Motor rotation abnormity monitoring method and system

Abstract

The invention discloses a motor rotation abnormity monitoring method and system, and the method comprises the following steps: obtaining a rotation signal detected by a backup motor sensor for a motor through a rotation abnormity monitoring unit which is independent of an electric drive control unit; analyzing the rotation signal to obtain an actual rotation parameter value of the motor; performing real-time simulation calculation based on a preset motor simulation operation model to obtain a simulation rotation parameter value of the motor; comparing and analyzing the actual rotation parameter value and the simulation rotation parameter value to obtain a rotation parameter deviation of the motor; and when the rotation parameter deviation exceeds a preset deviation range in response, a power supply of the electric drive control unit is cut off, so that the electric drive control unit stops driving the motor. According to the invention, on the premise that the cost and weight of the system are not greatly increased, the high reliability and quick response monitoring of the abnormal rotating speed of the motor can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method and system for monitoring abnormal motor rotation. Background Technology

[0002] In the field of motor control technology, especially in applications with high reliability requirements such as flying car electric drive systems, ensuring the stability and safety of motor speed is crucial. Existing technologies typically employ two main approaches to improve the reliability of speed monitoring. The first is a heterogeneous redundancy approach, which involves equipping multiple sets of motor windings and multiple sets of electric drive controllers. Hardware redundancy enables system backup and switching in case of failure. While this approach improves reliability, it inevitably leads to a significant increase in system cost and weight, contradicting the lightweight design goals of flying cars. The second approach uses high-reliability components. This involves selecting higher-specification components and reserving sufficient safety margins to improve the inherent reliability of a single system. However, this method significantly increases material costs, and excessive safety margin design results in wasted performance and additional weight.

[0003] Therefore, a key technical problem in the existing technology is: how to effectively improve the monitoring capability for unexpected motor speed response without significantly increasing system cost and weight, so as to achieve high reliability and fast response monitoring of abnormal motor speed. Summary of the Invention

[0004] This invention provides a method and system for monitoring abnormal motor rotation, which can effectively improve the monitoring capability for unexpected motor speed responses without significantly increasing system cost and weight, thereby achieving highly reliable and rapid response monitoring of abnormal motor speed.

[0005] An embodiment of the present invention provides a method for monitoring abnormal motor rotation, comprising the following steps: A rotation anomaly monitoring unit, which is independent of the electric drive control unit, acquires rotation signals detected by the backup motor sensor; the backup motor sensor is not connected to the electric drive control unit but is connected to the rotation anomaly monitoring unit. The rotation anomaly monitoring unit analyzes the rotation signal to obtain the actual rotation parameter values ​​of the motor. The abnormal rotation monitoring unit performs real-time simulation calculations based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. The actual rotation parameter values ​​are compared and analyzed with the simulated rotation parameter values ​​by the rotation anomaly monitoring unit to obtain the rotation parameter deviation of the motor. In response to the rotational parameter deviation exceeding a preset deviation range, the rotational anomaly monitoring unit cuts off the power supply to the electric drive control unit, thereby stopping the electric drive control unit from driving the motor.

[0006] As an improvement to the above solution, the backup motor sensor includes a backup motor position sensor that is independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to the motor position signal, the actual rotation parameter value corresponds to the actual rotation speed value, and the simulated rotation parameter value corresponds to the simulated rotation speed value.

[0007] As an improvement to the above solution, the step of obtaining the simulated rotation parameter values ​​of the motor by performing real-time simulation calculations based on a preset motor simulation operation model through the rotation anomaly monitoring unit includes: The rotational inertia value and torque command value of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational acceleration of the motor is calculated by the rotational anomaly monitoring unit based on the load torque value, the output torque value, and the moment of inertia value. The simulated rotational speed of the motor is obtained by integrating the rotational acceleration through the rotational anomaly monitoring unit.

[0008] As an improvement to the above solution, the backup motor sensor includes a backup motor current sensor and / or a backup motor position sensor that are independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to a current signal corresponding to the backup motor current sensor and / or a position signal corresponding to the backup motor position sensor. The actual rotation parameter value corresponds to an actual torque value corresponding to the current signal and / or an actual rotation speed value corresponding to the position signal. The simulated rotation parameter value corresponds to a simulated torque value and / or a simulated rotation speed value.

[0009] As an improvement to the above solution, the step of analyzing the rotation signal through the rotation anomaly monitoring unit to obtain the actual rotation parameter values ​​of the motor includes: The position signal is analyzed and processed by the rotation anomaly monitoring unit to obtain the actual rotational speed of the motor; The actual torque value of the motor is obtained by analyzing and processing the current signal through the rotation anomaly monitoring unit.

[0010] As an improvement to the above solution, the step of obtaining the simulated rotation parameter values ​​of the motor by performing real-time simulation calculations based on a preset motor simulation operation model through the rotation anomaly monitoring unit includes: The rotational inertia value, torque command value, and electromagnetic time constant of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational abnormality monitoring unit calculates the load torque value, the output torque value, and the moment of inertia value to obtain the motor's rotational acceleration. The rotational acceleration is integrated and calculated by the rotational anomaly monitoring unit to obtain the simulated rotational speed value of the motor; The simulated torque value of the motor is obtained by the rotation anomaly monitoring unit based on the output torque value and the electromagnetic time constant.

[0011] As an improvement to the above solution, the step of cutting off the power supply to the electric drive control unit in response to the rotational parameter deviation exceeding a preset deviation range, so as to stop the electric drive control unit from driving the motor, includes: The rotation anomaly monitoring unit sends information about the rotation parameter deviation exceeding the preset deviation range to the motor's flight control unit via the communication bus. The rotation anomaly monitoring unit receives a power cut-off command from the flight control unit. The abnormal rotation monitoring unit controls the power control line connected to the electric drive control unit to disconnect according to the power cut-off command, thereby cutting off the power supply to the electric drive control unit and causing the electric drive control unit to stop driving the motor.

[0012] Another embodiment of the present invention provides a motor rotation abnormality monitoring system, comprising: An electric drive control unit for driving motors; A backup motor sensor for detecting the rotation signal of the motor is not connected to the electric drive control unit; and, A rotational anomaly monitoring unit, which is set independently of the electric drive control unit and connected to both the backup motor sensor and the electric drive control unit, is used for; The rotation signal is analyzed to obtain the actual rotation parameter values ​​of the motor; Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. By comparing and analyzing the actual rotation parameter values ​​with the simulated rotation parameter values, the deviation of the motor's rotation parameters is obtained; In response to the rotation parameter deviation exceeding a preset deviation range, the power supply to the electric drive control unit is cut off, so that the electric drive control unit stops driving the motor.

[0013] As an improvement to the above solution, the backup motor sensor includes a backup motor current sensor and a backup motor position sensor that are not connected to the electric drive control unit but are connected separately to the rotation abnormality monitoring unit. The rotation anomaly monitoring unit is specifically used for: The position signal collected by the backup motor position sensor is analyzed to obtain the actual speed value of the motor; The actual torque value of the motor is obtained by analyzing the current signal collected by the backup motor current sensor. Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated speed and simulated torque values ​​of the motor. By comparing and analyzing the actual speed value with the simulated speed value, and the actual torque value with the simulated torque value, the speed deviation and torque deviation of the motor are obtained. In response to at least one of the speed deviation and torque deviation exceeding the corresponding preset deviation range, a power cut-off operation is triggered on the electric drive control unit.

[0014] As an improvement to the above solution, the backup motor sensor includes a backup motor position sensor that is independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to the motor position signal, the actual rotation parameter value corresponds to the actual rotation speed value, and the simulated rotation parameter value corresponds to the simulated rotation speed value.

[0015] As an improvement to the above solution, the rotation anomaly monitoring unit is also specifically used for: Obtain the moment of inertia and torque command value of the motor; the torque command value includes the load torque value and output torque value of the motor; The motor's rotational acceleration is calculated from the load torque value, the output torque value, and the moment of inertia value. The simulated rotational speed of the motor is obtained by integrating the rotational acceleration.

[0016] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: By setting up a rotation anomaly monitoring unit independent of the electric drive control unit, and configuring a backup motor sensor connected separately to this module but not connected to the electric drive control unit, the monitoring module can acquire motor rotation signals physically isolated from the main control channel. This rotation anomaly monitoring unit analyzes the rotation signals to obtain actual rotation parameter values, and simultaneously calculates simulated rotation parameter values ​​in real time based on a preset motor simulation operation model. By comparing and analyzing the actual and simulated rotation parameter values, a rotation parameter deviation reflecting whether the motor has experienced an unexpected speed response is obtained. When this deviation exceeds a preset deviation range, the independent monitoring module directly or in conjunction with the flight control unit cuts off the power to the electric drive control unit, thereby stopping the motor drive. Therefore, this embodiment of the invention, through a dual verification mechanism of an independent sensing channel and a real-time simulation model, achieves highly reliable and rapid response monitoring and power cut-off for abnormal motor speeds without relying on a dual-redundant electric drive system or high-cost, high-reliability components. In summary, this embodiment of the invention effectively solves the problem in the prior art where single electric drive systems cannot reliably identify and respond to unexpected speed responses due to the lack of independent monitoring methods, without significantly increasing system cost and weight. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a method for monitoring abnormal motor rotation according to an embodiment of the present invention; Figure 2 This is a logic diagram of motor speed simulation, anomaly detection, and power control provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the algorithm principle for calculating the actual speed of a motor and the speed simulation calculation according to an embodiment of the present invention; Figure 4 This is a logical diagram illustrating the calculation of actual motor speed and speed simulation calculation according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a motor drive and speed monitoring system with dual three-phase current sensors provided in an embodiment of the present invention; Figure 6 This is a logic diagram of a dual-dimensional calculation, simulation, anomaly detection, and power control of motor speed and torque provided in an embodiment of the present invention; Figure 7 This is a logical diagram illustrating a dual-dimensional calculation and simulation of motor torque and speed provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a motor rotation abnormality monitoring system provided in an embodiment of the present invention. Detailed Implementation

[0018] 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.

[0019] See Figure 1 This is a flowchart illustrating a method for monitoring abnormal motor rotation according to an embodiment of the present invention. The method for monitoring abnormal motor rotation includes the following steps: S10, the rotation signal detected by the backup motor sensor is obtained from the rotation abnormality monitoring unit, which is set independently of the electric drive control unit; the backup motor sensor is not connected to the electric drive control unit but is connected to the rotation abnormality monitoring unit. S11, the rotation signal is analyzed by the rotation anomaly monitoring unit to obtain the actual rotation parameter values ​​of the motor; S12, the abnormal rotation monitoring unit performs real-time simulation calculations based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. S13, The actual rotation parameter values ​​are compared and analyzed with the simulated rotation parameter values ​​by the rotation anomaly monitoring unit to obtain the rotation parameter deviation of the motor; S14, in response to the rotational abnormality monitoring unit indicating that the rotational parameter deviation exceeds a preset deviation range, the power supply to the electric drive control unit is cut off, so that the electric drive control unit stops driving the motor.

[0020] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: By setting up a rotation anomaly monitoring unit independent of the electric drive control unit, and configuring a backup motor sensor connected separately to this module but not connected to the electric drive control unit, the monitoring module can acquire motor rotation signals physically isolated from the main control channel. This rotation anomaly monitoring unit analyzes the rotation signals to obtain actual rotation parameter values, and simultaneously calculates simulated rotation parameter values ​​in real time based on a preset motor simulation operation model. By comparing and analyzing the actual and simulated rotation parameter values, a rotation parameter deviation reflecting whether the motor has experienced an unexpected speed response is obtained. When this deviation exceeds a preset deviation range, the independent monitoring module directly or in conjunction with the flight control unit cuts off the power to the electric drive control unit, thereby stopping the motor drive. Therefore, this embodiment of the invention, through a dual verification mechanism of an independent sensing channel and a real-time simulation model, achieves highly reliable and rapid response monitoring and power cut-off for abnormal motor speeds without relying on a dual-redundant electric drive system or high-cost, high-reliability components. In summary, this embodiment of the invention effectively solves the problem in the prior art where single electric drive systems cannot reliably identify and respond to unexpected speed responses due to the lack of independent monitoring methods, without significantly increasing system cost and weight.

[0021] As one example of the above solution, the backup motor sensor includes a backup motor position sensor that is independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to the motor position signal, the actual rotation parameter value corresponds to the actual rotation speed value, and the simulated rotation parameter value corresponds to the simulated rotation speed value.

[0022] In this embodiment, a backup motor position sensor, connected only to the rotation anomaly monitoring unit and independent of the electric drive control unit, is configured. This sensor acquires motor position signals via a mechanical hard connection, ensuring that the rotation anomaly monitoring unit can obtain independent rotation signals unrelated to the electric drive control unit. Based on this independent position signal, the actual rotation speed value is analyzed, and the simulated rotation speed value is calculated using a motor simulation operation model. By comparing the two, a judgment of motor rotation anomalies is made, avoiding monitoring failure due to malfunctions of the electric drive control unit or its associated sensors. Therefore, this embodiment achieves independence and reliability of motor speed monitoring and improves the accuracy of detecting unexpected speed responses by using only a single backup position sensor and an independent monitoring module, without increasing the cost and weight of the dual-redundant electric drive system.

[0023] Specifically, see Figures 2 to 4A backup motor position sensor is installed on the motor shaft, and its output position signal is only connected to the rotation anomaly monitoring unit, not to the electric drive control unit. Based on this position signal, the rotation anomaly monitoring unit uses the same analytical algorithm as the electric drive control unit (such as a decoder algorithm related to position sensors like resolvers or eddy current converters) to calculate the actual motor speed. Simultaneously, the rotation anomaly monitoring unit obtains the torque command value from the electric drive control unit and reads the preset load torque value and the preset total moment of inertia value of the motor and load. Based on the formula ((torque command value - load torque value) / total moment of inertia value), the rotational acceleration is calculated. This acceleration is integrated to obtain the simulated rotational speed value. The actual rotational speed value is compared with the simulated rotational speed value. If the deviation exceeds a preset deviation range, it is determined that the motor has experienced an unexpected speed response. The rotation anomaly monitoring unit sends this anomaly information to the flight control unit via the communication bus. The flight control unit, after determining that a power cut-off is permissible, issues a power cut-off command. The rotation anomaly monitoring unit then controls the power control circuit to disconnect, cutting off the power supply to the electric drive control unit.

[0024] As one example of the above solution, the step of obtaining the simulated rotation parameter values ​​of the motor by performing real-time simulation calculations based on a preset motor simulation operation model through the rotation anomaly monitoring unit includes: The rotational inertia value and torque command value of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational acceleration of the motor is calculated by the rotational anomaly monitoring unit based on the load torque value, the output torque value, and the moment of inertia value. The simulated rotational speed of the motor is obtained by integrating the rotational acceleration through the rotational anomaly monitoring unit.

[0025] In this embodiment, the rotational inertia value of the motor and the torque command value including the load torque value and the output torque value are obtained through the rotational anomaly monitoring unit. The rotational acceleration is obtained using the calculation logic of "(output torque value - load torque value) / rotational inertia value". Then, the acceleration is converted into a simulated rotational speed value through integration, so that the simulated rotational speed value can truly reflect the theoretical operating state of the motor and provide an accurate theoretical reference for comparison with the actual rotational speed value. Therefore, this embodiment of the invention ensures the accuracy and real-time performance of the simulated rotational speed value through explicit dynamic formula calculation and integration, avoids misjudgment of anomalies caused by simulation model errors, and improves the reliability of motor rotational anomaly judgment.

[0026] Specifically, the working process of this embodiment is as follows: See Figures 2 to 4First, the rotational anomaly monitoring unit obtains the motor's moment of inertia value (J_motor + J_paddle is the sum of the motor's moment of inertia and the propeller's moment of inertia) from a preset parameter library. Simultaneously, it obtains the motor's torque command value from the flight control unit or a preset command source. This torque command value specifically includes the load torque value (Tm) and the output torque value required for motor operation. Next, the rotational anomaly monitoring unit subtracts the load torque value from the obtained output torque value according to a preset algorithm, obtaining a torque difference. This torque difference is then divided by the moment of inertia value to calculate the motor's speed acceleration. Subsequently, the rotational anomaly monitoring unit performs an integral operation on the calculated speed acceleration within the software, converting the speed acceleration into a time-varying speed value, which is the simulated speed value of the motor. Finally, the rotational anomaly monitoring unit uses this simulated speed value as the simulated rotational parameter value for subsequent comparative analysis with the actual rotational parameter value (actual speed value).

[0027] As one example of the above solution, the backup motor sensor includes a backup motor current sensor and / or a backup motor position sensor that are independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to a current signal corresponding to the backup motor current sensor and / or a position signal corresponding to the backup motor position sensor. The actual rotation parameter value corresponds to an actual torque value corresponding to the current signal and / or an actual rotation speed value corresponding to the position signal. The simulated rotation parameter value corresponds to a simulated torque value and / or a simulated rotation speed value.

[0028] In this embodiment, two independent backup sensors—a backup motor current sensor and a backup motor position sensor—are configured to collect current and position signals respectively. This allows the rotation anomaly monitoring unit to simultaneously acquire the actual torque and speed values ​​of the motor. Simultaneously, simulated torque and speed values ​​are generated, forming a "torque + speed" dual-dimensional comparison and verification, covering key parameters of the motor's rotation state and avoiding the limitations of single-parameter monitoring. Therefore, this embodiment, through the combination of dual backup sensors and dual-parameter monitoring, further improves the comprehensiveness and accuracy of motor rotation anomaly detection, enabling more timely identification of unexpected speed responses caused by torque anomalies and enhancing the reliability of the monitoring system.

[0029] Specifically, see Figures 5 to 7First, the backup motor position sensor and backup motor current sensor are installed at their respective monitoring positions on the motor. The backup motor position sensor is mechanically mounted on the motor shaft (using the principle of a resolver or eddy current position sensor), while the backup motor current sensor is installed on the motor power supply line. Neither sensor is connected to the electric drive control unit; both are connected only to the rotation anomaly monitoring unit. Then, the backup motor position sensor collects the motor position signal, and the backup motor current sensor collects the three-phase current signal. Both transmit their corresponding rotation signals to the rotation anomaly monitoring unit. After receiving the position and current signals, the rotation anomaly monitoring unit performs corresponding checks and adjustments. The system performs analytical processing to obtain the actual rotational speed from the position signal and the actual torque from the current signal; these two values ​​together constitute the actual rotational parameter values. Simultaneously, the rotational anomaly monitoring unit, based on a preset motor simulation operation model, calculates the simulated rotational speed and simulated torque values, forming the simulated rotational parameter values. Next, the rotational anomaly monitoring unit compares and analyzes the actual rotational speed and simulated rotational speed, as well as the actual torque and simulated torque values, to obtain two sets of rotational parameter deviations. Finally, if any set of rotational parameter deviations or all rotational parameter deviations exceed the preset deviation range, the rotational anomaly monitoring unit responds by cutting off the power to the electric drive control unit and stopping the motor drive.

[0030] As one example of the above solution, the step of parsing the rotation signal through the rotation anomaly monitoring unit to obtain the actual rotation parameter values ​​of the motor includes: The position signal is analyzed and processed by the rotation anomaly monitoring unit to obtain the actual rotational speed of the motor; The actual torque value of the motor is obtained by analyzing and processing the current signal through the rotation anomaly monitoring unit.

[0031] In this embodiment, the rotation anomaly monitoring unit employs differentiated analysis logic for the position and current signals transmitted by the backup motor sensor: the position signal is analyzed using the conventional algorithm of the resolver / eddy current sensor to obtain the actual rotational speed value, and the current signal is analyzed using the motor torque calculation principle to obtain the actual torque value. This achieves accurate conversion between the two rotational signals, providing an accurate basis of actual parameters for subsequent dual-parameter comparison. Therefore, this embodiment ensures the accuracy of the analysis of actual rotational speed and actual torque values ​​through targeted signal analysis methods, avoiding misjudgments of anomalies caused by signal analysis errors, and providing reliable data support for dual-dimensional monitoring.

[0032] Specifically, see Figures 5 to 7The rotation anomaly monitoring unit receives position signals from the backup motor position sensor and current signals from the backup motor current sensor. For the position signals, the unit uses an analytical algorithm matched with the rotary transformer position sensor or eddy current position sensor to process the period, phase, and other characteristics of the position signals. It then converts the position signals into the actual motor speed using conventional speed calculation logic such as "30 / π × signal frequency". For the current signals, based on the principle of motor electromagnetic torque calculation and combined with information such as motor winding parameters and current phase, the unit processes the current signals using a preset torque calculation model (such as a torque formula based on three-phase current and motor constant) to obtain the actual motor torque value. Finally, the unit integrates the analyzed actual speed value and actual torque value as the actual rotation parameter value of the motor, which is used for subsequent comparison and analysis with the simulated rotation parameter values.

[0033] As one example of the above solution, the step of obtaining the simulated rotation parameter values ​​of the motor by performing real-time simulation calculations based on a preset motor simulation operation model through the rotation anomaly monitoring unit includes: The rotational inertia value, torque command value, and electromagnetic time constant of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational abnormality monitoring unit calculates the load torque value, the output torque value, and the moment of inertia value to obtain the motor's rotational acceleration. The rotational acceleration is integrated and calculated by the rotational anomaly monitoring unit to obtain the simulated rotational speed value of the motor; The simulated torque value of the motor is obtained by the rotation anomaly monitoring unit based on the output torque value and the electromagnetic time constant.

[0034] In this embodiment, a torque simulation dimension is added to the rotational speed simulation. In addition to acquiring the moment of inertia and torque command values, the rotational anomaly monitoring unit also acquires the motor's electromagnetic time constant. The simulated torque value is obtained by "estimating the output torque value using the electromagnetic time constant." Simultaneously, the calculation logic of "torque difference / moment of inertia, rotational acceleration, and integration to obtain the simulated rotational speed value" from the previous embodiment is used to form a "torque + rotational speed" dual-dimensional simulation parameter. This parameter corresponds to the actual dual-dimensional parameters, enabling a more comprehensive comparison and verification. Therefore, this embodiment, through the precise correspondence between the dual-dimensional simulation parameters and the actual dual-dimensional parameters, further improves the comprehensiveness and accuracy of rotational anomaly detection, effectively identifying potential faults where the rotational speed is normal but the torque is abnormal, thus enhancing the coverage of the monitoring system.

[0035] Specifically, the working process of this embodiment is as follows: See Figures 5 to 7First, the rotational anomaly monitoring unit obtains the motor's moment of inertia (the sum of the motor's moment of inertia and the propeller's moment of inertia) and electromagnetic time constant from a preset parameter library, and obtains torque command values ​​including load torque and output torque values ​​from the flight control unit or command source. Next, it calculates the simulated speed value: the rotational anomaly monitoring unit subtracts the load torque value from the output torque value to obtain the torque difference, and then divides the torque difference by the moment of inertia value to obtain the motor's speed acceleration. Subsequently, it performs an integral operation on the speed acceleration to obtain the simulated speed value. Simultaneously, it calculates the simulated torque value: based on the obtained output torque value and the motor's electromagnetic time constant, the rotational anomaly monitoring unit estimates the simulated torque value using a preset electromagnetic response simulation model (such as torque lag estimation logic considering the electromagnetic time constant). Finally, the rotational anomaly monitoring unit uses the calculated simulated speed value and simulated torque value as the motor's simulated rotational parameter values ​​for subsequent comparative analysis with the actual rotational parameter values ​​(actual speed value and actual torque value).

[0036] As one example of the above solution, the step of cutting off the power supply to the electric drive control unit in response to the rotational parameter deviation exceeding a preset deviation range, so as to stop the electric drive control unit from driving the motor, includes: The rotation anomaly monitoring unit sends the information that the rotation parameter deviation exceeds the preset deviation range to the motor's flight control unit 4 via the communication bus. The rotation anomaly monitoring unit receives a power cut-off command from the flight control unit. The abnormal rotation monitoring unit controls the power control line connected to the electric drive control unit to disconnect according to the power cut-off command, thereby cutting off the power supply to the electric drive control unit and causing the electric drive control unit to stop driving the motor.

[0037] In this embodiment, information exchange between the rotation anomaly monitoring unit and the flight control unit 4 is established via a communication bus. The monitoring module reports anomaly information, the flight control unit 4 determines whether to issue a power cut-off command, and then the monitoring module executes the power cut-off operation, forming a closed-loop control of "reporting-judgment-execution". This avoids potential misoperations that might occur due to the monitoring module making decisions alone, while ensuring the authority and accuracy of the power cut-off command. Therefore, this embodiment introduces the judgment step of the flight control unit, reducing the risk of unnecessary downtime caused by misjudgment of anomalies. At the same time, by directly controlling the power line through the monitoring module, the timeliness of power cut-off is ensured, balancing reliability and safety.

[0038] Specifically, the working process of this embodiment is as follows: First, when the rotation anomaly monitoring unit detects that the rotation parameter deviation exceeds the preset deviation range, it immediately transmits the anomaly information (including the deviation value, deviation duration, etc.) to the motor's flight control unit through a preset communication bus (such as a CAN bus); then, after receiving the anomaly information, the flight control unit comprehensively judges whether it is necessary to cut off the motor power based on the overall machine operating status, feedback from other systems, etc. If it is determined that it is necessary to cut off, it generates a power cut-off command and sends the command to the rotation anomaly monitoring unit through the same communication bus; after receiving the power cut-off command from the flight control unit 4, the rotation anomaly monitoring unit immediately triggers its internal control logic to control the dedicated power control line connected to the electric drive control unit; by disconnecting the power control line, the power supply to the electric drive control unit is cut off, causing the electric drive control unit to lose its working power and be unable to continue outputting drive signals, thereby stopping the drive of the motor.

[0039] See Figure 8 This is a schematic diagram of a motor rotation abnormality monitoring system according to an embodiment of the present invention. The motor rotation abnormality monitoring system includes: Electric drive control unit 1 for driving motor; A backup motor sensor 2, used to detect the rotation signal of the motor, is not connected to the electric drive control unit; and, Rotation abnormality monitoring unit 3, which is set independently of the electric drive control unit and connected to both the backup motor sensor and the electric drive control unit, is used for; The rotation signal is analyzed to obtain the actual rotation parameter values ​​of the motor; Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. By comparing and analyzing the actual rotation parameter values ​​with the simulated rotation parameter values, the deviation of the motor's rotation parameters is obtained; In response to the rotation parameter deviation exceeding a preset deviation range, the power supply to the electric drive control unit is cut off, so that the electric drive control unit stops driving the motor.

[0040] As an improvement to the above solution, the backup motor sensor includes a backup motor position sensor that is independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to the motor position signal, the actual rotation parameter value corresponds to the actual rotation speed value, and the simulated rotation parameter value corresponds to the simulated rotation speed value.

[0041] As an improvement to the above solution, the rotation anomaly monitoring unit is also specifically used for: Obtain the moment of inertia and torque command value of the motor; the torque command value includes the load torque value and output torque value of the motor; The motor's rotational acceleration is calculated from the load torque value, the output torque value, and the moment of inertia value. The simulated rotational speed of the motor is obtained by integrating the rotational acceleration.

[0042] As an improvement to the above solution, the backup motor sensor includes a backup motor current sensor and a backup motor position sensor that are not connected to the electric drive control unit but are connected separately to the rotation abnormality monitoring unit. The rotation anomaly monitoring unit is specifically used for: The position signal collected by the backup motor position sensor is analyzed to obtain the actual speed value of the motor; The actual torque value of the motor is obtained by analyzing the current signal collected by the backup motor current sensor. Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated speed and simulated torque values ​​of the motor. By comparing and analyzing the actual speed value with the simulated speed value, and the actual torque value with the simulated torque value, the speed deviation and torque deviation of the motor are obtained. In response to at least one of the speed deviation and torque deviation exceeding the corresponding preset deviation range, a power cut-off operation is triggered on the electric drive control unit.

[0043] As an improvement to the above solution, the abnormal motor rotation monitoring system also includes a flight control unit and a power switching module; The rotation anomaly monitoring unit is connected to the flight control unit via a communication bus. The rotation anomaly monitoring unit is also used to send information that the rotation parameter deviation exceeds the preset deviation range to the flight control unit, and to receive a power cut-off command from the flight control unit. The power switching module is connected to the power line of the electric drive control unit and is controlled by the rotation abnormality monitoring unit. The rotational abnormality monitoring unit controls the power switching module to disconnect the power line according to the power cut-off command, thereby cutting off the power supply to the electric drive control unit.

[0044] It should be noted that the system embodiments 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. Furthermore, in the accompanying drawings of the system embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0045] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring abnormal motor rotation, characterized in that, Includes the following steps: The rotation anomaly monitoring unit, which is set up independently of the electric drive control unit, acquires the rotation signal detected by the backup motor sensor. The backup motor sensor is not connected to the electric drive control unit but is connected to the rotation abnormality monitoring unit. The rotation anomaly monitoring unit analyzes the rotation signal to obtain the actual rotation parameter values ​​of the motor. The abnormal rotation monitoring unit performs real-time simulation calculations based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. The actual rotation parameter values ​​are compared and analyzed with the simulated rotation parameter values ​​by the rotation anomaly monitoring unit to obtain the rotation parameter deviation of the motor. In response to the rotational parameter deviation exceeding a preset deviation range, the rotational anomaly monitoring unit cuts off the power supply to the electric drive control unit, thereby stopping the electric drive control unit from driving the motor.

2. The method for monitoring abnormal motor rotation as described in claim 1, characterized in that, The backup motor sensor includes a backup motor position sensor that is independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to the motor position signal, the actual rotation parameter value corresponds to the actual rotation speed value, and the simulated rotation parameter value corresponds to the simulated rotation speed value.

3. The method for monitoring abnormal motor rotation as described in claim 2, characterized in that, The step of obtaining the simulated rotation parameter values ​​of the motor through real-time simulation calculation based on a preset motor simulation operation model by the rotation anomaly monitoring unit includes: The rotational inertia value and torque command value of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational acceleration of the motor is calculated by the rotational anomaly monitoring unit based on the load torque value, the output torque value, and the moment of inertia value. The simulated rotational speed of the motor is obtained by integrating the rotational acceleration through the rotational anomaly monitoring unit.

4. The method for monitoring abnormal motor rotation as described in claim 1, characterized in that, The backup motor sensor includes a backup motor current sensor and / or a backup motor position sensor that are independent of the electric drive control unit and separately connected to the rotation anomaly monitoring unit. The rotation signal corresponds to a current signal corresponding to the backup motor current sensor and / or a position signal corresponding to the backup motor position sensor. The actual rotation parameter value corresponds to an actual torque value corresponding to the current signal and / or an actual rotation speed value corresponding to the position signal. The simulated rotation parameter value corresponds to a simulated torque value and / or a simulated rotation speed value.

5. The method for monitoring abnormal motor rotation as described in claim 4, characterized in that, The step of analyzing the rotation signal through the rotation anomaly monitoring unit to obtain the actual rotation parameter values ​​of the motor includes: The position signal is analyzed and processed by the rotation anomaly monitoring unit to obtain the actual rotational speed of the motor; and / or, The actual torque value of the motor is obtained by analyzing and processing the current signal through the rotation anomaly monitoring unit.

6. The method for monitoring abnormal motor rotation as described in claim 4, characterized in that, The step of obtaining the simulated rotation parameter values ​​of the motor through real-time simulation calculation based on a preset motor simulation operation model by the rotation anomaly monitoring unit includes: The rotational inertia value, torque command value, and electromagnetic time constant of the motor are obtained through the rotational anomaly monitoring unit; the torque command value includes the load torque value and output torque value of the motor. The rotational abnormality monitoring unit calculates the load torque value, the output torque value, and the moment of inertia value to obtain the motor's rotational acceleration. The rotational acceleration is integrated and calculated by the rotational anomaly monitoring unit to obtain the simulated rotational speed value of the motor; The simulated torque value of the motor is obtained by the rotation anomaly monitoring unit based on the output torque value and the electromagnetic time constant.

7. The method for monitoring abnormal motor rotation as described in any one of claims 1-6, characterized in that, The step of cutting off the power supply to the electric drive control unit in response to the rotational parameter deviation exceeding a preset deviation range, so as to stop the electric drive control unit from driving the motor, includes: The rotation anomaly monitoring unit sends information about the rotation parameter deviation exceeding the preset deviation range to the motor's flight control unit via the communication bus. The rotation anomaly monitoring unit receives a power cut-off command from the flight control unit. The abnormal rotation monitoring unit controls the power control line connected to the electric drive control unit to disconnect according to the power cut-off command, thereby cutting off the power supply to the electric drive control unit and causing the electric drive control unit to stop driving the motor.

8. A motor rotation abnormality monitoring system, characterized in that, include: An electric drive control unit for driving motors; A backup motor sensor for detecting the rotation signal of the motor is not connected to the electric drive control unit; and, A rotational anomaly monitoring unit, which is set independently of the electric drive control unit and connected to both the backup motor sensor and the electric drive control unit, is used for: The rotation signal is analyzed to obtain the actual rotation parameter values ​​of the motor; Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated rotation parameter values ​​of the motor. By comparing and analyzing the actual rotation parameter values ​​with the simulated rotation parameter values, the deviation of the motor's rotation parameters is obtained; In response to the rotation parameter deviation exceeding a preset deviation range, the power supply to the electric drive control unit is cut off, so that the electric drive control unit stops driving the motor.

9. The motor rotation abnormality monitoring system as described in claim 8, characterized in that, The backup motor sensors include a backup motor current sensor and a backup motor position sensor that are not connected to the electric drive control unit but are connected separately to the rotation abnormality monitoring unit. The rotation anomaly monitoring unit is specifically used for: The position signal collected by the backup motor position sensor is analyzed to obtain the actual speed value of the motor; The actual torque value of the motor is obtained by analyzing the current signal collected by the backup motor current sensor. Real-time simulation calculations are performed based on a preset motor simulation operation model to obtain the simulated speed and simulated torque values ​​of the motor. By comparing and analyzing the actual speed value with the simulated speed value, and the actual torque value with the simulated torque value, the speed deviation and torque deviation of the motor are obtained. In response to at least one of the speed deviation and the torque deviation exceeding the corresponding preset deviation range, a power cut-off operation is triggered on the electric drive control unit.

10. The motor rotation abnormality monitoring system as described in claim 9, characterized in that, The abnormal motor rotation monitoring system also includes a flight control unit and a power switching module; The rotation anomaly monitoring unit is connected to the flight control unit via a communication bus. The rotation anomaly monitoring unit is also used to send information that the rotation parameter deviation exceeds the preset deviation range to the flight control unit, and to receive a power cut-off command from the flight control unit. The power switching module is connected to the power line of the electric drive control unit and is controlled by the rotation abnormality monitoring unit. The rotational abnormality monitoring unit controls the power switching module to disconnect the power line according to the power cut-off command, thereby cutting off the power supply to the electric drive control unit.

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