Vehicle driving motor demagnetization detection method and device and storage medium

Abstract

The invention relates to the technical field of demagnetization detection, and discloses a vehicle driving motor demagnetization detection method and device and a storage medium, and the method comprises the steps: constructing a stator current equation of a target driving motor and a sliding mode surface function of the target driving motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function; constructing a sliding mode approaching rate function based on the stator current error equation, and setting a satisfaction condition of the sliding mode approaching rate function; when the variable of the sliding mode reaching rate function meets the corresponding target variable, the current angle of a rotor of the target driving motor is determined; and comparing the current angle with an actual detection angle of the rotor, and determining a demagnetization result of the target driving motor according to a comparison result. Therefore, the current angle of the rotor of the target driving motor can be determined by constructing the sliding mode approaching rate function, then whether demagnetization exists or not is judged, the scheme is simple, the cost is low, and the detection accuracy is high.

Description

Technical Field

[0001] The present application relates to the technical field of demagnetization detection, and in particular to a method, device and storage medium for detecting demagnetization of a vehicle's drive motor. Background Art

[0002] The magnetic properties of the permanent magnets in a vehicle's drive motor degrade with use. Severe degradation can affect the motor's performance. Therefore, the flux linkage of the motor's permanent magnets is tested to determine the extent of degradation.

[0003] Related technologies typically use high-frequency signal detection to detect magnetic flux. This method utilizes the principle of electromagnetic induction, placing a sensor near the elevator's permanent magnet synchronous motor and applying a high-frequency signal to the electromagnetic system for detection. However, this method requires a dedicated sensor and is significantly affected by environmental interference. It also suffers from high detection costs and poor accuracy. Summary of the Invention

[0004] In view of the above problems, the present application provides a method, device and storage medium for detecting demagnetization of a vehicle's drive motor. By constructing a synovial approach rate function, the current angle of the rotor of the target drive motor can be determined, thereby determining whether it is demagnetized. The solution is simple, low-cost and has high detection accuracy.

[0005] In a first aspect, the present application provides a demagnetization detection method for a vehicle's drive motor, comprising: constructing a stator current equation of a target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function; constructing a synovial approach rate function based on the stator current error equation, and setting a satisfaction condition for the synovial approach rate function; determining a current angle of a rotor of the target drive motor when a variable of the synovial approach rate function satisfies a corresponding target variable; comparing the current angle with an actual detection angle of the rotor, and determining a demagnetization result of the target drive motor based on the comparison result.

[0006] In some specific embodiments, the steps of constructing a stator current equation of the target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function include: constructing a stator voltage equation of the target drive motor, converting the stator voltage equation into a stator current equation, and constructing a sliding mode surface function of the target drive motor; wherein the sliding mode surface function corresponds to the stator current equation; and subtracting the stator current equation from the sliding mode surface function to obtain the stator current error equation of the target drive motor.

[0007] In some specific embodiments, the step of constructing a synovial approach rate function based on a stator current error equation includes: determining a approach rate function of the stator current error equation; and constructing a synovial approach rate function based on the stator current error equation and a preset approach rate function.

[0008] In some specific embodiments, when the variables of the synovial approach rate function meet the corresponding target variables, the step of determining the current angle of the rotor of the target drive motor includes: when the variables of the synovial approach rate function meet the corresponding target variables, determining the back electromotive force of the target drive motor; and determining the current angle of the rotor of the target drive motor based on the inverse tangent of the back electromotive force.

[0009] In some specific embodiments, the current angle is compared with the actual detection angle of the rotor, and the step of determining the demagnetization result of the target drive motor based on the comparison result includes: if the angle difference between the current angle and the actual detection angle is greater than the preset difference, adjusting the K value in the satisfaction condition of the synovial approach rate function; executing the step of determining the current angle of the rotor of the target drive motor when the variable of the synovial approach rate function satisfies the corresponding target variable; if the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, determining the current magnetic flux corresponding to the target drive motor, so as to determine the demagnetization result of the target drive motor through the current magnetic flux.

[0010] In some specific embodiments, if the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, the current magnetic flux corresponding to the target drive motor is determined, and the step of determining the demagnetization result of the target drive motor through the current magnetic flux includes: if the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, the back electromotive force corresponding to the target drive motor is determined; the current magnetic flux of the target drive motor is determined based on the back electromotive force, and the current magnetic flux is compared with the target magnetic flux to obtain the demagnetization result of the target drive motor.

[0011] In some specific embodiments, the step of determining the current magnetic flux of the target drive motor based on the back electromotive force includes: determining a first magnetic flux corresponding to the back electromotive force based on a first preset formula, and determining a second magnetic flux corresponding to the back electromotive force based on a second preset formula; and determining the current magnetic flux based on the first magnetic flux and the second magnetic flux.

[0012] In some specific embodiments, the current angle is compared with the actual detection angle of the rotor, and the demagnetization result of the target drive motor is determined based on the comparison result, including: if the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, it is determined that the target drive motor is not demagnetized.

[0013] A second aspect of the present application provides an electronic device, comprising: a processor; and a memory for storing a computer program, which, when executed by the processor, implements any of the above-mentioned methods for detecting demagnetization of a vehicle's drive motor.

[0014] A third aspect of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, a method for detecting demagnetization of a drive motor of a vehicle as described above is implemented.

[0015] The present application has at least one beneficial technical effect: Based on the vehicle drive motor demagnetization detection method, device, and storage medium provided by the present application, the method includes: constructing a stator current equation for the target drive motor and a sliding mode surface function for the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function; constructing a synovial approach rate function based on the stator current error equation, and setting the conditions for satisfying the synovial approach rate function; determining the current angle of the rotor of the target drive motor when the variables of the synovial approach rate function satisfy the corresponding target variables; comparing the current angle with the actual detected angle of the rotor, and determining the demagnetization result of the target drive motor based on the comparison result. Therefore, by constructing the synovial approach rate function, the current angle of the rotor of the target drive motor can be determined, thereby determining whether demagnetization has occurred. The solution is simple, low-cost, and has high detection accuracy.

[0016] The above description is only an overview of the technical solutions of the embodiments of the present application. In order to more clearly understand the technical means of the embodiments of the present application, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings: Figure 1 This is a flow chart of an embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 2 1 is a flow chart of another embodiment of a method for detecting demagnetization of a drive motor of a vehicle provided by the present application; Figure 3 1 is a flow chart of another embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 4 1 is a flow chart of another embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 51 is a flow chart of another embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 6 1 is a flow chart of another embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 7 1 is a flow chart of another embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application; Figure 8 This is a schematic diagram of the structural framework of an embodiment of the electronic device provided by the present application; Figure 9 It is a structural framework diagram of an embodiment of the computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0018] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings show exemplary embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present application without inventive effort are within the scope of protection of this application.

[0019] If there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if the meaning of "and / or" appearing in the full text is to include three parallel schemes, taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0020] In a first aspect, the present application provides a method for detecting demagnetization of a vehicle's drive motor. Figure 1 This is a flow chart of an embodiment of a method for detecting demagnetization of a vehicle drive motor provided by the present application. Figure 1 , the method comprises the following steps: S101: Constructing a stator current equation of a target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function.

[0021] It should be understood that the drive motor that needs to be demagnetized in this application is the target drive motor, and the stator current equation of the target drive motor can reflect the stator current of the target drive motor.

[0022] Before introducing the sliding surface function, let's discuss sliding mode control: Sliding Mode Control (SMC) is a control strategy in variable structure systems (VSS). It is a nonlinear control method that dynamically switches control law structures to force the system state to move along a preset sliding surface and ultimately stabilize on the sliding surface. The core idea of ​​sliding mode control is to design a specific hyperplane (sliding surface) and force the system state to reach this hyperplane within a finite time. The system then slides along (or as close to) this hyperplane to an equilibrium point. This approach achieves strong robustness through discontinuous control and is particularly suitable for systems with parameter uncertainty, modeling errors, or external disturbances.

[0023] The sliding surface function in this embodiment is based on the relevant theory of sliding film control, and the related equations, functions, and steps also involve relevant theory of sliding film control. For an understanding of this process, please refer to the existing literature on sliding film control. The sliding surface function s(x) is the cornerstone of sliding mode control. It is a scalar function (typically a linear combination of the state error and its derivative), whose zero s(x) = 0 defines a hyperplane (the sliding surface) in state space. This surface has two key functions: 1. Describing the target dynamics: Once the system state is constrained to the sliding surface, its dynamic behavior is completely determined by the equation s(x) = 0. This dynamics is designer-specified, stable (typically asymptotically stable), and robust to matching uncertainties / disturbances. 2. Driving control switching: The value of the function s(x) directly determines the switching logic of the control input u (via the sign(s) or sat(s) term), generating discontinuous forces that force the system state trajectory toward and ultimately onto the sliding surface. Therefore, designing a stable and high-performance sliding surface s(x) is the first and most important step in sliding mode control. It directly determines the performance of the system in the robust operation phase. The subsequent switching control law design is responsible for ensuring that the system state can reliably reach this carefully designed sliding surface in the presence of uncertainties and disturbances.

[0024] At this time, the sliding surface function of the target drive motor can be a current-related equation, so that the sliding surface function and the stator current equation are corresponding equations, so as to obtain the stator current error equation based on the stator current equation and the sliding surface function, which is a current equation.

[0025] S102: Constructing a synovial approach rate function based on the stator current error equation, and setting a satisfying condition of the synovial approach rate function.

[0026] After obtaining the stator current equation, this step further constructs the corresponding sliding film reaching rate function based on the stator error current equation. This step involves knowledge of the sliding mode reaching law in sliding mode control. The sliding film reaching law is the key mechanism by which the drive system state trajectory reaches the sliding surface from the initial position within a finite time. The reaching law function satisfies the conditions for satisfying the reaching law function, and the relevant parameters can be set according to actual needs.

[0027] S103: When the variables of the synovial approach rate function satisfy the corresponding target variables, the current angle of the rotor of the target drive motor is determined.

[0028] Specific variables in the sliding film approach rate function can be assigned to target variables. When the variables (specific variables) in the sliding film approach rate function meet the corresponding target variables, the corresponding state variables in the sliding mode control reach the sliding mode surface. At this point, the current rotor angle of the target drive motor can be determined, which actually reflects the current rotor position.

[0029] S104: Compare the current angle with the actual detected angle of the rotor, and determine the demagnetization result of the target drive motor according to the comparison result.

[0030] It should be understood that the actual detection angle can be obtained by detecting a resolver sensor. The current rotor angle obtained through the above steps may differ from the actual detection angle. In this embodiment, the demagnetization result of the target drive motor is determined by comparing the two. In this step, the specific method of determining the demagnetization result through the comparison result is not limited; the main idea of ​​determining the demagnetization result through the comparison result is emphasized.

[0031] In summary, the vehicle drive motor demagnetization detection method, equipment and storage medium provided by the above embodiments can determine the current angle of the rotor of the target drive motor by constructing a synovial approach rate function, and then determine whether it is demagnetized. The solution is simple, low-cost and has high detection accuracy.

[0032] In some specific embodiments, the current angle is compared with the actual detection angle of the rotor, and the demagnetization result of the target drive motor is determined based on the comparison result, that is, the above-mentioned step S104, including: if the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, it is determined that the target drive motor is not demagnetized.

[0033] It should be understood that the preset difference can be a smaller difference. When the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, it means that the difference between the current angle and the actual detection angle is small, and it is considered that the target drive motor is not demagnetized.

[0034] Figure 2 It is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0035] Combine Figure 2 In some specific embodiments, the step of constructing a stator current equation of the target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function, i.e., the above-mentioned step S101, includes: S201: constructing a stator voltage equation of a target drive motor, converting the stator voltage equation into a stator current equation, and constructing a sliding mode surface function of the target drive motor; wherein the sliding mode surface function corresponds to the stator current equation.

[0036] In some application scenarios, the stator voltage equation of the target drive motor can be as follows: At this time, the extended back EMF satisfies: in, is the differential operator; 、 are the α-β axis components of the stator voltage respectively; 、 are the α-β axis components of the stator current respectively; 、 are the α-β axis components of the extended back electromotive force (EMF), respectively.

[0037] Based on the above stator voltage equation, the converted stator current equation can be: in: S202: Subtract the stator current equation from the sliding mode surface function to obtain a stator current error equation of the target drive motor.

[0038] Combining the above content and based on the specific expression of the above stator current equation, the sliding surface function can be expressed as follows: At this time, the modulus function corresponds to the stator current equation, both of which are current-type equations. The stator current error equation of the target drive motor obtained by taking the difference between the two can be expressed as follows: Figure 3 This is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0039] Combine Figure 3 In some specific embodiments, the step of constructing the synovial approach rate function based on the stator current error equation, that is, the above-mentioned step S102, includes: S301: Determine a convergence rate function of a stator current error equation.

[0040] It should be understood that the types of convergence rate functions include constant velocity convergence rate, exponential convergence rate, and power convergence rate. In some specific embodiments, the convergence rate equation of the stator current error equation can be set to a constant velocity convergence rate function, and the specific form can be as follows: S302: Constructing a synovial approach rate function based on the stator current error equation and the approach rate function.

[0041] The above content has obtained the stator current error equation and the approach rate function. In this step, the synovial approach rate function is further constructed based on the stator current error equation and the approach rate function. The stator current error equation can be substituted into the approach rate function to construct the synovial approach rate function.

[0042] Based on the above stator current error equation and the specific expression of the approach rate function, the synovial approach rate function constructed based on the stator current error equation and the approach rate function can be expressed as follows: In combination with the specific setting method of the synovial approach rate function in this embodiment, the conditions for satisfying the synovial approach rate function can be expressed as follows: Figure 4 This is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0043] Combine Figure 4 In some specific embodiments, when the variables of the synovial approach rate function satisfy the corresponding target variables, the step of determining the current angle of the rotor of the target drive motor, i.e., the above-mentioned step S103, includes: S401: When the variables of the synovial approach rate function satisfy the corresponding target variables, the back electromotive force of the target drive motor is determined.

[0044] Among them, some variables in the synovial approach rate function can be defined as specific variables, and target variables corresponding to the specific variables can be set.

[0045] Combined with the specific setting method of the above synovial approach rate function, the specific variable is as well as , the target variable can be set to 0. At this time, when the variable of the synovial approach rate function satisfies the corresponding target variable, that is, and At this point, the back EMF of the target drive motor can be determined, as shown below: in, and Represents back electromotive force.

[0046] S402: Determine the current angle of the rotor of the target drive motor based on the arc tangent of the back electromotive force.

[0047] Based on the above steps, the back electromotive force of the target drive motor can be obtained. This step further determines the current angle of the rotor of the target drive motor based on the inverse tangent of the back electromotive force. Specifically, it can be: performing an inverse tangent operation on the back electromotive force of the target drive motor, and then using the inverse tangent value as the current angle of the rotor of the target drive motor. Specifically, it can be expressed as follows: in, Indicates the current angle of the rotor of the target drive motor.

[0048] Figure 5 This is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0049] Combine Figure 5 In some specific embodiments, the step of comparing the current angle with the actual detected angle of the rotor and determining the demagnetization result of the target drive motor based on the comparison result, i.e., the above-mentioned step S104, includes: S501: If the angle difference between the current angle and the actual detection angle is greater than a preset difference, adjust the K value in the satisfying condition of the synovial approach rate function.

[0050] The preset difference value can be set based on actual conditions and can be a relatively small value. If the angle difference between the current angle and the actual detected angle is greater than the preset difference value, it indicates that the current angle and the actual detected angle are significantly different. In this case, it cannot be determined whether the target drive motor is demagnetized, and further analysis is required.

[0051] In combination with the above content, the synovial approach rate function includes a K value. In this case, the K value in the satisfying condition of the synovial approach rate function is adjusted.

[0052] S502: executing a step of determining a current angle of a rotor of a target drive motor when the variable of the synovial approach rate function satisfies the corresponding target variable.

[0053] After adjusting the K value in the conditions for satisfying the synovial approach rate function, the step of determining the current angle of the rotor of the target drive motor when the variables of the synovial approach rate function satisfy the corresponding target variables is further performed, i.e., step S103 in the above embodiment is performed. When executing step S103, the specific steps described in the above embodiment of S103 may be performed.

[0054] It should be understood that after the K value in the satisfying condition of the synovial approach rate function is adjusted, the current angle of the rotor of the drive motor obtained in subsequent steps will also be different.

[0055] S503: If the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, the current flux corresponding to the target drive motor is determined to determine the demagnetization result of the target drive motor through the current flux.

[0056] Since the current angle changes due to changes in the K value, after obtaining the current angle, the current angle is further compared with the actual detection angle. If the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, it indicates that the difference between the current angle and the actual detection angle is small. In this case, the demagnetization result of the target drive motor can be further determined based on the current magnetic flux of the target drive motor.

[0057] Figure 6 This is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0058] Combine Figure 6 In some specific embodiments, if the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, the step of determining the current flux corresponding to the target drive motor and determining the demagnetization result of the target drive motor based on the current flux, i.e., the above-mentioned step S503, includes: S601: If the angle difference between the current angle and the actual detection angle is less than or equal to the preset difference, determine the back electromotive force corresponding to the target drive motor.

[0059] In conjunction with the above, knowing the current angle actually allows us to determine the back EMF of the drive motor. Therefore, knowing that the difference between the current angle and the actual detected angle is less than or equal to the preset difference allows us to determine the back EMF of the target drive motor. For the specific steps in determining the back EMF, please refer to the relevant content in the above embodiment. Of course, other methods can also be used to determine the back EMF, which is not specifically limited here.

[0060] S602: Determine the current magnetic flux of the target drive motor according to the back electromotive force, and compare the current magnetic flux with the target magnetic flux to obtain a demagnetization result of the target drive motor.

[0061] After obtaining the back EMF of the target drive motor, the current magnetic flux of the target drive motor is further determined by the back EMF. This embodiment does not impose specific restrictions on the specific means of determining the magnetic flux by the back EMF, but mainly emphasizes the idea of ​​obtaining the magnetic flux by the back EMF and then obtaining the demagnetization result by magnetic flux comparison.

[0062] The target flux can be the flux of the target drive motor when it is not demagnetized. This can be obtained through actual measurement or directly obtained from standard information. By comparing the current flux with the target flux, the difference between the current flux and the target flux can be determined. Based on this difference and the relevant flux requirements, it can be determined whether the target drive motor is demagnetized.

[0063] In some application scenarios, when the gap between the current magnetic flux and the target magnetic flux is smaller than a preset gap, it can be considered that the gap between the current magnetic flux and the target magnetic flux is small. At this time, it can be considered that the target drive motor is not demagnetized. Otherwise, it is considered that the target drive motor is demagnetized.

[0064] Figure 7 This is a flow chart of another embodiment of the vehicle drive motor demagnetization detection method provided in the present application.

[0065] Combine Figure 7 In some specific embodiments, the step of determining the current flux linkage of the target drive motor according to the back electromotive force includes, that is, the above step S602 includes: S701: Determine a first magnetic flux corresponding to the back electromotive force based on a first preset formula, and determine a second magnetic flux corresponding to the back electromotive force based on a second preset formula.

[0066] The first and second preset formulas are both formulas for determining flux linkage based on back EMF, and the first and second preset formulas are different formulas. In this case, the first flux linkage corresponding to the back EMF determined based on the first preset formula, and the second flux linkage corresponding to the back EMF determined based on the second preset formula, are both the flux linkage of the target drive motor.

[0067] In some application scenarios, the first preset formula may be: The second preset formula may be: in, It's the magnetic link. 、 is the estimated value of the stator current, 、 is the control input of the observer, 、 is the stator current observation error.

[0068] S702: Determine a current magnetic flux according to the first magnetic flux and the second magnetic flux.

[0069] After obtaining the first and second magnetic fluxes, the first and second magnetic fluxes can be compared to determine the current magnetic flux based on the comparison results. For example, the current magnetic flux can be determined by taking the first and second magnetic fluxes that better meet specific requirements. If both meet the requirements, the current magnetic flux can be determined by combining the first and second magnetic fluxes.

[0070] It should be understood that the methods provided in the above embodiments involve formulas, and the parameters involved in these formulas can be obtained by real-time detection of the target drive motor. For example, the physical quantities such as current and voltage involved in the above formulas can all be obtained by real-time detection of the target drive motor. Before applying this method, it is possible to determine whether the target drive motor is faulty. If the target drive motor is not faulty, the relevant parameters can be sampled and then substituted into the relevant formulas.

[0071] A second aspect of the present application provides an electronic device, comprising: a processor; and a memory for storing a computer program, which, when executed by the processor, implements the vehicle drive motor demagnetization detection method in any of the above embodiments.

[0072] Figure 8 It is a schematic diagram of the structural framework of an embodiment of the electronic device 500 provided in this application.

[0073] Combine Figure 8 In some specific embodiments, the electronic device 500 includes a central processing unit (CPU) 501 and a read-only memory (ROM) 502. The CPU 501 is a processor, and the ROM 502 is a memory. The CPU 501 can perform various appropriate actions and processes, such as executing the method in the above embodiment, according to the program stored in the ROM 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503. Various programs and data required for system operation are also stored in the RAM 503. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0074] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. Removable media 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[0075] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from a removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the various functions defined in the system of the present application are executed.

[0076] A third aspect of the present application provides a computer-readable storage medium 40, Figure 9 It is a structural framework diagram of an embodiment of the computer-readable storage medium 40 provided in this application.

[0077] The computer readable storage medium 40 stores a computer program 41 , which, when executed by a processor, implements the method for detecting demagnetization of a driving motor of a vehicle in any of the above-mentioned embodiments.

[0078] It should be noted that the computer-readable medium 40 shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0079] In summary, the vehicle drive motor demagnetization detection method, device, and storage medium provided in this application include: constructing a stator current equation and a sliding mode surface function for the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function; constructing a synovial approach rate function based on the stator current error equation, and setting conditions for satisfying the synovial approach rate function; determining the current angle of the rotor of the target drive motor when the variables of the synovial approach rate function satisfy the corresponding target variables; comparing the current angle with the actual detected angle of the rotor, and determining the demagnetization result of the target drive motor based on the comparison result. Therefore, by constructing the synovial approach rate function, the current angle of the rotor of the target drive motor can be determined, thereby determining whether demagnetization has occurred. This solution is simple, low-cost, and highly accurate.

[0080] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. Ordinary technicians in this field can easily make corresponding changes or modifications based on the main ideas and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A method for detecting demagnetization of a vehicle's drive motor, characterized in that: include: Constructing a stator current equation of a target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function; Constructing a synovial approach rate function based on the stator current error equation, and setting a satisfying condition for the synovial approach rate function; When the variable of the synovial approach rate function satisfies the corresponding target variable, determining the current angle of the rotor of the target drive motor; The current angle is compared with the actual detected angle of the rotor, and a demagnetization result of the target drive motor is determined according to the comparison result.

2. The drive motor demagnetization detection method according to claim 1, characterized in that: The steps of constructing a stator current equation of a target drive motor and a sliding mode surface function of the target drive motor, and obtaining a stator current error equation based on the stator current equation and the sliding mode surface function include: Constructing a stator voltage equation of a target drive motor, and converting the stator voltage equation into a stator current equation, and constructing a sliding mode surface function of the target drive motor; wherein the sliding mode surface function corresponds to the stator current equation; The stator current equation is subtracted from the sliding mode surface function to obtain a stator current error equation of the target drive motor.

3. The drive motor demagnetization detection method according to claim 1, characterized in that: The step of constructing a synovial approach rate function based on the stator current error equation includes: Determining a convergence rate function of the stator current error equation; A synovial approach rate function is constructed based on the stator current error equation and the approach rate function.

4. The drive motor demagnetization detection method according to claim 1, characterized in that: When the variables of the synovial approach rate function satisfy the corresponding target variables, the step of determining the current angle of the rotor of the target drive motor includes: When the variables of the synovial approach rate function satisfy the corresponding target variables, determining the back electromotive force of the target drive motor; The current angle of the rotor of the target drive motor is determined based on the arc tangent of the back EMF.

5. The drive motor demagnetization detection method according to claim 1, characterized in that: The step of comparing the current angle with the actual detected angle of the rotor and determining the demagnetization result of the target drive motor according to the comparison result includes: If the angle difference between the current angle and the actual detection angle is greater than a preset difference, adjusting the K value in the satisfying condition of the synovial approach rate function; executing the step of determining a current angle of a rotor of the target drive motor when a variable of the synovial approach rate function satisfies a corresponding target variable; If the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, the current flux corresponding to the target drive motor is determined, so as to determine the demagnetization result of the target drive motor through the current flux.

6. The drive motor demagnetization detection method according to claim 5, characterized in that: If the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, determining a current flux corresponding to the target drive motor, and determining a demagnetization result of the target drive motor based on the current flux, includes: If the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, determining the back electromotive force corresponding to the target drive motor; The current flux linkage of the target drive motor is determined according to the back electromotive force, and the current flux linkage is compared with the target flux linkage to obtain a demagnetization result of the target drive motor.

7. The drive motor demagnetization detection method according to claim 6, characterized in that: The step of determining the current magnetic flux of the target drive motor according to the back electromotive force includes: Determining a first magnetic flux corresponding to the back electromotive force based on a first preset formula, and determining a second magnetic flux corresponding to the back electromotive force based on a second preset formula; A current magnetic flux is determined according to the first magnetic flux and the second magnetic flux.

8. The drive motor demagnetization detection method according to claim 1, characterized in that: The step of comparing the current angle with the actual detected angle of the rotor and determining the demagnetization result of the target drive motor according to the comparison result includes: If the angle difference between the current angle and the actual detection angle is less than or equal to a preset difference, it is determined that the target drive motor is not demagnetized.

9. An electronic device, characterized in that: include: processor; A memory for storing a computer program, wherein when the computer program is executed by the processor, the method for detecting demagnetization of a drive motor of a vehicle according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the method for detecting demagnetization of a drive motor of a vehicle according to any one of claims 1 to 8.

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