Motor fault identification method, electric vehicle and computer program product

Abstract

The invention provides a motor fault identification method of an electric vehicle, the electric vehicle and a computer program product. The motor fault identification method comprises the following steps: identifying a starting signal; if the starting signal is invalid, identifying a fault state of the motor according to a first parameter of the motor and a battery current; and if the starting signal is effective, identifying a fault state of the motor according to a second parameter of the motor and a battery current. Therefore, the reliability and the accuracy of fault identification are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a method for identifying motor faults in electric vehicles, an electric vehicle, and a computer program product. Background Technology

[0002] Currently, new energy vehicles, such as electric vehicles, are being used more and more widely. The motor is a crucial component providing power, therefore its status needs to be monitored constantly.

[0003] The traditional approach involves obtaining the target torque, speed, and actual torque of the drive motor; and then determining whether the drive motor is in a runaway state based on this data.

[0004] This approach only identifies and analyzes various operating parameters of the motor, and its working principle is based on the assumption that all overall interactive signals of the electric vehicle are in a normal state. Therefore, the criteria for judging motor faults are relatively simple, relying only on a limited number of parameter indicators for diagnosis. This diagnostic method has obvious limitations, resulting in low accuracy in fault identification. Summary of the Invention

[0005] In view of this, the present invention aims to provide a method for identifying motor faults in electric vehicles, an electric vehicle, and a computer program product, in order to solve the problem of low accuracy in motor fault identification in the prior art.

[0006] This invention provides a method for identifying motor faults in electric vehicles, the method comprising: Identify the start signal; If the start signal is invalid, the fault state of the motor is identified based on the first parameter of the motor and the battery current. If the start signal is valid, the fault state of the motor is identified based on the second parameter of the motor and the battery current.

[0007] In one embodiment, the first parameter includes the actual speed and actual torque of the motor; The step of identifying the fault state of the motor based on the first parameter of the motor and the battery current includes: The fault status of the motor is identified based on the motor's actual speed, actual torque, and battery current.

[0008] In one embodiment, the step of identifying the fault state of the motor based on the actual speed, actual torque, and battery current of the motor includes: Determine whether the actual rotational speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold. If the actual rotational speed or the actual torque is non-zero, or if the battery current is greater than a preset current threshold, then the motor is identified as faulty. If the actual rotational speed and the actual torque are both zero, and the battery current is less than or equal to the current threshold, then the motor is considered to be functioning normally.

[0009] In one embodiment, the second parameter of the motor includes the motor's operating mode, actual torque, and actual speed; The step of identifying the fault state of the motor based on the second parameter of the motor and the battery current includes: The fault status of the motor is identified based on its operating mode, actual torque, actual speed, and battery current.

[0010] In one embodiment, the step of identifying the fault state of the motor based on the motor's operating mode, actual torque, actual speed, and battery current includes: Determine whether the current operating mode of the motor matches the operating mode corresponding to the start signal, and whether the actual torque, actual speed and battery current corresponding to different operating modes meet the corresponding thresholds. If the current operating mode of the motor does not match the operating mode corresponding to the start signal, or if the actual torque, actual speed and battery current corresponding to different operating modes do not meet the corresponding thresholds, then the motor is identified as having a fault. If the motor's current operating mode matches the operating mode corresponding to the start signal, and the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds, then the motor is identified as normal.

[0011] In one embodiment, the step of checking whether the actual torque, actual speed, and battery current corresponding to the different operating modes meet the corresponding thresholds includes: In torque mode, determine whether the difference between the actual torque and the torque corresponding to the start signal is greater than a torque threshold; in speed mode, determine whether the difference between the actual speed and the speed corresponding to the start signal is greater than a speed threshold; or, in off mode, determine whether the actual speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold.

[0012] In one embodiment, the step of identifying a motor malfunction if the motor's current operating mode does not match the operating mode corresponding to the start signal, or if the actual torque, actual speed, and battery current corresponding to different operating modes do not meet the corresponding thresholds, includes: If the motor's current operating mode does not match the operating mode corresponding to the start signal, or if the difference between the actual torque and the torque corresponding to the start signal is greater than the torque threshold in torque mode, or the difference between the actual speed and the speed corresponding to the start signal is greater than the speed threshold in speed mode, or if the actual speed or the actual torque has a non-zero value in off mode, or if the battery current is greater than the preset current threshold, then the motor is identified as having a fault. If the current operating mode of the motor matches the operating mode corresponding to the start signal, and the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds, then the steps for identifying that the motor is normal include: If the motor's current operating mode matches the operating mode corresponding to the start signal, the difference between the actual torque and the torque corresponding to the start signal is less than or equal to the torque threshold in torque mode, the difference between the actual speed and the speed corresponding to the start signal is less than or equal to the speed threshold in speed mode, and the actual speed or the actual torque is zero in off mode, and the battery current is less than or equal to the preset current threshold, then the motor is identified as normal.

[0013] In one embodiment, the motor fault identification method further includes: If a fault is detected in the motor, the fault information is reported, and the electric vehicle is requested to reduce the high voltage and disconnect the signal transmission line of the motor controller; or If a fault is detected in the motor, the fault information is reported. Determine whether the rotational speed is higher than a preset rotational speed threshold; If the rotational speed is higher than the rotational speed threshold, then disconnect the signal transmission line of the motor controller; Control the high voltage of the electric vehicle and disconnect the relay of the electric vehicle.

[0014] In another aspect, the present invention provides an electric vehicle that applies the motor fault identification method described above.

[0015] In another aspect, the present invention provides a computer program product storing a computer program that can be executed by at least one processor to cause the at least one processor to perform the motor fault identification method as described above.

[0016] Beneficial effects This invention provides a method for identifying motor faults in electric vehicles. The method includes identifying a start signal; if the start signal is invalid, identifying the motor's fault state based on a first parameter of the motor and the battery current; if the start signal is valid, identifying the motor's fault state based on a second parameter of the motor and the battery current. Therefore, this invention first analyzes the motor's operating state under different start signal conditions. By comprehensively considering various key motor parameters (such as motor speed and torque) and the current variation characteristics of the battery system, a multi-parameter fusion-based motor fault identification scheme is formed. This not only allows for the individual analysis of changes in motor parameters or battery current, but more importantly, it enables the synergistic analysis of these two key parameters, avoiding errors in identification due to incorrect data, thereby significantly improving the reliability and accuracy of fault identification. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a motor fault identification system for an electric vehicle provided in an embodiment of the present invention.

[0018] Figure 2 This is a flowchart illustrating a method for identifying motor faults in an electric vehicle according to the first embodiment of the present invention.

[0019] Figure 3 This is a flowchart illustrating a method for identifying motor faults in an electric vehicle according to the second embodiment of the present invention.

[0020] Figure 4 This is a flowchart illustrating a method for identifying motor faults in an electric vehicle according to the third embodiment of the present invention.

[0021] Figure 5 This is a flowchart illustrating a method for identifying motor faults in an electric vehicle according to the fourth embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a motor fault identification system for an electric vehicle provided in an embodiment of the present invention. Figure 1As shown, the motor fault identification system 100 includes a vehicle control unit (VCU), a range extender control unit (RCU), a generator control unit (GCU; MCU), and a range extender 104. The range extender 104 includes a motor 141 and an engine 142.

[0024] The vehicle controller 101 is electrically connected to the range extender controller 102 and the motor controller 103 respectively, and the motor controller 103 is electrically connected to the range extender 104.

[0025] In practical applications, control commands are sent based on the current operating status of the vehicle and power generation needs to control the start-up of the range extender 104. Specifically, this includes two control methods: The first control method is as follows: The vehicle controller 101 sends a message to the range extender controller 102, instructing the range extender controller 102 to control the range extender 104. After receiving the message, the range extender controller 102 controls the motor 141 of the range extender 104 through the motor controller 103. The motor 141 outputs speed and torque to the engine 142, thereby providing kinetic energy to the electric vehicle through the engine 142.

[0026] The second control method is as follows: the vehicle controller 101 sends a message to the motor controller 103. After receiving the message, the motor controller 103 controls the motor 141 of the range extender 104. The motor 141 outputs speed and torque to the engine 142, thereby providing kinetic energy to the electric vehicle through the engine 142.

[0027] It should be understood that, in both of the above control methods, after the motor controller 103 controls the motor 141, it will feed back the current status of the motor 141 to the vehicle controller 101, such as the actual torque and actual speed.

[0028] Currently, in new energy vehicles, such as electric vehicles, signal interaction between various components may encounter problems during production line testing. In severe cases, this can lead to component failure and even endanger the personal safety of testing personnel, causing irreparable losses. For example, during prototype vehicle testing, due to errors in signal accuracy and offset, the generator controller (GCU) incorrectly interprets the range extender controller (RCU)'s required torque as 10,000 Nm, when the actual RCU requirement is 0 Nm. This causes the GCU to incorrectly control the generator to execute 10,000 Nm after high voltage is applied, and the motor's direction is opposite to the engine's. The resulting loss of motor control ultimately damages the engine. This invention provides a method for identifying motor faults in electric vehicles to solve the above-mentioned technical problems.

[0029] Based on this, please refer to Figure 2 , Figure 2 This is a flowchart illustrating a method for identifying motor faults in an electric vehicle according to an embodiment of the present invention. Figure 2 As shown, the motor fault identification method includes the following steps: Step S1: Identify the start signal.

[0030] Step S2: If the start signal is invalid, the fault state of the motor is identified based on the first parameter of the motor and the battery current.

[0031] Step S3: If the start signal is valid, the fault state of the motor is identified based on the second parameter of the motor and the battery current.

[0032] To better understand, the following phrases will be explained.

[0033] The start signal is the trigger command for the range extender 104 to start working. This signal is mainly used to activate and start the operating program of the range extender 104. As mentioned above, it is mainly sent by the vehicle controller 101, and can be sent to the range extender controller 102 or directly to the motor controller 103. Specifically, it is sent in the form of a message.

[0034] When the start signal is invalid, it means that the current input command will not start the range extender 104. The range extender 104 remains in standby or off state, meaning that the motor 141 is currently in standby or off state, and the output torque and speed are both zero. Conversely, when the start signal is valid, it means that the range extender 104 needs to be started, and the motor 141 needs to output a certain torque and speed.

[0035] It should be understood that regardless of whether the start signal is invalid or valid, the vehicle controller 101 includes the corresponding motor 141 speed and torque information in the message information sent for the start signal. For example, when the vehicle controller 101 sends an invalid start signal message information, it includes first speed and first torque information (usually zero values); when the vehicle controller 101 sends a valid start signal message information, it includes second speed and second torque information (usually non-zero values). This speed and torque information is used to control the motor 141. After the motor controller 103 parses the message information, it controls the motor 141 according to the parsed message information and feeds back the actual torque and actual speed information of the motor 141 in the current state.

[0036] Therefore, this invention first analyzes the operating state of the motor under different starting signal conditions. By comprehensively considering various key parameters of the motor (such as motor speed and torque) and the current variation characteristics of the battery system, a motor fault identification scheme based on multi-parameter fusion is formed. This scheme not only analyzes the changes in motor parameters or battery current individually, but more importantly, it enables collaborative analysis of these two key parameters, avoiding errors in identification due to incorrect data in one area. This significantly improves the reliability and accuracy of fault identification.

[0037] As mentioned earlier, the motor is controlled differently depending on the start signal, for example, the motor torque and speed will also differ. Therefore, the motor parameters will also differ. When the start signal is invalid, the first parameter includes the actual motor speed and actual torque. In step S2 above, the technical solution for identifying the motor fault state based on the first motor parameter and battery current specifically includes identifying the motor fault state based on the actual motor speed, actual torque, and battery current.

[0038] The motor's fault state is identified by combining the actual motor speed, actual torque, and battery current. This approach combines the states of both the motor and battery to determine the motor's fault status. It avoids misidentifying the motor fault due to an error in the state analysis of one component. For example, if the motor fault is identified solely based on torque and speed, when the start signal is invalid, the torque and speed data in the start signal message sent by the vehicle controller 101 would be zero. If there is a problem with the message exchange between the vehicle controller 101 and the motor controller 103, the motor controller 103 might interpret the motor torque and speed data in the message as non-zero and feed this non-zero actual torque and speed back to the vehicle controller 101. Because of the message exchange problem, the vehicle controller 101 might incorrectly interpret the zero torque and speed data fed back by the motor controller 103. In this case, identifying the motor fault state based on the motor parameters would be incorrect. This embodiment, by adding the identification and judgment of battery current data, prevents this situation from occurring.

[0039] Specifically, please refer to Figure 3 A technical solution for identifying motor fault conditions based on the motor's actual speed, actual torque, and battery current may include the following steps: Step S21: Determine whether the actual rotational speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold.

[0040] Step S22: If the actual rotational speed or the actual torque has a non-zero value, or the battery current is greater than a preset current threshold, then the motor is identified as having a fault.

[0041] Step S23: If the actual rotational speed and the actual torque are zero, and the battery current is less than or equal to the current threshold, then the motor is identified as normal.

[0042] In other words, the actual rotational speed, actual torque, and battery current are compared with their corresponding thresholds (thresholds corresponding to faults). If any one of these conditions is met, the motor is identified as faulty. Specifically, as mentioned earlier, when the start signal is invalid, the message sent by the vehicle controller 101 should include information that the motor's rotational speed and torque are both zero, and the battery does not need to output a large current to drive the motor; the current value is extremely small, less than or equal to the preset current threshold. If, in actual conditions, one or both of the actual rotational speed or actual torque of the motor are non-zero, or the current is greater than the current threshold, it indicates that the vehicle controller 101's indication is incorrect, meaning the motor has faulted. If any fault condition inconsistent with the motor's normal operating state is found during the detection process, whether the fault condition occurs alone or simultaneously with other abnormal phenomena, the motor will be immediately identified as faulty. This ensures the timeliness and accuracy of fault identification. Even if only a small abnormal indicator reaches the preset fault threshold, it will trigger the fault alarm mechanism, thereby avoiding more serious motor damage due to ignoring early fault symptoms.

[0043] The motor is considered to be in normal operation only when both the actual speed and actual torque are zero, and the real-time monitored battery current is less than or equal to a preset current threshold. In other words, to confirm normal motor operation, three conditions must be met simultaneously: first, the actual speed must be zero; second, the actual torque must also be zero; and finally, the battery current must not exceed the specified current threshold. All three conditions are indispensable and must be met to definitively confirm the motor's normal operating status.

[0044] When the start signal is valid, the motor's second parameters include the motor's operating mode, actual torque, and actual speed. In step S3 above, the technical solution for identifying the motor's fault state based on the second parameters and battery current specifically includes: identifying the motor's fault state based on the motor's operating mode, actual torque, actual speed, and battery current. By combining the motor's operating mode, real-time output actual torque value, current operating speed parameters, and current changes in the battery circuit, multi-dimensional data analysis is used to accurately identify and determine potential motor fault states. Please refer to [link / reference] for details. Figure 4 This includes the following steps: Step S31: Determine whether the current working mode of the motor matches the working mode corresponding to the start signal, and whether the actual torque, actual speed and battery current corresponding to different working modes meet the corresponding thresholds.

[0045] Step S32: If the current operating mode of the motor does not conform to the operating mode corresponding to the start signal, or if the actual torque, actual speed and battery current corresponding to different operating modes do not conform to the corresponding thresholds, then the motor is identified as having a fault.

[0046] Step S33: If the current operating mode of the motor matches the operating mode corresponding to the start signal, and the actual torque, actual speed and battery current corresponding to different operating modes meet the corresponding thresholds, then the motor is identified as normal.

[0047] In other words, the current operating mode of the motor is compared with the operating mode corresponding to the start signal, and the actual speed, actual torque, and battery current are compared with the corresponding thresholds (thresholds corresponding to faults). If any one of these conditions is met, the motor is identified as faulty. Specifically, as mentioned above, when the start signal is valid, the message information sent by the vehicle controller 101 should include the motor's operating mode, the motor parameter values ​​under the operating mode, and the current value. If, in actual circumstances, the current operating mode of the motor is inconsistent with the operating mode sent by the vehicle controller 101, or the motor parameter values ​​under different operating modes are inconsistent with the message information, or the current is inconsistent with the message information, then a motor fault is identified.

[0048] In step S31, the technical solution for determining whether the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds can be as follows: in torque mode, whether the difference between the actual torque and the torque corresponding to the start signal is greater than the torque threshold; in speed mode, whether the difference between the actual speed and the speed corresponding to the start signal is greater than the speed threshold; or, in off mode, whether the actual speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold.

[0049] The operating modes include torque mode, speed mode, and off mode. In torque mode, the system primarily identifies the actual torque information for judgment. In speed mode, it primarily identifies the actual speed information for judgment. In off mode, it needs to determine the actual speed, actual torque, and battery current information.

[0050] The motor is identified as faulty if any of the following conditions exist: the motor's current operating mode does not match the operating mode corresponding to the start signal; in torque judgment mode, the difference between the motor's actual torque and the torque corresponding to the start signal is greater than the torque threshold; in speed mode, the difference between the motor's actual speed and the speed corresponding to the start signal is greater than the speed threshold; in off mode, the motor's actual speed or actual torque has a non-zero value, or the battery current is greater than the preset current threshold.

[0051] In other words, if any fault condition that deviates from the normal operating state of the motor is found during the testing process, whether the fault condition occurs alone or simultaneously with other abnormal phenomena, the motor will be immediately identified as having a fault. This ensures the timeliness and accuracy of fault identification. Even if only a minor abnormal indicator reaches the preset fault threshold, the fault alarm mechanism will be triggered, thereby preventing more serious motor damage caused by ignoring early fault symptoms.

[0052] The motor is considered to be normal if all of the following conditions are met: the motor's current operating mode matches the operating mode corresponding to the start signal; in torque mode, the difference between the motor's actual torque and the torque corresponding to the start signal is less than or equal to the torque threshold; in speed mode, the difference between the motor's actual speed and the speed corresponding to the start signal is less than or equal to the speed threshold; in off mode, the motor's actual speed or actual torque is zero, and the battery current is less than or equal to a preset current threshold.

[0053] When the start signal is active, the message information sent by the vehicle controller 101 should include the motor's operating mode, motor parameter values ​​for each operating mode, and current value. For example, in torque mode, the vehicle controller 101 sets a torque as needed, and this torque is recorded in the start signal message information; in speed mode, the vehicle controller 101 sets a speed as needed, and this is also recorded in the start signal message information; in off mode, the vehicle controller 101 sets the speed and torque to zero, and the battery current to be less than or equal to a current threshold, and this information is also recorded in the start signal message information. This facilitates comparison with the corresponding values ​​in the message information when the actual motor parameters and current values ​​are subsequently obtained.

[0054] If a motor malfunction is detected, this application provides the following two handling methods: The first method is based on the following signal control principle: the vehicle controller 101 sends the start signal message to the range extender controller 102, which then controls the motor controller 103. Under this control method, if a fault is detected in the motor, the fault information is reported, and the electric vehicle is requested to reduce its high voltage and disconnect the signal transmission line of the motor controller.

[0055] The second method is based on the following signal control principle: the vehicle controller 101 directly sends the start signal message to the motor controller 103 to directly control the motor controller 103's control mode. For handling methods where a motor fault is detected under this control mode, please refer to [link / reference needed]. Figure 5 This includes the following steps: Step S51: If a fault is detected in the motor, report the fault information; Step S52: Determine whether the rotational speed is higher than a preset rotational speed threshold; Step S53: If the rotational speed is higher than the rotational speed threshold, disconnect the signal transmission line of the motor controller; Step S54: Control the high voltage of the electric vehicle and disconnect the relay of the electric vehicle.

[0056] Step S55: If the rotational speed is lower than or equal to the rotational speed threshold, then control the electric vehicle to reduce the high voltage; Step S56: Disconnect the signal transmission line of the motor controller and disconnect the relay of the electric vehicle.

[0057] The present invention also provides an electric vehicle that can perform the fault identification method described in the preceding embodiments.

[0058] The present invention also provides a computer program product storing a computer program that can be executed by at least one processor to cause the at least one processor to perform the steps of the motor fault identification method described above.

[0059] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product (i.e., a computer program product). This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0060] In summary, this invention first identifies the start signal; if the start signal is invalid, the fault state of the motor is identified based on the first parameter of the motor and the battery current; if the start signal is valid, the fault state of the motor is identified based on the second parameter of the motor and the battery current. Therefore, this invention first analyzes the operating state of the motor under different start signal conditions, and by comprehensively considering various key parameters of the motor (such as motor speed and torque) and the current variation characteristics of the battery system, a multi-parameter fusion-based motor fault identification scheme is formed. This not only allows for the individual analysis of changes in motor parameters or battery current, but more importantly, it enables the synergistic analysis of these two key parameters, avoiding errors in identification due to incorrect data, thereby significantly improving the reliability and accuracy of fault identification.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for identifying motor faults in electric vehicles, characterized in that, The motor fault identification method includes: Identify the start signal; If the start signal is invalid, the fault state of the motor is identified based on the first parameter of the motor and the battery current. If the start signal is valid, the fault state of the motor is identified based on the second parameter of the motor and the battery current.

2. The motor fault identification method according to claim 1, characterized in that, The first parameter includes the actual speed and actual torque of the motor; The step of identifying the fault state of the motor based on the first parameter of the motor and the battery current includes: The fault status of the motor is identified based on the motor's actual speed, actual torque, and battery current.

3. The motor fault identification method according to claim 2, characterized in that, The step of identifying the fault status of the motor based on the actual speed, actual torque, and battery current includes: Determine whether the actual rotational speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold. If the actual rotational speed or the actual torque is non-zero, or if the battery current is greater than a preset current threshold, then the motor is identified as faulty. If the actual rotational speed and the actual torque are both zero, and the battery current is less than or equal to the current threshold, then the motor is considered to be functioning normally.

4. The motor fault identification method according to claim 1, characterized in that, The second parameter of the motor includes the motor's operating mode, actual torque, and actual speed; The step of identifying the fault state of the motor based on the second parameter of the motor and the battery current includes: The fault status of the motor is identified based on its operating mode, actual torque, actual speed, and battery current.

5. The motor fault identification method according to claim 4, characterized in that, The step of identifying the fault state of the motor based on its operating mode, actual torque, actual speed, and battery current includes: Determine whether the current operating mode of the motor matches the operating mode corresponding to the start signal, and whether the actual torque, actual speed and battery current corresponding to different operating modes meet the corresponding thresholds. If the current operating mode of the motor does not match the operating mode corresponding to the start signal, or if the actual torque, actual speed and battery current corresponding to different operating modes do not meet the corresponding thresholds, then the motor is identified as having a fault. If the motor's current operating mode matches the operating mode corresponding to the start signal, and the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds, then the motor is identified as normal.

6. The motor fault identification method according to claim 5, characterized in that, The step of determining whether the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds includes: In torque mode, determine whether the difference between the actual torque and the torque corresponding to the start signal is greater than a torque threshold; in speed mode, determine whether the difference between the actual speed and the speed corresponding to the start signal is greater than a speed threshold; or, in off mode, determine whether the actual speed or the actual torque has a non-zero value, or whether the battery current is greater than a preset current threshold.

7. The motor fault identification method according to claim 6, characterized in that, If the current operating mode of the motor does not match the operating mode corresponding to the start signal, or if the actual torque, actual speed, and battery current corresponding to different operating modes do not meet the corresponding thresholds, the step of identifying a fault in the motor includes: If the motor's current operating mode does not match the operating mode corresponding to the start signal, or if the difference between the actual torque and the torque corresponding to the start signal is greater than the torque threshold in torque mode, or the difference between the actual speed and the speed corresponding to the start signal is greater than the speed threshold in speed mode, or if the actual speed or the actual torque has a non-zero value in off mode, or if the battery current is greater than the preset current threshold, then the motor is identified as having a fault. If the current operating mode of the motor matches the operating mode corresponding to the start signal, and the actual torque, actual speed, and battery current corresponding to different operating modes meet the corresponding thresholds, then the steps for identifying that the motor is normal include: If the motor's current operating mode matches the operating mode corresponding to the start signal, the difference between the actual torque and the torque corresponding to the start signal is less than or equal to the torque threshold in torque mode, the difference between the actual speed and the speed corresponding to the start signal is less than or equal to the speed threshold in speed mode, and the actual speed or the actual torque is zero in off mode, and the battery current is less than or equal to the preset current threshold, then the motor is identified as normal.

8. The motor fault identification method according to any one of claims 1-7, characterized in that, The motor fault identification method further includes: If a fault is detected in the motor, the fault information is reported, and the electric vehicle is requested to reduce the high voltage and disconnect the signal transmission line of the motor controller; or If a fault is detected in the motor, the fault information is reported. Determine whether the rotational speed is higher than a preset rotational speed threshold; If the rotational speed is higher than the rotational speed threshold, then disconnect the signal transmission line of the motor controller; Control the high voltage of the electric vehicle and disconnect the relay of the electric vehicle.

9. An electric vehicle, characterized in that, The electric vehicle is applied to the motor fault identification method as described in any one of claims 1-8.

10. A computer program product, characterized in that, The computer program product stores a computer program that can be executed by at least one processor to cause the at least one processor to perform the motor fault identification method as described in any one of claims 1-8.

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