detection based on the statistical results of the Hall state at multiple detection moments.

[0181] In a possible implementation, the fault detection module 1002 is configured to:

[0182] When there is no short-circuit fault in the three-phase transmission cable, there is one open-circuit fault, and the target type of fault detection is two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable, a fourth type of statistical operation is performed based on multiple level signals output by each transmission cable within the fourth detection time period: statistics are performed on the level signals output by the two transmission cables other than the transmission cable with the open-circuit fault within the fourth detection time period to determine whether there are different level signals between the two transmission cables. If so, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable without the fault; if not, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable including the identification of the two transmission cables and the identification of the transmission cable with the open-circuit fault.

[0183] In one possible implementation, the above Figure 10 The fault detection system for the motor Hall sensor transmission cable shown further includes:

[0184] a line sequence fault detection module, configured to input the three-phase power current of the motor under a constant speed operation into a preset sensorless vector control algorithm before the fault detection module performs a statistical operation corresponding to the target type of fault detection on multiple level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, to obtain multiple rotor position estimates, the estimated values representing the position of the motor rotor when the Hall state changes;

[0185] The difference between each estimated value and the preset rotor position theoretical value is calculated respectively, and when each difference is not greater than the preset deviation threshold, the output content is a fault detection result that there is no line sequence fault.

[0186] In one possible implementation, the above Figure 10 The fault detection system for the motor Hall sensor transmission cable shown further includes:

[0187] The state detection module is used to obtain the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm before respectively calculating the difference between each estimated value and the preset rotor position theoretical value, and to determine whether each predicted Hall state has an abnormal Hall state. If not, the operation steps of respectively calculating the difference between each estimated value and the preset rotor position theoretical value are executed. If so, an alarm information including the corresponding relationship between the abnormal Hall state and the rotor position is output, wherein the abnormal Hall state represents a predicted Hall state that is inconsistent with each preset Hall state.

[0188] A third aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0189] Memory is used to store computer programs;

[0190] The processor is used to execute a computer program so that the electronic device can implement the fault detection method for the motor Hall sensor transmission cable of the above-mentioned first aspect or any implementation method of the first aspect.

[0191] An electronic device is also provided in an embodiment of the present application. Figure 11 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 11 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0192] like Figure 11 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage device 1108 into a random access memory (RAM) 1103. When the electronic device is powered on, the RAM 1103 also stores various programs and data required for the operation of the electronic device. The processing device 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0193] Typically, the following devices may be connected to the I / O interface 1105: an input device 1106 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1107 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1108 including, for example, a memory card, a hard disk, etc.; and a communication device 1109. The communication device 1109 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 11 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0194] The fourth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the fault detection method of the motor Hall sensor transmission cable according to the above-mentioned first aspect or any implementation method of the first aspect.

[0195] It should also be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided in this application, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines.

[0196] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memories, special components, etc. In general, all functions performed by computer programs can be easily implemented with corresponding hardware, and the specific hardware structures used to implement the same function can also be diverse, such as analog circuits, digital circuits or special circuits, etc. However, for the present application, software program implementation is a better implementation method in most cases. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., and includes a number of instructions to enable a computer device (which can be a personal computer, training equipment, or network equipment, etc.) to execute the methods described in each embodiment of the present application.

[0197] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0198] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a training device or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website, a computer, a training device or a data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

Claims

1. A method for detecting a fault in a motor Hall sensor transmission cable, characterized in that: include: Obtaining multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed; A statistical operation corresponding to the target type of fault detection is performed on the multiple level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and a result of the target type of fault detection is determined based at least on the statistical result, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection.

2. The fault detection method for a motor Hall sensor transmission cable according to claim 1, characterized in that: In a case where the target type of fault detection is the open circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes: Performing the first type of statistical operation on each of the plurality of level signals output by the transmission cables: By formula: sumX t1 =(1-hallX t1 )+sumX t0 , calculate the statistical result sumX of the transmission cable in the first detection period t1 , where the hallX t1 is the level signal output by the transmission cable at time t1 of the first detection period, and the sumX t0 is a statistical result of the transmission cable at time t0 in the first detection period, where time t0 is earlier than time t1, and the first detection period is the detection period corresponding to the open circuit fault detection; When the statistical result of the first detection period is always 0, the identification of the transmission cable is determined as an open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identification is output; when the statistical result of the first detection period is not 0, the identification of the transmission cable is determined as a no open circuit fault identification, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identification is output.

3. The fault detection method for a motor Hall sensor transmission cable according to claim 1, characterized in that: In a case where the target type of fault detection is the three-phase transmission cable short circuit fault detection, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes: Performing the second type of statistical operation on the plurality of level signals output by each of the transmission cables within the second detection period: The Hall state statistics SUM in the second detection period is obtained by the formula: SUM=(4*hallA+2*hallB+hallC)++, where hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time of the second detection period, hallB is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the target detection time, and hallC is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the target detection time. The second detection period includes multiple target detection times, and the second detection period is the detection period corresponding to short-circuit fault detection of the three-phase transmission cable. When the Hall state statistics result is 0, the output content is the result of the short circuit fault detection of the three-phase transmission cable having a fault.

4. The fault detection method for a motor Hall sensor transmission cable according to claim 3, characterized in that: In a case where there is no short-circuit fault and open-circuit fault of the three-phase transmission cable, and the target type of fault detection is the short-circuit fault detection of the two-phase transmission cable, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, including: The third type of statistical operation is performed based on the multiple level signals at each detection moment in the third detection period: by formula: Hall t =4*hallA t +2*hallB t +hallC t , obtain the Hall state Hall at the detection time t in the third detection period t , wherein the hallA t is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the detection time t of the third detection period, and the hallB t is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t in the third detection period, and the hallC t is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t in the third detection period; Determine whether the Hall state with a value of 0 exists within the third detection time period; if not, output the result of the two-phase transmission cable short-circuit fault detection in which no fault exists; if so, perform the two-phase transmission cable short-circuit fault detection based on the statistical results of the Hall state at multiple detection moments.

5. The fault detection method for a motor Hall sensor transmission cable according to claim 3, characterized in that: In a case where there is no short-circuit fault in the three-phase transmission cable and one open-circuit fault exists, and the target type of fault detection is detection of a two-phase short-circuit and one-phase open-circuit fault in the transmission cable, performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determining a result of the target type of fault detection based at least on the statistical result, includes: The fourth type of statistical operation is performed based on the multiple level signals output by each of the transmission cables within the fourth detection time period: statistics are performed on the level signals output by the two transmission cables other than the transmission cable with the open circuit fault within the fourth detection time period, and it is determined whether the two transmission cables have different level signals. If so, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable without fault; if not, the output content is the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable including the identification of the two transmission cables and the identification of the transmission cable with the open circuit fault.

6. The fault detection method for a motor Hall sensor transmission cable according to claim 1, characterized in that: Before performing a statistical operation corresponding to the target type of fault detection on the plurality of level signals output by each transmission cable within a target detection period corresponding to the target type of fault detection, the method further includes: Inputting the three-phase power current of the motor in the constant speed operation state into a preset sensorless vector control algorithm to obtain multiple rotor position estimation values, wherein the estimation values represent the position of the motor rotor when the Hall state changes; The difference between each of the estimated values and the preset rotor position theoretical value is calculated respectively, and when each of the differences is not greater than a preset deviation threshold, the output content is a fault detection result indicating that there is no line sequence fault.

7. The fault detection method for a motor Hall sensor transmission cable according to claim 6, characterized in that: Before respectively calculating the difference between each of the estimated values and the preset theoretical value of the rotor position, the method further includes: Obtain the predicted Hall state corresponding to each of the rotor positions output by the preset sensorless vector control algorithm, and determine whether each of the predicted Hall states has an abnormal Hall state. If not, execute the operation steps of respectively calculating the difference between each of the estimated values and the preset rotor position theoretical value. If so, output an alarm message including the corresponding relationship between the abnormal Hall state and the rotor position, wherein the abnormal Hall state represents the predicted Hall state that is inconsistent with each of the preset Hall states.

8. A fault detection system for a motor Hall sensor transmission cable, characterized in that: include: The signal acquisition module is used to obtain multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed; A fault detection module is configured to perform a statistical operation corresponding to the target type of fault detection on a plurality of level signals output by each of the transmission cables within a target detection period corresponding to the target type of fault detection, and determine a result of the target type of fault detection based at least on the statistical result, wherein the target type of fault detection is any one of open circuit fault detection, three-phase transmission cable short circuit fault detection, two-phase transmission cable short circuit fault detection, and transmission cable two-phase short circuit and one-phase open circuit fault detection.

9. An electronic device, characterized in that: comprising at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program so that the electronic device can implement the method for detecting a fault of a motor Hall sensor transmission cable according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that The storage medium carries one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the fault detection method for the motor Hall sensor transmission cable as described in any one of claims 1 to 7.

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