Motor state recognition method and device, motor controller, motor and storage medium

Abstract

The invention discloses a motor state recognition method and device, a motor controller, a motor and a storage medium, and the method comprises the steps: determining a response result of the motor under the condition that an excitation electric signal is injected into the motor; performing polarity judgment on the motor based on the response result; if the polarity of the motor is judged successfully, determining that the motor is in a shutdown state; and if the polarity judgment of the motor fails, determining that the motor is in a running state. According to the method, polarity judgment is performed by injecting the excitation signal into the motor, and the operation state of the motor is determined according to the polarity judgment result of the motor, so that the occupied time is short, the operation state of the motor can be quickly identified, an additional detection device does not need to be added, and the hardware cost of the motor is not increased.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor state identification method, device, motor controller, motor and storage medium. Background Art

[0002] In the related art, there are two main methods for determining the operating status of a motor: speed-based solutions and current-based solutions. Speed-based solutions take a long time, usually in seconds, and are prone to misjudgment. Furthermore, using sensors for speed-based detection increases the cost of the motor. Current-based solutions require comparing the current with a threshold, but the threshold needs to be selected based on the motor type and application scenario. Furthermore, for low-power or low-current motors, the threshold selection requires high sampling accuracy, which increases the cost of the motor. Summary of the Invention

[0003] The present invention aims to at least partially address one of the technical problems in the related art. To this end, a first object of the present invention is to provide a motor state identification method that performs polarity determination by injecting an excitation signal into the motor and determines the motor's operating state based on the polarity determination result. This method is quick to identify the motor's operating state and does not require additional detection devices, thereby minimizing the hardware cost of the motor.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] The third object of the present invention is to provide a motor controller.

[0006] A fourth object of the present invention is to provide a motor state identification device.

[0007] A fifth object of the present invention is to provide a motor.

[0008] To achieve the above-mentioned purpose, a motor state identification method is proposed according to an embodiment of the first aspect of the present invention, the method comprising: determining the response result of the motor when an excitation electrical signal is injected into the motor; performing polarity judgment on the motor based on the response result; if the polarity judgment of the motor is successful, determining that the motor is in a stopped state; if the polarity judgment of the motor fails, determining that the motor is in a running state.

[0009] According to the motor state identification method of an embodiment of the present invention, when an excitation electrical signal is injected into the motor, the response result of the motor is determined, and the polarity of the motor is judged based on the response result. When the motor is in a stop state, the polarity of the motor can be successfully judged by injecting an excitation electrical signal into the motor. When the motor is in a running state, if an excitation electrical signal is injected into the motor, the motor will shake and the polarity of the motor cannot be judged. Therefore, if the polarity judgment of the motor is successful, it is determined that the motor is in a stop state. If the polarity judgment of the motor fails, it is determined that the motor is in a running state.

[0010] According to one embodiment of the present invention, the polarity of the motor is determined based on the response result, including: comparing the response result with a preset parameter range; if the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; if the response result is outside the preset parameter range, determining that the polarity determination of the motor has failed.

[0011] According to one embodiment of the present invention, the polarity of the motor is determined based on the response result, including: comparing the response result with a preset parameter range at a preset time interval; if the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; if the response result is outside the preset parameter range, determining that the polarity determination of the motor has failed.

[0012] According to one embodiment of the present invention, the method further includes: if the number of successful polarity determinations of the motor is greater than or equal to a preset number, determining that the motor is in a stopped state; if the number of successful polarity determinations of the motor is less than a preset number, determining that the motor is in a running state.

[0013] According to one embodiment of the present invention, the number of times the polarity of the motor is determined is 2N+1 times, and the preset number is N+1 times, where N is a positive integer.

[0014] According to one embodiment of the present invention, when the response result is the motor current, the preset parameter range includes a first preset current range and a second preset current range, the lower limit value of the first preset current range is the product of the positive current peak value and the first preset proportional coefficient, the upper limit value of the first preset current range is the positive current peak value, the lower limit value of the second preset current range is the negative current peak value, and the upper limit value of the second preset current range is the product of the negative current peak value and the second preset proportional coefficient.

[0015] According to one embodiment of the present invention, when the response result is the motor angle, the preset parameter range includes a first preset angle range and a second preset angle range, the lower limit value of the first preset angle range is 180° multiplied by a third preset proportional coefficient, the upper limit value of the first preset angle range is 180°, the lower limit value of the second preset angle range is 360° multiplied by a fourth preset proportional coefficient, and the upper limit value of the second preset current range is 360°.

[0016] According to one embodiment of the present invention, the excitation electrical signal includes a first excitation electrical signal and a second excitation electrical signal, wherein the injection time of the second excitation electrical signal is later than the injection time of the first excitation electrical signal.

[0017] According to one embodiment of the present invention, the first excitation electrical signal and the second excitation electrical signal are respectively at least one of a square wave signal, a triangle wave signal, and a sine wave signal.

[0018] To achieve the above-mentioned object, according to a second aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is processed by a processor, the motor state identification method of any of the above-mentioned embodiments is executed.

[0019] According to the computer-readable storage medium of an embodiment of the present invention, by executing a computer program of the above-mentioned motor state identification method, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0020] To achieve the above-mentioned purpose, according to an embodiment of the third aspect of the present invention, a motor controller is proposed, comprising a memory, a processor, and a motor state identification program stored in the memory and runnable on the processor. When the processor executes the motor state identification program, the motor state identification method of any of the aforementioned embodiments is implemented.

[0021] According to the motor controller of an embodiment of the present invention, a computer program of the above-mentioned motor state identification method is executed by a processor, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0022] To achieve the above-mentioned purpose, according to an embodiment of the fourth aspect of the present invention, a motor state identification device is proposed, which includes: a first determination module, which is used to determine the response result of the motor when an excitation electrical signal is injected into the motor; a judgment module, which is used to perform polarity judgment on the motor based on the response result; and a second determination module, which is used to determine that the motor is in a stopped state when the polarity judgment of the motor is successful, or to determine that the motor is in a running state when the polarity judgment of the motor fails.

[0023] According to the motor state identification device of an embodiment of the present invention, the response result of the motor is determined by the first determination module when an excitation electrical signal is injected into the motor, and the polarity of the motor is judged based on the response result by the judgment module. When the motor is in a stop state, the polarity of the motor can be successfully judged by injecting an excitation electrical signal into the motor. When the motor is in a running state, if an excitation electrical signal is injected into the motor, the motor will shake and the polarity of the motor cannot be judged. Therefore, if the polarity judgment of the motor is successful, it is determined that the motor is in a stop state. If the polarity judgment of the motor fails, it is determined that the motor is in a running state.

[0024] To achieve the above-mentioned object, according to a fifth aspect of the present invention, an electric motor is provided, comprising the aforementioned motor controller or the aforementioned motor state identification device.

[0025] According to the motor of an embodiment of the present invention, by adopting the above-mentioned motor controller or motor state identification device, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0026] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow chart of a motor state identification method according to an embodiment of the present invention;

[0028] Figure 2 is a flow chart of a motor state identification method according to a specific embodiment of the present invention;

[0029] Figure 3 is a system schematic diagram of a motor controller according to one embodiment of the present invention;

[0030] Figure 4 is a structural diagram of a motor state identification device according to an embodiment of the present invention;

[0031] Figure 5 is a system schematic diagram of a motor according to one embodiment of the present invention;

[0032] Figure 6 is a system schematic diagram of a motor according to another embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail, examples of which 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 to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0034] It should be noted that this application is based on the inventor's understanding and research of the following issues:

[0035] In related technologies, there are two types of methods for identifying the motor's operating status: speed and current.

[0036] 1. Speed: Speed ​​solutions include sensor solutions and position-free solutions. Sensor solutions analyze sensor signals to obtain a speed signal, comparing it to zero speed. If the speed remains at zero for a period of time, the motor is considered to be in a stopped state, which is the opposite of the running state. Position-free solutions compare the speed calculated by an observer with a low threshold. If it remains below the threshold for a period of time, the motor is considered to be in a stopped state, which is the opposite of the running state. Therefore, speed solutions take a long time, typically on the order of seconds, and otherwise may result in misjudgments. Furthermore, sensor solutions incur additional costs.

[0037] 2. Current: The sampled three-phase current or the current after coordinate transformation is compared with a threshold. If the current is below the threshold, the motor is considered to be in the shutdown state, which is the opposite of the running state. However, the threshold in this solution needs to be selected according to the motor type and application scenario. For low-power or low-current motors, the threshold selection requires high sampling accuracy, which increases the cost of the motor.

[0038] Based on this, an embodiment of the present invention provides a motor state identification method, device, motor controller, motor and storage medium, which performs polarity judgment by injecting an excitation signal into the motor, and determines the operating state of the motor based on the polarity judgment result of the motor. It takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, and will not increase the hardware cost of the motor.

[0039] The following describes a motor state identification method, device, motor controller, motor, and storage medium according to embodiments of the present invention with reference to the accompanying drawings.

[0040] Figure 1 FIG. 1 is a flow chart of a method for identifying a motor state according to an embodiment of the present invention. Figure 1 As shown, the motor state identification method includes:

[0041] S101 : When an excitation electrical signal is injected into the motor, a response result of the motor is determined.

[0042] Specifically, an excitation signal can be injected into the motor intermittently or continuously at high speed. The excitation signal is a positive or negative pulse signal. The injection method depends on the excitation signal type. For example, a square wave signal can be injected into the motor's direct axis. When the excitation signal is injected, the motor's inductance changes, and physical quantities such as the response current and angle also change. Consequently, the motor's response also changes, necessitating calculation of the motor's response.

[0043] It should be noted that the motor of this embodiment may be a polar opposite motor, so that the polarity of the motor can be correctly determined.

[0044] In some embodiments, the excitation electrical signal includes a first excitation electrical signal and a second excitation electrical signal, wherein the injection time of the second excitation electrical signal is later than the injection time of the first excitation electrical signal.

[0045] Specifically, two excitation electrical signals are injected (one excitation electrical signal in the positive direction and one in the negative direction) to determine the polarity of the motor. If only one excitation electrical signal is injected, the motor responds in one direction, so the threshold selection for polarity judgment is more complicated. If an excitation electrical signal is injected in the positive direction and the negative direction, the motor responds in two directions, so the selection range of the threshold for polarity judgment is doubled, and the difficulty of selecting the threshold is reduced. In addition, the threshold can be selected without selecting the threshold, and the polarity of the motor can be determined based on the positive or negative difference between the positive response and the negative response of the motor.

[0046] It should be noted that the frequencies of the first excitation electrical signal and the second excitation electrical signal can be the same or different. For example, the first excitation electrical signal is a positive square wave signal, and the second excitation electrical signal is a negative square wave signal, and the frequencies of the positive square wave signal and the negative square wave signal are the same. If the frequencies of the first excitation electrical signal and the second excitation electrical signal are different, the north pole and south pole of the motor can be determined based on the motor's response.

[0047] In some embodiments, the first excitation electrical signal and the second excitation electrical signal are respectively at least one of a square wave signal, a triangle wave signal, and a sine wave signal.

[0048] It can be understood that the first excitation electrical signal can be one of a square wave signal, a triangular wave signal, and a sine wave signal, or it can be multiple. For example, the first excitation electrical signal can first be a square wave signal and then a sine wave signal. The first excitation electrical signal and the second excitation electrical signal can be the same electrical signal or different electrical signals.

[0049] S102: Determine the polarity of the motor based on the response result.

[0050] Specifically, after injecting an excitation signal, if the motor is stopped, its inductance changes according to a certain pattern, and the resulting response also changes accordingly. This response follows a certain pattern, so the motor's polarity can be determined based on the response. However, when the motor is running, it vibrates, making it difficult to accurately determine the motor's response. Therefore, when the motor is running, the motor's polarity cannot be determined based on the response.

[0051] In some embodiments, the polarity of the motor is determined based on the response result, including: comparing the response result with a preset parameter range; if the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; if the response result is outside the preset parameter range, determining that the polarity determination of the motor has failed.

[0052] It's understandable that the motor's response varies depending on the excitation signal. For example, if a positive and negative pulse signal of the same frequency and amplitude is injected into the motor, the motor's response will exhibit two extreme values. If the response falls within the preset parameter range corresponding to these two extreme values, the motor's polarity can be determined. If the response falls outside the preset parameter range, the motor's polarity cannot be determined.

[0053] In some embodiments, when the response result is the motor current, the preset parameter range includes a first preset current range and a second preset current range, the lower limit value of the first preset current range is the product of the positive current peak value and the first preset proportional coefficient, the upper limit value of the first preset current range is the positive current peak value, the lower limit value of the second preset current range is the negative current peak value, and the upper limit value of the second preset current range is the product of the negative current peak value and the second preset proportional coefficient.

[0054] Specifically, when the motor inductance changes, the motor current also changes, so the motor polarity can be determined based on the amplitude of the motor current. When the motor is stopped, in response to the excitation electrical signal, the motor current flows in both the positive and negative directions. Therefore, the motor current has a positive current peak in the positive direction and a negative current peak in the negative direction. If the motor current falls within the first preset current range or the second preset current range, the motor polarity determination is determined to be successful. If the motor current is not within the first preset current range or the second preset current range, the motor polarity determination is determined to be unsuccessful.

[0055] Furthermore, it is also possible to determine whether the polarity of the motor is N-pole or S-pole according to whether the motor current is within the first preset current range and the second preset current range.

[0056] In an optional embodiment, polarity determination may also be performed based on the difference between the maximum and minimum values ​​of the motor current. If the difference between the maximum and minimum values ​​of the motor current is greater than or equal to a preset threshold, the motor polarity determination is determined to be successful; if the difference between the maximum and minimum values ​​of the motor current is less than the preset threshold, the motor polarity determination is determined to have failed. The preset threshold may be set to the product of the maximum value of the motor current and a preset multiple, and the preset multiple may be 1.5-2.

[0057] In some embodiments, when the response result is the motor angle, the preset parameter range includes a first preset angle range and a second preset angle range, the lower limit value of the first preset angle range is 180° multiplied by a third preset proportional coefficient, the upper limit value of the first preset angle range is 180°, the lower limit value of the second preset angle range is 360° multiplied by a fourth preset proportional coefficient, and the upper limit value of the second preset current range is 360°.

[0058] Specifically, when an excitation signal is injected, the motor inductance changes, and the motor angle also changes. Therefore, the motor polarity can also be determined based on the magnitude of the motor angle. If the motor angle falls within the first preset angle range or the second preset angle range, the motor polarity determination is successful. If the motor angle falls outside the first preset angle range or the second preset angle range, the motor polarity determination is determined to have failed.

[0059] It should be noted that, in actual applications, the response result is not limited to the motor current and the motor angle, but may also be the motor inductance, which is not specifically limited here.

[0060] S103: If the polarity of the motor is successfully determined, it is determined that the motor is in a stopped state.

[0061] Specifically, when the motor is in the stopped state, if an excitation electrical signal is injected into the motor, the polarity of the motor can be correctly judged. Therefore, if the polarity judgment of the motor is successful, the motor is in the stopped state.

[0062] S104: If the polarity determination of the motor fails, it is determined that the motor is in a running state.

[0063] Specifically, when the motor is in the running state, if an excitation electrical signal is injected into the motor, the motor will shake and the response result will be irregular, so the polarity of the motor cannot be correctly judged. Therefore, when the polarity judgment of the motor fails, the motor is in the running state.

[0064] In the above embodiment, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined based on the polarity judgment result of the motor. This takes a short time and can quickly identify the operating state of the motor. In addition, there is no need to use sensors for detection and no need to set thresholds, so there are no high requirements for sampling accuracy, no additional electronic devices are added, and therefore the hardware cost of the motor will not be increased.

[0065] In some embodiments, the polarity of the motor is determined based on the response result, including: comparing the response result with a preset parameter range at a preset time interval; if the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; if the response result is outside the preset parameter range, determining that the polarity determination of the motor has failed.

[0066] It is understandable that the response results of the motor can be obtained multiple times according to the preset time interval, and the response results can be compared with the preset parameter range multiple times. The judgment method each time is consistent with the above method, which will not be repeated here.

[0067] In some embodiments, the method further includes: if the number of successful polarity determinations of the motor is greater than or equal to a preset number, determining that the motor is in a stopped state; if the number of successful polarity determinations of the motor is less than a preset number, determining that the motor is in a running state.

[0068] That is, when the motor is shaking, the response result may fall within the preset parameter range, which may lead to misjudgment. Therefore, multiple comparisons are performed at preset time intervals, and the motor operating status is determined based on the multiple motor polarity judgment results. This can obtain more accurate motor status identification results.

[0069] In some embodiments, the number of times the motor polarity is determined is 2N+1 times, and the preset number is N+1 times, where N is a positive integer.

[0070] Specifically, the number of times the motor's polarity is judged is 2N+1 times. If the number of times the motor's polarity is successfully judged is greater than or equal to N+1 times, it indicates that the motor's polarity judgment success rate is greater than 50%. The motor's polarity judgment success rate is high and does not occur by chance. Therefore, it can be determined that the motor is in a stopped state.

[0071] The technical solution of this application is further described in detail below in conjunction with specific implementation methods:

[0072] S201, injecting an excitation electrical signal into the motor.

[0073] S202, determining the response result of the motor.

[0074] S203: Determine the polarity of the motor according to the response result.

[0075] S204, counting the number of motor polarity determinations and the number of successful motor polarity determinations.

[0076] S205, determine whether the number of motor polarity determinations reaches 2N+1 times. If the number of motor polarity determinations reaches 2N+1 times, execute step S206. If the number of motor polarity determinations does not reach 2N+1 times, return to step S202.

[0077] S206, determine whether the number of successful motor polarity determinations is greater than or equal to N+1 times. If the number of successful motor polarity determinations is greater than or equal to N+1 times, execute step S207; if the number of successful motor polarity determinations is less than N+1 times, execute step S208.

[0078] S207: Determine whether the motor is in a stopped state.

[0079] S208: Determine whether the motor is in a running state.

[0080] In the above embodiment, an excitation signal is injected into the motor to perform multiple polarity judgments based on the response results of the motor, and the operating status of the motor is determined based on the multiple polarity judgment results. This takes a short time, can quickly identify the operating status of the motor, and does not require the addition of additional devices, which will not increase the hardware cost of the motor.

[0081] To sum up, according to the motor state identification method of an embodiment of the present invention, when an excitation electrical signal is injected into the motor, the response result of the motor is determined, and the polarity of the motor is judged based on the response result. When the motor is in a stop state, the polarity of the motor can be successfully judged by injecting an excitation electrical signal into the motor. When the motor is in a running state, if an excitation electrical signal is injected into the motor, the motor will shake and the polarity of the motor cannot be judged. Therefore, if the polarity judgment of the motor is successful, it is determined that the motor is in a stop state. If the polarity judgment of the motor fails, it is determined that the motor is in a running state.

[0082] Corresponding to the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is processed by a processor, the motor state identification method of any of the above embodiments is executed.

[0083] According to the computer-readable storage medium of an embodiment of the present invention, by executing a computer program of the above-mentioned motor state identification method, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0084] Corresponding to the above embodiment, an embodiment of the present invention further provides a motor controller. Figure 3 As shown, the motor controller 100 includes a memory 110, a processor 120, and a motor state identification program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the motor state identification program, the motor state identification method of any of the aforementioned embodiments is implemented.

[0085] According to the motor controller of an embodiment of the present invention, a computer program of the above-mentioned motor state identification method is executed by a processor, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0086] Corresponding to the above embodiment, the embodiment of the present invention further provides a motor state identification device. Figure 4 As shown, the device includes: a first determination module 10, a judgment module 20 and a second determination module 30.

[0087] Among them, the first determination module 10 is used to determine the response result of the motor when an excitation electrical signal is injected into the motor; the judgment module 20 is used to perform polarity judgment on the motor based on the response result; the second determination module 30 is used to determine that the motor is in a stopped state when the polarity judgment of the motor is successful, or to determine that the motor is in a running state when the polarity judgment of the motor fails.

[0088] In some embodiments, the judgment module 20 is also used to: compare the response result with the preset parameter range; if the response result is within the preset parameter range, determine that the polarity judgment of the motor is successful; if the response result is outside the preset parameter range, determine that the polarity judgment of the motor fails.

[0089] In some embodiments, the judgment module 20 is also used to: compare the response result with the preset parameter range at a preset time interval; when the response result is within the preset parameter range, determine that the polarity judgment of the motor is successful; when the response result is outside the preset parameter range, determine that the polarity judgment of the motor has failed.

[0090] In some embodiments, the second determination module 30 is further used to: determine that the motor is in a stopped state when the number of successful polarity determinations of the motor is greater than or equal to a preset number; and determine that the motor is in a running state when the number of successful polarity determinations of the motor is less than a preset number.

[0091] In some embodiments, the number of times the motor polarity is determined is 2N+1 times, and the preset number is N+1 times, where N is a positive integer.

[0092] In some embodiments, when the response result is the motor current, the preset parameter range includes a first preset current range and a second preset current range, the lower limit value of the first preset current range is the product of the positive current peak value and the first preset proportional coefficient, the upper limit value of the first preset current range is the positive current peak value, the lower limit value of the second preset current range is the negative current peak value, and the upper limit value of the second preset current range is the product of the negative current peak value and the second preset proportional coefficient.

[0093] In some embodiments, when the response result is the motor angle, the preset parameter range includes a first preset angle range and a second preset angle range, the lower limit value of the first preset angle range is 180° multiplied by a third preset proportional coefficient, the upper limit value of the first preset angle range is 180°, the lower limit value of the second preset angle range is 360° multiplied by a fourth preset proportional coefficient, and the upper limit value of the second preset current range is 360°.

[0094] In some embodiments, the excitation electrical signal includes a first excitation electrical signal and a second excitation electrical signal, wherein the injection time of the second excitation electrical signal is later than the injection time of the first excitation electrical signal.

[0095] In some embodiments, the first excitation electrical signal and the second excitation electrical signal are respectively at least one of a square wave signal, a triangle wave signal, and a sine wave signal.

[0096] It should be noted that the specific implementation of the motor state identification device according to the embodiment of the present invention corresponds one-to-one to the specific implementation of the motor state identification method according to the aforementioned embodiment of the present invention, and will not be repeated here.

[0097] According to the motor state identification device of an embodiment of the present invention, the response result of the motor is determined by the first determination module when an excitation electrical signal is injected into the motor, and the polarity of the motor is judged based on the response result by the judgment module. When the motor is in a stop state, the polarity of the motor can be successfully judged by injecting an excitation electrical signal into the motor. When the motor is in a running state, if an excitation electrical signal is injected into the motor, the motor will shake and the polarity of the motor cannot be judged. Therefore, if the polarity judgment of the motor is successful, it is determined that the motor is in a stop state. If the polarity judgment of the motor fails, it is determined that the motor is in a running state.

[0098] Corresponding to the above embodiment, an embodiment of the present invention further provides a motor. Figure 5 and Figure 6 As shown, the motor 300 includes the aforementioned motor controller 100 or the aforementioned motor state identification device 200 .

[0099] According to the motor of an embodiment of the present invention, by adopting the above-mentioned motor controller or motor state identification device, polarity judgment is performed by injecting an excitation signal into the motor, and the operating state of the motor is determined according to the polarity judgment result of the motor. This takes a short time, can quickly identify the operating state of the motor, and does not require the addition of additional detection devices, which will not increase the hardware cost of the motor.

[0100] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0101] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0102] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0103] In addition, the terms "first" and "second" used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in this embodiment. Therefore, the features defined by the terms "first" and "second" in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of such features. In the description of the present invention, the word "plurality" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0104] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed," "connected," "connect," and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection may be a fixed connection, a detachable connection, or an integral connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements, or an interaction between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood based on the specific implementation.

[0105] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A motor state identification method, characterized in that: The method comprises: When an excitation electrical signal is injected into the motor, determining a response result of the motor; Performing polarity determination on the motor based on the response result; If the polarity of the motor is successfully determined, it is determined that the motor is in a stopped state; If the polarity determination of the motor fails, it is determined that the motor is in a running state.

2. The method according to claim 1, characterized in that The method further comprises: determining the polarity of the motor based on the response result, comprising: Comparing the response result with a preset parameter range; When the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; When the response result is outside the preset parameter range, it is determined that the polarity determination of the motor fails.

3. The method according to claim 1, characterized in that The method further comprises: determining the polarity of the motor based on the response result, comprising: Comparing the response result with a preset parameter range at a preset time interval; When the response result is within the preset parameter range, determining that the polarity determination of the motor is successful; When the response result is outside the preset parameter range, it is determined that the polarity determination of the motor fails.

4. The method according to claim 3, characterized in that The method further comprises: If the number of successful polarity determinations of the motor is greater than or equal to a preset number, determining that the motor is in a stopped state; If the number of successful polarity determinations of the motor is less than the preset number, it is determined that the motor is in a running state.

5. The method according to claim 4, characterized in that The number of times the polarity of the motor is determined is 2N+1 times, and the preset number is N+1 times, where N is a positive integer.

6. The method according to any one of claims 2 to 5, characterized in that When the response result is the motor current, the preset parameter range includes a first preset current range and a second preset current range, the lower limit value of the first preset current range is the product of the forward current peak value and the first preset proportional coefficient, the upper limit value of the first preset current range is the forward current peak value, the lower limit value of the second preset current range is the negative current peak value, and the upper limit value of the second preset current range is the product of the negative current peak value and the second preset proportional coefficient.

7. The method according to any one of claims 2 to 5, characterized in that When the response result is the motor angle, the preset parameter range includes a first preset angle range and a second preset angle range, the lower limit value of the first preset angle range is 180° multiplied by a third preset proportional coefficient, the upper limit value of the first preset angle range is 180°, the lower limit value of the second preset angle range is 360° multiplied by a fourth preset proportional coefficient, and the upper limit value of the second preset current range is 360°.

8. The method according to claim 1, characterized in that The excitation electrical signal includes a first excitation electrical signal and a second excitation electrical signal, wherein the injection time of the second excitation electrical signal is later than the injection time of the first excitation electrical signal.

9. The method according to claim 8, characterized in that The first excitation electrical signal and the second excitation electrical signal are respectively at least one of a square wave signal, a triangle wave signal, and a sine wave signal.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is processed by a processor, the motor state identification method according to any one of claims 1 to 9 is executed.

11. A motor controller, characterized in that: The method comprises a memory, a processor and a motor state identification program stored in the memory and executable on the processor. When the processor executes the motor state identification program, the motor state identification method according to any one of claims 1 to 9 is implemented.

12. A motor state identification device, characterized in that: The device comprises: A first determining module is used to determine a response result of the motor when an excitation electrical signal is injected into the motor; A judgment module, configured to judge the polarity of the motor based on the response result; The second determination module is configured to determine that the motor is in a stopped state if the polarity determination of the motor succeeds, or to determine that the motor is in a running state if the polarity determination of the motor fails.

13. A motor, characterized in that: The motor controller comprises the motor controller according to claim 10 or the motor state identification device according to claim 12.

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