Motor fault detection methods, multi-motor systems, electrical equipment and media

Abstract

This application relates to a motor fault detection method, a multi-motor system, electrical equipment, and a medium. By detecting the operating status of the motors, the operating status of each motor in the motor system is determined. The motors are then grouped according to their operating status to obtain the motor unit corresponding to each operating status. Subsequently, for each motor unit corresponding to the operating status, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the operating status. This achieves motor classification fault detection, thereby avoiding the possible misdetection caused by the mutual influence of different motor parameters when multiple motors are running in parallel. Based on the fault detection information, the motor fault detection result is output, solving the problem caused by the inability to accurately identify and locate faulty motors in multi-motor systems in the prior art.

Description

Technical Field

[0001] This application relates to the field of motor testing technology, and in particular to a method for detecting motor faults, a multi-motor system, electrical equipment, and a medium. Background Technology

[0002] In modern industrial and automated 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, automated sorting systems, and mobile robots, multiple motors are usually connected in parallel for control.

[0003] Specifically, to reduce costs, existing multi-motor control systems mainly employ parallel operation of multiple motors, using a small number of Intelligent Power Modules (IPMs) to control multiple motors. However, this control method can only achieve simultaneous operation of multiple motors in the same working state, or multiple motors operating at different times. When one or more motors fail, such as due to open circuits, short circuits, performance degradation, or partial damage, the system may not be able to detect which motor is faulty in a timely manner, leading to reduced reliability of the entire system and even safety hazards. Although 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 accurately locate the specific faulty motor; moreover, multiple motors operating in parallel affect each other, making traditional single-motor detection methods difficult to adapt. Currently, multi-motor systems typically use independent processors to control each motor. However, this control method has certain limitations in detecting and diagnosing motor faults, especially when multiple motors share a single IPM. How to effectively detect and locate the faulty motor in a multi-motor system becomes a challenge. Summary of the Invention

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

[0005] Firstly, this application provides a method for detecting motor faults, including:

[0006] By detecting the operating status of the motors, the operating status of each motor in the motor system can be determined.

[0007] Based on the motor operating status, the motors are grouped to obtain the motor unit corresponding to each motor operating status.

[0008] For each motor unit corresponding to a motor operating state, fault detection is performed on each type of motor in the motor unit according to the preset fault detection method corresponding to the motor operating state, and fault detection information corresponding to each motor type is obtained.

[0009] Based on the fault detection information, the motor fault detection result of the motor system is output;

[0010] The fault detection method includes an offline fault detection method, and the fault detection information includes fault motor location information. For each motor operating state corresponding to a motor unit, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor operating state, obtaining fault detection information corresponding to each motor type, including:

[0011] When the motor is in a stopped state, the first-level offline fault detection is performed on each type of motor in the motor unit according to the offline fault detection method to obtain the initial detection results;

[0012] Based on the preliminary detection results, the motor types of the faulty motors are identified as target types, and the motors in the motor unit that belong to the target type are identified as target detection motors;

[0013] For target detection motors of the same target type, a second-level offline fault detection is performed according to the preset fault detection method corresponding to the target type to obtain the fault motor location 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, the motor fault is located using the binary search method according to the fault detection method to obtain the fault motor location information.

[0014] Optionally, the motor operating status includes the operating status of each individual motor, and the step of determining the motor operating status of each motor in the motor system by detecting the operating status of the motors includes:

[0015] Based on the preset motor classification information, all motors in the motor system are classified to obtain at least one motor type;

[0016] The operating status of each motor in each motor type is detected separately to obtain the operating status of each motor in each motor type.

[0017] Optionally, the first-level offline fault detection is performed on each type of motor in the motor unit according to the offline fault detection method to obtain the preliminary detection results, including:

[0018] Based on the offline fault detection method, the motors of each type in the motor unit are checked in batches to see if there is a shutdown fault.

[0019] The motor type corresponding to the motor with shutdown fault is determined as the type to be tested, and the number of faulty motors corresponding to each type to be tested is counted.

[0020] The initial detection results are generated based on the number of faulty motors.

[0021] Optionally, the step of performing a second-level offline fault detection on target 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:

[0022] Whether the number of parallel motors is greater than the preset number of motors;

[0023] When the number of parallel motors is not greater than the preset number of motors, the fault location of the motor is obtained by traversing through the fault detection method.

[0024] Optionally, the fault detection information further includes online fault detection information. The step of performing fault detection on each type of motor in the motor unit according to a preset fault detection method corresponding to each motor operating state, to obtain fault detection information corresponding to each motor type, further includes:

[0025] When the motor is in the motor operating state, a preset online fault detection method corresponding to the motor operating state is obtained;

[0026] 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.

[0027] Optionally, the fault detection method includes an online fault detection method. The step of 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 for each type of motor includes:

[0028] According to the online fault detection method, motor data is sampled for each type of motor in the motor unit to obtain motor working data, which includes the working data of each motor in each motor type.

[0029] The working data of each motor is processed in the cloud to obtain the working status evaluation result of each motor;

[0030] Based on the evaluation results of the working status of each motor, determine whether each motor has a risk of failure;

[0031] Motors with potential faults are identified as target inspection motors, and a classification identifier corresponding to the target inspection motor is determined.

[0032] Based on the preset fault detection method corresponding to the classification identifier, the target detection motor is subjected to fault detection to obtain the online fault detection information.

[0033] Secondly, this application provides a multi-motor system, including: a motor fault detection device and a parallel motor electrically connected to the motor fault detection device, wherein the parallel motor is a motor connected in parallel in the multi-motor system, and the motor fault detection device is configured to implement the motor fault detection method as described in any of the first aspects of this application above.

[0034] Optionally, the motor fault detection device includes: a main control module, an intelligent power module, and a circuit switching control module;

[0035] The intelligent power module is configured to convert the bus power supply signal provided by the power supply module into a three-phase power output signal based on the pulse width modulation signal output by the main control module.

[0036] The circuit switching control module is configured to: transmit the three-phase power output signal to the target control motor according to the drive control signal output by the main control module, wherein the target control motor includes the motor selected for control by the drive control signal;

[0037] 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 of the first aspects of this application.

[0038] Optionally, the multi-motor system may also include a power supply module;

[0039] The power module is configured to output a power supply signal, which includes the bus power supply signal and the motherboard power supply signal, and the motherboard power supply signal is used to supply power to the main control module.

[0040] Optionally, the circuit switching control module includes: a circuit switching controller and a current holder;

[0041] The circuit switching controller is configured to: receive the drive control signal, output a synchronization control signal to the current holder according to the drive control signal, and output a three-phase electrical signal to the current holder based on the three-phase electrical output signal;

[0042] The current holder is configured to output the three-phase electrical signal to the target motor according to the synchronization control signal. 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 terminal of the current holder.

[0043] Thirdly, this application provides an electrical device, including: 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, when executing the program stored in the memory, implements the steps of the motor fault detection method as described in any of the first aspects of this application above.

[0044] Fourthly, this application provides a computer storage medium storing computer-executable instructions for performing the steps of the motor fault detection method described in any of the first aspects of this application.

[0045] Compared with the prior art, the technical solutions provided in this application have the following advantages: The motor fault detection method, multi-motor system, electrical equipment, and medium provided in this application determine the motor operating status of each motor in the motor system by detecting the operating status of the motors. Based on the motor operating status, the motors are grouped to obtain the motor unit corresponding to each motor operating status. Subsequently, for each motor unit corresponding to a motor operating status, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor operating status, obtaining fault detection information corresponding to each motor type. This achieves motor classification fault detection, thereby avoiding possible false detections caused by the mutual influence of different motor parameters during multi-motor parallel operation. Furthermore, when the motor operating status is a motor stop state, an offline fault detection method is used to detect various types of motors in the motor stop state. The system performs a first-level offline fault detection on the motor to obtain a preliminary detection result. Based on this result, the type of motor with a fault can be identified as a target type, and the motors belonging to the target type in the motor unit can be identified as target detection motors. Subsequently, a second-level offline fault detection can be performed on the target detection motors of the same target type according to a preset fault detection method corresponding to the target type. This allows for the rapid detection of faulty motor location information when the motor is stopped, ensuring that the fault detection information includes the location information of the faulty motor. The system can then output the motor fault detection result based on the fault detection information, enabling subsequent control of multiple motors in the motor system. This solves the problem of inaccurate identification and location of faulty motors in multi-motor systems in existing technologies, and achieves effective control and fault detection of multiple motors, improving the stability and reliability of multi-motor system operation. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0049] Figure 1 This is a flowchart illustrating the steps of a motor fault detection method provided in an embodiment of this application.

[0050] Figure 2 A schematic diagram illustrating a system motor fault detection process as an example of this application;

[0051] Figure 3 This application provides a schematic diagram illustrating fault detection in a multi-motor system as an example.

[0052] Figure 4 This is a schematic diagram of the structure of a multi-motor system provided in an embodiment of this application;

[0053] Figure 5 A schematic diagram of a fault detection process for a multi-motor system is provided as an optional example of this application;

[0054] Figure 6 This is a schematic diagram of the structure of an electrical device provided in an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0057] In multi-motor parallel control systems, fault detection of multiple motors is typically required to ensure stable system operation and efficient maintenance. However, traditional single-motor detection methods are ill-suited to the complex multi-motor detection needs of such systems. Existing multi-motor parallel fault detection methods primarily target the entire group of parallel motors, failing to pinpoint the specific faulty motor and thus reducing system reliability and safety. Therefore, there is an urgent need for a motor fault detection method capable of quickly and accurately locating faults in multiple motors to ensure stable system operation and efficient maintenance.

[0058] Based on the above, this application provides a motor fault detection method, a multi-motor system, electrical equipment, and a medium. By detecting the operating status of the motors, the operating status of each motor in the motor system is determined. The motors are then grouped according to their operating status to obtain a motor unit corresponding to each operating status. Subsequently, for each motor unit corresponding to its operating status, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the operating status. This achieves motor classification fault detection, thereby avoiding potential false detections caused by the mutual influence of different motor parameters when multiple motors are running in parallel. Based on the fault detection information, the motor fault detection result is output so that the multiple motors in the motor system can be controlled according to the motor fault detection result. This achieves effective control and fault detection of multiple motors, thereby improving the technical effect of improving system reliability and maintenance efficiency.

[0059] The term "motor system" refers to a system containing motors, such as a multi-motor system, which contains two or more motors connected in parallel. This application does not impose any restrictions on this.

[0060] Figure 1 This is a flowchart illustrating the steps of a motor fault detection method provided in an embodiment of this application. The motor fault detection method provided in this application can be applied to multi-motor parallel detection scenarios, such as multi-motor parallel control systems, and specifically includes the following steps:

[0061] Step 110: Determine the operating status of each motor in the motor system by detecting the operating status of the motors;

[0062] 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 operating state, the motor operating state can be determined as the motor working state; when the motor is not in the operating state, such as when the motor is in the stopped state, the motor operating state can be determined as the motor non-working state. The motor non-working state may include the motor stopped state. This application embodiment does not make specific limitations on this.

[0063] Step 120: Group the motors based on their operating states to obtain the motor units corresponding to each operating state;

[0064] Specifically, in this embodiment of the application, after determining the motor operating status of each motor in the motor system, the motors in the motor system can be grouped according to the motor operating status, thereby obtaining motor groups that correspond one-to-one with the motor operating status. That is, the motor groups and the motor operating status have a one-to-one correspondence, so that motor fault detection can be performed on the motor groups corresponding to the motor operating status according to the preset fault detection method corresponding to the motor operating status.

[0065] Step 130: For each motor unit corresponding to each motor operating state, according to the preset fault detection method corresponding to the motor operating state, perform fault detection on each type of motor in the motor unit to obtain fault detection information corresponding to each motor type.

[0066] Specifically, in this embodiment, after determining the motor grouping based on the motor operating state, 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 state. 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 each type of motor in the motor group. The type of motor with a motor fault can be recorded. Based on the recorded motor type, the specific faulty motor can be detected using the corresponding motor type fault detection method, thereby realizing fault motor location. Subsequently, based on the motor information of the faulty motor, fault detection information corresponding to the motor type can be generated, thereby obtaining the fault detection information corresponding to each type of motor in the motor system, realizing motor classification fault detection, so that multi-motor control in the motor system can be performed according to the fault detection information, realizing multi-motor detection control.

[0067] 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 may include faulty motor information, faulty motor location information, etc., and this application embodiment does not impose specific limitations on this. Faulty motor location information may refer to information related to the location of the faulty motor, and can be used to determine the specific location of the motor fault.

[0068] Step 140: Based on the fault detection information, output the motor fault detection result of the motor system.

[0069] Specifically, in this embodiment, after obtaining the fault detection information corresponding to each motor type, the fault detection information corresponding to each motor type can be used to generate motor fault detection results for the motor system. This allows for subsequent control of multiple motors in the motor system based on the fault detection results, improving the stability and reliability of system operation. The motor fault detection results can be used to identify the specific faulty motor in the motor system, enabling users to quickly and accurately locate the motor faults present in the system, thus improving system maintenance efficiency.

[0070] In summary, the motor fault detection method provided in this application determines the operating status of each motor in the motor system by detecting the operating status of the motors. Based on these operating statuses, the motors are grouped to obtain a motor unit corresponding to each operating status. Then, for each motor unit corresponding to a given operating status, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to that operating status. This obtains fault detection information corresponding to each motor type, achieving hierarchical fault detection of motors. This avoids potential misdetection due to the mutual influence of different motor parameters during parallel operation of multiple motors. Based on the fault detection information, the method outputs motor fault detection results, which can then be used to control multiple motors in the motor system. This achieves effective control and fault detection of multiple motors, improving the stability and reliability of system operation, and ultimately enhancing system reliability and maintenance efficiency.

[0071] In some optional embodiments of this application, in order to ensure stable system operation, motors can be classified according to preset motor classification information to classify all motors in the motor system, and the operating status of the motors can be detected to further subdivide the categories according to the operating status, so as to facilitate subsequent motor classification fault detection based on the motor operating status.

[0072] Optionally, the motor operating state in this embodiment includes the operating state of each motor in the motor system, and step 110 above may specifically include the following sub-steps:

[0073] Sub-step 1101: According to the preset motor classification information, classify all motors in the motor system to obtain at least one motor type;

[0074] Sub-step 1102 involves detecting the operating status of each motor in each motor type to obtain the operating status of each motor in each motor type.

[0075] The preset motor classification information can refer to information set in advance for motor classification. For example, the preset motor classification information can be pre-allocated information, and the pre-allocated information can be used to label the corresponding motor so as to characterize the motor classification through the label. The motor type refers to the classification type of the motor. For example, it can be a classification label used to characterize the classification type. This application embodiment does not limit this.

[0076] To facilitate understanding of the embodiments of this application, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific examples. These examples do not constitute a limitation on the embodiments of this application.

[0077] As an example of this application, after the motor system is started, it can be operated as follows: Figure 2 The system motor fault detection process shown performs motor fault detection. Specifically, after the system starts, all motors can be categorized first, such as... Figure 2 As shown, during motor classification, corresponding motors are tagged according to pre-assigned information. After classification, the motor classification information is stored in the driver chip, i.e., storing motor classification information for subsequent motor status detection. After motor classification, all motors in the motor system can be grouped based on motor type. Based on motor grouping, it is possible to determine whether the motors in each group are in a working state, i.e., to detect the working state of each motor in each motor type, thus determining the operating state of each individual motor.

[0078] For example, such as Figure 2 As shown, during operational status detection, the working status of the motors is detected to further distinguish between working and non-working motors within each category, facilitating the next stage of the detection process and enabling the classification and batch detection of all motors in the motor system. Specifically, through operational status detection, non-working motors can be assigned to the first motor group corresponding to the motor stop state, while motors in the running state can be assigned to the second motor group corresponding to the motor working state.

[0079] 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. Then, according to the preset fault detection method corresponding to the operating status of the motor, fault detection is performed on each type of motor in the motor unit to obtain the fault detection information corresponding to each motor type.

[0080] For example, in conjunction with the above examples, for motor fault detection in the first motor unit, the offline fault detection method can be used as the preset fault detection method corresponding to the motor shutdown state. Fault detection can be performed on each type of motor in the first motor unit according to the offline fault detection method, thereby obtaining the fault detection information corresponding to each type of motor in the first motor unit. Similarly, for motor fault detection in the second motor unit, the online fault detection method can be used as the preset fault detection method corresponding to the motor operating state. Fault detection can be performed on each type of motor in the second motor unit according to the online fault detection method, thereby obtaining the fault detection information corresponding to each type of motor in the second motor unit.

[0081] As can be seen, this application example, after classifying the types of motors in the motor system, can group the operating states of each type of motor. Motors not in operation are assigned to the first motor group corresponding to the motor stop state, and motors in operation are assigned to the second motor group corresponding to the motor working state. Then, based on the motor group, and according to a preset fault detection method corresponding to the motor operating state of the motor group, single-type 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 whether motor faults exist in each type of motor in the motor group in batches and categories, thus achieving fault detection. After fault detection, the specific faulty motor can be identified, and fault detection information can be generated based on the faulty motor information. Here, faulty motor information refers to information related to the faulty motor, such as the motor information of the faulty motor itself.

[0082] For example, such as Figure 2 As shown, in single-type motor fault detection, fault detection is performed on motors of the same type and model. Specifically, a motor circuit selection controller can be used to control the switching transistors connected to the motors of this type, supplying power to these motors individually to achieve a parallel multi-motor configuration. Then, the three phases (UVW) of each motor are energized according to a predetermined method to detect whether a fault exists in this type of motor. In other words, in single-type motor fault detection, a multi-motor parallel approach is directly used to simultaneously detect multiple motors of the same type. If a fault is detected in a particular motor type, further fault motor location is performed to identify the specific faulty motor corresponding to that type. Based on the faulty motor information, a motor fault detection result for the entire motor system can be generated, allowing for rapid and accurate location of the faulty motor in subsequent operations, thus solving the technical problems of fault detection and location in multi-motor systems.

[0083] Optionally, in order to quickly and accurately locate multiple motor faults in the motor system, this embodiment of the application, after grouping the operating states of various types of motors, can perform fault detection on each type of motor in the motor unit based on a hierarchical fault detection strategy, according to a preset fault detection method corresponding to the motor operating state. For example, the hierarchical fault detection strategy can include three levels of fault detection: first-level offline fault detection, second-level offline fault detection, and third-level online fault detection. Among them, the first-level offline fault detection and the second-level offline fault detection can be used for shutdown detection to perform shutdown detection on motors that are not running in the motor system. For example, the first-level offline fault detection can be used to perform shutdown detection on multiple parallel motors of the same model in the motor system to determine whether there is a motor fault in the multiple parallel motors of the same model, that is, to determine whether there is an offline fault in the motor that is not running, and the second-level offline fault detection can be used to locate the faulty motor. The third-level online fault detection can be used to detect motor faults online, that is, to detect motor faults during the operation of the motor, so that the fault detection information includes online fault detection information.

[0084] The online fault detection information refers to information related to online motor faults. This information can be generated during motor operation by detecting motor faults, and may include, but is not limited to, faulty motor information and fault warning information. This application does not impose any limitations on this. Fault warning information can include various information related to motor fault warnings and can be used to warn users of faulty motor information, facilitating troubleshooting and maintenance.

[0085] Optionally, in this embodiment of the application, for each motor operating state corresponding to a motor unit, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor operating state to obtain the fault detection information. Specifically, this may include: when the motor operating state is a 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 unit according to the fault detection method to obtain online fault detection information.

[0086] In some optional embodiments of this application, the fault detection methods can be divided according to the motor operating state. For example, the offline fault detection methods can be divided into preset fault detection methods corresponding to the motor stop state, and the online fault detection methods can be divided into preset fault detection methods corresponding to the motor working state, so that the preset fault detection methods can include both offline and online fault detection methods.

[0087] Specifically, for a motor in operation, this application embodiment can assign it to a motor unit corresponding to the motor's operating state, and detect motor faults and generate online fault detection information during the motor's operation according to a preset online fault detection method corresponding to the motor's operating state.

[0088] Optionally, in this embodiment of the application, online fault detection is performed on each type of motor in the motor unit according to the online fault detection method to obtain online fault detection information for each type of motor. Specifically, this may include: sampling motor data for each type of motor in the motor unit according to the online fault detection method to obtain motor operating data, wherein the motor operating data includes the operating data of each motor in each motor type; performing cloud computing processing based on the operating data of each motor to obtain an operating status evaluation result for each motor; determining whether each motor has a fault risk based on the operating status evaluation result for each motor; identifying motors with fault risks as target detection motors and determining the corresponding classification identifier for the target detection motors; and performing fault detection on the target detection motors according to the preset fault detection method corresponding to the classification identifier to obtain the online fault detection information.

[0089] The motor operating data can refer to the operating data collected during the motor's operation, specifically including but not limited to: the three-phase voltage data, current data, torque, angle, and position of the motor detected during operation. This application embodiment does not impose any limitations on this. The motor's corresponding classification identifier can refer to information used to identify the motor's classification, such as a motor classification label, motor batch number, etc. This application embodiment does not impose any limitations on this.

[0090] The preset fault detection method can refer to a pre-set fault detection method, which may include, but is not limited to, phase loss detection methods, phase reversal detection methods, motor fault detection methods, insulation fault detection methods, etc. This application embodiment does not impose any limitations on this. Specifically, the phase loss detection method applies a certain voltage pulse to a single-phase line to detect the current magnitude of that phase; if the current is less than a predetermined value, a fault exists. The phase reversal detection method is suitable for lightly loaded or unloaded motor conditions. For example, it can apply an asymmetrical voltage square wave signal (e.g., U phase is the rated voltage, V phase is 50% of the rated voltage, and W phase is 20% of the rated voltage) to the three-phase windings of the motor to check the direction of the motor rotor's micro-motion, thus determining whether the motor is in phase reversal based on the direction of the rotor's micro-motion. The motor fault detection method can detect the maximum direct-axis voltage Vdmax of each motor and... The minimum direct-axis voltage Vdmin is used to determine 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 a preset threshold, it can be determined that the motor has a fault. In the parallel operation of multiple motors, the detection value remains unchanged when this voltage detection method is used. The insulation fault detection method can apply a certain voltage bias value to the motor and measure the winding-to-ground leakage current. When the winding-to-ground leakage current is greater than a preset leakage current, a fault can be detected. For example, if the preset leakage current is 1mA, and after applying a DC 500V bias voltage, if the measured winding-to-ground leakage current is greater than 1mA, it can be determined that the motor has an insulation fault, and an alarm can be triggered based on the fault detection result.

[0091] In an exemplary embodiment of this application, during the operation of the motor, an online fault detection scheme can be adopted to send the detected information data such as current, voltage, motor torque, angle, and position as motor operating data to the cloud. The cloud server can then perform cloud-based computational processing on the motor operating data contained therein, i.e., through cloud-based computational reasoning, the operating state of the motor can be determined, and an operating state evaluation result can be generated based on the operating state of the motor. This allows for the determination of the operating state evaluation result for each motor, and further, based on the operating state evaluation result of each motor, it can be determined whether each motor has a fault or fault risk. For example, it can be determined whether a motor has a potential fault risk, and motors with fault risks are identified as target detection motors. Based on the classification identifier corresponding to the target detection motor, a preset fault detection method is used to detect faults in the target detection motor, thereby obtaining the online fault detection information.

[0092] In an optional embodiment of this application, online fault detection of the motor can be achieved by deploying a pre-trained model in the cloud and using local edge computing, thus realizing fault detection for local operation with low computing power cost. Specifically, a pre-trained model can be pre-trained using reinforcement learning algorithms based on pre-trained fault detection data, and this 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 uploaded to the cloud for computation and inference, which determines the motor's operating status and identifies potential fault risks. This approach not only reduces local computing resource requirements but also increases the cloud database sample size, improving the predictive and inference capabilities of the cloud model.

[0093] Optionally, in this embodiment of the application, for each motor operating state corresponding to a motor unit, fault detection is performed on each type of motor in the motor unit 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, this may include: when the motor operating state is a motor stop state, performing a first-level offline fault detection on each type of motor in the motor unit according to a preset offline fault detection method corresponding to the motor stop state, to obtain a preliminary detection result; based on the preliminary detection result, determining the motor type of the faulty motor as a target type, and determining the motor in the motor unit belonging to the target type as the target detection motor; for the target detection motor of the same target type, performing a second-level offline fault detection according to a preset fault detection method corresponding to the target type, to obtain fault motor location information, and using the fault motor location information as the fault detection information corresponding to the target type, so that the fault detection result of the motor system can be output subsequently using the fault motor location information.

[0094] Optionally, in this embodiment of the application, a first-level offline fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor shutdown state to obtain a preliminary detection result. Specifically, this may include: based on the offline fault detection method, detecting whether each type of motor in the motor unit has a shutdown fault in batches to achieve classified allocation detection; 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 preliminary detection result based on the number of faulty motors.

[0095] The initial detection results can be used to determine whether a large motor of the type under test has a motor fault. For example, the initial detection results may include the number of faulty motors corresponding to the type under test. If the number of faulty motors is greater than a preset judgment number, the motor of that type under test is considered to have a motor fault; conversely, if the number of faulty motors is not greater than the preset judgment number, the motor of that type under test is considered not to have a motor fault. The preset judgment number can be a threshold number set according to fault detection requirements. Specifically, it can be used to determine whether a motor of the same type has a motor fault. For example, the preset judgment number can be set to zero, so that if the number of faulty motors is greater than zero, the motor of the type under test is considered to have a motor fault; and if the number of faulty motors is zero, the motor of that type under test is considered not to have a motor fault.

[0096] In one embodiment of this application, after obtaining the primary detection result corresponding to each motor type, it can be determined whether there is a motor fault in the motor type based on the primary detection result. If there is a motor fault, the motor type can be identified as the target type, that is, the motor type with the faulty motor is identified as the target type, and the motor in the motor unit that belongs to the target type is identified as the target detection motor. In order to subsequently perform a second-level offline fault detection 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 identify the specific faulty motor of the target type and realize the rapid location of the faulty motor in the offline state of the motor.

[0097] Optionally, in order to quickly and accurately locate multiple motor faults in the motor system, after detecting a motor fault of a certain type of motor, this application embodiment can count the number of parallel motors of that type, and use a preset positioning method to locate the motor fault of that type of motor based on the number of parallel motors, thereby quickly locking the specific faulty motor, and generating fault detection information corresponding to that type of motor based on the motor information of the faulty motor.

[0098] The term "parallel motor number" refers to the total number of motors connected in parallel. The term "parallel motor number by motor type" refers to the number of parallel motors of the same type. For example, if three motors are connected in parallel at the output of an IPM, and these three motors belong to the same type, then the number of parallel motors of that type is three. If these three motors do not belong to the same type, such as motors M2 and M2 belonging to the first type, and motor M3 belonging to the second type, then the number of parallel motors of the first type is two, and the number of parallel motors of the second type is one. The preset positioning method refers to the data processing method pre-set for fault location, which may include, but is not limited to, traversal methods, binary search, etc. This application embodiment does not impose any limitations on this.

[0099] Optionally, in this embodiment of the application, 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 location information. Specifically, this may include: counting the number of target detection motors of the same target type to obtain the number of parallel motors of each target type; if the number of parallel motors is greater than the preset number of motors, using the fault detection method, a binary search method is used to locate the motor fault to obtain the fault motor location information; or, if the number of parallel motors is not greater than the preset number of motors, using the fault detection method, a traversal method is used to locate the motor fault to obtain the fault motor location information.

[0100] In summary, this application's embodiments, after grouping the operating states of various motors in the motor system, can perform single-type motor fault detection for each motor in each motor unit. This allows for the simultaneous detection of multiple motors using a multi-motor parallel connection method, meaning fault detection is performed on motors of the same type and model in batches and categories to identify whether motor faults exist in each type of motor in the motor unit. If a fault is detected in a certain type of motor, the type of motor with the fault is identified as the target type, and the number of parallel motors of that type is counted. Based on the number of parallel motors, a preset positioning method is used to locate the motor fault in that type of motor. This not only detects which motor type has a fault but also pinpoints the specific motor that has failed, thereby improving the system's reliability and safety.

[0101] For example, such as Figure 2 As shown, after a fault is detected, the system determines whether to use a binary search method for rapid location or a traversal method to locate the faulty motor based on the number of parallel motors connected. This process continues until each faulty motor is detected, thus completing the fault detection for that motor type and generating the corresponding fault detection information. Subsequently, the system switches to the next motor type for detection. Once the fault detection for the previous type of motor is completed, the system begins detecting the faults of the next type of motor. This process continues to obtain the fault detection information for each motor type, allowing the system to output the fault detection results for the motor system later.

[0102] Figure 4 This is a schematic diagram of a multi-motor system provided in an embodiment of this 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 of the foregoing embodiments of this application.

[0103] 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 this application, and has the corresponding functions and beneficial effects of executing the method.

[0104] In an optional embodiment of this application, the motor fault detection device 310 can be installed in the mainboard of a multi-motor system, specifically including 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 power 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 power output signal to the target controlled motor according to the drive control signal output by the main control module, the target controlled motor including the motor selected for control 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 foregoing embodiments of this application. For example, the main control module can be provided with a main control driver chip to implement the motor fault detection method for a multi-motor system.

[0105] Optionally, the multi-motor system provided in this application embodiment further includes a power supply module; the power supply module is configured to output a power supply signal, the power supply signal including the bus power supply signal and the motherboard power supply signal, the motherboard power supply signal being used to supply power to the main control module.

[0106] Optionally, the circuit switching control module includes: a circuit switching controller and a current holder; the circuit switching controller is configured to: receive the drive control signal, and output a synchronization control signal to the current holder according to the drive control signal, and output a three-phase electrical signal to the current holder based on the three-phase electrical output signal; the current holder is configured to: output the three-phase electrical signal to the target motor according to the synchronization control signal, the three-phase electrical signal being used to maintain the motor operating state of the target motor, the target motor being the motor connected to the output terminal of the current holder.

[0107] As an example of this application, in the case of controlling three motors connected in parallel in a multi-motor system through an IPM module, the output of the circuit switching controller can be electrically connected to the three motors through three current holders, such as... Figure 3As shown, the first motor M1, the second motor M2, and the third motor M3 are each electrically connected to the output terminal of the circuit switching controller through a current holding device. The input terminal of the circuit switching controller is electrically connected to the output terminal of the IPM module, so that the circuit switching controller can obtain the three-phase output signal output by the IPM module. In turn, the motor switching controller can output a synchronous control signal to the current holding device through a PLL phase-locked loop according to the drive control signal output by the main control module. It can also transmit the three-phase output signal output by the IPM module as a three-phase electrical signal to the current holding device, so that the current holding device can output the three-phase electrical signal to the target motor according to the synchronous control signal, so as to maintain the motor operation state of the target motor through the three-phase electrical signal.

[0108] Specifically, in the overall multi-motor system structure, the motor modules can power the entire system. For example, the power module can output a motherboard power supply signal to power the motherboard, and it can also output a bus power supply signal to power the buses in the system. The system may include a reinforcement learning pre-trained model deployed on a cloud server. This pre-trained model is used in the third-level online detection scheme, combining local and cloud-based reinforcement learning pre-trained model detection. This allows the local main control driver chip to handle simple online fault detection. Through data transmission, the motor operating data collected by the main control driver chip can be uploaded to the cloud server, allowing the cloud to receive the locally uploaded motor operating data and detect more complex motor faults.

[0109] In the control flow, the main control driver chip provides 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 PWM signal from the main control driver chip is used as a control signal to drive the IPM module. Simultaneously, the main control driver chip can sample current signals to detect the operating status of multiple motors in the multi-motor system. Based on the motor operating status and a preset fault detection method corresponding to the motor's shutdown state, fault detection is performed on multiple motors in the multi-motor system. According to the motor fault detection requirements, the main control driver chip can send a drive control signal carrying a selection command to the circuit switching controller. Upon receiving the selection command from the main control driver chip, the circuit switching controller outputs a synchronous control signal to the current holder via a phase-locked loop. This causes the current holder to intervene in the power supply of the switched motor, ensuring that the motor operates in the state before the switch, so that the IPM module's signal can control the corresponding motor.

[0110] The IPM module converts the power supplied from the power bus into the corresponding three-phase power output after receiving the PWM signal from the main control driver chip. The circuit switching controller controls the current holder to intervene in the power supply of the switched motor after receiving the selection command from the main control driver chip, ensuring that the motor runs in the state before the switch, so that the signal from the IPM module can control the corresponding motor.

[0111] Specifically, when an IPM module controls a specific motor, the current holder is responsible for maintaining a constant current for other motors, ensuring stable system operation. Its main implementation logic is that the current holder must maintain a current output with equal amplitude, frequency, and phase synchronization. To maintain phase synchronization, a phase-locked loop (PLL) can synchronize the phase, while the amplitude and frequency are stabilized by the internal hardware circuitry of the circuit switching controller, thus maintaining a stable equivalent current output. For example, to achieve stable current output, the current holder synchronizes phase information through a PLL, and then uses an internal PI loop to control the current amplitude and adjust the frequency. This allows for self-holding current output without using the main control driver chip resources, effectively replacing the high-cost IPM with the current holder, saving chip resources. This facilitates the integration and control of multiple motors with a small number of chips, such as controlling more motors with a small number of IPM modules, thereby saving on multi-motor control costs.

[0112] The PLL phase-locked loop is used to output a synchronization control signal, which controls the three-phase electrical signal output by the current holder to synchronize with the three-phase electrical control signal output by the IPM module.

[0113] In this embodiment, the motor drive current signal mainly comes from the IPM module and the current holder, i.e., the motor is powered through the IPM and the current holder. Whether the motor is powered by the IPM module depends on whether the motor's operating state needs to be changed in the current state. Optionally, the IPM module can prioritize directly connecting to high-priority motors for direct control and adjust their real-time state; other motors maintain current output through the current holder to keep their operating conditions stable. Specifically, the IPM module can convert the bus power supply signal provided by the power module into a three-phase output signal based on the PWM signal and output it to the circuit switching controller. The circuit switching controller then outputs a three-phase signal to the current holder based on this three-phase output signal, allowing the current holder to output the three-phase signal to the target motor according to the synchronization control signal, thereby maintaining the motor's operating state.

[0114] Optionally, the circuit switching controller can be controlled by a logic decoder and switching transistors / relays to achieve motor power supply line switching control. Specifically, the logic decoder receives the drive control signal from the main control module and outputs a signal to the switching transistor according to the drive control signal, so that the switching transistor selects the corresponding motor power supply line according to the output signal of the logic decoder. The output signal of the logic decoder can form a digital signal, such as a 0 or 1 signal, to select the corresponding motor power supply line. This signal can be amplified by an operational amplifier and used to drive the corresponding transistor / relay to conduct the corresponding line. For example, 0 indicates that the line is open, and 1 indicates that the line is on, thereby connecting the corresponding motor power supply line and achieving the function of switching and controlling the selection of power supply for multiple motors. For example, after grouping the six motors in a motor system, a logic decoder can be used to control the grouping of motors. According to the detection logic, if a binary search method is used in subsequent groupings, the logic decoder will output three high-level signals and three low-level signals within a certain time period. For example, if the logic decoder outputs an 8-bit digital signal 00111000, it is assumed that the two high-order bits are not used, the three 1s in the middle represent that the power supply circuit of the first group of three motors is turned on, and the three 0s in the low-order bits represent that the power supply circuit of the other group of three motors is turned off. Of course, the position of the decoder signal can be adjusted as needed. For example, 01010100. Assuming that the six high-order bits are used, the corresponding motor circuit on / off control signals from left to right are 010101, representing that three motors are powered on and three motors are powered off. That is, these two sets of level signals are used to connect one group of motors (three motors) and disconnect the other group of motors (three motors).

[0115] During motor fault detection, the main control module can send drive control signals sequentially, causing the logic decoder and switching transistors to select and control the power supply line of the corresponding motor according to the drive control signals sent by the main control module, thereby realizing the detection of the fault status of each motor.

[0116] In an optional embodiment of this 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 have been detected, identify the faulty motor and the information corresponding to the faulty motor, and store it in the chip storage for easy viewing by the user.

[0117] For example, after classifying motor groups according to motor classification information, the main control drive chip can determine whether the motors in each group are in operation based on the motor grouping, thus determining the operating status of each motor in each group. Based on the operating status of each motor, the operating status of each type of motor in the motor system can be determined. Then, according to the motor operating status and a preset fault detection method corresponding to that status, graded fault detection can be performed on each type of motor in the motor group. This graded fault detection can include three levels: Level 1 offline fault detection, Level 2 offline fault detection, and Level 3 online fault detection.

[0118] In practical implementation, for fault detection of motors in operation, the third-level online fault detection process can be directly entered according to the preset online fault detection method corresponding to the motor's operating state. That is, motors in operation directly enter the third-level fault detection process. For fault detection of motors in shutdown state, the first-level and second-level offline fault detection processes can be entered according to the preset offline fault detection method corresponding to the motor's shutdown state. That is, motors that are not running enter the first and second-level detection processes for fault detection.

[0119] In one embodiment of this application, a first-level offline fault detection is used to realize classified and batch detection in shutdown detection. The specific steps may include: according to the pre-classification situation (such as motors being classified by specifications and models), shutdown fault detection is performed on parallel motors of the same type in sequence. The detection items may include phase loss, phase reversal, etc.; secondly, the number of possible faulty motors can be determined, for example, by comparing the current I0 obtained from multiple motor tests with the normal energizing current value I1 of a single motor, so as to determine the number of faulty motors based on the comparison results. Specifically, there is a proportional relationship between the current I0 obtained from multiple motor tests and the normal energizing current I1 of a single motor. 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 using the formula I2=M*I1, where M is the number of parallel motors. Then, the number of possible faulty motors N can be determined by the formula N=(I2-I0) / I1. The faulty phase information can be determined and stored. For example, the missing phase of the batch of parallel motors can be located based on the fault status of the energized detection phase. The specific fault location is the measured phase line. Then, the motor group and the faulty phase status are recorded. For example, if the U and V phases of a certain motor model are found to be missing, they can be indicated by the corresponding flag bit in the code. This application embodiment does not limit 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 motors and faulty phases can be detected and located in batches.

[0120] For example, when the motor is in an unloaded shutdown state or when it stops, the current output of the IPM and the current holder can be cut off, allowing the motor to enter a free-slip state. Then, the back EMF waveform of the fan is sampled by the ADC and compared with the preset phase model to identify abnormal waveforms, such as phase offset >15°. The phase sequence error flag can then be triggered based on the abnormal waveform.

[0121] During the second-level offline fault detection process, an appropriate detection method can be selected based on the number of motors. Fault detection can be performed using a traversal method or a binary search method. The fault detection sequence can be as follows: extract the stored fault information; based on the extracted information, first measure the faulty phase, then detect the other phases. Optionally, if only one phase fault is found in the first-level offline fault detection, the second-level offline fault detection can only detect that faulty phase. For example, first check if the fault exists in the group of motors. If it exists, and the number of motors is sufficient, use the binary search method to quickly locate the faulty motor; if the number of motors is small, use a traversal method to locate the specific faulty motor, that is, detect the motors sequentially to troubleshoot the motor fault.

[0122] The third level of online fault detection primarily involves detecting motor faults online. This means employing an online detection scheme during motor operation to identify potential problems. Specifically, the online detection scheme can utilize a pre-trained model deployed in the cloud, combined with local edge computing. This involves deploying a pre-trained model trained with reinforcement learning algorithms in the cloud, then transmitting locally sampled motor operating data back to the cloud. Cloud-based computation and inference determine the motor's operating status and identify any potential fault risks. This approach not only reduces the demand for local computing resources but also increases the sample size of the cloud database, improving the predictive and inference capabilities of the cloud model.

[0123] As an optional example of this application, such as Figure 5 As shown, when classifying multiple motor types, the motors are grouped according to the predefined motor types. Then, the main control drive chip can classify and determine whether the motors in each motor group are in the working state based on the motor group, so as to determine the operating state of each motor in each motor group.

[0124] When the motor is in operation, its running state can be defined as the motor's operating state. Based on this state, the third-level fault detection process can then proceed to online fault detection according to a preset fault detection method corresponding to the motor's operating state. Specifically, for fault detection of a running motor, the IPM module can be activated to provide power until it is fully powered. Then, motor information is collected, such as sampling motor three-phase voltage, current data, motor torque, angle, and position data. This data is then recorded and compared with a cloud database based on the motor model. Through cloud-based reinforcement learning calculations, the system determines whether the motor has a fault or fault risk. In other words, based on the collected motor operating data, the data is transmitted back to the cloud. The cloud uses intelligent AI algorithms to calculate and evaluate whether the motor has a fault or fault risk, generating a motor operating state evaluation result. This allows the local main control drive chip to determine whether the motor has a fault based on the cloud-feedback evaluation result. When a fault is detected, the chip remembers the motor batch number, i.e., before determining the fault, it... If a fault exists in the motor, the batch number of the current motor is remembered as the classification identifier for the target motor. A drive control signal can be used to gradually connect the current holding device to the motor's current control. Under the control of the current controller, the target motor is tested for faults according to the preset fault detection method corresponding to the classification identifier. This allows the faulty motor to be locked, and its information saved. This saved information is then used as fault detection information to display the corresponding fault information. Conversely, if it is determined that the motor is not faulty, the drive control signal is used to gradually connect the current holding device to the motor's current control. It is then determined whether online fault detection of all running motors has been completed. If it is determined that online fault detection of all running motors has not been completed, the next undetected running motor is checked, and this process continues until all running motors have undergone fault detection. As can be seen, the embodiments of this application can divide all parallel-running motors into batches according to the classification identifier. The motors in the tested batch (i.e., the target detection motors) are subjected to fault detection, while other motors maintain their original operating state. If power supply is required, it can be accomplished through a current holding device. At this time, the drive signal output by the IPM will be controlled by the motor current selection controller + circuit, thereby locking the faulty motor, saving the motor information, and using the saved motor information as fault detection information to display the corresponding fault information. This fault information can then be provided to the user as the fault detection result, making it convenient for the user to quickly and accurately locate the faults of multiple motors in the motor system based on the fault detection result, which helps to improve the maintenance efficiency of multi-motor systems.

[0125] When a motor is not in a working state, its operating state can be considered a non-working state. For example, when a motor is in a stopped state, its operating state can be determined as a stopped state. Then, based on the stopped 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 stopped state. That is, faults are directly detected by group. Offline fault detection is performed on a single type of parallel motor to detect faults in parallel motors of the same type to determine whether there is a fault. If there is no fault, a new batch of motors is selected for fault detection, that is, the next type of parallel motor fault detection is performed until all motors have been detected. If a fault is detected in a portion of the parallel motors, the specific faulty motor needs to be identified, which initiates a second-level detection process. This involves using second-level offline fault detection to locate the faulty motor. During the fault location phase, a binary search method can be used to pre-locate the faulty motor. Then, it can be determined whether the number of parallel motors of the same type is greater than four. If so, the corresponding fault detection method is used to detect the fault and record the current motor batch number. Based on the recorded batch number, it can be determined whether the number of parallel motors at the time of fault detection is greater than one. If it is, the fault situation in other groups at the upper level is investigated; otherwise, the faulty motor can be locked, and its information saved. If the number of parallel motors of the same type is no more than four, a traversal approach can be used to quickly locate the faulty motor and save its information. This saved information can then be used as fault detection information to display the corresponding fault information. As can be seen, in the embodiments of this application, when the number of parallel motors is greater than 4, it is assumed that the number of parallel motors meets the preset motor number condition corresponding to the bisection method, and the bisection method is used to quickly locate the faulty motor. However, when the number of parallel motors is not greater than 4, it is assumed that the number of parallel motors does not meet the preset motor number condition corresponding to the bisection method. That is, when the number of motors is small, the traversal method is used to locate the specific faulty motor. The motors are tested sequentially to check for motor faults, thereby quickly and accurately locating the faulty motor and solving the technical problem of fault detection and location in multi-motor systems.

[0126] In summary, the embodiments of this application can classify all motors in a motor system according to preset motor classification information, thereby determining the motor type of each motor in the motor system, and thus obtaining at least one motor type. Subsequently, based on the motor type, all motors in the motor system can be grouped, and based on the motor grouping, it can be determined 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 to obtain the operating state of each motor in each motor type. This allows for subsequent graded fault detection of each type of motor in the motor system based on the motor operating state, enabling rapid and accurate location of the faulty motor and solving the technical problem of fault detection and location in multi-motor systems.

[0127] For example, during operation, the main control module monitors the motor current and three-phase voltage. If an increase in current or a decrease in voltage is detected, or if the fan current drops suddenly and the speed sensor signal disappears during the current holding circuit's output, the motor may be stalled, requiring inspection of the load and motor. In this case, the compressor and fan can be controlled in a time-sharing manner by the IPM, allowing the uncontrolled motor to be driven by the current holding circuit. The current holding circuit stores the last frame of current signal (amplitude, phase, frequency) before the IPM switching and restores it for output. Through the coordinated work of the current holding circuit and the IPM module, effective control and fault detection of multiple motors are achieved, and faulty motors can be detected and located during the control process. This solves the technical problems of fault detection and location in multi-motor systems, achieving the technical effect of improving system reliability and maintenance efficiency.

[0128] Furthermore, the embodiments of this application can use a current holder, introduce a logic decoder and switch control to ensure that the power supply line connection of each motor can be accurately selected and controlled during the fault detection process. Thus, a small number of IPM modules can control more motors than the number of IPM modules. In addition, online detection is achieved through cloud and local deployment, which enables local fault detection to be run with low computing power cost. Moreover, the fault detection method combining local and cloud can enrich the enterprise's motor operation database and facilitate the training of a more accurate fault judgment model.

[0129] In a specific implementation, the multi-motor system provided in this application embodiment can be integrated into electrical equipment, so that the electrical equipment can execute the motor fault detection method provided in this application embodiment through the processor, and perform online 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, solve the technical problem of fault detection and location in multi-motor system, and achieve the goal of improving system reliability.

[0130] like Figure 6As shown, this application embodiment 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.

[0131] In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the motor fault detection method provided in any of the foregoing method embodiments, including: determining the motor operating state of each motor in the motor system by detecting the operating state of the motor; grouping the motors based on the motor operating states to obtain a motor unit corresponding to each motor operating state; for each motor unit corresponding to a motor operating state, performing fault detection on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor operating state 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.

[0132] In specific implementations, the electrical equipment in the embodiments of this application may include, but is not limited to, refrigeration equipment such as air conditioners and refrigerators, and may also include other types of electrical equipment such as washing machines. The embodiments of this application do not impose specific limitations on this.

[0133] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the motor fault detection method provided in any of the foregoing method embodiments.

[0134] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should know that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps may be performed in other orders or simultaneously.

[0135] Furthermore, the embodiments of the apparatus, multi-motor system, electrical equipment, and media 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; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, 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, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the motor fault detection method described in various embodiments or some parts of embodiments.

[0137] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0138] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for detecting motor faults, characterized in that, include: By detecting the operating status of the motors, the operating status of each motor in the motor system can be determined. Based on the motor operating status, the motors are grouped to obtain the motor unit corresponding to each motor operating status. For each motor unit corresponding to a motor operating state, fault detection is performed on each type of motor in the motor unit according to the preset fault detection method corresponding to the motor operating state, and fault detection information corresponding to each motor type is obtained. Based on the fault detection information, the motor fault detection result of the motor system is output; The fault detection method includes an offline fault detection method, and the fault detection information includes fault motor location information. For each motor operating state corresponding to a motor unit, fault detection is performed on each type of motor in the motor unit according to a preset fault detection method corresponding to the motor operating state, obtaining fault detection information corresponding to each motor type, including: When the motor is in a stopped state, the first-level offline fault detection is performed on each type of motor in the motor unit according to the offline fault detection method to obtain the initial detection results; Based on the preliminary detection results, the motor types of the faulty motors are identified as target types, and the motors in the motor unit that belong to the target type are identified as target detection motors; For target detection motors of the same target type, a second-level offline fault detection is performed according to the preset fault detection method corresponding to the target type to obtain the fault motor location 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, the motor fault is located using the binary search method according to the fault detection method to obtain the fault motor location information.

2. The motor fault detection method according to claim 1, characterized in that, The motor operating status includes the operating status of each individual motor. Determining the operating status of each motor in the motor system by detecting the operating status of the motors includes: Based on the preset motor classification information, all motors in the motor system are classified to obtain at least one motor type; The operating status of each motor in each motor type is detected separately 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, The first-level offline fault detection is performed on each type of motor in the motor unit according to the offline fault detection method to obtain the preliminary detection results, including: Based on the offline fault detection method, the motors of each type in the motor unit are checked in batches to see if there is a shutdown fault. The motor type corresponding to the motor with shutdown fault is determined as the type to be tested, and the number of faulty motors corresponding to each type to be tested is counted. The initial detection results are generated based on the number of faulty motors.

4. The motor fault detection method according to claim 1, characterized in that, The method of performing a second-level offline fault detection on 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 also includes: Determine 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 fault location of the motor is obtained by traversing through the fault detection method.

5. The motor fault detection method according to claim 1, characterized in that, The fault detection information also includes online fault detection information. The step of performing fault detection on each type of motor in the motor unit according to a preset fault detection method corresponding to each motor operating state, to obtain fault detection information corresponding to each motor type, further includes: When the motor is in the motor operating state, a preset online fault detection method corresponding to the motor operating state is obtained; 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, The online fault detection method is used to perform online fault detection on each type of motor in the motor unit to obtain online fault detection information for each type of motor, including: According to the online fault detection method, motor data is sampled for each type of motor in the motor unit to obtain motor working data, which includes the working data of each motor in each motor type. The working data of each motor is processed in the cloud to obtain the working status evaluation result of each motor; Based on the evaluation results of the working status of each motor, determine whether each motor has a risk of failure; Motors with potential faults are identified as target inspection motors, and a classification identifier corresponding to the target inspection motor is determined. Based on the preset fault detection method corresponding to the classification identifier, the target detection motor is subjected to fault detection 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 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 as described in 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 power 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 power output signal to the target control motor according to the drive control signal output by the main control module, wherein the target control motor includes the motor selected for control 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 claims 1 to 6.

9. The multi-motor system according to claim 8, characterized in that, The multi-motor system also includes the power supply module; The power module is configured to output a power supply signal, which includes the bus power supply signal and the motherboard power supply signal, and the motherboard 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 holding circuit; The circuit switching controller is configured to: receive the drive control signal, output a synchronization control signal to the current holder according to the drive control signal, and output a three-phase electrical signal to the current holder based on the three-phase electrical output signal; The current holder is configured to output the three-phase electrical signal to the target motor according to the synchronization control signal. 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 terminal of the current holder.

11. An electrical appliance, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. Memory, used to store computer programs; When a processor executes a program stored in memory, it implements the steps of the motor fault detection method as described in any one of claims 1 to 6.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the motor fault detection method as described in any one of claims 1-6.

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