Open-circuit fault detection method for servo motor driving system

Abstract

The invention discloses an open-circuit fault detection method for a servo motor driving system, and relates to the field of servo motor control, and the method comprises the steps: obtaining the current data of the servo motor driving system; obtaining filtering data according to the current data; carrying out normalization on the filtering data to obtain normalized current data; determining an open-circuit fault type of the servo motor driving system according to the normalized current data and a preset proportion threshold value; the open-circuit fault type at least comprises single-switch disconnection and double-switch disconnection. According to the scheme, the abnormal characteristics in the current signals can be accurately analyzed, and the fault detection precision is enhanced. Early warning and maintenance can be carried out before a fault occurs, so that the overall reliability of the servo motor driving system is improved, and the downtime and the maintenance cost are reduced.

Description

Technical Field

[0001] The present invention relates to the field of servo motor control, and in particular to a method for detecting open-circuit faults in a servo motor drive system. Background Art

[0002] Servo motors are widely used in the tow opening process of filter rod forming machines, favored for their high precision, fast response speed, and high efficiency. However, over long-term operation, servo motors and their drive systems can experience various faults, particularly open circuit faults (such as broken windings), which can severely impact tow opening and, in turn, physical properties such as filter rod pressure drop and hardness. Therefore, timely and accurate detection and diagnosis of these faults is crucial to ensuring safe and efficient equipment operation and the stability of process quality indicators. Traditional fault detection methods often rely on models or empirical rules, which often struggle to cope with complex operating conditions and various uncertainties. Summary of the Invention

[0003] In view of the above, the present invention aims to provide a method for detecting open-circuit faults in a servo motor drive system to solve the aforementioned technical problems.

[0004] The technical solution adopted in the present invention is as follows:

[0005] The present invention provides a method for detecting an open circuit fault in a servo motor drive system, comprising:

[0006] Obtain current data of servo motor drive system;

[0007] Obtaining filtered data according to the current data;

[0008] Normalizing the filtered data to obtain normalized current data;

[0009] The open circuit fault type of the servo motor drive system is determined according to the normalized current data and a preset proportional threshold value; the open circuit fault type includes at least single switch disconnection and double switch disconnection.

[0010] In at least one possible implementation, obtaining current data of a servo motor drive system includes:

[0011] Establish the circuit model and mathematical model of the servo motor drive system;

[0012] The current data is obtained according to the mathematical model and the voltage data.

[0013] In at least one possible implementation, obtaining filtered data according to the current data includes:

[0014] The current data is filtered using a preset resonant filter:

[0015] ;

[0016] Get filtered data;

[0017] in, is the filtered data, is the current data, is the first resonant filter, is the second resonant filter, s is the frequency domain factor, is a low-pass filter.

[0018] In at least one possible implementation manner, normalizing the filtered data to obtain normalized current data includes:

[0019] obtaining a current amplitude according to the filtered data;

[0020] Normalized current data is obtained according to the current amplitude.

[0021] In at least one possible implementation, obtaining the current amplitude according to the filtered data includes:

[0022] By formula: , get the current amplitude;

[0023] in, is the current amplitude, For filtering data The direction component, For filtering data Directional component.

[0024] In at least one possible implementation, obtaining normalized current data according to the current amplitude includes:

[0025] By formula:

[0026] ;

[0027] ;

[0028] Get normalized current data;

[0029] in, For filtering data Normalized current data of the directional component, For filtering data Normalized current data of the directional component.

[0030] In at least one possible implementation, determining the open circuit fault type of the servo motor drive system according to the normalized current data and a preset proportional threshold includes:

[0031] Set four levels of ratio thresholds;

[0032] When the normalized current data is greater than the first-level proportional threshold and less than the second-level proportional threshold, or the normalized current data is greater than the third-level proportional threshold and less than the fourth-level proportional threshold, the open circuit fault type is double switch disconnection;

[0033] When the normalized current data is greater than the secondary proportional threshold and less than the tertiary proportional threshold, or the normalized current data is greater than four, the open circuit fault type is single switch disconnection.

[0034] The present invention also provides a device for determining open circuit fault detection in a servo motor drive system, comprising:

[0035] An acquisition module is used to obtain current data of the servo motor drive system;

[0036] A processing module is used to obtain filtered data based on the current data; normalize the filtered data to obtain normalized current data; and determine the open circuit fault type of the servo motor drive system based on the normalized current data and a preset proportional threshold.

[0037] The present invention further provides a computing device, comprising: a processor and a memory storing a computer program, wherein the computer program executes the method described above when executed by the processor.

[0038] The present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above.

[0039] The above solution of the present invention includes at least the following beneficial effects:

[0040] The above-mentioned solution of the present invention obtains current data from the servo motor drive system; obtains filtered data based on the current data; normalizes the filtered data to obtain normalized current data; and determines the open circuit fault type of the servo motor drive system based on the normalized current data and a preset proportional threshold; the open circuit fault types include at least single-switch disconnection and double-switch disconnection. Based on the extraction of characteristic fault current components, the solution of the present invention can accurately analyze abnormal characteristics in the current signal and enhance the accuracy of fault detection. It can provide early warning and maintenance before a fault occurs, thereby improving the overall reliability of the servo motor drive system and reducing downtime and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0042] Figure 1 This is a flow chart of a method for detecting an open circuit fault in a servo motor drive system provided by an embodiment of the present invention.

[0043] Figure 2 A circuit diagram of a servo motor drive system provided by an embodiment of the present invention;

[0044] Figure 3 An execution diagram of the open circuit fault detection method for a servo motor drive system provided by an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a module of a device for determining an open circuit fault type of a servo motor drive system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0047] The present invention proposes an embodiment of a method for detecting an open circuit fault in a servo motor drive system. Specifically, Figure 1 shown, including:

[0048] Step 11, obtaining current data of the servo motor drive system;

[0049] Step 12, obtaining filtered data based on the current data;

[0050] Step 13, normalizing the filtered data to obtain normalized current data;

[0051] Step 14: Determine the open circuit fault type of the servo motor drive system according to the normalized current data and a preset proportional threshold.

[0052] In this embodiment, a circuit model and a mathematical model for detecting a servo motor drive system are first established. Then, the established circuit model and mathematical model are used to calculate the current data of the servo motor drive system in the αβ coordinate system, a resonant filter is designed to filter the current in the αβ coordinate system, the normalized amplitude of the filtered current in the αβ coordinate system is calculated, and proportional thresholds of different levels are designed to determine the type of open circuit fault. The type of open circuit fault is determined based on the normalized current amplitude and the proportional threshold, where the open circuit fault types include single switch fault and double switch fault.

[0053] The open-circuit fault detection method for a servo motor drive system in this embodiment, based on the extraction of characteristic fault current components, can accurately analyze abnormal characteristics in the current signal, enhancing the accuracy of fault detection. This helps identify early signs of open-circuit faults and avoid sudden equipment shutdowns. Effective fault detection enables early warning and maintenance before a fault occurs, thereby improving the overall reliability of the servo motor drive system and reducing downtime and repair costs.

[0054] In an optional embodiment of the present invention, step 11 may include:

[0055] Step 111, establishing a circuit model and a mathematical model of the servo motor drive system;

[0056] Step 112: Obtain the current data according to the mathematical model and the voltage data.

[0057] In this embodiment, step 111 establishes a circuit model and a mathematical model of the servo motor drive system, specifically as follows:

[0058] Circuit model: such as Figure 2 As shown, the servo motor drive system consists of a three-phase pulse width modulated voltage source inverter, which is usually provided with a constant DC power supply by a rectifier stage;

[0059] The three-phase pulse width modulation voltage source inverter consists of three parallel branches, each branch has two power electronic switches (T i , T i+3 , i=1, 2, 3) with an anti-parallel freewheeling diode (D i , D i+3 ), providing a negative current path on the switch;

[0060] The voltage source inverter switches are controlled by binary gate signals (S i , S i+3 )∈[0,1] are controlled in a complementary manner: when the switch is triggered, the gate signal S i or S i+3 is equal to "1" and equal to "0" when the switch is turned off;

[0061] Switching status S i and S i+3 Different combinations of the output voltage levels (v dc ,0,-v dc );

[0062] Current model: such as Figure 3 As shown, assuming that the motor stator current is continuous, the logical variable δ indicating the direction of the motor line current flow is m (m=a, b, c) can be described as: when the motor current im >0 when δ m =1, when the motor current i m ≤0 when δ m =0; therefore, the motor relative voltage v under different switching states mo We can get:

[0063] = ; (1)

[0064] in, 、 、 Represent the three-phase voltage of the motor respectively, is the DC voltage, ~ is the switching state of the motor; δ m (m=a, b, c) is the logical variable of the direction of motor line current flow.

[0065] Furthermore, the relationship between the three-phase current and three-phase voltage of the motor can be expressed as:

[0066] = +L ; (2)

[0067] Where R and L represent the equivalent resistance and equivalent inductance of the motor, respectively, and t represents time.

[0068] The relationship between the three-phase current and three-phase voltage of the motor is expressed in the form of a matrix, which can be expressed as:

[0069] U=RI+L ; (3)

[0070] Where U represents the voltage matrix, I represents the current matrix; R and L represent the equivalent resistance matrix and equivalent inductance matrix of the motor, respectively, satisfying:

[0071] U= ,I= ,R= , L= ; (4)

[0072] Based on equations (3) and (4), we can perform Laplace transform on both sides of the equation to obtain the motor current in the frequency domain, which can be expressed as:

[0073] I(s)= U(s); (5)

[0074] Furthermore, the inverse Laplace transform is performed on Equation (5) to obtain the current expression in the time domain:

[0075] I(t)= . (6)

[0076] In step 112, the current data of the servo motor drive system is obtained using the circuit model and the mathematical model. The current data is placed in the αβ coordinate system for calculation and processing to obtain the current data:

[0077] It is beneficial to Clark transformation to convert the current in the three-phase stationary coordinate system (a, b, c) into the two-phase stationary coordinate system (α, β) and the zero-sequence component (0), that is, convert the abc coordinate system into the αβ coordinate system, and use the αβ coordinate system to calculate the three-phase motor stator current i abc , these converted equivalent components are used to detect open switch faults, specifically:

[0078] = ; (7)

[0079] in, 、 、 is the current data in the two-phase stationary coordinate system, 、 、 is the current data in the three-phase stationary coordinate system.

[0080] In an optional embodiment of the present invention, step 12 may include:

[0081] The current data is filtered using a preset resonant filter:

[0082] , get the filtered data;

[0083] in, is the filtered data, is the current data, is the first resonant filter, is the second resonant filter, s is the frequency domain factor, is a low-pass filter.

[0084] In this embodiment, resonant filters tuned at the fundamental frequency w1 and its doubled component 2w1 are designed to filter out the fundamental wave and second-order harmonics of the transformed current component, that is,

[0085] ; (8)

[0086] Specifically, the resonant filter F ω1 and F ω2 Respectively expressed as:

[0087] ; (9)

[0088] ; (10)

[0089] Among them, F ω1 represents the first resonant filter with a tuning frequency of w1; F 2ω1 represents the second resonant filter with a tuning frequency of 2w1; s represents the frequency domain factor; k f represents the gain of the filter; v ao 、v bo and v co Respectively represent the three-phase voltage of the motor; w c In order to reduce the influence of low-order interharmonics and improve the signal-to-noise ratio, a resonant filter is used together with a tuned filter at w c =10Hz low-pass filter.

[0090] In an optional embodiment of the present invention, step 13 may include:

[0091] Step 131, obtaining a current amplitude according to the filtered data;

[0092] Step 132: Obtain normalized current data according to the current amplitude.

[0093] In this embodiment, first, according to the filtered data, the formula:

[0094] ; (11)

[0095] The current amplitude is calculated; where, is the current amplitude, For filtering data The direction component, For filtering data Directional component.

[0096] The value of |I| is almost zero in a non-fault condition, but increases in a fault condition; therefore, the value of |I| is used as an indicator of a switch opening fault.

[0097] In order to eliminate the dependence of the calculation process on the motor load level, the filtered i αβ-F The components are normalized as follows:

[0098] ; (12)

[0099] ; (13)

[0100] Get the normalized current data; where, For filtering data Normalized current data of the directional component, For filtering data Normalized current data of the directional component.

[0101] In an optional embodiment of the present invention, step 14 may include:

[0102] Step 141, setting four levels of ratio thresholds;

[0103] Step 142: When the normalized current data is greater than the first-level proportional threshold and less than the second-level proportional threshold, or the normalized current data is greater than the third-level proportional threshold and less than the fourth-level proportional threshold, the open circuit fault type is double switch disconnection;

[0104] When the normalized current data is greater than the secondary proportional threshold and less than the tertiary proportional threshold, or the normalized current data is greater than four, the open circuit fault type is single switch disconnection.

[0105] In this embodiment, Figure 3 As shown, different levels of proportional thresholds are set to judge the type of open circuit fault. First, the proportional threshold R is formulated and used. αβ To distinguish between single switch and double switch open circuit faults:

[0106] ; (14)

[0107] in, is the ratio threshold, The adaptive factor can be adjusted appropriately according to different working conditions. Setting the adaptive factor can improve the filter's adaptability to nonlinear or time-varying systems and reduce errors.

[0108] Furthermore, different levels of thresholds are set to determine the open circuit fault type. Thresholds 1 and 3 are used to detect two switches being disconnected at the same time, while thresholds 2 and 4 are specifically used for the case of a single disconnected switch.

[0109] Specifically, ;

[0110] in, are threshold identifiers of different levels, is the first-level threshold, is the secondary threshold, Three-level threshold, Four-level threshold.

[0111] Finally, the open circuit fault type is determined based on the normalized current amplitude and the proportional threshold, and the result is output. Specifically, the fault type is determined based on the fault type judgment rules, as shown in the following table:

[0112] Table 1: Determine the fault type of a single switch:

[0113] <![CDATA[i α-norm ]]> <![CDATA[I β-norm ]]> <![CDATA[R αβ ]]> result - 0 4 <![CDATA[T1]]> - - 2 <![CDATA[T2]]> + - 2 <![CDATA[T3]]> + 0 4 <![CDATA[T4]]> + + 2 <![CDATA[T5]]> - + 2 <![CDATA[T6]]>

[0114] Table 2: Determine the fault type of the two switches:

[0115] <![CDATA[i α-norm ]]> <![CDATA[I β-norm ]]> <![CDATA[R αβ ]]> result - + 3 <![CDATA[T1, T6]]> - - 3 <![CDATA[T1, T2]]> 0 - 1 <![CDATA[T2, T3]]> + - 3 <![CDATA[T3, T4]]> + + 3 <![CDATA[T4, T5]]> 0 + 1 <![CDATA[T5, T6]]>

[0116] The open-circuit fault detection method for a servo motor drive system described in the above-described embodiments of the present invention, based on the extraction of characteristic fault current components, can accurately analyze and identify abnormal characteristics in the current signal, thereby enhancing the accuracy of fault detection. This helps identify early signs of open-circuit faults and avoid sudden equipment shutdowns. Effective fault detection methods enable early warning and maintenance before faults occur, thereby improving the overall reliability of the servo motor drive system and reducing downtime and maintenance costs.

[0117] This method also has good adaptability and can maintain stable detection performance under different load and operating conditions. By monitoring the health and diagnosing faults of servo motors, it can significantly improve system reliability and reduce maintenance costs, providing effective technical support for industrial applications.

[0118] like Figure 4 As shown, an embodiment of the present invention further provides a device 40 for detecting an open circuit fault in a servo motor drive system, comprising:

[0119] An acquisition module 41 is used to acquire current data of a servo motor drive system;

[0120] The processing module 42 is configured to obtain filtered data based on the current data; normalize the filtered data to obtain normalized current data; and determine the open circuit fault type of the servo motor drive system based on the normalized current data and a preset proportional threshold.

[0121] In at least one possible implementation, obtaining current data of a servo motor drive system includes:

[0122] Establish the circuit model and mathematical model of the servo motor drive system;

[0123] The current data is obtained according to the mathematical model and the voltage data.

[0124] In at least one possible implementation, obtaining filtered data according to the current data includes:

[0125] The current data is filtered using a preset resonant filter:

[0126] ;

[0127] Get filtered data;

[0128] in, is the filtered data, is the current data, is the first resonant filter, is the second resonant filter, s is the frequency domain factor, is a low-pass filter.

[0129] In at least one possible implementation manner, normalizing the filtered data to obtain normalized current data includes:

[0130] obtaining a current amplitude according to the filtered data;

[0131] Normalized current data is obtained according to the current amplitude.

[0132] In at least one possible implementation, obtaining the current amplitude according to the filtered data includes:

[0133] By formula: , get the current amplitude;

[0134] in, is the current amplitude, For filtering data The direction component, For filtering data Directional component.

[0135] In at least one possible implementation, obtaining normalized current data according to the current amplitude includes:

[0136] By formula:

[0137] ;

[0138] ;

[0139] Get normalized current data;

[0140] in, For filtering data Normalized current data of the directional component, For filtering data Normalized current data of the directional component.

[0141] In at least one possible implementation, determining the open circuit fault type of the servo motor drive system according to the normalized current data and a preset proportional threshold includes:

[0142] Set four levels of ratio thresholds;

[0143] When the normalized current data is greater than the first-level proportional threshold and less than the second-level proportional threshold, or the normalized current data is greater than the third-level proportional threshold and less than the fourth-level proportional threshold, the open circuit fault type is double switch disconnection;

[0144] When the normalized current data is greater than the secondary proportional threshold and less than the tertiary proportional threshold, or the normalized current data is greater than four, the open circuit fault type is single switch disconnection.

[0145] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0146] An embodiment of the present invention further provides a computing device comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described in the above embodiment. All implementations of the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0147] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to execute the method described in the above embodiment. All implementations of the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0148] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0149] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0150] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0152] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0153] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk.

[0154] In addition, it should be pointed out that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but they do not necessarily need to be performed in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it can be understood that all or any steps or components of the method and apparatus of the present invention can be implemented in hardware, firmware, software or a combination thereof in any computing device (including a processor, storage medium, etc.) or a network of computing devices. This can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0155] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the purpose of the present invention can also be achieved simply by providing a program product containing program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but do not necessarily need to be performed in chronological order. Certain steps can be performed in parallel or independently of each other.

[0156] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for detecting open circuit faults in a servo motor drive system, characterized in that: include: Obtain current data of servo motor drive system; Obtaining filtered data according to the current data; Normalizing the filtered data to obtain normalized current data; The open circuit fault type of the servo motor drive system is determined according to the normalized current data and a preset proportional threshold value; the open circuit fault type includes at least single switch disconnection and double switch disconnection.

2. The method for detecting open circuit faults in a servo motor drive system according to claim 1, wherein: Acquire current data of servo motor drive system, including: Establish the circuit model and mathematical model of the servo motor drive system; The current data is obtained according to the mathematical model and the voltage data.

3. The method for detecting open circuit faults in a servo motor drive system according to claim 1, wherein: Obtaining filtered data according to the current data includes: The current data is filtered using a preset resonant filter: , get the filtered data; in, is the filtered data, is the current data, is the first resonant filter, is the second resonant filter, s is the frequency domain factor, is a low-pass filter.

4. The method for detecting an open circuit fault in a servo motor drive system according to claim 1, wherein: Normalizing the filtered data to obtain normalized current data includes: obtaining a current amplitude according to the filtered data; Normalized current data is obtained according to the current amplitude.

5. The method for detecting open circuit faults in a servo motor drive system according to claim 4, wherein: Obtaining a current amplitude according to the filtered data includes: By formula: , get the current amplitude; in, is the current amplitude, For filtering data The direction component, For filtering data Directional component.

6. The method for detecting open circuit faults in a servo motor drive system according to claim 5, wherein: According to the current amplitude, normalized current data is obtained, including: By formula: ； ； Get normalized current data; in, For filtering data Normalized current data of the directional component, For filtering data Normalized current data of the directional component.

7. The method for detecting an open circuit fault in a servo motor drive system according to claim 1, wherein: Determining an open circuit fault type of the servo motor drive system according to the normalized current data and a preset proportional threshold value includes: Set four levels of ratio thresholds; When the normalized current data is greater than the first-level proportional threshold and less than the second-level proportional threshold, or the normalized current data is greater than the third-level proportional threshold and less than the fourth-level proportional threshold, the open circuit fault type is double switch disconnection; When the normalized current data is greater than the secondary proportional threshold and less than the tertiary proportional threshold, or the normalized current data is greater than four, the open circuit fault type is single switch disconnection.

8. A device for detecting an open circuit fault in a servo motor drive system, characterized in that: include: An acquisition module is used to obtain current data of the servo motor drive system; A processing module, configured to obtain filtered data based on the current data; Normalizing the filtered data to obtain normalized current data; An open circuit fault type of the servo motor drive system is determined according to the normalized current data and a preset proportional threshold.

9. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is performed.

10. A computer-readable storage medium, characterized in that: The device stores instructions, which, when executed on a computer, enable the computer to execute the method according to any one of claims 1 to 7.

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