Motor fault detection method, multi-motor system, electrical equipment and medium

Abstract

The invention relates to a motor fault detection method, a multi-motor system, electrical equipment and a medium, and the method comprises the steps: determining the motor operation state of each motor in the motor system through the operation state detection of motors, carrying out the motor grouping according to the motor operation states, and obtaining a motor unit corresponding to each motor operation state, and then, for the motor unit corresponding to each motor operation state, fault detection is performed on each type of motors in the motor unit according to a preset fault detection mode corresponding to the motor operation state, and motor classification fault detection is realized. Therefore, the possible error detection condition caused by mutual influence of different motor parameters during parallel operation of the multiple motors is avoided, the motor fault detection result is output based on the fault detection information, and the problem caused by the fact that a fault motor in a multi-motor system cannot be accurately recognized and positioned in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of motor detection technology, and in particular to a motor fault detection method, a multi-motor system, electrical equipment, and a medium. Background Art

[0002] In modern industrial and automation equipment, it is often necessary to drive multiple DC motors simultaneously to complete complex tasks. For example, in the fields of six-axis robotic arms, automatic sorting systems, mobile robots, etc., multiple motors are usually controlled in parallel.

[0003] Specifically, to reduce costs, existing multi-motor control systems primarily utilize multiple motors in parallel, controlled by a small number of intelligent power modules (IPMs). However, this control approach can only ensure that multiple motors operate simultaneously in the same operating state, or that multiple motors operate at different times. When one or more motors fail, such as when an open circuit, short circuit, performance degradation, or partial damage occurs, the system may not be able to promptly detect the specific motor at fault, reducing overall system reliability and even posing safety risks. While existing fault detection methods can determine whether a motor is disconnected or has poor contact by measuring equivalent resistance, this method can only identify obvious faults and cannot precisely locate the faulty motor. Furthermore, the mutual influence of multiple motors operating in parallel makes traditional single-motor detection methods difficult to adapt. Currently, multi-motor systems typically utilize independent processors to control each motor. However, this control approach has limitations in detecting and diagnosing motor faults, especially when multiple motors share a single IPM. Effectively detecting and locating faulty motors in multi-motor systems presents a challenge. Summary of the Invention

[0004] In view of this, the present application provides a motor fault detection method, a multi-motor system, an electrical device and a medium to solve the problem caused by the inability to accurately identify and locate faulty motors in a multi-motor system in the prior art.

[0005] In a first aspect, the present application provides a motor fault detection method, comprising: By detecting the running status of the motor, the running status of each motor in the motor system is determined; Grouping the motors based on the motor operating states to obtain motor groups corresponding to each motor operating state; For each motor group corresponding to the motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain fault detection information corresponding to each motor type; outputting a motor fault detection result of the motor system based on the fault detection information; The fault detection method includes an offline fault detection method, the fault detection information includes fault motor location information, and for each motor group corresponding to the motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state, to obtain fault detection information corresponding to each motor type, including: When the motor operation state is the motor shutdown state, performing a first-level offline fault detection on each type of motor in the motor unit according to the offline fault detection method to obtain a primary detection result; Based on the primary detection result, determining the motor type of the faulty motor as a target type, and determining the motor of the target type in the motor group as a target detection motor; For target detection motors of the same target type, a second-level offline fault detection is performed according to a preset fault detection method corresponding to the target type to obtain the fault motor positioning information, including: counting the number of target detection motors of the same target type to obtain the number of parallel motors of each target type; when the number of parallel motors is greater than the preset number of motors, according to the fault detection method, a dichotomy method is used to locate the motor fault to obtain the fault motor positioning information.

[0006] Optionally, the motor operating state includes the operating state of each motor, and determining the motor operating state of each motor in the motor system by detecting the operating state of the motor includes: Classifying all motors in the motor system according to preset motor classification information to obtain at least one motor type; The working status of each motor in each motor type is detected respectively to obtain the operating status of each motor in each motor type.

[0007] Optionally, performing a first-level offline fault detection on each type of motor in the motor unit according to the offline fault detection method to obtain a primary detection result includes: Based on the offline fault detection method, each type of motor in the motor unit is detected in batches to determine whether it has a shutdown fault; Determine the motor type corresponding to the motor with the shutdown fault as the type to be detected, and count the number of faulty motors corresponding to each type to be detected; The primary detection result is generated based on the number of faulty motors.

[0008] Optionally, the step of performing a second-level offline fault detection on target detection motors of the same target type according to a preset fault detection method corresponding to the target type to obtain the fault motor location information further includes: Whether the number of parallel motors is greater than the preset number of motors; When the number of parallel motors is not greater than the preset number of motors, the motor fault is located in a traversal manner according to the fault detection method to obtain the fault motor location information.

[0009] Optionally, the fault detection information further includes online fault detection information, wherein for each motor group corresponding to each motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain fault detection information corresponding to each motor type, and further includes: When the motor operation state is the motor working state, obtaining a preset online fault detection mode corresponding to the motor working state; According to the online fault detection method, online fault detection is performed on each type of motor in the motor unit to obtain online fault detection information.

[0010] Optionally, the fault detection method includes an online fault detection method, and performing online fault detection on each type of motor in the motor unit according to the online fault detection method to obtain online fault detection information of each type of motor includes: According to the online fault detection method, motor data sampling is performed on each type of motor in the motor group to obtain motor working data, wherein the motor working data includes working data of each motor in each motor type; Perform cloud computing based on the working data of each motor to obtain the working status evaluation results of each motor; Determine whether each motor has a failure risk based on the working status assessment results of each motor; Determine a motor with a failure risk as a target detection motor, and determine a classification identifier corresponding to the target detection motor; According to the preset fault detection method corresponding to the classification identifier, fault detection is performed on the target detection motor to obtain the online fault detection information.

[0011] In a second aspect, the present application provides a multi-motor system, comprising: a motor fault detection device and a parallel motor electrically connected to the motor fault detection device, the parallel motor being a motor connected in parallel in the multi-motor system, and the motor fault detection device being configured to implement the motor fault detection method as described in any one of the above-mentioned first aspects of the present application.

[0012] Optionally, the motor fault detection device includes: a main control module, an intelligent power module and a circuit switching control module; The intelligent power module is configured to: convert the bus power supply signal provided by the power module into a three-phase electrical output signal according to the pulse width modulation signal output by the main control module; The circuit switching control module is configured to: transmit the three-phase electrical output signal to a target controlled motor according to the drive control signal output by the main control module, wherein the target controlled motor includes a motor selected to be controlled by the drive control signal; The main control module is configured to: output the pulse width modulation signal and the drive control signal, and implement the steps of the motor fault detection method as described in any one of the first aspects of the present application.

[0013] Optionally, the multi-motor system further includes a power module; The power supply module is configured to output a power supply signal, wherein the power supply signal includes the bus power supply signal and the mainboard power supply signal, and the mainboard power supply signal is used to supply power to the main control module.

[0014] Optionally, the circuit switching control module includes: a circuit switching controller and a current maintainer; The circuit switching controller is configured to: receive the drive control signal, output a synchronization control signal to the current keeper according to the drive control signal, and output a three-phase electrical signal to the current keeper based on the three-phase electrical output signal; The current maintainer is configured to output the three-phase electrical signal to the target motor according to the synchronous control signal, wherein the three-phase electrical signal is used to maintain the motor operating state of the target motor, and the target motor is the motor connected to the output end of the current maintainer.

[0015] In a third aspect, the present application provides an electrical device comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory is used to store computer programs; and the processor is used to implement the steps of the motor fault detection method as described in any one of the first aspects of the present application when executing the program stored in the memory.

[0016] In a fourth aspect, the present application provides a computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the steps of the motor fault detection method described in any one of the first aspects of the present application.

[0017] The above technical solutions provided by the embodiments of the present application have the following advantages over the prior art: the motor fault detection method, multi-motor system, electrical equipment and medium provided by the embodiments of the present application determine the motor operating status of each motor in the motor system by detecting the operating status of the motor, group the motors according to the motor operating status, and obtain the motor group corresponding to each motor operating status. Subsequently, for the motor group corresponding to each motor operating status, fault detection is performed on each type of motor in the motor group according to the preset fault detection method corresponding to the motor operating status, and fault detection information corresponding to each motor type is obtained, thereby realizing motor classification fault detection, thereby avoiding the possible misdetection caused by the mutual influence of different motor parameters when multiple motors are operated in parallel, and when the motor operating status is the motor shutdown state, various types of motors in the motor shutdown state are detected according to the offline fault detection method. The first level offline fault detection is performed on the type motor to obtain a primary detection result, so that based on the primary detection result, the motor type of the faulty motor can be determined as a target type, so that the motor of the target type in the motor unit can be determined as the target detection motor, and then the target detection motor of the same target type can be subjected to a second level offline fault detection according to a preset fault detection method corresponding to the target type, so that the faulty motor positioning information in the motor shutdown state can be quickly detected, so that the fault detection signal can include the faulty motor positioning information, and then the motor fault detection result can be output based on the fault detection information, so that the multiple motors in the motor system can be controlled according to the motor fault detection result. This solves the problem caused by the inability to accurately identify and locate the faulty motor in the multi-motor system in the prior art, realizes the effective control and fault detection of the multiple motors, and improves the stability and reliability of the operation of the multi-motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0021] Figure 1 A schematic flow chart of the steps of a motor fault detection method provided in an embodiment of the present application; Figure 2 A schematic diagram of a system motor fault detection process provided as an example of this application; Figure 3 A schematic diagram of fault detection of a multi-motor system provided as an example of this application; Figure 4 A schematic structural diagram of a multi-motor system provided in an embodiment of the present application; Figure 5 A schematic diagram of a fault detection process for a multi-motor system provided as an optional example of this application; Figure 6 A schematic diagram of the structure of an electrical device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are 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.

[0023] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0024] In multi-motor parallel control systems, multi-motor parallel fault detection is often required to ensure stable operation and efficient maintenance of the system. However, traditional single-motor detection methods are difficult to adapt to the multi-motor detection needs of complex systems. Existing multi-motor parallel fault detection methods mainly focus on fault detection of the entire parallel motor group, but are unable to accurately locate the specific faulty motor, reducing the reliability and safety of system operation. Therefore, there is an urgent need for a motor fault detection method that can quickly and accurately locate multiple motor faults to ensure stable operation and efficient maintenance of the system.

[0025] Based on the above, the present application provides a motor fault detection method, a multi-motor system, an electrical device and a medium, which determines the motor operating status of each motor in the motor system by detecting the motor operating status, and groups the motors according to the motor operating status to obtain a motor group corresponding to each motor operating status. Subsequently, for the motor group corresponding to each motor operating status, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating status, thereby realizing motor classification fault detection, thereby avoiding the possible misdetection caused by the mutual influence of different motor parameters when multiple motors are operated in parallel, and outputting the motor fault detection result based on the fault detection information, so that the multiple motors in the motor system can be controlled according to the motor fault detection result subsequently, thereby realizing effective control and fault detection of multiple motors, and achieving the technical effect of improving system reliability and maintenance efficiency.

[0026] The motor system refers to a system including a motor, such as a multi-motor system including two or more motors connected in parallel, which is not limited in the embodiments of the present application.

[0027] Figure 1 The following is a flowchart of a motor fault detection method provided in an embodiment of the present application. The motor fault detection method provided in an embodiment of the present application can be applied to a multi-motor parallel detection scenario, such as a multi-motor parallel control system, and can specifically include the following steps: Step 110, determining the motor operating state of each motor in the motor system by detecting the motor operating state; Among them, the motor operating state refers to the operating state of the motor, which can be specifically divided into the motor working state and the motor non-working state. For example, when the motor is in the running state, the motor operating state can be determined to be the motor working state; when the motor is not in the running state, such as when the motor is in the shutdown state, the motor operating state can be determined to be the motor non-working state. The motor non-working state may include the motor shutdown state, and the embodiments of the present application do not impose specific restrictions on this.

[0028] Step 120, grouping the motors based on the motor operating states to obtain motor groups corresponding to each motor operating state; Specifically, after determining the motor operating status of each motor in the motor system, the embodiment of the present application can group the motors in the motor system according to the motor operating status, thereby obtaining motor groupings that correspond one-to-one to the motor operating status, that is, the motor groupings and the motor operating status have a one-to-one correspondence, so that subsequently motor fault detection can be performed on the motor group corresponding to the motor operating status according to the preset fault detection method corresponding to the motor operating status.

[0029] Step 130, for each motor group corresponding to the motor operating state, respectively perform fault detection on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state, and obtain fault detection information corresponding to each motor type; Specifically, after determining the motor grouping based on the motor operating status, the embodiment of the present application can perform fault detection on each type of motor in the motor group corresponding to each motor operating status according to the preset fault detection method corresponding to the motor operating status. For example, based on the motor type, each motor in the motor group can be classified and detected to detect whether there is a motor fault in the motors of each motor type in the motor group, and the motor type with motor fault can be recorded. Based on the recorded motor type, the specific faulty motor can be detected using the fault detection method corresponding to the motor type to locate the faulty motor. Subsequently, based on the motor information of the faulty motor, fault detection information corresponding to the motor type can be generated, so that fault detection information corresponding to each motor type in the motor system can be obtained, and motor classification fault detection can be realized, so that multi-motor control in the motor system can be performed according to the fault detection information to realize detection and control of multiple motors.

[0030] The fault detection information corresponding to the motor type can be used to determine the specific faulty motor corresponding to the motor type. For example, the fault detection information can include faulty motor information and faulty motor location information, which is not specifically limited in this embodiment of the present application. The faulty motor location information can refer to information related to the location of the faulty motor and can be used to determine the specific location of the motor fault.

[0031] Step 140: outputting a motor fault detection result of the motor system based on the fault detection information.

[0032] Specifically, after obtaining fault detection information corresponding to each motor type, embodiments of the present application can use this information to generate a motor fault detection result for the motor system. This information can then be used to control multiple motors in the motor system, thereby improving the stability and reliability of system operation. The motor fault detection result can be used to identify the specific faulty motor in the motor system, allowing users to quickly and accurately locate motor faults in the motor system, thereby improving system maintenance efficiency.

[0033] In summary, the motor fault detection method provided in the embodiment of the present application determines the motor operating status of each motor in the motor system by detecting the operating status of the motor, and groups the motors according to the motor operating status to obtain a motor group corresponding to each motor operating status. Subsequently, for the motor group corresponding to each motor operating status, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating status to obtain fault detection information corresponding to each motor type, thereby realizing motor hierarchical fault detection, thereby avoiding the possible misdetection caused by the mutual influence of different motor parameters when multiple motors are operated in parallel, and outputting the motor fault detection result based on the fault detection information, so that the multiple motors in the motor system can be controlled according to the motor fault detection result, thereby realizing effective control and fault detection of multiple motors, improving the stability and reliability of system operation, and thus achieving the technical effect of improving system reliability and maintenance efficiency.

[0034] In some optional embodiments of the present application, in order to ensure stable operation of the system, motor classification can be performed according to preset motor classification information to classify all motors in the motor system, and the operating status of the motor can be detected to further subdivide the categories according to the operating status, so as to facilitate subsequent motor classification fault detection according to the motor operating status.

[0035] Optionally, the motor operating state in the embodiment of the present application includes the operating state of each motor in the motor system. The above step 110 may specifically include the following sub-steps: Sub-step 1101, classifying all motors in the motor system according to preset motor classification information to obtain at least one motor type; Sub-step 1102 : detecting the working status of each motor in each motor type respectively to obtain the operating status of each motor in each motor type.

[0036] Among them, the preset motor classification information may refer to information pre-set for motor classification, such as the preset motor classification information may be pre-assigned information, and the pre-assigned information may be used to label the corresponding motor to characterize the classification of the motor through the label; the motor type refers to the classification type of the motor, such as a classification label used to characterize the classification type, and the embodiment of the present application does not limit this.

[0037] To facilitate understanding of the embodiments of the present application, further explanation will be given below with reference to specific examples in conjunction with the accompanying drawings. These examples do not constitute a limitation on the embodiments of the present application.

[0038] As an example of this application, after the motor system is started, it can be operated as follows: Figure 2 Specifically, after the system is started, all motors can be classified, such as Figure 2 As shown, when classifying motors, the corresponding motors are labeled according to the pre-assigned information, and after classification, the motor classification information is stored in the driver chip, that is, the motor classification information is stored so that the motor operating status can be detected later based on the motor classification information. After the motors are classified, all motors in the motor system can be grouped based on the motor type, and based on the motor grouping, the motors in each group can be classified and determined to be in the motor working state. That is, the working state of each motor in each motor type is detected separately to obtain the operating state of each motor in each motor type, that is, to determine the operating state of each motor.

[0039] For example, Figure 2 As shown, during the operating state detection, the operating state of the motor is detected to further distinguish each classified motor of the same type into operating and non-operating motors. This facilitates the next stage of the detection process and enables classified and batched testing of all motors in the motor system. Specifically, through the operating state detection, non-operating motors can be classified into the first motor group corresponding to the motor stop state, and motors in the operating state can be classified into the second motor group corresponding to the motor operating state.

[0040] After determining the operating status of each motor in the motor system, the operating status of each type of motor in the motor system can be determined based on the operating status of each motor, and fault detection can be performed on each type of motor in the motor group according to the preset fault detection method corresponding to the motor operating status to obtain fault detection information corresponding to each motor type.

[0041] For example, in combination with the above example, for motor fault detection of the first motor group, the offline fault detection method can be used as the preset fault detection method corresponding to the motor shutdown state, so that fault detection of each type of motor in the first motor group can be performed according to the offline fault detection method, thereby obtaining fault detection information corresponding to each type of motor in the first motor group; for another example, for motor fault detection of the second motor group, the online fault detection method can be used as the preset fault detection method corresponding to the motor working state, so that fault detection of each type of motor in the second motor group can be performed according to the online fault detection method, thereby obtaining fault detection information corresponding to each type of motor in the second motor group.

[0042] It can be seen that after classifying the types of motors in the motor system, the present application example can group the various types of motors by operating status, so as to classify the non-operating motors into the first motor group corresponding to the motor shutdown state, and the motors in the operating state into the second motor group corresponding to the motor working state. Subsequently, based on the motor group, according to the preset fault detection method corresponding to the motor operating state of the motor group, a single motor fault detection can be performed on the motors in the motor group. For example, fault detection can be performed on motors of the same type and model to detect in batches whether there are motor faults in various types of motors in the motor group, thereby realizing fault detection, and further locking the specific faulty motor after the fault is detected, and then generating fault detection information based on the faulty motor information. Among them, the faulty motor information refers to information related to the faulty motor, such as the motor information of the faulty motor.

[0043] For example, Figure 2 As shown, when detecting a single motor fault, fault detection is performed on motors of the same type and model. Specifically, the motor circuit selection controller can be used to control the switching tube corresponding to the motor of this motor type to conduct, and power is supplied to the motor of this motor type separately to achieve a multi-motor parallel state, and then the UVW three-phase ends of the motor are energized in a predetermined manner to detect whether this type of motor has a fault. That is, when detecting a single motor fault, a multi-motor parallel method is directly adopted to detect multiple motors of the same motor type at the same time. If a fault is detected in a certain motor type, the fault motor is further located to detect the specific fault motor corresponding to this motor type, so that the motor fault detection result of the motor system can be generated based on the fault motor information, so that the fault motor can be quickly and accurately located based on the motor fault detection result, solving the technical problem of fault detection and positioning in a multi-motor system.

[0044] Optionally, in order to quickly and accurately locate multiple motor faults in the motor system, after grouping the operating status of each type of motor, the embodiment of the present application can perform fault detection on each type of motor in the motor unit based on a hierarchical fault detection strategy and a preset fault detection method corresponding to the motor operating status. For example, the hierarchical fault detection strategy can include three levels of fault detection, namely, a first-level offline fault detection, a second-level offline fault, and a third-level online fault detection; wherein, the first-level offline fault detection and the second-level offline fault detection can be used for shutdown detection to perform shutdown detection on non-operating motors in the motor system, such as using the first-level offline fault detection to perform shutdown detection on multiple parallel motors of the same model in the motor system to determine whether there are motor faults in the multiple parallel motors of the same model, that is, to determine whether there are offline faults in the non-operating motors, and the second-level offline fault detection can be used to locate the faulty motor; the third-level online fault detection can be used for online detection of motor faults, that is, to detect motor faults during the operation of the motor, so that the fault detection information includes online fault detection information.

[0045] The term "online fault detection information" refers to information related to online motor faults, such as information generated by detecting motor faults during motor operation. Specifically, it may include, but is not limited to, fault motor information and fault warning information, and this application does not impose any restrictions on this. Fault warning information may include various information related to motor fault warnings, and may be used for fault warnings to alert users to faulty motor information and facilitate troubleshooting.

[0046] Optionally, in an embodiment of the present application, for a motor group corresponding to each motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain the fault detection information. Specifically, it may include: when the motor operating state is the motor working state, obtaining a preset online fault detection method corresponding to the motor working state; and performing online fault detection on each type of motor in the motor group according to the fault detection method to obtain online fault detection information.

[0047] In some optional embodiments of the present application, the fault detection methods can be divided according to the operating status of the motor. For example, the offline fault detection method can be divided into a preset fault detection method corresponding to the motor shutdown state, and the online fault detection method can be divided into a preset fault detection method corresponding to the motor working state, so that the preset fault detection method can include an offline fault detection method and an online fault detection method.

[0048] Specifically, for a running motor, the embodiment of the present application can divide it into a motor group corresponding to the motor working state, so as to detect motor faults during the motor operation process and generate online fault detection information according to the preset line fault detection method corresponding to the motor working state.

[0049] Optionally, the embodiment of the present application performs online fault detection on each type of motor in the motor group according to an online fault detection method to obtain online fault detection information of each type of motor, which may specifically include: sampling motor data of each type of motor in the motor group according to the online fault detection method to obtain motor working data, wherein the motor working data includes the working data of each motor in each motor type; performing cloud computing processing based on the working data of each motor to obtain a working status evaluation result of each motor; determining whether each motor has a fault risk based on the working status evaluation result of each motor; determining the motor with a fault risk as a target detection motor, and determining the classification identifier corresponding to the target detection motor; performing fault detection on the target detection motor according to a preset fault detection method corresponding to the classification identifier to obtain the online fault detection information.

[0050] The motor operating data may refer to operating data collected during the motor's operation, and may specifically include, but is not limited to, the motor's three-phase voltage data, current data, torque, angle, position, etc. detected during the motor's operation, which is not limited in this embodiment of the present application. The motor's corresponding classification identifier may refer to information used to identify the motor's classification, such as a motor classification label, motor batch number, etc., which is not limited in this embodiment of the present application.

[0051] The preset fault detection method may refer to a pre-set fault detection method, which may specifically include but not be limited to: a phase loss detection method, a phase mismatch detection method, a motor fault detection method, an insulation fault detection method, etc., and the embodiments of the present application do not impose any restrictions on this. Among them, the phase loss detection method can detect the magnitude of the phase current by applying a certain amount of voltage pulses to the single-phase line, and if the current is less than the predetermined value, there is a fault; the phase mismatch detection method is suitable for light-load and no-load conditions of the motor, such as by applying an asymmetric voltage square wave signal to the three-phase winding of the motor (such as the U phase is the rated voltage, the V phase is 50% of the rated voltage, and the W phase is 20% of the rated voltage), checking the micro-motion direction of the motor rotor, and determining whether the motor is misaligned according to the micro-motion direction of the motor rotor; the motor fault detection method can detect the maximum direct-axis voltage Vdmax and The minimum direct-axis voltage Vdmin determines the ratio between the maximum direct-axis voltage Vdmax and the minimum direct-axis voltage Vdmin. When the ratio between the maximum direct-axis voltage Vdmax and the minimum direct-axis voltage Vdmin is greater than the preset threshold value, it can be determined that the motor has a fault. In the parallel state of multiple motors, this voltage detection method is used for detection, and the detection value remains unchanged; the insulation fault detection method can apply a certain voltage bias value to the motor and measure the winding leakage current to the ground, so as to detect the fault when the winding leakage current to the ground is greater than the preset leakage current. For example, when the preset leakage current is 1mA, after applying a DC 500V bias, if the measured winding leakage current to the ground is greater than 1mA, it can be determined that the motor has an insulation fault, and then an alarm can be issued based on the fault detection result.

[0052] In an exemplary embodiment of the present application, during the operation of the motor, an online fault detection method and an online detection scheme can be used to send the detected information data such as current, voltage, motor torque, angle, position, etc. as motor working data to the cloud, so that the cloud server can perform cloud computing processing on the motor working data contained in the motor working data, that is, through cloud computing reasoning, the working state of the motor can be obtained, and the working state evaluation result of the motor can be generated based on the working state of the motor, so that the working state evaluation result of each motor can be obtained, and then, based on the working state evaluation result of each motor, it can be determined whether each motor has a fault or a fault risk, such as determining whether the motor has a potential fault risk, and determining the motor with a fault risk as the target detection motor, so that based on the classification identifier corresponding to the target detection motor, the target detection motor is fault detected according to the preset fault detection method corresponding to the classification identifier, thereby obtaining the said online fault detection information.

[0053] In an optional embodiment of the present application, online fault detection of the motor can be achieved by deploying a pre-trained model in the cloud + local edge computing, so as to realize local low-computing-cost fault detection. Specifically, a pre-trained model pre-trained by a reinforcement learning algorithm can be used based on pre-trained fault detection data, and the pre-trained model can be deployed in the cloud, such as Figure 3 As shown, the collected motor operating data is then transmitted back to the cloud via the local main control driver chip. This data is then uploaded to the cloud through data transmission. Cloud-based computation and reasoning derives the motor's operating status, allowing the determination of potential fault risks based on the motor's operating status. This not only reduces local computing resource requirements but also increases the cloud database sample size, improving the cloud model's prediction and reasoning capabilities.

[0054] Optionally, in an embodiment of the present application, for each motor group corresponding to each motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain fault detection information corresponding to each type of motor. Specifically, it may include: when the motor operating state is a motor shutdown state, a first-level offline fault detection is performed on each type of motor in the motor group according to a preset offline fault detection method corresponding to the motor shutdown state to obtain a primary detection result; based on the primary detection result, the motor type of the faulty motor is determined as a target type, and the motor in the motor group belonging to the target type is determined as a target detection motor; for the target detection motor of the same target type, a second-level offline fault detection is performed according to a preset fault detection method corresponding to the target type to obtain fault motor locating information, and the fault motor locating information can be used as the fault detection information corresponding to the target type, so that the fault motor locating information can be used to output the fault detection result of the motor system subsequently.

[0055] Optionally, the embodiment of the present application performs a first-level offline fault detection on each type of motor in the motor group according to a preset fault detection method corresponding to the motor shutdown state to obtain a primary detection result, which may specifically include: based on the offline fault detection method, detecting in batches whether each type of motor in the motor group has a shutdown fault to achieve classified allocation detection, and then the motor type corresponding to the motor with the shutdown fault can be determined as the type to be detected, and the number of faulty motors corresponding to each type to be detected can be counted to generate the primary detection result based on the number of faulty motors.

[0056] The primary detection result can be used to determine whether a large motor of the type to be detected has a motor fault. For example, the primary detection result can include the number of faulty motors corresponding to the type to be detected. When the number of faulty motors is greater than a preset judgment number, it is considered that the motor of the type to be detected has a motor fault; and when the number of faulty motors is not greater than the preset judgment number, it is considered that the motor of the type to be detected does not have a motor fault. The preset judgment number can refer to a number threshold set according to fault detection requirements, which can be specifically used to determine whether a motor of the same motor type has a motor fault. For example, the preset judgment number can be set to zero, so that when the number of faulty motors is greater than zero, it is considered that the motor of the type to be detected has a motor fault; and when the number of faulty motors is zero, it is considered that the motor of the type to be detected does not have a motor fault.

[0057] In one embodiment of the present application, after obtaining the primary detection results corresponding to each motor type, it can be determined whether there is a motor fault in the motor type based on the primary detection results; if there is a motor fault, the motor type can be determined as the target type, that is, the motor type of the motor with the fault is determined as the target type, and the motor belonging to the target type in the motor group is determined as the target detection motor, so that the second-level offline fault detection can be performed on the target detection motor of the same target type according to the preset fault detection method corresponding to the target type, so as to determine the specific faulty motor of the target type and realize rapid positioning of the faulty motor in the offline state of the motor.

[0058] Optionally, in order to quickly and accurately locate multiple motor faults in a motor system, after detecting that a motor fault exists in a certain motor type, the embodiment of the present application can count the number of parallel motors of that motor type, and locate the motor fault of the motor of that motor type using a preset positioning method based on the number of parallel motors, thereby quickly locking the specific faulty motor and generating fault detection information corresponding to the motor type based on the motor information of the faulty motor.

[0059] The number of parallel motors refers to the number of parallel motors, and the number of parallel motors of a motor type refers to the number of parallel motors of the same motor type. For example, if three parallel motors are connected to the output end of the IPM, if these three parallel motors belong to the same motor type, then the number of parallel motors of that motor type is 3. If these three parallel motors do not belong to the same motor type, such as when motor 1 M2 and motor 2 M2 belong to the first motor type, and motor 3 M3 belongs to the second motor type, then the number of parallel motors of the first motor type can be determined to be 2, and the number of parallel motors of the second motor type can be determined to be 1. The preset positioning method refers to a data processing method set in advance for fault positioning, which can specifically include but is not limited to a traversal method, a dichotomy method, etc., and is not limited to this embodiment of the present application.

[0060] Optionally, an embodiment of the present application performs a second-level offline fault detection on target detection motors of the same target type according to a preset fault detection method corresponding to the target type to obtain the fault motor locating information, which may specifically include: counting the number of target detection motors of the same target type to obtain the number of parallel motors of each target type; when the number of parallel motors is greater than the preset number of motors, according to the fault detection method, a binary method is used to locate the motor fault to obtain the fault motor locating information; or, when the number of parallel motors is not greater than the preset number of motors, according to the fault detection method, a traversal method is used to locate the motor fault to obtain the fault motor locating information.

[0061] In summary, after the operating status of various types of motors in the motor system are grouped, the embodiment of the present application can perform single-type motor fault detection on the motors in each motor unit, so as to directly use the method of connecting multiple motors in parallel to detect multiple motors at the same time, that is, to perform fault detection on motors of the same type and model, so as to detect in batches whether there is a motor fault in each type of motor in the motor unit. If a fault is detected in a certain motor type, that is, when a motor fault is detected in a motor of a certain motor type, the motor type of the motor with the fault is determined as a target type, and the number of parallel motors of the motor type is counted, so as to locate the motor fault of the motor of the motor type using a preset positioning method according to the number of parallel motors. It is not only possible to detect which motor type has a motor fault motor, but also to further locate which specific motor has failed, thereby improving the reliability and safety of the system.

[0062] For example, Figure 2 As shown, after the fault is detected, according to the number of motors in parallel, it is determined whether to use the binary method to quickly locate the faulty motor or the traversal method to locate the faulty motor, until the faulty motors are detected one by one, so as to complete the faulty motor detection of the motor type and generate the fault detection information corresponding to the motor type; then, the motor type detection is switched, that is, when the fault detection of the previous type of motor is completed, the next type of motor fault detection link is entered to continue to detect the next type of motor fault, so that the fault detection information corresponding to each motor type can be obtained, so that the fault detection result of the motor system can be output according to the fault detection information.

[0063] Figure 4 This is a schematic diagram of the structure of a multi-motor system provided in an embodiment of the present application. Figure 4 As shown, the multi-motor system provided in this embodiment includes a motor fault detection device 310 and a parallel motor 320 electrically connected to the motor fault detection device. The parallel motor 320 is a motor connected in parallel in the multi-motor system. The motor fault detection device is configured to implement the motor fault detection method provided in any one of the aforementioned embodiments of the present application.

[0064] It should be noted that the motor fault detection device 310 in the multi-motor system provided above can execute the motor fault detection method provided in any embodiment of the present application, and has the corresponding functions and beneficial effects of the execution method.

[0065] In an optional embodiment of the present application, the motor fault detection device 310 can be set in the mainboard of the multi-motor system, and specifically can include the following modules: a main control module, an intelligent power module and a circuit switching control module; wherein the intelligent power module is configured to: convert the bus power supply signal provided by the power supply module into a three-phase electrical output signal based on the pulse width modulation signal output by the main control module; the circuit switching control module is configured to: transmit the three-phase electrical output signal to the target control motor based on the drive control signal output by the main control module, and the target control motor includes the motor selected and controlled by the drive control signal; the main control module is configured to: output the pulse width modulation signal and the drive control signal, and implement the steps of the motor fault detection method provided in any of the aforementioned embodiments of the present application. For example, the main control module can be provided with a main control drive chip to implement the motor fault detection method of the multi-motor system using the main control drive chip.

[0066] Optionally, the multi-motor system provided in the embodiment of the present application also includes a power supply module; the power supply module is configured to: output a power supply signal, the power supply signal includes the bus power supply signal and the mainboard power supply signal, and the mainboard power supply signal is used to power the main control module.

[0067] Optionally, the circuit switching control module includes: a circuit switching controller and a current maintainer; the circuit switching controller is configured to: receive the drive control signal, and output a synchronization control signal to the current maintainer according to the drive control signal, and output a three-phase electrical signal to the current maintainer based on the three-phase electrical output signal; the current maintainer is configured to: output the three-phase electrical signal to the target motor according to the synchronization control signal, and the three-phase electrical signal is used to maintain the motor operating state of the target motor, and the target motor is the motor connected to the output end of the current maintainer.

[0068] As an example of the present application, in the case where three motors connected in parallel in a multi-motor system are controlled by one IPM module, the output end of the circuit switching controller can be electrically connected to the three motors through three current keepers, such as Figure 3As shown, the first motor M1, the second motor M2 and the third motor M3 are respectively electrically connected to the output end of the circuit switching controller through a current retainer, and the input end of the circuit switching controller is electrically connected to the output end of the IPM module, so that the circuit switching controller can obtain the three-phase electrical output signal output by the IPM module, and then the motor switching controller can output a synchronous control signal to the current retainer through the PLL phase-locked loop according to the drive control signal output by the main control module, and can transmit the three-phase electrical output signal output by the IPM module as a three-phase electrical signal to the current retainer, so that the current retainer can output the three-phase electrical signal to the target motor according to the synchronous control signal to maintain the motor operating state of the target motor through the three-phase electrical signal.

[0069] Specifically, in the entire multi-motor system structure, the motor module can be used to power the entire system. For example, the power module can output a mainboard power supply signal to power the mainboard, and the power module can output a busbar power supply signal to power the busbar in the system. The system can include a reinforcement learning pre-trained model deployed on a cloud server. The reinforcement learning pre-trained model is used in a third-level online detection solution, combining local and cloud reinforcement learning pre-trained model detection, so that the local main control driver chip can handle simple online fault detection. Through data transmission, the motor working data collected by the main control driver chip can be uploaded to the cloud server, so that the cloud receives the locally uploaded motor working data to detect more complex motor faults through the cloud server.

[0070] In the control flow, the main control driver chip generates a pulse width modulation (PWM) signal and a drive control signal, which are sent to the IPM module and the corresponding circuit switching controller, respectively. Specifically, the main control driver chip transmits the PWM signal as a control signal to the IPM module, thereby driving the IPM module. Simultaneously, the main control driver chip samples the current signal to detect the operating status of the multiple motors in the multi-motor system. Based on the motor operating status and the preset fault detection method corresponding to the motor shutdown state, the main control driver chip performs fault detection on the multiple motors in the multi-motor system. Based on the motor fault detection requirements, the main control driver chip sends a drive control signal carrying a selection instruction to the circuit switching controller. After receiving the selection instruction from the main control driver chip, the circuit switching controller outputs a synchronous control signal to the current keeper via a phase-locked loop (PLL) based on the selection instruction. This causes the current keeper to intervene in the power supply operation of the switched motor, ensuring that the motor operates in the same state as before the switch, allowing the IPM module's signal to control the corresponding motor.

[0071] Among them, the function of the IPM module is to convert the bus power supply energy of the power supply into the corresponding three-phase power output after receiving the PWM signal of the main control driver chip; the function of the circuit switching controller is to control the current maintainer to intervene in the power supply of the switched motor after receiving the selection instruction of the main control driver chip, to ensure that the motor operates according to the state before switching, so that the signal of the IPM module can control the corresponding motor.

[0072] Specifically, when the IPM module controls a specific motor, the current maintainer is responsible for maintaining the current of other motors constant to ensure stable operation of the system. Its main implementation logic is that the current maintainer is required to be able to maintain the output of a specific current with equal amplitude, the same frequency, and phase synchronization. In order to maintain phase synchronization, the phase can be synchronized by a phase-locked loop, and the amplitude and frequency are stabilized by the hardware circuit inside the circuit switching controller to maintain the stability of the amplitude and frequency, thereby maintaining a stable equivalent output of the current. For example, in order to achieve stable current output, the current maintainer synchronizes the phase information through the PLL phase-locked loop, and then controls the current amplitude and adjusts the frequency through the internal PI loop. In this way, in the process of self-maintaining current output, there is no need to use the main control driver chip resources, that is, the high-cost IPM is replaced by the current maintainer, saving chip resources and facilitating the integrated control of multiple motors using a small amount of chip resources, such as controlling more motors than the number of IPM modules with a small number of IPM modules, thereby saving the cost of multi-motor control.

[0073] The PLL phase-locked loop is used to output a synchronization control signal, which controls the synchronization of the three-phase electrical signal output by the current maintainer and the three-phase electrical control signal output by the IPM module.

[0074] In an embodiment of the present application, the source of the motor drive current signal is mainly from the IPM module and the current maintainer, that is, the motor is powered by the IPM and the current maintainer; whether the motor is powered by the IPM module depends on whether the operating state of the motor needs to be changed in the current state. Optionally, the IPM module can give priority to directly connecting to the high-priority motor, directly control it, and adjust its real-time state; the other motors are maintained by the current maintainer to maintain current output and keep their working conditions stable. Specifically, the IPM module can convert the bus power supply signal provided by the power module into a three-phase electrical output signal based on the PWM signal, and output it to the circuit switching controller, so that the circuit switching controller can output the three-phase electrical signal to the current maintainer based on the three-phase electrical output signal, so that the current maintainer can output the three-phase electrical signal to the target motor based on the synchronization control signal to maintain the motor operating state of the target motor.

[0075] Optionally, the circuit switching controller can be controlled by a logic decoder and a switch tube / relay to realize the switching control of the motor power supply circuit. Specifically, the logic decoder receives the drive control signal sent by the main control module, and outputs a signal to the switch tube according to the drive control signal, so that the switch tube selects the corresponding motor power supply circuit according to the output signal of the logic decoder. Among them, the output signal of the logic decoder can form a digital signal such as a 0 or 1 signal for selecting the corresponding motor power supply circuit; this signal can be amplified by an operational amplifier and used to drive the corresponding transistor / relay to turn on the corresponding circuit, such as 0 indicates that the circuit is disconnected, and 1 indicates that the circuit is turned on, thereby turning on the corresponding motor power supply circuit, which plays the role of switching and controlling the selection of power on multiple motors. For example, after grouping the six motors in a motor system, a logic decoder can be used to control the motor grouping. According to the detection logic, if a binary search is used in subsequent grouping, there will be a time period in which the logic decoder outputs three high levels and three low levels. For example, the logic decoder outputs an 8-bit digital signal 00111000. Here, it is assumed that the two high-order bits are not used. The three middle ones represent that the power supply circuit of the first group of three motors is connected, and the three low-order zeros represent that the power supply circuit of the other group of three motors is disconnected. Of course, the decoder signals here can be adjusted as needed. For example, if the signal is 01010100, assuming that the six high-order bits are used, the corresponding motor circuit connection control signals from the left are 010101, indicating that the power supply of three motors is connected and the power supply of three motors is disconnected. In other words, the two sets of level signals are used to connect one group of three motors and disconnect the other group of three motors.

[0076] During the motor fault detection process, the main control module can send drive control signals in sequence, so that the logic decoder and the switch tube select and control the corresponding motor power supply circuit to be energized according to the drive control signals sent by the main control module, thereby detecting the fault status of each motor.

[0077] In an optional embodiment of the present application, the main control module can perform online / local offline detection based on a hierarchical fault detection strategy and a preset three-level fault detection method until all motors are detected, determine the faulty motor and information corresponding to the faulty motor, and store them in the chip storage for user viewing.

[0078] For example, after the motor groups corresponding to each motor type are divided according to the motor classification information, the main control driver chip can be used to classify and determine whether the motors in each motor group are in the motor working state based on the motor grouping, so as to determine the operating state of each motor in each motor group. Thus, based on the operating state of each motor, the motor operating state of each type of motor in the motor system can be determined, and according to the motor operating state and the preset fault detection method corresponding to the motor operating state, the various types of motors in the motor group can be subjected to graded fault detection. Among them, the graded fault detection can include three levels of fault detection, the first level fault detection is the first level offline fault detection, the second level fault detection is the second level offline fault detection, and the third level fault detection is the third level online fault detection.

[0079] In the specific implementation, for fault detection of a motor in the running state, the third-level online fault detection process can be directly entered according to the preset online fault detection method corresponding to the motor working state, that is, the running motor directly enters the third-level fault detection process; for fault detection of a motor in the stopped state, the first and second-level offline fault detection can be entered according to the preset offline fault detection method corresponding to the motor stopped state, that is, the non-running motor enters the first and second level detection processes for fault detection.

[0080] In one embodiment of the present application, the first-level offline fault detection is used to implement classified and batch detection in shutdown detection. The specific steps may include: according to the pre-classification (such as the motor specifications and models), the shutdown fault detection is performed on the same type of motors in parallel in turn, and the detection items may include phase loss, phase error, etc.; secondly, the number of possible faulty motors can be determined, such as the current I0 obtained from the test of multiple motors and the normal power-on current value I1 of a single motor can be compared to determine the number of faulty motors based on the comparison results. Specifically, there is a proportional relationship between the current I0 obtained from the test of multiple motors and the normal power-on current value I1 of a single motor, that is, there is a proportional relationship between the two currents. For example, based on the current I1 under the voltage U1 of a single motor, the current I2=M*I1 in the parallel state of multiple motors can be inferred according to the formula I2=M*I1, where M is the number of parallel motors. Then, the formula N=(I2-I0) / I1 can be calculated based on the number of faulty motors to determine the possible number of faulty motors N; and the faulty phase information can be determined and stored. For example, based on the power-on detection phase fault situation, the phase where the batch of parallel motors is missing is located, and the specific fault location is the measured phase line. The motor group and faulty phase situation are then recorded. For example, if the U and V phases of a certain motor model are detected to be possibly missing, the corresponding flag bit can be used in the code to indicate this. The embodiment of the present application is not limited to this. Then, based on the faulty phase information and / or the number of faulty motors, the second-level offline fault detection can be entered to locate the faulty motor using the second-level offline fault detection, so that the faulty motor and the faulty phase can be detected and located in batches.

[0081] For example, in the no-load shutdown state or when the motor is stopped, the current output of the IPM and the current maintainer can be cut off, allowing the motor to enter the free coasting state. Then, the fan back electromotive force waveform is sampled by the ADC and compared with the preset phase model to determine the abnormal waveform, such as a phase offset >15°. Then, the phase sequence error flag can be triggered based on the abnormal waveform.

[0082] During the second-level offline fault detection process, a suitable detection method can be selected based on the number of motors, and fault detection can be performed using the traversal method / binary search method. The order of fault detection can be as follows: extract the stored fault information, and based on the extracted information, first measure the fault phase, and then detect other phase lines. Optionally, if only one phase line fault is found in the first-level offline fault detection, then the second-level offline fault detection can only detect the fault phase, such as first checking whether the fault exists on the group of motors. If so, if the number of motors is sufficient, the binary search method is used to quickly locate the faulty motor; if the number of motors is small, the traversal method is used to locate the specific faulty motor, that is, the motors are tested one by one to troubleshoot the motor fault.

[0083] The third level of online fault detection focuses on online detection of motor faults. This involves using online detection solutions to detect motor faults during motor operation. This online detection solution can be implemented by deploying pre-trained models in the cloud and combining them with local edge computing. This involves deploying pre-trained models trained with reinforcement learning algorithms in the cloud. Locally sampled motor operating data is then transmitted back to the cloud. Cloud-based computation and reasoning are used to determine the motor's operating status and potential fault risks. This not only reduces local computing resource requirements but also increases the number of cloud database samples, improving the cloud model's prediction and reasoning capabilities.

[0084] As an optional example of this application, Figure 5 As shown, when classifying multiple motor types, the motors are divided into groups according to pre-defined motor types; then, the main control driver chip can classify and judge whether the motors in each motor group are in the motor working state based on the motor grouping, so as to determine the operating status of each motor in each motor group.

[0085] When the motor is in the motor working state, the running state of the motor can be determined as the motor working state, and then based on the motor working state, the third-level fault detection process can be entered to perform online fault detection according to the preset fault detection method corresponding to the motor working state. Specifically, for fault detection of the motor in the running state, the IPM module can be allowed to intervene in the power supply until the IPM is fully powered, and then the motor information can be collected, such as sampling the motor's three-phase voltage, current data, motor torque, angle, position data and other motor working data. The motor working data can then be recorded and compared with the cloud database according to the motor model, and the cloud reinforcement learning calculation evaluation can be used to determine whether the motor has a fault / fault risk. That is, based on the collected motor working data, the information data is transmitted back to the cloud through data transmission, and the cloud is allowed to calculate and evaluate whether the motor has a fault or a fault risk through an intelligent AI algorithm, and generate a motor working state evaluation result, so that the local main control drive chip can judge whether the current motor has a fault based on the working state evaluation result fed back by the cloud, so as to remember the motor batch number of the current motor when a fault is detected, that is, before judging the previous motor When a motor has a fault, the motor batch number of the current motor is remembered as the classification identifier corresponding to the target detection motor, and the current retainer can be controlled to gradually access the current control of the motor through the drive control signal, so that under the control of the current controller, the target detection motor is detected according to the preset fault detection method corresponding to the classification identifier, and then the faulty motor can be locked and the motor information can be saved. The saved motor information is used as fault detection information to display the corresponding fault information; and when it is determined that the previous motor does not have a fault, the current retainer is controlled to gradually access the current control of the motor through the drive control signal, and it is determined whether the online fault detection of all running motors has been completed. If it is determined that the online fault detection of all running motors has not been completed, the next undetected running motor is entered for fault detection, and this traversal is completed until all running motors have completed fault detection. It can be seen that the embodiment of the present application can divide all parallel-running motors into batches according to the classification identification, and the motors in the tested batches (i.e., the target detection motors) are subjected to fault detection, while the other motors maintain their original operating state. If power supply is required, it can be completed through the current maintainer. At this time, the drive signal output by the IPM will be controlled by the motor current selection controller + circuit, and then the faulty motor can be locked and the motor information can be saved. The saved motor information can be used as fault detection information, and the corresponding fault information can be displayed. The fault information can then be provided to the user as a fault detection result, so that the user can quickly and accurately locate the faults of multiple motors in the motor system based on the fault detection results, which helps to improve the maintenance efficiency of the multi-motor system.

[0086] When the motor is not in the working state, the operating state of the motor can be considered to be the non-working state. For example, when the motor is in the shutdown state, the operating state of the motor can be determined as the motor shutdown state. Then, based on the motor shutdown state, the first-level fault detection process can be entered to perform offline fault detection according to the preset fault detection method corresponding to the motor shutdown state, that is, directly detect faults according to the grouping, perform offline fault detection on a single type of motor in parallel state, and perform fault detection on parallel motors of the same type to determine whether there is a fault. If there is no fault, change a batch of motors for fault detection, that is, perform the next type of parallel motor fault detection until all motors are tested. If a fault is detected in a part of the parallel motors, it is necessary to detect the specific faulty motor of this part of the parallel motors, that is, enter the secondary detection process, use the second-level offline fault detection to locate the faulty motor, and use the binary method to pre-locate the faulty motor in the fault location stage. Then, it can be determined whether the number of parallel motors of the same type is greater than 4. When the number of parallel motors of the same type is greater than 4, the corresponding type of fault detection method is used to detect the existence of the fault and record the current motor batch number. Then, based on the recorded motor batch number, it can be determined whether the parallel motor data is greater than 1 when the fault is currently detected. If it is greater than 1, the fault conditions of other groups in the upper layer are checked. Otherwise, the faulty motor can be locked and the motor information of the faulty motor can be saved. When the number of parallel motors of the same type is not greater than 4, the fault can be detected in a traversal manner to quickly lock the faulty motor and save the motor information of the faulty motor, so that the saved motor information can be used as fault detection information to display the corresponding fault information. It can be seen that in the embodiment of the present application, when the number of parallel motors is greater than 4, it is considered that the number of parallel motors meets the preset motor number condition corresponding to the dichotomy method, and the dichotomy method is used to quickly locate the faulty motor; and when the number of parallel motors is not greater than 4, it is considered that the number of parallel motors does not meet the preset motor number condition corresponding to the dichotomy method, that is, when the number of motors is small, the traversal method is used to locate the specific faulty motor, and the motors are tested in turn to troubleshoot the motor fault, so that the faulty motor can be located quickly and accurately, solving the technical problem of fault detection and positioning in a multi-motor system.

[0087] In summary, the embodiments of the present application can classify all motors in the motor system according to preset motor classification information, thereby determining the motor type of each motor in the motor system, and then obtaining at least one motor type. Subsequently, all motors in the motor system can be grouped based on the motor type, so that based on the motor grouping, it can be classified and judged whether the motors in each group are in the motor working state, that is, the working state of each motor in each motor type is detected separately, and the operating state of each motor in each motor type is obtained, so that the various types of motors in the motor system can be graded for fault detection according to the motor operating state, and the faulty motor can be located quickly and accurately, solving the technical problems of fault detection and positioning in multi-motor systems.

[0088] For example, during operation, the motor current and three-phase voltage are monitored by the main control module. If an increase in current and a decrease in voltage are found; or if the fan current drops sharply and the speed sensor signal disappears during the output of the current maintainer, the motor may be stuck and the load and motor need to be checked. At this time, the compressor and fan can be controlled in a time-sharing manner through IPM, so that the uncontrolled motor is driven by the current maintainer. The current maintainer stores the last frame of current signal (amplitude, phase, frequency) before the IPM switching and restores the output. Through the coordinated work of the current maintainer and the IPM module, effective control and fault detection of multiple motors are achieved, and the faulty motor can be detected and located during the control process, solving the technical problems of fault detection and positioning in multi-motor systems, and achieving the technical effect of improving system reliability and maintenance efficiency.

[0089] In addition, the embodiments of the present application can introduce logic decoders and switch tube controls through current maintainers to ensure that the power supply lines of each motor can be accurately selected and controlled during the fault detection process, and thus a small number of IPM modules can be used to control more motors than the number of IPM modules; and online detection is achieved through cloud and local deployment, so that local fault detection can be run at low computing power costs, and the combination of local and cloud fault detection methods can enrich the company's motor operation database, facilitating the training of more accurate fault judgment models.

[0090] In a specific implementation, the multi-motor system provided in the embodiment of the present application can be integrated into an electrical device, so that the electrical device can execute the motor fault detection method provided in the embodiment of the present application through a processor, and perform online detection and offline detection on the running motor and the non-running motor respectively, so as to detect and locate the faulty motor during the control process, thereby solving the technical problems of fault detection and positioning in the multi-motor system and achieving the purpose of improving system reliability.

[0091] like Figure 6As shown, an embodiment of the present application provides an electrical device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114, and the memory 113 is used to store computer programs; In one embodiment of the present application, the processor 111 is used to execute the program stored in the memory 113 to implement the motor fault detection method provided by any of the aforementioned method embodiments, including: determining the motor operating status of each motor in the motor system by performing operating status detection on the motor; grouping the motors based on the motor operating status to obtain a motor group corresponding to each motor operating status; for the motor group corresponding to each motor operating status, performing fault detection on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating status to obtain fault detection information corresponding to each motor type; and outputting the motor fault detection result of the motor system based on the fault detection information.

[0092] In specific implementations, the electrical equipment in the embodiments of the present application may include but is not limited to refrigeration equipment such as air conditioners and refrigerators, and may also include washing machines and other types of electrical equipment. The embodiments of the present application do not impose specific restrictions on this.

[0093] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the motor fault detection method provided in any of the aforementioned method embodiments are implemented.

[0094] It should be noted that, for the purpose of simple description, the method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously.

[0095] Furthermore, the embodiments of the apparatus, multi-motor system, electrical equipment, and medium described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of these modules may be selected to achieve the objectives of the present embodiments as needed.

[0096] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software and a general hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for enabling a computer device (such as a personal computer, a server, or a network device) to execute the motor fault detection method described in various embodiments or certain portions of the embodiments.

[0097] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0098] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those 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 broadest scope consistent with the principles and novel features of the present application.

Claims

1. A motor fault detection method, characterized in that: include: By detecting the running status of the motor, the running status of each motor in the motor system is determined; Grouping the motors based on the motor operating states to obtain motor groups corresponding to each motor operating state; For each motor group corresponding to the motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain fault detection information corresponding to each motor type; outputting a motor fault detection result of the motor system based on the fault detection information; The fault detection method includes an offline fault detection method, the fault detection information includes fault motor location information, and for each motor group corresponding to the motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state, to obtain fault detection information corresponding to each motor type, including: When the motor operation state is the motor shutdown state, performing a first-level offline fault detection on each type of motor in the motor unit according to the offline fault detection method to obtain a primary detection result; Based on the primary detection result, determining the motor type of the faulty motor as a target type, and determining the motor of the target type in the motor group as a target detection motor; For target detection motors of the same target type, a second-level offline fault detection is performed according to a preset fault detection method corresponding to the target type to obtain the fault motor positioning information, including: counting the number of target detection motors of the same target type to obtain the number of parallel motors of each target type; when the number of parallel motors is greater than the preset number of motors, according to the fault detection method, a dichotomy method is used to locate the motor fault to obtain the fault motor positioning information.

2. The motor fault detection method according to claim 1, characterized in that: The motor operating state includes the operating state of each motor. The motor operating state detection is performed on the motor to determine the motor operating state of each motor in the motor system, including: Classifying all motors in the motor system according to preset motor classification information to obtain at least one motor type; The working status of each motor in each motor type is detected respectively to obtain the operating status of each motor in each motor type.

3. The motor fault detection method according to claim 1, characterized in that: According to the offline fault detection method, a first-level offline fault detection is performed on each type of motor in the motor unit to obtain a primary detection result, including: Based on the offline fault detection method, each type of motor in the motor unit is detected in batches to determine whether it has a shutdown fault; Determine the motor type corresponding to the motor with the shutdown fault as the type to be detected, and count the number of faulty motors corresponding to each type to be detected; The primary detection result is generated based on the number of faulty motors.

4. The motor fault detection method according to claim 1, characterized in that: The method further includes: performing a second-level offline fault detection on target detection motors of the same target type according to a preset fault detection method corresponding to the target type to obtain the fault motor location information; Determining whether the number of parallel motors is greater than a preset number of motors; When the number of parallel motors is not greater than the preset number of motors, the motor fault is located in a traversal manner according to the fault detection method to obtain the fault motor location information.

5. The motor fault detection method according to claim 1, characterized in that: The fault detection information further includes online fault detection information, wherein for each motor group corresponding to each motor operating state, fault detection is performed on each type of motor in the motor group according to a preset fault detection method corresponding to the motor operating state to obtain fault detection information corresponding to each motor type, and further includes: When the motor operation state is the motor working state, obtaining a preset online fault detection mode corresponding to the motor working state; According to the online fault detection method, online fault detection is performed on each type of motor in the motor unit to obtain online fault detection information.

6. The motor fault detection method according to claim 5, characterized in that: According to the online fault detection method, online fault detection is performed on each type of motor in the motor unit to obtain online fault detection information of each type of motor, including: According to the online fault detection method, motor data sampling is performed on each type of motor in the motor group to obtain motor working data, wherein the motor working data includes working data of each motor in each motor type; Perform cloud computing based on the working data of each motor to obtain the working status evaluation results of each motor; Determine whether each motor has a failure risk based on the working status assessment results of each motor; Determine a motor with a failure risk as a target detection motor, and determine a classification identifier corresponding to the target detection motor; According to the preset fault detection method corresponding to the classification identifier, fault detection is performed on the target detection motor to obtain the online fault detection information.

7. A multi-motor system, characterized in that: The multi-motor system includes a motor fault detection device and a parallel motor electrically connected to the motor fault detection device, the parallel motor being a motor connected in parallel in the multi-motor system, and the motor fault detection device being configured to implement the motor fault detection method according to any one of claims 1 to 6.

8. The multi-motor system according to claim 7, characterized in that: The motor fault detection device includes: a main control module, an intelligent power module and a circuit switching control module; The intelligent power module is configured to: convert the bus power supply signal provided by the power module into a three-phase electrical output signal according to the pulse width modulation signal output by the main control module; The circuit switching control module is configured to: transmit the three-phase electrical output signal to a target controlled motor according to the drive control signal output by the main control module, wherein the target controlled motor includes a motor selected to be controlled by the drive control signal; The main control module is configured to: output the pulse width modulation signal and the drive control signal, and implement the steps of the motor fault detection method according to any one of claims 1 to 6.

9. The multi-motor system according to claim 8, characterized in that: The multi-motor system further includes the power supply module; The power supply module is configured to output a power supply signal, wherein the power supply signal includes the bus power supply signal and the mainboard power supply signal, and the mainboard power supply signal is used to supply power to the main control module.

10. The multi-motor system according to claim 8, characterized in that: The circuit switching control module includes: a circuit switching controller and a current maintainer; The circuit switching controller is configured to: receive the drive control signal, output a synchronization control signal to the current keeper according to the drive control signal, and output a three-phase electrical signal to the current keeper based on the three-phase electrical output signal; The current maintainer is configured to output the three-phase electrical signal to the target motor according to the synchronous control signal, wherein the three-phase electrical signal is used to maintain the motor operating state of the target motor, and the target motor is the motor connected to the output end of the current maintainer.

11. An electrical device, characterized in that: include: A processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of the motor fault detection method according to any one of claims 1 to 6 when executing the program stored in the memory.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the motor fault detection method according to any one of claims 1 to 6 are implemented.

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