A method and related device for fault detection of a motor Hall sensor transmission cable.

Abstract

This application discloses a fault detection method and related apparatus for a motor Hall sensor transmission cable, relating to the field of cable fault detection. The method includes: performing statistical operations on multiple level signals output by each transmission cable during a target detection period corresponding to a target type of fault detection, while the motor is running at a constant speed; and determining the result of the target type of fault detection based at least on the statistical results. 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. This application, based on multiple level signals output by each transmission cable, achieves the acquisition of parameters required for transmission cable fault detection without disassembling the motor, thus improving the fault detection efficiency of Hall sensor transmission cables.

Description

Technical Field

[0001] This application relates to the field of cable fault detection technology, and in particular to a fault detection method and related apparatus for a motor Hall sensor transmission cable. Background Technology

[0002] Hall effect sensors are sensor devices that use the Hall effect to monitor the position of a motor rotor. Existing Hall effect sensors are installed inside the motor, and the rotor position signals of the corresponding phase sequence collected by each Hall effect sensor are sent to the controller via transmission cables, allowing the controller to control the motor based on the rotor position signals.

[0003] Due to the harsh operating environment of motors, transmission cables are prone to aging over long-term use, leading to cable failures. This necessitates fault detection of the transmission cables. Current fault detection methods involve using a multimeter connected to both ends of the transmission cable to measure its resistance, thus detecting short circuits and open circuits. However, since the Hall sensor is located inside the motor, fault detection using a multimeter requires disassembling the motor, reducing detection efficiency. Furthermore, in specialized applications such as industrial manufacturing, new energy vehicles, and aerospace, the limited space for motor installation and excessively long transmission cables further reduce detection efficiency. Therefore, improving the fault detection efficiency of Hall sensor transmission cables has become an urgent problem to be solved. Summary of the Invention

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

[0005] The first aspect of this application provides a fault detection method for a motor Hall sensor transmission cable, comprising:

[0006] The system obtains multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed.

[0007] For the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, perform statistical operations corresponding to the target type of fault detection, and determine the 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.

[0008] In one possible implementation, when the fault detection of the target type is the open-circuit fault detection, the step of performing a statistical operation corresponding to the fault detection of the target type on the multiple level signals output by each of the transmission cables during the target detection period corresponding to the fault detection of the target type, and determining the result of the fault detection of the target type based at least on the statistical results, includes:

[0009] Perform the first type of statistical operation on each of the multiple level signals output from each of the transmission cables:

[0010] Using the formula: sumX t1 =(1-hallX t1 )+sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 , wherein, the hallX t1 The sumX is the level signal output by the transmission cable at time t1 during the first detection period. t0 It is the 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] If the statistical result of the first detection period is always 0, the identifier of the transmission cable is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output; if the statistical result of the first detection period is not 0, the identifier of the transmission cable is determined as no open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identifier is output.

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

[0013] The second type of statistical operation is performed on the multiple level signals output by each of the transmission cables during the second detection period:

[0014] The Hall state statistics result SUM during the second detection period is obtained by 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 the 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.

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

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

[0018] Determine whether there is a Hall state with a value of 0 during the third detection period. If not, output the result of the short circuit fault detection of the two-phase transmission cable without fault. If yes, perform the short circuit fault detection of the two-phase transmission cable based on the statistical results of the Hall states at multiple detection times.

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

[0020] Based on the multiple level signals output by each of the transmission cables during the fourth detection period, a fourth type of statistical operation is performed: The level signals output by the two transmission cables (excluding the one with the open circuit fault) during the fourth detection period are statistically analyzed to determine whether there are different level signals between the two transmission cables. If so, the output is the result of the two-phase short circuit and one-phase open circuit fault detection for the transmission cable without the fault; otherwise, the output includes the identifiers of the two transmission cables and the identifier of the transmission cable with the open circuit fault, representing the result of the two-phase short circuit and one-phase open circuit fault detection for the transmission cable.

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

[0022] The three-phase power current of the motor under the constant speed operating state 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.

[0023] Calculate the difference between each estimated value and the preset theoretical value of the rotor position, and output the fault detection result that there is no line sequence fault if each difference is not greater than the preset deviation threshold.

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

[0025] Obtain the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm, and determine whether there is an abnormal Hall state in each of the predicted Hall states. If not, perform the operation step of calculating the difference between each estimated value and the preset theoretical value of the rotor position. If yes, output alarm information including the correspondence between the abnormal Hall state and the rotor position, wherein the abnormal Hall state represents the predicted Hall state that is inconsistent with each preset Hall state.

[0026] A second aspect of this 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] The fault detection module is used to perform statistical operations on multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and to determine the result of the target type of fault detection based at least on the statistical results. 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 one possible implementation, the fault detection module is configured as follows:

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

[0031] Using the formula: sumX t1 =(1-hallX t1 ) + sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 , wherein, the hallX t1 The sumX is the level signal output by the transmission cable at time t1 during the first detection period. t0 It is the 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] If the statistical result of the first detection period is always 0, the identifier of the transmission cable 1 is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output; if the statistical result of the first detection period is not 0, the identifier of the transmission cable is determined as no open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identifier is output.

[0033] In one possible implementation, the fault detection module is configured as follows:

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

[0035] The Hall state statistics result SUM during the second detection period is obtained by 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 the 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.

[0037] In one possible implementation, the fault detection module is configured as follows:

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

[0039] Determine whether there is a Hall state with a value of 0 during the third detection period. If not, output the result of the short circuit fault detection of the two-phase transmission cable without fault. If yes, perform the short circuit fault detection of the two-phase transmission cable based on the statistical results of the Hall states at multiple detection times.

[0040] In one possible implementation, the fault detection module is configured as follows:

[0041] In the case where there is no short circuit fault in the three-phase transmission cable, but there is one open circuit fault, and the target type of fault detection is a 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 the multiple level signals output by each of the transmission cables during the fourth detection period: The level signals output by the two transmission cables (excluding the transmission cable with the open circuit fault) during the fourth detection period are statistically analyzed 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 fault; otherwise, the output includes the identifiers of the two transmission cables and the identifier of the transmission cable with the open circuit fault, representing the result of the two-phase short circuit and one-phase open circuit fault detection of the transmission cable.

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

[0043] The line sequence fault detection module is used to input the three-phase power current of the motor in the constant speed running state into a preset sensorless vector control algorithm before the fault detection module performs statistical operations on the multiple level signals output by each of the transmission cables in the target detection period corresponding to the target type of fault detection. The estimated values ​​represent the position of the motor rotor when the Hall state changes.

[0044] Calculate the difference between each estimated value and the preset theoretical value of the rotor position, and output the fault detection result that there is no line sequence fault if each difference is not greater than the preset deviation threshold.

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

[0046] 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 calculating the difference between each estimated value and the preset theoretical value of the rotor position, and to determine whether there is an abnormal Hall state in each predicted Hall state. If not, the operation step of calculating the difference between each estimated value and the preset theoretical value of the rotor position is performed. If yes, an alarm message including the correspondence 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 preset Hall state.

[0047] A third aspect of this 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 for the motor Hall sensor transmission cable of the first aspect or any implementation thereof.

[0050] The fourth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement a fault detection method for a motor Hall sensor transmission cable as described in the first aspect or any implementation thereof.

[0051] By employing the above technical solution, the fault detection method and related apparatus for motor Hall sensor transmission cables provided in this application obtain multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed. For the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, statistical operations are performed. Based on the statistical results, the result of fault detection for any one of the following target types is determined: 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 output from the transmission cables, the output level signals of the transmission cables can be obtained simply by configuring a sampling interface on the motor controller. This allows this application to obtain the parameters required for fault detection without connecting both ends of the transmission cable, compared to existing technologies, thus eliminating the need to disassemble the motor and being unaffected by the length of the transmission cable. Therefore, this application improves the efficiency of fault detection for Hall sensor transmission cables. Attached Figure Description

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

[0053] Figure 1 A flowchart illustrating a fault detection method for 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 This application provides a flowchart for the control of multi-target detection time period activation;

[0056] Figure 4 A schematic diagram of an open-circuit fault detection process provided in this application;

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

[0058] Figure 6 A flowchart for short-circuit fault detection of a two-phase transmission cable is provided in this application;

[0059] Figure 7 A schematic diagram illustrating the process for detecting a two-phase short circuit and one-phase open circuit fault in a transmission cable, as provided in this application;

[0060] Figure 8A flowchart for pre-detection of transmission cable faults provided in this application;

[0061] Figure 9 A schematic diagram of the overall structure of a fault detection method for a motor Hall sensor transmission cable provided in this application;

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

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

[0064] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0065] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0066] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

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

[0068] S101. Obtain multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed.

[0069] It should be noted that in practical applications, the rotor speed and magnetic field changes are relatively stable when the motor is running at a constant speed, which improves the accuracy of the level signal output by the Hall sensor. Therefore, this application improves the accuracy of subsequent fault detection by configuring the acquisition of multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed.

[0070] In one possible implementation, a three-phase motor (including a three-phase generator and a three-phase motor) incorporates three Hall sensors, each corresponding to one of the motor's three phases. Each Hall sensor is connected to the three-phase motor controller via a corresponding transmission cable. When the motor rotor passes a Hall sensor, the sensor outputs a different electrical level signal due to the change in the magnetic field. Therefore, the rotor's position is determined by interfacing with the electrical level signals output by the three Hall sensors. For example, as... Figure 2 The diagram shows the location of the Hall sensors, where hallA, hallB, and hallC represent the Hall sensors corresponding to phases A, B, and C, respectively. The motor interior can be divided into six regions (Hall states) using the three Hall sensors: 1 (001), 2 (010), 3 (011), 4 (100), 5 (101), and 6 (110). The numbers outside the parentheses are 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 Hall state calculation formula is: Hall = 4 * hallA + 2 * hallB + hallC. Therefore, for region 1 (Hall state 1): 1 (001) represents that hallC and hallA output a low-level signal (0), and hallB outputs a high-level signal (1).

[0071] It should be noted that in practical applications, the aforementioned level signal can be a signal sent by the motor controller connected by the transmission cable, or it can be a Hall signal used to characterize the rotor position.

[0072] S102. Perform statistical operations on the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, and determine the result of the target type of fault detection based at least on the statistical results. 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. It should be noted that in actual application scenarios, there can be multiple target detection periods, and the duration of each target detection period can be the duration of one or two rotations of the rotor.

[0073] In one possible implementation, the aforementioned target detection period can be a detection period controlled by multiple timers, activated separately after the motor enters a constant speed operating state. The activation method for each target detection period can be:

[0074] like Figure 3 The diagram shown is a flowchart of a multi-target detection period activation control. The specific operation steps are as follows:

[0075] Step S301: Receive the start signal and begin monitoring. Then trigger step S302.

[0076] Step S302: Determine whether the current speed of the motor is not less than a preset speed threshold. If yes, then trigger step S303. If no, then trigger step S302.

[0077] Step S303: Control the motor to run at a constant current speed. And trigger step S304.

[0078] Step S304: Trigger the first timer to start timing, and determine whether the detection results of the enable status of fault detection for each target type during the first detection period are all enabled. If yes, trigger step S305; otherwise, trigger step S306.

[0079] Step S305: If the first timer is detected to have ended, the second timer is triggered to start counting, and it is determined whether a line sequence fault detection result is output during the second detection period. If yes, step S307 is triggered; otherwise, step S308 is triggered.

[0080] Step S306: Output an alarm signal for an enable status detection fault.

[0081] Step S307: If the second timer is detected to have ended, the third timer is triggered to start counting, and it is determined whether an open circuit fault detection result is output during the third detection period. If yes, step S309 is triggered; otherwise, step S310 is triggered.

[0082] Step S308: Output an alarm signal indicating that the line sequence fault detection is disabled.

[0083] Step S309: If the third timer is detected to have ended, the fourth timer is triggered to start counting, and it is determined whether a short-circuit fault detection result is output during the fourth detection period. If yes, the detection ends. If no, step S311 is triggered.

[0084] It should be noted that in practical application scenarios, the above-mentioned... Figure 3The short-circuit fault detection result in step S309 shown can be output by a short-circuit fault detection thread, which can be used to perform short-circuit fault detection of three-phase transmission cables, short-circuit fault detection of two-phase transmission cables, and short-circuit fault detection of two phases and open-circuit of one phase in transmission cables. The execution order can still be controlled by the respective timers. This application does not impose further limitations or elaborate on this process.

[0085] Step S310: Output an alarm signal indicating that the open circuit fault detection is disabled.

[0086] Step S311: Output an alarm signal indicating short-circuit fault detection failure.

[0087] It should be noted that in practical application scenarios, the above-mentioned... Figure 3 The execution order of steps S305 to S309 shown is for illustrative purposes only, and this application does not impose excessive restrictions on the specific execution order.

[0088] It should be noted that, in the above-mentioned... Figure 3 Based on one possible implementation of this application, 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 from affecting the fault detection accuracy.

[0089] This application obtains multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed. It then performs statistical operations on these multiple level signals within the target detection period corresponding to the target type of fault detection. Based on the statistical results, it determines the result of any one of the following target type of fault detection: 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 output from the transmission cables, the output level signals of the transmission cables can be obtained simply by configuring a sampling interface on the motor controller. This eliminates the need to connect both ends of the transmission cable to obtain the parameters required for fault detection compared to existing technologies, thus avoiding disassembly of the motor and being unaffected by the length of the transmission cable. Therefore, this application improves the fault detection efficiency of Hall sensor transmission cables.

[0090] In one possible implementation, when the target type of fault detection is open-circuit fault detection, statistical operations corresponding to the target type of fault detection are performed on multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, and the result of the target type of fault detection is determined based at least on the statistical results, including:

[0091] Perform a first-type statistical operation on each of the multiple level signals output from each transmission cable:

[0092] Using the formula: sumX t1 =(1-hallX t1 )+sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 Among them, hallX t1 This is the level signal output by the transmission cable at time t1 during the first detection period, sumX t0 This is the statistical result of the transmission cable at time t0 in the first detection period. Time t0 is earlier than time t1. The first detection period is the detection period corresponding to the open circuit fault detection.

[0093] If the statistical result of the first detection period is always 0, the identifier of the transmission cable is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output; if the statistical result of the first detection period is not 0, the identifier of the transmission cable is determined as no open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identifier is output.

[0094] It should be noted that in practical applications, for the transmission cables of a three-phase Hall sensor, if any phase of the transmission cable experiences an open-circuit fault, the output level signal of that transmission cable in the controller will be a high-level signal (i.e., 1). Under normal circumstances, when the rotor rotates once, the Hall sensor of the same phase will output three high-level signals and three low-level signals. If an open-circuit fault exists in the transmission cable, the output level signal of the transmission cable will always be a high-level signal when the rotor rotates once. Therefore, this application configures the system to statistically analyze the level signals of each transmission cable during the first detection period, identifies the transmission cable whose statistical result is consistently 0 as an open-circuit fault identifier, and outputs the open-circuit fault detection result of that transmission cable, including the open-circuit fault identifier, thereby achieving open-circuit fault detection for each transmission cable.

[0095] To facilitate understanding of the above-described open-circuit fault detection process, an example of a possible implementation of this application is provided below:

[0096] like Figure 4 The diagram shown illustrates a flowchart for open-circuit fault detection. The specific steps are as follows:

[0097] Step S401: Upon detecting that the timing for the first detection period has started, the first type of statistical operation begins, and step S402 is triggered.

[0098] Step S402: Determine whether the current time is the end time of the first detection period. If not, trigger step S403; if yes, trigger step S405.

[0099] Step S403: For each transmission cable: sum the difference between 1 and the level signal of that transmission cable at the current moment with the statistical result of the previous adjacent moment to obtain the statistical result at the current moment. Then trigger step S404.

[0100] It should be noted that in practical applications, if the current time is the start time of the first detection period, then the above-mentioned... Figure 4 In step S403, the statistical result of the adjacent time before the current time is initially set to 0.

[0101] Step S404: Update the current time to the next adjacent time after the current time. And trigger step S402.

[0102] Step S405: Obtain the statistical results of each transmission cable at the current moment. Then trigger step S406.

[0103] It should be noted that in practical application scenarios, the above-mentioned... Figure 4 The specific implementation of step S405 shown is the same as described above. Figure 4 The steps shown are the same as S403, the only difference being the triggering steps.

[0104] Step S406: For each transmission cable: Determine whether the statistical result of the transmission cable at the current moment is 0. If yes, then trigger step S407; otherwise, trigger step S408.

[0105] Step S407: For each transmission cable: the identifier of the transmission cable is identified as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output.

[0106] Step S408: For each transmission cable: the identifier of the transmission cable is determined as a no-open-circuit fault identifier, and the result of the open-circuit fault detection of the transmission cable including the no-open-circuit fault identifier is output.

[0107] In one possible implementation, when the target type of fault detection is a short-circuit fault detection in a three-phase transmission cable, statistical operations corresponding to the target type of fault detection are performed on multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection. Based at least on the statistical results, the result of the target type of fault detection is determined, including:

[0108] Perform a second type of statistical operation on the multiple level signals output by each transmission cable during the second detection period:

[0109] The Hall state statistics for the second detection period are obtained using the formula: SUM = ∑(4*hallA + 2*hallB + hallC). Here, hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time in 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 the detection period corresponding to the short circuit fault detection of the three-phase transmission cable.

[0110] 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 faults.

[0111] It should be noted that in practical applications, if a phase-to-phase short circuit occurs in the transmission cables of a three-phase Hall sensor, because one phase outputs a low-level signal, the other two phases will also have their signals pulled low due to this low-level signal. That is, all three transmission cables will output low-level signals throughout one revolution of the rotor. Therefore, this application configures the above-mentioned second type of statistical operation to be performed on the level signals of each transmission cable during the second detection period to obtain the Hall state statistical results for the second detection period. When the Hall state statistical result is 0, the output is the short-circuit fault detection result of the three-phase transmission cable, thereby achieving short-circuit fault detection of the three-phase transmission cable.

[0112] It should be noted that, in actual application scenarios, the specific form of the formula in the second type of statistical operation mentioned above 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, and SUM t1 It is the Hall state at time t1, SUM t0 This refers to the Hall state at time t0. To facilitate understanding of the execution process of the above-mentioned three-phase transmission cable short-circuit fault detection, a possible implementation of this application is described below:

[0113] like Figure 5 The diagram shown illustrates a process for detecting short-circuit faults in three-phase transmission cables. The specific steps are as follows:

[0114] Step S501: Upon detecting that the timing for the second detection period has started, the second type of statistical operation begins, and step S502 is triggered.

[0115] Step S502: Determine whether the current detection time is the end time of the second detection period. If not, trigger step S503; if yes, trigger step S505.

[0116] Step S503: Substitute the level signals of each transmission cable at the current detection time into the calculation formula of the second type of statistical operation to obtain the statistical result of the Hall state at the current detection time. Then trigger step S504.

[0117] It should be noted that in practical applications, if the current detection time is the start time of the second detection period, then the above-mentioned... Figure 5 In step S503, the statistical result of the Hall state of the adjacent detection time before the current detection time is initialized to 0.

[0118] Step S504: Update the current detection time to the next adjacent detection time after the current detection time. And trigger step S502.

[0119] Step S505: Obtain the statistical results of the Hall state at the current detection time. Then trigger step S506.

[0120] It should be noted that in practical application scenarios, the above-mentioned... Figure 5 The specific implementation of step S505 shown is the same as described above. Figure 5 The steps shown are the same as S503, the only difference being the triggering steps.

[0121] Step S506: Determine whether the statistical result of the Hall state at the current detection time is 0. If yes, trigger step S507; otherwise, trigger step S508.

[0122] Step S507 outputs the short-circuit fault detection results of the faulty three-phase transmission cable.

[0123] Step S508 outputs the short-circuit fault detection result of the three-phase transmission cable where no fault exists.

[0124] It should be noted that in practical applications, for three-phase motors, phase-to-phase short-circuit faults in their transmission cables include two types: three-phase short-circuit faults and two-phase short-circuit faults. Therefore, this application prioritizes the detection of three-phase transmission cable short-circuit faults. In the event of a three-phase transmission cable short-circuit fault, the detection process of two-phase transmission cable short-circuit fault detection and two-phase short-circuit / one-phase open-circuit fault detection is eliminated, thus improving fault detection efficiency.

[0125] In one possible implementation, when there are no short-circuit or open-circuit faults in the three-phase transmission cables, and the target type of fault detection is a two-phase transmission cable short-circuit fault detection, statistical operations corresponding to the target type of fault detection are performed on multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection. Based at least on the statistical results, the result of the target type of fault detection is determined, including:

[0126] A third type of statistical operation is performed based on multiple level signals at each detection time within the third detection period: using the formula: Hall t =4*hallA t +2*hallB t +hallC t Obtain the Hall state at detection time t during the third detection period. t Among them, hallA t It is the level signal output by the transmission cable corresponding to phase A Hall sensor at detection time t in the third detection period, hallB t It is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at detection time t in the third detection period, hallC t It 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;

[0127] Determine whether there is a Hall state with a value of 0 during the third detection period. If not, the output is the result of short circuit fault detection of two-phase transmission cable without fault. If so, perform short circuit fault detection of two-phase transmission cable based on the statistical results of Hall states at multiple detection times.

[0128] It should be noted that in practical applications, for three-phase motors, if there is a Hall effect state with a value of 0 and there is no three-phase short circuit fault, only a two-phase short circuit fault exists.

[0129] It should be noted that in practical applications, there are various implementation methods for detecting short-circuit faults in two-phase transmission cables based on the statistical results of Hall states at multiple detection times. One such method is provided here as an example:

[0130] like Figure 6 The diagram shows a flowchart for detecting short circuit faults in two-phase transmission cables. The specific operating steps are as follows:

[0131] Step S601: Take the detection time corresponding to the first Hall state with a value of 0 as the starting time, and obtain the Hall states corresponding to a preset number of detection times after the starting time within the third detection period. Then trigger step S602.

[0132] The preset quantity in step S601 can be set based on the number of control cycles corresponding to the change of 2π in the electrical angle of the motor rotor.

[0133] Step S602: Determine the phase identifiers corresponding to the two level signals that are always 0 in each Hall state as short-circuit phase identifiers, and output the detection result of short-circuit fault in the two-phase transmission cable including the above short-circuit phase identifiers.

[0134] It should be noted that, in practical application scenarios, the specific implementation of step S602 above can be as follows: Figure 2 Taking the Hall sensor location diagram shown as an example, the three-bit binary strings in parentheses within each region (Hall state) correspond to phase A, phase B, and phase C from left to right. The six preset Hall states obtained in step S602 are: 1 (001), 2 (010), 3 (011), 4 (100), 5 (101), and 6 (110). Assuming a short circuit occurs in the AC phase transmission cable, if the Hall sensor corresponding to any phase transmission cable outputs a low-level signal, the output signal of the transmission cable with the short circuit fault will also be pulled low. Therefore, the Hall states for each region 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, the transmission cable with the short circuit fault can be determined to be either phase A or phase C simply by using the missing preset Hall states.

[0135] In one possible implementation, when there is no short-circuit fault in the three-phase transmission cable, but there is an open-circuit fault, and the target type of fault detection is a two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable, statistical operations corresponding to the target type of fault detection are performed on multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, and the result of the target type of fault detection is determined based at least on the statistical results, including:

[0136] A fourth type of statistical operation is performed based on the multiple level signals output by each transmission cable during the fourth detection period: Statistical analysis is performed on the level signals output by the two transmission cables (excluding the transmission cable with an open circuit fault) during the fourth detection 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 for the transmission cable without fault; otherwise, the output includes the identifiers of the two transmission cables and the identifier of the transmission cable with an open circuit fault, representing the result of the two-phase short circuit and one-phase open circuit fault detection for the transmission cable.

[0137] It should be noted that, in practical application scenarios, the specific implementation method for detecting two-phase short circuits and one-phase open circuit faults in the aforementioned transmission cables can be as follows:

[0138] like Figure 7 The diagram shown illustrates the process for detecting a two-phase short circuit and one-phase open circuit fault in a transmission cable. The specific steps are as follows:

[0139] Step S701: At the start of the fourth detection period, the detection of a two-phase short circuit and a one-phase open circuit fault in the transmission cable is initiated, and step S702 is triggered.

[0140] Step S702: Analyze the results of each open circuit fault detection to obtain open circuit fault identifiers, 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. Then trigger step S703.

[0141] Step S703: Obtain the voltage level signals of the two transmission cables during the fourth detection period, and determine whether there are different voltage level signals between the two transmission cables. If not, trigger step S704; if yes, trigger step S705.

[0142] Step S704: The two target identifiers in step S703 are identified as short-circuit fault identifiers, and the result of the two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable, including the two short-circuit fault identifiers and the open-circuit fault identifier obtained in step S703, is output.

[0143] Step S705 outputs the result of the fault detection for a transmission cable with two phases short circuit and one phase open circuit, indicating that there is no fault.

[0144] In one possible implementation, before performing 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, the above-mentioned... Figure 1 The fault detection method for the motor Hall sensor transmission cable shown also includes:

[0145] The three-phase power current of the motor under constant speed operation is input into a preset sensorless vector control algorithm to obtain multiple rotor position estimates. The estimates characterize the position of the motor rotor when the Hall state changes.

[0146] Calculate the difference between each estimated value and the preset theoretical value of the rotor position, and output the fault detection result that there is no line sequence fault if each difference is not greater than the preset deviation threshold.

[0147] Those skilled in the art will understand that, in practical applications, the aforementioned preset sensorless vector control algorithm is an algorithm built upon sensorless vector control technology. This method simulates motor operation-related control variables by introducing speed and position estimators into the mathematical model of the motor, thereby achieving sensorless feedback control of the electrode states. The aforementioned preset sensorless vector control algorithm can be implemented either as a program script edited by technicians based on practical application scenarios, or by combining existing open-source control algorithms, including but not limited to current-frequency ratio (IF) control algorithm + Luneburger observer, high-frequency injection control + Sliding Mode Observer (SMO), and current-frequency ratio (IF) control algorithm + Sliding Mode Observer (SMO). This application does not impose excessive limitations or elaborate on the specific construction and usage process of the preset sensorless vector control algorithm.

[0148] It should be noted that in practical applications, motors are typically assembled with controllers at the assembly site after leaving the factory, or disassembled during later maintenance. This poses a risk of misconnecting transmission cables to the corresponding phase interfaces of the controller, potentially leading to wiring sequence faults. While wiring sequence faults have a relatively low impact on motor operation, their presence during transmission cable fault detection makes it difficult for technicians to quickly and accurately locate the faulty cable, reducing the accuracy and efficiency of fault detection. Therefore, this application addresses this issue by inputting the three-phase power current of the motor at constant speed into a preset sensorless vector control algorithm before statistical operations. This yields multiple estimated rotor positions, calculates the difference between each estimated value and the preset theoretical rotor position, and outputs a fault detection result indicating the absence of wiring sequence faults if none of these differences exceed a preset deviation threshold. This method effectively detects wiring sequence faults in transmission cables, avoiding the risk of mismatch between subsequent fault detection results and faulty transmission cables, thus improving fault detection accuracy and efficiency.

[0149] It should be noted that, in practical application scenarios, the aforementioned preset deviation threshold can be determined by comprehensively analyzing the Hall sensor installation deviation and the estimated deviation of the preset sensorless vector control algorithm.

[0150] It should be noted that in practical application scenarios, the above estimated values ​​represent the position of the motor rotor when the Hall state changes. For example, θ13 represents the rotor moving from the region corresponding to Hall state 1 to the region corresponding to Hall state 3.

[0151] In one possible implementation, before calculating the difference between each estimated value and the theoretical value of the preset rotor position, the above-mentioned... Figure 1 The fault detection method for the motor Hall sensor transmission cable shown also includes:

[0152] Obtain the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm, and determine whether there is an abnormal Hall state in each predicted Hall state. If not, perform the operation step of calculating the difference between each estimated value and the preset theoretical value of the rotor position. If yes, output alarm information including the correspondence between the abnormal Hall state and the rotor position. The abnormal Hall state represents the predicted Hall state that is inconsistent with each preset Hall state.

[0153] It should be noted that, in practical applications, the aforementioned abnormal Hall states refer to Hall states that represent a three-phase short-circuit fault (000) or a three-phase open-circuit fault (111). Since a single wiring sequence fault does not lead to a three-phase short-circuit fault or a three-phase open-circuit fault, this application configures the system to obtain the predicted Hall states corresponding to each rotor position output by a preset sensorless vector control algorithm before calculating the difference between each estimated value and the preset theoretical rotor position value. It then determines whether any of the predicted Hall states are abnormal. If not, it performs the operation of calculating the difference between each estimated value and the preset theoretical rotor position value. If so, it outputs an alarm message including the correspondence between the abnormal Hall states and the rotor positions, prompting technicians to disassemble the motor and check whether the problem is caused by a fault in the internal transmission cable connection. This avoids wasting time on subsequent inspections without knowing the cause of the fault, improving the accuracy and efficiency of fault detection.

[0154] It should be noted that in practical applications, there are multiple ways to implement the above-mentioned abnormal Hall state monitoring and line sequence fault detection. Here, one example is provided:

[0155] like Figure 8 The diagram shows a flowchart for pre-detection of transmission cable faults. The specific operation steps are as follows:

[0156] Step S801: Obtain the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm. Then trigger step S802.

[0157] Step S802: Determine whether there is an abnormal Hall state with three binary string bits 000 or 111 in each predicted Hall state. If yes, then trigger step S803; otherwise, trigger step S804.

[0158] Step S803: Output alarm information including the correspondence between abnormal Hall state and rotor position.

[0159] Step S804: Calculate the differences between the multiple estimated values ​​output by the preset sensorless vector control algorithm and the preset theoretical value of the rotor position. Then trigger step S805.

[0160] Step S805: Determine whether each difference is greater than a preset deviation threshold. If yes, trigger step S806; otherwise, trigger step S807.

[0161] In one possible implementation, for a three-phase motor, the methods for calculating the differences in step S804 and comparing each difference with a preset deviation threshold in step S805 can be achieved by configuring a corresponding condition function. This condition function can be, for example, for a three-phase motor. The estimated value characterizing the Hall state when it switches from a to b. The theoretical value of the preset rotor position characterizing the Hall state when it switches from a to b. This is a preset deviation threshold that takes into account Hall effect installation error and sensorless algorithm estimation error. Therefore, the above conditional function can be:

[0162] .

[0163] Step S806: Output an alarm command that includes the identification of the transmission cable and a faulty wiring sequence information.

[0164] Step S807 outputs the fault detection result indicating that there is no line sequence fault.

[0165] In one possible implementation, the overall structural diagram of the fault detection method for a motor Hall sensor transmission cable provided in the first aspect of this application can be as follows: Figure 9 As shown. The fault detection method for the motor Hall sensor transmission cable includes a control section and a detection section. The control section consists of a preset sensorless vector control algorithm, and the detection section consists of a pre-detection unit, a wiring sequence fault detection unit, an open circuit fault detection unit, and a short circuit fault detection unit. The preset sensorless vector control algorithm responds to the start detection command by sending a control pulse signal (Pulse) to the motor to control the motor to enter a constant speed operating state, and based on the three-phase power current (I) of the motor in the constant speed operating state. ABCThe system outputs multiple rotor position estimates and predicted Hall states. A preset sensorless vector control algorithm sends these estimates and predicted Hall states to the detection section. The detection section's pre-detection unit performs abnormal Hall state detection based on the predicted Hall states; the wiring sequence fault detection unit performs wiring sequence fault detection based on the estimates; and the open circuit fault detection unit and 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. The detection results are then output. Upon receiving a reset command, both the control and detection sections are reset.

[0166] The second aspect of this application provides a fault detection system for a motor Hall sensor transmission cable, such as... Figure 10 As shown, the fault detection system for the motor Hall sensor transmission cable includes:

[0167] 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.

[0168] Fault detection module 1002 is used to perform statistical operations on multiple level signals output by each transmission cable within the target detection period corresponding to the target type of fault detection, and to determine the result of the target type of fault detection based at least on the statistical results. 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. In one possible implementation, the fault detection module 1002 is configured as follows:

[0169] When the target type of fault detection is open-circuit fault detection, perform the first type of statistical operation on the multiple level signals WO output by each transmission cable:

[0170] Using the formula: sumX t1 =(1-hallX t1 ) + sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 Among them, hallX t1 This is the level signal output by the transmission cable at time t1 during the first detection period, sumX t0 This is the statistical result of the transmission cable at time t0 in the first detection period. Time t0 is earlier than time t1. The first detection period is the detection period corresponding to the open circuit fault detection.

[0171] If the statistical result of the first detection period is always 0, the identifier of the transmission cable is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output; if the statistical result of the first detection period is not 0, the identifier of the transmission cable is determined as no open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the no open circuit fault identifier is output.

[0172] In one possible implementation, the fault detection module 1002 described above is configured as follows:

[0173] When the target type of fault detection is a short-circuit fault detection in a three-phase transmission cable, a second type of statistical operation is performed on the multiple level signals output by each transmission cable during the second detection period:

[0174] The Hall state statistics for the second detection period are obtained using the formula: SUM = ∑(4*hallA + 2*hallB + hallC). Here, hallA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time in 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 the detection period corresponding to the short circuit fault detection of the three-phase transmission cable.

[0175] 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 faults.

[0176] In one possible implementation, the fault detection module 1002 described above is configured as follows:

[0177] In the absence of short-circuit and open-circuit faults in the three-phase transmission cables, and where the target type of fault detection is a short-circuit fault detection in a two-phase transmission cable, a third type of statistical operation is performed based on multiple level signals at each detection time within the third detection period: using the formula: Hall t =4*hallA t +2*hallB t +hallC t Obtain the Hall state at detection time t during the third detection period. t Among them, hallA t It is the level signal output by the transmission cable corresponding to phase A Hall sensor at detection time t in the third detection period, hallB t It is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at detection time t in the third detection period, hallC tIt 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;

[0178] Determine whether there is a Hall state with a value of 0 during the third detection period. If not, the output is the result of short circuit fault detection of two-phase transmission cable without fault. If so, perform short circuit fault detection of two-phase transmission cable based on the statistical results of Hall states at multiple detection times.

[0179] In one possible implementation, the fault detection module 1002 described above is configured as follows:

[0180] When there is no short circuit fault in the three-phase transmission cable, but there is an open circuit fault, and the target type of fault detection is a 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 the multiple level signals output by each transmission cable during the fourth detection period: the level signals output by the two transmission cables other than the one with the open circuit fault are statistically analyzed during the fourth detection 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 fault; if not, the output includes the identifiers of the two transmission cables and the identifier of the transmission cable with the open circuit fault, representing the result of the two-phase short circuit and one-phase open circuit fault detection of the transmission cable.

[0181] In one possible implementation, the above is as follows: Figure 10 The fault detection system for the motor Hall sensor transmission cable shown also includes:

[0182] The line sequence fault detection module is used to input the three-phase power current of the motor in constant speed operation state into a preset sensorless vector control algorithm before the fault detection module performs statistical operations on the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection. The estimated values ​​represent the position of the motor rotor when the Hall state changes.

[0183] Calculate the difference between each estimated value and the preset theoretical value of the rotor position, and output the fault detection result that there is no line sequence fault if each difference is not greater than the preset deviation threshold.

[0184] In one possible implementation, the above is as follows: Figure 10 The fault detection system for the motor Hall sensor transmission cable shown also includes:

[0185] 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 calculating the difference between each estimated value and the preset theoretical value of the rotor position. It also determines whether there is an abnormal Hall state in each predicted Hall state. If not, it performs the operation step of calculating the difference between each estimated value and the preset theoretical value of the rotor position. If so, it outputs alarm information including the correspondence between the abnormal Hall state and the rotor position. The abnormal Hall state represents a predicted Hall state that is inconsistent with each preset Hall state.

[0186] A third aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0187] Memory is used to store computer programs;

[0188] The processor is used to execute computer programs to enable electronic devices to implement the fault detection method for motor Hall sensor transmission cables in the first aspect or any implementation thereof described above.

[0189] This application also provides an electronic device in its embodiments. (See reference...) Figure 11 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this 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 impose any limitation on the functionality and scope of use of the embodiments of this application.

[0190] like Figure 11 As shown, the electronic device may include a processing unit (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 unit 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0191] Typically, the following devices can be connected to I / O interface 1105: input devices 1106 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 1107 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1108 including, for example, memory cards, hard drives, etc.; and communication devices 1109. Communication device 1109 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 11 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0192] The fourth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to perform a fault detection method for the motor Hall sensor transmission cable of the first aspect or any implementation thereof.

[0193] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0194] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0195] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0196] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A method for fault detection of a motor Hall sensor transmission cable, characterized in that, include: The system obtains multiple level signals output by each transmission cable during each detection period when the motor is running at a constant speed. For the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, a statistical operation corresponding to the target type of fault detection is performed, and the result of the target type of fault detection is determined based at least on the statistical results. 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. When the target type of fault detection is open-circuit fault detection, the step of performing a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and determining the result of the target type of fault detection based at least on the statistical results, includes: performing the first type of statistical operation on the multiple level signals output by each of the transmission cables respectively: using the formula: sumX t1 =(1-hallX t1 )+sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 , wherein, the hallX t1 The sumX is the level signal output by the transmission cable at time t1 during the first detection period. t0 It 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 the open circuit fault detection. When the statistical result of the first detection period is always 0, the identifier of the transmission cable is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output. When the target type of fault detection is the short-circuit fault detection of the three-phase transmission cable, the step of performing a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and determining the result of the target type of fault detection based at least on the statistical results, includes: performing a second type of statistical operation on the multiple level signals output by each of the transmission cables within the second detection period: obtaining the Hall state statistical result SUM within the second detection period using the formula: SUM=Σ(4*hallA+2*hallB+hallC), where the hall state statistical result SUM is the Hall state statistical result within the second detection period. lA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time in 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; 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; the second detection period is the detection period corresponding to the 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 with a fault.

2. The fault detection method for the motor Hall sensor transmission cable according to claim 1, characterized in that, In the case where the fault detection of the target type is the open-circuit fault detection, it further includes: If the statistical result of the first detection period is not 0, the identifier of the transmission cable is determined as a no-open-circuit fault identifier, and the result of the open-circuit fault detection of the transmission cable including the no-open-circuit fault identifier is output.

3. The fault detection method for the motor Hall sensor transmission cable according to claim 1, characterized in that, In the absence of short-circuit and open-circuit faults in the three-phase transmission cables, and where the target type of fault detection is a short-circuit fault detection in the two-phase transmission cables, the 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 the target detection period corresponding to the target type of fault detection, and the result of the target type of fault detection is determined based at least on the statistical results, including: The third type of statistical operation is performed based on multiple level signals at each detection time within the third detection period: using the formula: Hall t =4*hallA t +2*hallB t +hallC t Obtain the Hall state at detection time t during the third detection period. t , wherein, hallA t It is the level signal output by the transmission cable corresponding to the Hall sensor of phase A at the detection time t during the third detection period, and the Hall B t It is the level signal output by the transmission cable corresponding to the B-phase Hall sensor at the detection time t during the third detection period, the hallC t It is the level signal output by the transmission cable corresponding to the C-phase Hall sensor at the detection time t during the third detection period; Determine whether there is a Hall state with a value of 0 during the third detection period. If not, output the result of the short circuit fault detection of the two-phase transmission cable without fault. If yes, perform the short circuit fault detection of the two-phase transmission cable based on the statistical results of the Hall states at multiple detection times.

4. The fault detection method for the motor Hall sensor transmission cable according to claim 1, characterized in that, In the case where there is no short-circuit fault in the three-phase transmission cable, but there is one open-circuit fault, and the target type of fault detection is a two-phase short-circuit and one-phase open-circuit fault detection of the transmission cable, the statistical operation corresponding to the target type of fault detection is performed on the multiple level signals output by each of the transmission cables during the target detection period corresponding to the target type of fault detection, and the result of the target type of fault detection is determined based at least on the statistical results, including: Based on the multiple level signals output by each of the transmission cables during the fourth detection period, a fourth type of statistical operation is performed: The level signals output by the two transmission cables (excluding the one with the open circuit fault) during the fourth detection period are statistically analyzed to determine whether there are different level signals between the two transmission cables. If so, the output is the result of the two-phase short circuit and one-phase open circuit fault detection for the transmission cable without the fault; otherwise, the output includes the identifiers of the two transmission cables and the identifier of the transmission cable with the open circuit fault, representing the result of the two-phase short circuit and one-phase open circuit fault detection for the transmission cable.

5. The fault detection method for the motor Hall sensor transmission cable according to claim 1, characterized in that, Before performing statistical operations on the multiple level signals output by each transmission cable during the target detection period corresponding to the target type of fault detection, the method further includes: The three-phase power current of the motor under the constant speed operating state 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. Calculate the difference between each estimated value and the preset theoretical value of the rotor position, and output the fault detection result that there is no line sequence fault if each difference is not greater than the preset deviation threshold.

6. The fault detection method for the motor Hall sensor transmission cable according to claim 5, characterized in that, Before calculating the difference between each estimated value and the preset theoretical value of the rotor position, the method further includes: Obtain the predicted Hall state corresponding to each rotor position output by the preset sensorless vector control algorithm, and determine whether there is an abnormal Hall state in each of the predicted Hall states. If not, perform the operation step of calculating the difference between each estimated value and the preset theoretical value of the rotor position. If yes, output alarm information including the correspondence between the abnormal Hall state and the rotor position, wherein the abnormal Hall state represents the predicted Hall state that is inconsistent with each preset Hall state.

7. 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. The fault detection module is used to perform statistical operations on multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and to determine the result of the target type of fault detection based at least on the statistical results. 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. When the target type of fault detection is open-circuit fault detection, the step of performing a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and determining the result of the target type of fault detection based at least on the statistical results, includes: performing the first type of statistical operation on the multiple level signals output by each of the transmission cables respectively: using the formula: sumX t1 =(1-hallX t1 )+sumX t0 Calculate the statistical result sumX of the transmission cable during the first detection period. t1 , wherein, the hallX t1 The sumX is the level signal output by the transmission cable at time t1 during the first detection period. t0 It 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 the open circuit fault detection. When the statistical result of the first detection period is always 0, the identifier of the transmission cable is determined as an open circuit fault identifier, and the result of the open circuit fault detection of the transmission cable including the open circuit fault identifier is output. When the target type of fault detection is the short-circuit fault detection of the three-phase transmission cable, the step of performing a statistical operation corresponding to the target type of fault detection on the multiple level signals output by each of the transmission cables within the target detection period corresponding to the target type of fault detection, and determining the result of the target type of fault detection based at least on the statistical results, includes: performing a second type of statistical operation on the multiple level signals output by each of the transmission cables within the second detection period: obtaining the Hall state statistical result SUM within the second detection period using the formula: SUM=Σ(4*hallA+2*hallB+hallC), where the hall state statistical result SUM is the Hall state statistical result within the second detection period. lA is the level signal output by the transmission cable corresponding to the A-phase Hall sensor at the target detection time in 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; 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; the second detection period is the detection period corresponding to the 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 with a fault.

8. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to 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 6.

9. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, 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 6.

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