Motor stalling detection method and related device

Abstract

The invention provides a motor locked-rotor detection method and a related device, and relates to the field of locked-rotor identification. In order to avoid the influence of sampling deviation and sampling delay, the current sensor can be corrected and analyzed to obtain the first target moment, the current at the first target moment is closer to the actual current at the current moment, and similarly, the temperature value at the second target moment is closer to the actual temperature at the current moment, so that the sampling accuracy is improved. The stator current at the first target moment and the temperature value at the second target moment are used for locked-rotor analysis, so that the influence of sampling deviation and sampling delay on a detection result can be avoided. Besides, during locked-rotor analysis, stator current and temperature values are adopted, and a current change rate estimated value and a temperature change rate are also utilized, so that the locked-rotor phenomenon can be accurately identified when the stator current value and the temperature value are close to locked-rotor detection conditions and the current change rate estimated value and the temperature change rate are relatively large.

Description

Technical Field

[0001] The present application relates to the field of stall identification, and more specifically, to a motor stall detection method and related devices. Background Art

[0002] Permanent magnet synchronous motors (PMSMs) are increasingly being used in industries such as automotive drives, agricultural machinery, and construction machinery due to their compact structure, low maintenance costs, and high torque inertia. However, during actual operation, PMSMs inevitably experience stalled rotor conditions. When a PMSM stalls, the motor and power module (located in the motor controller) heat up rapidly. If not addressed promptly, serious failure of the motor and / or motor controller may occur.

[0003] Currently, when performing stall identification, sensors are used to collect current signals and temperature signals for stall identification. However, the sensors have sampling deviations and sampling delays, and it is easy for the permanent magnet synchronous motor to be stalled for a long time before the stall problem is detected, causing irreversible damage to the permanent magnet synchronous motor and / or motor controller. Summary of the Invention

[0004] In view of this, the present application provides a motor stall detection method and related devices to solve the problem of low accuracy in permanent magnet synchronous motor stall detection.

[0005] To solve the above technical problems, this application adopts the following technical solutions:

[0006] A motor stall detection method, comprising:

[0007] A target stator current model is used to determine an estimated value of the current rate of change at the current moment, and the estimated value is used as the estimated value of the current rate of change at the first target moment; the target stator current model includes a non-periodic disturbance and a periodic disturbance; the non-periodic disturbance includes at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters; the coupling characteristic data is related to the motor speed; the periodic disturbance includes information on the influence of the time-varying motor parameters configured as constant parameters and unmodeled dynamics on the stator current; the first target moment is later than the current moment; the first target moment is the moment obtained by performing a correction analysis on the current sensor;

[0008] Using the estimated value of the current change rate at the current moment, predict the stator current at the first target moment;

[0009] Calculating the temperature change rate of the target component at the current moment and using it as the temperature change rate at a second target moment; the second target moment is later than the current moment; the second target moment is the moment obtained by performing a calibration analysis on the temperature sensor;

[0010] predicting the temperature value at the second target moment based on the temperature change rate at the current moment;

[0011] A stall detection operation is performed using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and the temperature value at the second target time.

[0012] Optionally, determining an estimated value of the current change rate at the current moment using a target stator current model includes:

[0013] Obtaining a target stator current model;

[0014] Determining a first calculation model for calculating an estimated value of a current change rate using the target stator current model; wherein the first calculation model includes at least a functional relationship between the estimated value of the current change rate, the estimated value of the total disturbance change rate, and the estimated value of a second-order derivative of the total disturbance;

[0015] Determine the estimated coefficients that make the eigenvalues ​​of the observation error matrix negative;

[0016] The first calculation model is calculated using the estimation coefficient to obtain an estimated value of the current change rate at the current moment.

[0017] Optionally, determining an estimated value of the current change rate at the current moment using a target stator current model includes:

[0018] Obtaining a target stator current model;

[0019] Determining a second calculation model for calculating an estimated value of a current change rate using the target stator current model; wherein the second calculation model at least includes a functional relationship of the estimated value of the current change rate;

[0020] Obtain control input voltage under different switch states;

[0021] Determine, by using the second calculation model, a candidate current change rate estimate corresponding to each of the control input voltages at the current moment;

[0022] Based on the current values ​​at different moments, the current change rate estimate value at the current moment is selected from the candidate current change rate estimate values.

[0023] Optionally, using the estimated value of the current change rate at the current moment to predict the stator current at the first target moment includes:

[0024] Calculating a first time difference between a first target time and the current time;

[0025] The stator current at the first target moment is calculated according to the estimated value of the current change rate at the current moment, the first time difference, the current loop control period, and the current at the current moment.

[0026] Optionally, calculating the temperature change rate of the target component at the current moment includes:

[0027] The temperature change rate of the target component is calculated using the temperature values ​​of two adjacent temperature sampling periods.

[0028] Optionally, predicting the temperature value at the second target moment according to the temperature change rate at the current moment includes:

[0029] determining a second time difference between the current moment and the second target moment;

[0030] The temperature value at the second target time is predicted based on the second time difference, the temperature change rate at the current time, and the temperature value at the current time.

[0031] Optionally, performing a stall detection operation using the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment, includes:

[0032] Get the stall detection condition;

[0033] When the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and the temperature value at the second target time meet the stall detection condition, it is determined that the motor stall detection result is stall.

[0034] A motor stall detection device, comprising:

[0035] An estimated value determination module is used to determine an estimated value of the current rate of change at the current moment using a target stator current model, and use the estimated value as the current rate of change at a first target moment; the target stator current model includes a non-periodic disturbance and a periodic disturbance; the non-periodic disturbance includes at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters; the coupling characteristic data is related to the motor speed; the periodic disturbance includes information on the influence of the time-varying motor parameters configured as constant parameters and unmodeled dynamics on the stator current; the first target moment is later than the current moment; the first target moment is the moment obtained by performing a correction analysis on the current sensor;

[0036] a current prediction module, configured to predict the stator current at a first target moment using an estimated value of the current change rate at a current moment;

[0037] a rate of change calculation module, configured to calculate a temperature change rate of the target component at a current moment and use the temperature change rate at a second target moment; the second target moment is later than the current moment; the second target moment is a moment obtained by performing a calibration analysis on the temperature sensor;

[0038] a temperature prediction module, configured to predict the temperature value at the second target moment according to the temperature change rate at the current moment;

[0039] The stall detection module is used to perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment.

[0040] An electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0041] The memory is used to store computer programs;

[0042] The processor is used to execute the computer program so that the electronic device can implement the above-mentioned motor stall detection method.

[0043] A computer storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the above-mentioned motor stall detection method.

[0044] The present application provides a motor stall detection method and related device. In the present application, in order to avoid the influence of sampling deviation and sampling delay, the current sensor is calibrated and analyzed to obtain a first target moment. The current at the first target moment is closer to the actual current at the current moment. Similarly, the temperature value at the second target moment is closer to the actual temperature at the current moment. Therefore, using the stator current at the first target moment and the temperature value at the second target moment for stall analysis can avoid the influence of sampling deviation and sampling delay on the detection results. In addition, in addition to using the stator current and temperature values ​​during stall analysis, the current change rate estimate and temperature change rate are also used. When the stator current value and temperature value are close to the stall detection conditions, the current change rate estimate and temperature change rate are large, and the stall phenomenon can also be accurately identified. In addition, in the present application, the target stator current model includes non-periodic disturbance quantities and periodic disturbance quantities. The non-periodic disturbance quantities include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters, which can enable the target stator current model to take into account factors such as time-varying inductance, improve the accuracy of the target stator current model, and thereby improve the accuracy of the determined current change rate estimate. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0046] Figure 1 A flow chart of a motor stall detection method provided in an embodiment of the present application;

[0047] Figure 2 A flowchart of a method for determining an estimated value of a current change rate provided in an embodiment of the present application;

[0048] Figure 3 A flowchart of another method for determining an estimated value of a current change rate provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of stall detection provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the structure of a motor stall detection device provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] Permanent magnet synchronous motors (PMSMs) are increasingly being used in industries such as automotive propulsion, agricultural machinery, and construction machinery due to their compact structure, low maintenance costs, and high torque inertia. However, PMSMs inevitably experience stalled rotor conditions during operation. When a PMSM stalls, the motor and power module (such as the three-phase power module, located in the motor controller) rapidly heat up. If not addressed promptly, serious failure of the motor and / or motor controller may occur.

[0054] Currently, when identifying a stall, phase current sensors collect current signals. Simultaneously, motor temperature sensors and / or power module temperature sensors collect temperature signals. Stall identification is performed using these current and temperature signals. However, in real-world scenarios, these sensors can experience sampling bias and delay due to external disturbances. This can lead to stall detection only after the permanent magnet synchronous motor has been stalled for a significant period of time. Consequently, stall protection measures cannot be implemented promptly and effectively, causing irreversible damage to the permanent magnet synchronous motor and / or motor controller. Therefore, how to quickly and efficiently identify and address stalled permanent magnet synchronous motors has become a pressing issue in the industry.

[0055] To this end, in this application, the stator current and the estimated value of the stator current change rate of the permanent magnet synchronous motor are accurately predicted based on the improved stator current equation with low parameter dependence. In addition, the temperature and the temperature change rate are accurately predicted. The predicted stator current and temperature values ​​are used to offset the influence of sampling delay, so as to achieve the purpose of timely identification of the stalled rotor condition. In addition, in addition to using the predicted stator current and temperature values, the estimated value of the current change rate and the temperature change rate are also used for stall detection. When the stator current value and temperature value are close to the stall detection condition, the estimated value of the current change rate and the temperature change rate are large, the stall phenomenon can also be accurately identified.

[0056] Based on the above content, the present application discloses a motor stall detection method, which can be executed by a device such as a motor controller.

[0057] Reference Figure 1 , a motor stall detection method may include:

[0058] S11. Determine an estimated value of the current change rate at the current moment using the target stator current model, and use the estimated value of the current change rate at the first target moment.

[0059] The target stator current model is an improved stator current equation of a permanent magnet synchronous motor that is constructed by considering time-varying inductance and unmodeled dynamics of the system and has a decoupling function and is independent of the controlled object.

[0060] The target stator current model includes non-periodic disturbances and periodic disturbances; the non-periodic disturbances include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters, the coupling characteristic data is related to the motor speed, the first target moment is later than the current moment, and the first target moment is the moment obtained by calibration analysis of the current sensor, and the periodic disturbances include configuring the time-varying motor parameters as constant parameters and information on the impact of unmodeled dynamics on the stator current.

[0061] In one implementation, this application accurately predicts the stator current and stator current rate of change of a permanent magnet synchronous motor based on an improved stator current equation with low parameter dependence, overcoming the sampling bias and system delay issues of the current sensor caused by external interference. The improved stator current equation is the target stator current model in this application.

[0062] Specifically, the construction process of the improved stator current equation of the permanent magnet synchronous motor is as follows:

[0063] Generally, the stator voltage equations of the d and q axes of a permanent magnet synchronous motor can be expressed as:

[0064]

[0065] Among them, u d and u q are the control input voltages of the stator d-axis and q-axis respectively; i d and i q are the stator d-axis and q-axis currents respectively; Indicates the first-order derivative; R s is the stator resistance; ω e is the rotor flux angular velocity; and are the stator d-axis and q-axis flux respectively, and the specific expressions are as follows:

[0066]

[0067] in, is the permanent magnet flux, L d and L q They are the stator d-axis inductance and q-axis inductance, i d and i q are the stator d-axis and q-axis currents respectively.

[0068] Considering the stator d-axis inductance L d and q-axis inductance L q It will change with the system state. Substituting formula (2) into formula (1), we get:

[0069]

[0070] Among them, aa means not considering the influence of the time-varying characteristics of the d-axis inductance on the d-axis current change rate, bb means not considering the influence of the time-varying characteristics of the q-axis inductance on the q-axis current change rate, cc means considering the influence of the time-varying characteristics of the d-axis inductance on the d-axis current change rate, and dd means considering the influence of the time-varying characteristics of the q-axis inductance on the q-axis current change rate.

[0071] Formula (3-a) adds and subtracts and Formula (3-b) adds and subtracts and You can get:

[0072]

[0073] Among them, i d and i q are the stator d-axis and q-axis currents respectively; R s0 is the approximate stator resistance; L d0 and L q0 are the approximate inductance values ​​of the stator d-axis and q-axis respectively; R s is the stator resistance; ω e is the rotor flux angular velocity; L d and L q are the stator d-axis inductance and q-axis inductance respectively; u d and u q are the control input voltages of the stator d-axis and q-axis respectively; is the permanent magnet flux; F d_ape and F q_ape Represent the non-periodic disturbances of the d-axis and q-axis respectively. d_ape At least including the time-varying inductance characteristics of the d-axis Time-varying motor parameters configured as constant parameters (such as L d0 and R s0 ), and the dq-axis coupling characteristics related to the motor speed

[0074] F q_ape At least including the time-varying inductance characteristics of the q-axis Time-varying motor parameters configured as constant parameters (such as L q0 and R s0 ), and the dq-axis coupling characteristics related to the motor speed

[0075] Formula (4) can also be transformed into:

[0076]

[0077] Taking into account the existence of periodic disturbances in the permanent magnet synchronous motor current loop control system due to the nonlinearity of the inverter, the cogging effect of the motor body, etc., the periodic disturbance amount is added to equation (5) to obtain a more accurate permanent magnet synchronous motor stator current equation:

[0078]

[0079] Among them, F d_pe and F q_peRepresent the periodic disturbances of the d-axis and q-axis respectively. It should be noted that the periodic disturbances include configuring the time-varying motor parameters as constant parameters (i.e., configuring the above L d0 , L q0 and R s0 ) and other unmodeled dynamic information on the impact of stator current, F d_ape and F q_ape They represent the non-periodic disturbances of the d-axis and q-axis respectively.

[0080] F d =F d_ape +F d_pe represents the total disturbance on the d-axis; F q =F q_ape +F q_pe Denotes the total q-axis disturbance. By considering the actual periodic disturbance, equation (6) can more accurately simulate the change of the permanent magnet synchronous motor stator current.

[0081] Based on the above discussion, the improved stator current equation of the permanent magnet synchronous motor can be expressed as:

[0082]

[0083] Among them, i d (k) and i q (k) represents the current of the stator d-axis and q-axis at time k; u d (k) and u q (k) represents the control input voltage of the stator d-axis and q-axis at time k; F d (k) and F q (k) represents the total disturbance of the stator d-axis and q-axis at time k; and They represent the rate of change of the stator d-axis and q-axis currents at time k respectively; L d0 and L q0 are the approximate inductance values ​​of the stator d-axis and q-axis respectively; R s0 is the approximate stator resistance.

[0084] It should be noted that during the actual operation of a permanent magnet synchronous motor, its parameters will continuously change with the changes in operating conditions, and real-time parameter identification is difficult to meet the needs of actual engineering. Using formula (7) to predict the state variables of the permanent magnet synchronous motor system (the currents of the stator d-axis and q-axis) only requires the approximate parameter values ​​of the controlled object (approximate resistance value and approximate inductance value), which reduces the dependence on the real-time precise parameters of the permanent magnet synchronous motor, reduces the complexity of the permanent magnet synchronous motor current control, and realizes the mutual decoupling of the d-axis and q-axis currents.

[0085] After determining the improved stator current equation of the permanent magnet synchronous motor, the target stator current model is obtained. The target stator current model is subsequently modified to obtain a calculation model for calculating the estimated value of the current change rate at the current moment. The estimated value of the current change rate at the current moment is calculated using this calculation model.

[0086] In actual scenarios, the current sensor has sampling deviation and delay, so the current sensor needs to be calibrated. After calibration, it is found that the stator current at time (k+p) is close to the actual stator current at the current moment. Therefore, in this application, the stator current at time (k+p) will be predicted, and the stator current at time (k+p) will be used as the actual stator current to be collected at the current moment.

[0087] Among them, if time k refers to the current time, then time k+p refers to the first target time, which is later than the current time and is the time obtained by calibration analysis of the current sensor. For the specific analysis process, please refer to the corresponding description above.

[0088] In an actual scenario, this embodiment assumes that the estimated value of the current change rate at different moments remains unchanged. Therefore, the estimated value of the current change rate at the current moment is used as the estimated value of the current change rate at the first target moment.

[0089] S12. Predict the stator current at a first target moment using the estimated value of the current change rate at the current moment.

[0090] In this embodiment, after obtaining the estimated value of the current change rate at the current moment, the stator current at the first target moment is predicted based on the functional relationship between the estimated value of the current change rate and the stator current.

[0091] Through steps S11 and S12, the estimated values ​​of the stator current and current change rate at the first target moment can be obtained. Affected by the sampling deviation and delay of the current sensor, the estimated values ​​of the stator current and current change rate at the first target moment should be the actual estimated values ​​of the stator current and current change rate at the current moment. The estimated values ​​of the stator current and current change rate at the first target moment are subsequently used to perform stall detection operations.

[0092] S13. Calculate the temperature change rate of the target component at the current moment and use it as the temperature change rate at the second target moment.

[0093] The target component may include a motor and / or a power module (located in a motor controller). In one implementation, the target component is a motor. In another implementation, the target component is a power module in a motor controller. In yet another implementation, the target component includes both a motor and a power module in a motor controller.

[0094] Regardless of the target component, a temperature sensor is used to detect its temperature. Like current sensors, temperature sensors also have sampling bias and latency, so they need to be calibrated. After calibration, it is found that the temperature at time k+n is close to the actual temperature at the current moment. Therefore, in this application, the temperature at time k+n is predicted and used as the actual temperature to be collected at the current moment.

[0095] Among them, if time k refers to the current time, then time k+n refers to the second target time, which is later than the current time. The second target time is the time obtained by calibration analysis of the temperature sensor. For the specific analysis process, please refer to the corresponding description above.

[0096] If the motor temperature sensor and the power module temperature sensor are the same, the second target time for both temperature sensors is the same, k+n. If the motor temperature sensor and the power module temperature sensor are different, the second target time for both temperature sensors may be the same or different, depending on the actual configuration. If the second target times of the two temperature sensors are different, for the power module, k+n refers to k+n1, where k+n1 is the power module temperature correction time. For the motor, k+n refers to k+n2, where k+n2 is the motor temperature correction time.

[0097] When calculating the temperature value at the second target time, the temperature change rate at the second target time needs to be used.

[0098] In actual scenarios, the temperature values ​​of two adjacent temperature sampling periods can be used to calculate the temperature change rate of the target component at the current moment. In this embodiment, the temperature change rate at different moments is assumed to be constant, and therefore the temperature change rate at the current moment is used as the temperature change rate at the second target moment.

[0099] S14. Predicting the temperature value at a second target time based on the temperature change rate at the current time.

[0100] In this embodiment, after the temperature change rate at the current moment is obtained, the temperature at the second target moment is predicted based on the functional relationship between the temperature change rate and the temperature.

[0101] Through steps S13 and S14, the temperature change rate and temperature at the second target moment can be obtained. Affected by the sampling deviation and delay of the temperature sensor, the temperature change rate and temperature at the second target moment should be the actual temperature change rate and temperature at the current moment. The temperature change rate and temperature at the second target moment are subsequently used to perform stall detection operations.

[0102] S15. Perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment.

[0103] In the present application, when stall detection is actually performed, the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment can be used to perform the stall detection operation.

[0104] In actual scenarios, if the second target time of the temperature sensor used by the motor and the temperature sensor used by the power module are the same, there are three situations during stall detection:

[0105] 1. Perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and temperature value of the motor at the second target time.

[0106] 2. Perform stall detection using the stator current and current change rate estimate at the first target moment, and the temperature change rate and temperature value of the power module (specifically the three-phase power module) in the motor controller at the second target moment.

[0107] 3. Perform stall detection using the stator current and current change rate estimate at the first target moment, the motor temperature change rate and temperature value at the second target moment, and the power module temperature change rate and temperature value in the motor controller at the second target moment.

[0108] In one implementation, regardless of the aforementioned scenarios, corresponding stall detection conditions should be configured. Specifically, corresponding stator current thresholds, current rate of change estimated value thresholds, temperature rate of change thresholds, temperature value thresholds, and speed thresholds can be configured. Stall detection is determined when the corresponding thresholds are met.

[0109] For example, in the related art, a motor stall detection condition is:

[0110] The current reached 500A, the temperature reached 130°, and the speed was less than 20rpm.

[0111] When the current reaches 500A, the temperature reaches 130°, and the speed is lower than 20rpm, the motor is determined to be stalled.

[0112] However, in actual scenarios, when the current is 450A, the temperature is 120°, the speed is low, the estimated current change rate is large, and the temperature change rate is large, although the stall detection condition is not met at this time, a stall problem will immediately occur in this case. Therefore, in this application, the stator current threshold, the current change rate estimated value threshold, the temperature change rate threshold, the temperature value threshold, and the speed threshold are used for stall detection, and the corresponding stall detection conditions are set, such as:

[0113] When the current reaches 450A, the temperature reaches 120°C, the estimated current rate of change is 80A / S, and the speed is less than 20rpm, a stall is determined. For another example, when the current reaches 450A, the temperature reaches 120°C, the estimated current rate of change is 80A / S, the temperature rate of change is 50°C / S, and the speed is less than 20rpm, a stall is determined.

[0114] During the actual stall detection, the stall detection conditions are obtained. When the stator current and the estimated current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment meet the stall detection conditions, it is determined that the motor stall detection result is that a stall exists.

[0115] Compared with related technologies, this stall detection method can accurately identify stall phenomena when the stator current value and temperature value do not reach the stall detection conditions in the related technologies (such as close to the stall detection conditions in the related technologies), and the current change rate estimated value and temperature change rate are large.

[0116] In one implementation, if the second target time of the temperature sensor used by the motor and the temperature sensor used by the power module are different, and the second target time is specifically subdivided into the motor temperature correction time and the power module temperature correction time, then the following three situations may occur during the stall detection:

[0117] 1. Perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and temperature value of the motor at the motor temperature correction time.

[0118] 2. Perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and temperature value of the power module at the power module temperature correction time.

[0119] 3. Perform stall detection using the stator current and current change rate estimate at the first target time, the motor temperature change rate and temperature value at the motor temperature correction time, and the power module temperature change rate and temperature value at the power module temperature correction time.

[0120] For the specific implementation process, please refer to the corresponding instructions above.

[0121] In this embodiment, in order to avoid the influence of sampling deviation and sampling delay, the current sensor is calibrated and analyzed to obtain the first target moment. The current at the first target moment is closer to the actual current at the current moment. Similarly, the temperature value at the second target moment is closer to the actual temperature at the current moment. Therefore, using the stator current at the first target moment and the temperature value at the second target moment for stall analysis can avoid the influence of sampling deviation and sampling delay on the detection results. In addition, in the stall analysis, in addition to using the stator current and temperature values, the current change rate estimate and the temperature change rate are also used. When the stator current value and temperature value are close to the stall detection condition, the current change rate estimate and the temperature change rate are large, the stall phenomenon can also be accurately identified. In addition, in this application, the target stator current model includes non-periodic disturbances and periodic disturbances. The non-periodic disturbances include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters. This enables the target stator current model to take into account factors such as time-varying inductance, improve the accuracy of the target stator current model, and thereby improve the accuracy of the determined current change rate estimate.

[0122] Based on any of the above embodiments, in one implementation, a target stator current model is used to determine an estimated value of the current change rate at the current moment. There are multiple implementations, which are now described with examples.

[0123] In one implementation, referring to Figure 2 , using the target stator current model to determine the estimated value of the current change rate at the current moment, which may include:

[0124] S21. Obtain a target stator current model.

[0125] The target stator current model is the improved stator current equation mentioned above. The specific construction process refers to the corresponding description above.

[0126] S22. Determine a first calculation model for calculating an estimated value of the current change rate using the target stator current model.

[0127] The first calculation model at least includes a functional relationship among an estimated value of a current change rate, an estimated value of a total disturbance change rate, and an estimated value of a second-order derivative of a total disturbance.

[0128] In one implementation, the first calculation model is divided into two types: a d-axis first calculation model and a q-axis first calculation model. In this embodiment, the implementation process of the d-axis first calculation model and the q-axis first calculation model is similar, requiring only that the d-axis parameters be replaced with the q-axis parameters. In this embodiment, the d-axis first calculation model is used as an example for illustration.

[0129] Based on formula (7), the improved stator current equation of the d-axis is improved to obtain:

[0130]

[0131] Among them, h d1 (k) represents the total disturbance F on the d-axis at time k d The first derivative value of (k); h d2 (k) represents the total disturbance F on the d-axis at time k d The second-order derivative value of (k); i d (k) represents the current of the stator d axis at time k; R s0 is the approximate stator resistance; L d0 is the approximate inductance of the stator d-axis; u d (k) represents the control input voltage of the stator d-axis at time k.

[0132] The first calculation model for calculating the current change rate estimate is:

[0133]

[0134] in, represents the d-axis current i at time k d (k) estimated value; L d0 is the approximate inductance of the stator d-axis; R s0 is the approximate stator resistance; F represents the total disturbance of the d-axis at time k d Estimated value of (k); h d1 (k) represents the total disturbance F on the d-axis at time k d (k) the first derivative value; h d1 (k); α1, α2 and α3 represent the estimated coefficients; u d1 (k) represents the input voltage of the d-axis observation system at time k (the observation system can be based on an improved extended state observer); k is the time The rate of change of , that is, the estimated value of the current change rate; k is the time The rate of change of , that is, the estimated value of the rate of change of the total disturbance; k is the time The rate of change of is the estimated value of the second-order derivative of the total disturbance.

[0135] S23. Determine the estimated coefficients that make the eigenvalues ​​of the observation error matrix negative.

[0136] Specifically, subtracting equation (8) from equation (9) yields:

[0137]

[0138] in, represents the error between the estimated value and the actual value of the observation system, is the rate of change of e; to ensure the total disturbance F of the d axis d The estimation accuracy of (k) is to ensure that the error e between the estimated value and the actual value of the observation system is asymptotically stable and approaches zero. Using the theoretical knowledge of linear system stability, it is only necessary to make the observation error matrix The eigenvalue of is negative.

[0139] Assume that the observation bandwidth of the observation system is ω o ,ω o is a positive number, we can get α2=3(ω o ) 2 +3ω o +1,α3=(ω o ) 3 +3(ω o ) 2 +3ω o +1, the eigenvalue of the observation error matrix A_e can be negative ω o , thus theoretically achieving and Accurate real-time estimation.

[0140] S24. Perform calculation operations on the first calculation model using the estimated coefficient to obtain an estimated value of the current change rate at the current moment.

[0141] Specifically, Substitute into equation (9), and choose a reasonable u d1 (k), by solving the differential equation, we can get and accurate estimate of .

[0142] For the q-axis, the corresponding estimated values ​​can also be calculated, which are and They represent the estimated value of the current change rate of the q-axis, the estimated value of the change rate of the total disturbance, and the estimated value of the second-order derivative of the total disturbance, respectively.

[0143] In the present application, when calculating the estimated value of the current change rate at the current moment, the disturbance information actually existing in the system is taken into consideration, so that the calculation accuracy of the estimated value of the current change rate at the current moment is high.

[0144] In another implementation, refer to Figure 3 , using the target stator current model to determine the estimated value of the current change rate at the current moment, which may include:

[0145] S31. Obtain a target stator current model.

[0146] The target stator current model is the improved stator current equation mentioned above. The specific construction process refers to the corresponding description above.

[0147] S32. Using the target stator current model, determine a second calculation model for calculating an estimated value of the current change rate.

[0148] The second calculation model at least includes a functional relationship of the current change rate estimation value.

[0149] Specifically, this embodiment can simultaneously calculate and obtain the estimated values ​​of the current change rates of the d-axis and the q-axis.

[0150] To elaborate, considering that the control cycle of the permanent magnet synchronous motor current loop is usually very short, assuming that the total system disturbance does not change between the previous and next moments, that is:

[0151]

[0152] Among them, F d (k) and F q (k) represents the total disturbance of the stator d-axis and q-axis of the system at time k; F d (k-1) and F q (k-1) represents the total disturbance of the stator d-axis and q-axis of the system at time (k-1).

[0153] From formula (7), we can get:

[0154]

[0155] Among them, i d (k-1) and i q (k-1) represents the current of the stator d-axis and q-axis at time (k-1); u d (k-1) and u q (k-1) represents the control input voltage of the stator d-axis and q-axis at time (k-1); F d (k-1) and F q (k-1) represents the total disturbance of the stator d-axis and q-axis of the system at time (k-1); R s0 is the approximate stator resistance; L d0 is the approximate inductance of the stator d-axis; L q0 is the approximate inductance of the stator q-axis.

[0156] Combining formulas (7), (11) and (12) and the discretization method, we can obtain:

[0157]

[0158] Among them, T s Represents the control period of the current loop; and They represent the rate of change of the stator d-axis current at time k The estimated value of the d-axis current change rate and the q-axis current change rate The estimated value of (i.e., the estimated value of the current change rate of the q axis); i d (k-1) and i q (k-1) represents the current of the stator d-axis and q-axis at time (k-1); i d (k) and i q (k) represents the stator d-axis and q-axis currents at time k; R s0 is the approximate stator resistance; L d0 is the approximate inductance of the stator d-axis; L q0 is the approximate inductance of the stator q axis; u d (k-1) and u q (k-1) represents the control input voltage of the stator d-axis and q-axis at time (k-1); u d (k) and u q (k) represents the control input voltage of the stator d-axis and q-axis at time k respectively.

[0159] If the control input voltage u of the stator d-axis and q-axis at time k is determined d (k) and u q (k), we can determine the estimated value of the current change rate of the stator d-axis and q-axis at time k and

[0160] It should be noted that Formula 13 is the second calculation model in this application.

[0161] S33. Obtain control input voltages under different switch states.

[0162] In actual scenarios, the control input voltage u of the stator d-axis and q-axis at time k is d (k) and u q (k) is determined by:

[0163] There are 8 switching combinations for the two-level three-phase inverter of permanent magnet synchronous motor. a , S b , S c , respectively, represent the switch states of the switches on phases A, B, and C, with 0 indicating off and 1 indicating on. The relationship between these eight switch combinations and the control input voltages of the stator d-axis and q-axis is shown in Table 1.

[0164] Table 1 Correspondence between switch state number, stator d-axis and q-axis control input voltage

[0165]

[0166] In Table 1, θ e Indicates the rotor position; U dc is the DC bus voltage, u dj and u qj They represent the control input voltages of the stator d-axis and q-axis corresponding to the switch state number j respectively.

[0167] S34 , using the second calculation model, determining a candidate current change rate estimation value corresponding to each control input voltage at the current moment.

[0168] Specifically, according to the corresponding relationship between the switch state and the control input voltage of the stator d-axis and q-axis in Table 1, the control input voltages u of the stator d-axis and q-axis corresponding to the eight switch states are respectively dj and u qj Substituting formula (13), that is, into the second calculation model, we can obtain the change rate of the stator d-axis current at time k corresponding to these 8 switching states: and the rate of change of the q-axis current Estimated value of and in, and They represent the rates of change of the stator d-axis and q-axis currents corresponding to the j-th switching state at time k, respectively, and j is a positive integer from 1 to 8.

[0169] 8 switch states corresponding to and That is, the candidate current change rate estimate at the current moment in this application.

[0170] S35 . Based on the current values ​​at different moments, select the current change rate estimation value at the current moment from the candidate current change rate estimation values.

[0171] Specifically, according to the 8 switching states and The current of the permanent magnet synchronous motor at time k+1 can be obtained by formula (14):

[0172]

[0173] Among them, i dj (k+1) and i qj (k+1) represents the stator d-axis and q-axis current values ​​obtained by using the j-th switching state at time k+1; i d (k) and i q (k) represents the stator d-axis and q-axis currents at time k respectively; and They represent the rates of change of the stator d-axis and q-axis currents corresponding to the j-th switching state at time k respectively.

[0174] Taking into account the delay effect in the permanent magnet synchronous motor current loop control system, formula (15) is used to determine the selection of the switch state:

[0175]

[0176] Among them, i dref (k) and i qref (k) represents the reference value of the stator d-axis and q-axis current at time k, respectively, and j represents the switch state number;

[0177] i dj (k+1) and i qj (k+1) represents the stator d-axis and q-axis current values ​​obtained by using the j-th switching state at time k+1.

[0178] From all candidate current change rate estimates, select the one that satisfies formula (15) dj and u qj , so that the selected u can be obtained dj and u qj The corresponding estimated value of the current change rate can also realize the selection of the optimal switch state number j from the eight switch combinations of the two-level three-phase inverter.

[0179] In the present application, when selecting the optimal current change rate estimate, the switch state is taken into consideration to improve the accuracy of the current change rate estimate.

[0180] Based on the above embodiment, after obtaining the estimated value of the current change rate at the current moment, the stator current at the first target moment can be predicted using the estimated value of the current change rate at the current moment, which specifically includes the following steps:

[0181] 1) Calculate the first time difference between the first target time and the current time.

[0182] In this application, for the current sensor, if the current time is k and the first target time is (k+p), the first time difference is p, where p is a positive integer greater than or equal to 1, and the specific value can be determined based on the delay time and sampling error of the actual system.

[0183] 2) Calculate the stator current at a first target moment based on the estimated current change rate at the current moment, the first time difference, the current loop control period, and the current at the current moment.

[0184] In specific implementation, the current of the permanent magnet synchronous motor at time k+1 can be obtained by formula (16):

[0185]

[0186] Among them, i d (k+1) and i q (k+1) are the stator d-axis and q-axis currents at time k+1 respectively; i d (k) and i q (k) are the stator d-axis and q-axis currents at time k respectively; and They represent the estimated values ​​of the current change rates of the stator d-axis and q-axis at time k, respectively, which can be obtained by formula (9) or formula (13); T s Indicates the control period of the current loop.

[0187] Because the control period of the permanent magnet current loop is T s Very small, when the same control input voltage is applied, it can be approximately considered that:

[0188]

[0189] Where i is a positive integer greater than or equal to 1, and They represent the estimated values ​​of the stator d-axis and q-axis current change rates at time (k+i) respectively; and They represent the estimated values ​​of the current change rates of the stator d-axis and q-axis at time k respectively.

[0190] The stator current at time (k+p) can be obtained from formula (16) and formula (17). The stator current specifically refers to the stator d-axis current and the stator q-axis current:

[0191]

[0192] Among them, i d (k+p) and i q (k+p) respectively represent the stator d-axis and q-axis currents at the (k+p) moment, i.e., the first target moment; i d (k) and i q (k) are the stator d-axis and q-axis currents at moment k, i.e., the current moment; T s Represents the control period of the current loop; and Estimated values ​​of the stator d-axis and q-axis current change rates at time k respectively.

[0193] In the present application, a current prediction operation is performed based on an estimated value of the current change rate at the current moment to obtain the stator current at the first target moment, and then the actual current at the current moment can be obtained.

[0194] Based on any of the above embodiments, in one implementation, calculating the temperature change rate of the target component at the current moment may include:

[0195] The temperature change rate of the target component is calculated using the temperature values ​​of two adjacent temperature sampling periods.

[0196] Taking the target component as a power module as an example, the temperature change rate of the power module at the time km can be expressed as:

[0197]

[0198] Wherein, m is a positive integer greater than or equal to 1; T A (km), T B (km) and T C (km) represents the temperature of the power modules of phase A, phase B and phase C at the time km; T A (k-m+1), T B (k-m+1) and T C (k-m+1) represents the temperature values ​​of the power modules of phase A, phase B, and phase C at time k-m+1 respectively; Respectively represent the temperature change rate of the power modules of phase A, phase B and phase C at time km; T sPDTS Indicates the temperature sampling period of the power module.

[0199] In actual scenarios, in this embodiment, the temperature change rates at different moments are set to be the same, so the temperature change rate at moment km is the temperature change rate at the current moment, which is also the temperature change rate at the second target moment.

[0200] Based on this embodiment, in one implementation, a second time difference between the current moment and the second target moment can be determined, and the temperature value at the second target moment can be predicted based on the second time difference, the temperature change rate at the current moment, and the temperature value at the current moment.

[0201] In actual scenarios, taking the case where the second target times of the motor and the power module are different, the temperature value of the power module at time k+n1 can be expressed as:

[0202]

[0203] Wherein, time k refers to the current time, time k+n1 refers to the power module temperature correction time in the second target time, n1 is the second time difference between the current time and the power module temperature correction time, and n1 is a positive integer greater than or equal to 1; T A (k+n1), T B (k+n1) and T C(k+n1) represents the temperature of the power modules of phase A, phase B and phase C at time k+n1 respectively; T A (k), T B (k) and T C (k) represents the temperature of the power modules of phase A, phase B and phase C at time k respectively; T A (k-1), T B (k-1) and T C (k-1) represents the temperature values ​​of the power modules of phase A, phase B, and phase C at time k-1 respectively; It is the temperature change rate when m is 1, the temperature change rate at the current moment, and the temperature change rate at the time of power module temperature correction.

[0204] Similarly, when the target component is a motor, the temperature change rate of the motor at time km can be expressed as:

[0205]

[0206] Wherein, m is a positive integer greater than or equal to 1; T motor (km) represents the temperature value of the motor at km time; T motor (k-m+1) represents the temperature of the motor at time k-m+1; T sTMS Indicates the temperature sampling period of the motor.

[0207] The temperature value of the motor at time k+n2 can be expressed as:

[0208]

[0209] Wherein, n2 refers to the second time difference between the current moment and the motor temperature correction moment, and n2 is a positive integer greater than or equal to 1; T motor (k+n2) represents the temperature of the motor at time k+n2; T motor (k) represents the temperature of the motor at time k; T motor (k-1) represents the temperature value of the motor at time k-1, is the temperature change rate.

[0210] It should be noted that in actual scenarios, if the motor temperature sensor and the power module temperature sensor are the same, the second target time of the two temperature sensors is the same, and n1 and n2 are the same. If the motor temperature sensor and the power module temperature sensor are different, the second target time of the two temperature sensors may be the same or different (in which case n1 and n2 are different).

[0211] In this application, by predicting the temperature, the problem of inaccurate data sampling caused by temperature sensor sampling delay and error can be avoided, and the accuracy of temperature detection can be improved. In addition, the temperature change rate is also used as a parameter for stall detection, which can avoid the problem that the temperature is close to the stall detection condition and stall is about to occur, but the situation is not detected.

[0212] In summary, if Figure 4 As shown, after receiving the current or speed command, this embodiment performs stall judgment through the predicted current value, current change rate estimate, temperature value, temperature change rate and speed, overcomes the sampling error and system delay problems of the sensor, realizes efficient processing of the permanent magnet synchronous motor stall condition, can detect stall in a timely and effective manner, and use stall protection measures to perform stall protection operations.

[0213] In one implementation, in the logic for processing the stalled rotor condition of the permanent magnet synchronous motor, a stalled rotor step coefficient adjustment mechanism is designed that is adjusted synchronously with the estimated current change rate and the temperature change rate. In specific implementation, if the estimated current change rate or the temperature change rate is large, the stalled rotor time step coefficient will increase accordingly to achieve the purpose of quickly identifying the stalled rotor condition. Different stall protection measures can then be given according to the severity of the stall situation.

[0214] Based on the above embodiment of the motor stall detection method, another embodiment of the present application provides a motor stall detection device, referring to Figure 5 ,include:

[0215] An estimated value determination module 11 is configured to determine an estimated value of the current rate of change at the current moment using a target stator current model, and use the estimated value as the current rate of change at a first target moment; the target stator current model includes a non-periodic disturbance and a periodic disturbance; the non-periodic disturbance includes at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters; the coupling characteristic data is related to the motor speed; the periodic disturbance includes information on the effect of configuring the time-varying motor parameters as constant parameters and unmodeled dynamics on the stator current; the first target moment is later than the current moment; and the first target moment is the moment obtained by performing a calibration analysis on the current sensor.

[0216] The current prediction module 12 is used to predict the stator current at a first target time using the estimated value of the current change rate at the current time;

[0217] The rate of change calculation module 13 is used to calculate the temperature change rate of the target component at the current moment and use it as the temperature change rate at a second target moment; the second target moment is later than the current moment; the second target moment is the moment obtained by performing a calibration analysis on the temperature sensor;

[0218] The temperature prediction module 14 is used to predict the temperature value at a second target time according to the temperature change rate at the current time;

[0219] The stall detection module 15 is configured to perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment.

[0220] In one implementation, the estimated value determination module 11 includes:

[0221] A model acquisition submodule is used to obtain a target stator current model;

[0222] a first model determination submodule, configured to determine a first calculation model for calculating an estimated value of a current change rate using a target stator current model; the first calculation model at least including a functional relationship between the estimated value of the current change rate, the estimated value of the total disturbance change rate, and the estimated value of a second-order derivative of the total disturbance;

[0223] A coefficient determination submodule, used to determine the estimated coefficients that make the eigenvalues ​​of the observation error matrix negative;

[0224] The estimated value calculation submodule is used to perform calculation operations on the first calculation model using the estimated coefficient to obtain an estimated value of the current change rate at the current moment.

[0225] In one implementation, the estimated value determination module 11 includes:

[0226] A model acquisition submodule is used to obtain a target stator current model;

[0227] A second model determination submodule is configured to determine a second calculation model for calculating an estimated value of a current change rate using a target stator current model; the second calculation model at least includes a functional relationship of the estimated value of the current change rate;

[0228] The voltage acquisition submodule is used to obtain the control input voltage under different switch states;

[0229] a candidate data determination submodule, configured to determine, by using a second calculation model, a candidate current change rate estimation value corresponding to each control input voltage at a current moment;

[0230] The estimated value selection submodule is used to select the current change rate estimated value at the current moment from the candidate current change rate estimated values ​​based on the current values ​​at different moments.

[0231] In one implementation, the current prediction module 12 is specifically configured to:

[0232] A first time difference between the first target moment and the current moment is calculated, and the stator current at the first target moment is calculated based on the estimated current change rate at the current moment, the first time difference, the current loop control period, and the current at the current moment.

[0233] In one implementation, the change rate calculation module 13 is specifically configured to:

[0234] The temperature change rate of the target component is calculated using the temperature values ​​of two adjacent temperature sampling periods.

[0235] In one implementation, the temperature prediction module 14 is specifically configured to:

[0236] A second time difference between the current moment and the second target moment is determined, and the temperature value at the second target moment is predicted based on the second time difference, the temperature change rate at the current moment, and the temperature value at the current moment.

[0237] In one implementation, the stall detection module 15 is specifically configured to:

[0238] Obtain the stall detection conditions, and determine that the motor stall detection result is stalled when the stator current and the current change rate estimate at the first target moment, and the temperature change rate and the temperature value at the second target moment meet the stall detection conditions.

[0239] In this embodiment, in order to avoid the influence of sampling deviation and sampling delay, the current sensor is calibrated and analyzed to obtain the first target moment. The current at the first target moment is closer to the actual current at the current moment. Similarly, the temperature value at the second target moment is closer to the actual temperature at the current moment. Therefore, using the stator current at the first target moment and the temperature value at the second target moment for stall analysis can avoid the influence of sampling deviation and sampling delay on the detection results. In addition, in the stall analysis, in addition to using the stator current and temperature values, the current change rate estimate and the temperature change rate are also used. When the stator current value and temperature value are close to the stall detection condition, the current change rate estimate and the temperature change rate are large, the stall phenomenon can also be accurately identified. In addition, in this application, the target stator current model includes non-periodic disturbances and periodic disturbances. The non-periodic disturbances include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters. This enables the target stator current model to take into account factors such as time-varying inductance, improve the accuracy of the target stator current model, and thereby improve the accuracy of the determined current change rate estimate.

[0240] It should be noted that for the working process of each module and sub-module in this application, please refer to the corresponding description in the above embodiment and will not be repeated here.

[0241] An embodiment of the present application further provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0242] Memory is used to store computer programs;

[0243] The processor is used to execute the computer program so that the electronic device can implement the above-mentioned motor stall detection method.

[0244] refer to Figure 6 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, motor controllers, etc. Figure 6 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0245] like Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0246] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0247] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any motor stall detection method provided in the embodiment of the present application.

[0248] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any motor stall detection method provided in the embodiment of the present application.

[0249] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor stall detection method, characterized in that: include: Determine an estimated value of the current change rate at the current moment using the target stator current model, and use the estimated value as the current change rate at the first target moment; The target stator current model includes non-periodic disturbances and periodic disturbances; the non-periodic disturbances include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters; the coupling characteristic data is related to the motor speed; the periodic disturbances include information on the impact of configuring the time-varying motor parameters as constant parameters and unmodeled dynamics on the stator current; the first target time is later than the current time; the first target time is the time obtained by performing a correction analysis on the current sensor; Using the estimated value of the current change rate at the current moment, predict the stator current at the first target moment; Calculating the temperature change rate of the target component at the current moment and using it as the temperature change rate at a second target moment; the second target moment is later than the current moment; the second target moment is the moment obtained by performing a calibration analysis on the temperature sensor; predicting the temperature value at the second target moment based on the temperature change rate at the current moment; A stall detection operation is performed using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and the temperature value at the second target time.

2. The motor stall detection method according to claim 1, characterized in that: The target stator current model is used to determine the estimated current rate of change at the current moment, including: Obtaining a target stator current model; Determining a first calculation model for calculating an estimated value of a current change rate using the target stator current model; wherein the first calculation model includes at least a functional relationship between the estimated value of the current change rate, the estimated value of the total disturbance change rate, and the estimated value of a second-order derivative of the total disturbance; Determine the estimated coefficients that make the eigenvalues ​​of the observation error matrix negative; The first calculation model is calculated using the estimation coefficient to obtain an estimated value of the current change rate at the current moment.

3. The motor stall detection method according to claim 1, wherein: The target stator current model is used to determine the estimated current rate of change at the current moment, including: Obtaining a target stator current model; Determining a second calculation model for calculating an estimated value of a current change rate using the target stator current model; wherein the second calculation model at least includes a functional relationship of the estimated value of the current change rate; Obtain control input voltage under different switch states; Determine, by using the second calculation model, a candidate current change rate estimate corresponding to each of the control input voltages at the current moment; Based on the current values ​​at different moments, the current change rate estimate value at the current moment is selected from the candidate current change rate estimate values.

4. The motor stall detection method according to claim 1, characterized in that: Using the estimated value of the current change rate at the current moment, the stator current at the first target moment is predicted, including: Calculating a first time difference between a first target time and the current time; The stator current at the first target moment is calculated according to the estimated value of the current change rate at the current moment, the first time difference, the current loop control period, and the current at the current moment.

5. The motor stall detection method according to claim 1, characterized in that: Calculate the temperature change rate of the target component at the current moment, including: The temperature change rate of the target component is calculated using the temperature values ​​of two adjacent temperature sampling periods.

6. The motor stall detection method according to claim 1, characterized in that: Predicting the temperature value at the second target moment according to the temperature change rate at the current moment includes: determining a second time difference between the current moment and the second target moment; The temperature value at the second target time is predicted based on the second time difference, the temperature change rate at the current time, and the temperature value at the current time.

7. The motor stall detection method according to claim 1, characterized in that: Performing a stall detection operation using the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and the temperature value at the second target time, includes: Get the stall detection condition; When the stator current and the estimated value of the current change rate at the first target time, and the temperature change rate and the temperature value at the second target time meet the stall detection condition, it is determined that the motor stall detection result is stall.

8. A motor stall detection device, characterized in that: include: an estimated value determination module, configured to determine an estimated value of the current change rate at a current moment by using a target stator current model, and use the estimated value as the current change rate at a first target moment; The target stator current model includes non-periodic disturbances and periodic disturbances; the non-periodic disturbances include at least time-varying inductance characteristic data, coupling characteristic data, and time-varying motor parameters configured as constant parameters; the coupling characteristic data is related to the motor speed; the periodic disturbances include information on the impact of configuring the time-varying motor parameters as constant parameters and unmodeled dynamics on the stator current; the first target time is later than the current time; the first target time is the time obtained by performing a correction analysis on the current sensor; a current prediction module, configured to predict the stator current at a first target moment using an estimated value of the current change rate at a current moment; a rate of change calculation module, configured to calculate a temperature change rate of the target component at a current moment and use the temperature change rate at a second target moment; the second target moment is later than the current moment; the second target moment is a moment obtained by performing a calibration analysis on the temperature sensor; a temperature prediction module, configured to predict the temperature value at the second target moment according to the temperature change rate at the current moment; The stall detection module is used to perform a stall detection operation using the stator current and the estimated value of the current change rate at the first target moment, and the temperature change rate and the temperature value at the second target moment.

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

10. A computer storage medium, characterized in that The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the motor stall detection method according to any one of claims 1 to 7.

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