Locked-rotor detection method and device of permanent magnet synchronous motor and computer equipment
By injecting high-frequency voltage signals into permanent magnet synchronous motors for harmonic analysis and load torque calculation, the problems of accuracy and predictability in stall detection are solved, achieving efficient stall identification and improved system reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-04-07
AI Technical Summary
Existing methods for detecting stall in permanent magnet synchronous motors have low accuracy and predictability, making it difficult to effectively prevent motor damage and improve system reliability.
By acquiring the target frequency and amplitude of the high-frequency voltage signal, a square wave high-frequency voltage signal is generated and injected into the stator winding of the motor. The harmonic current components are analyzed by fast Fourier transform, and the harmonic distortion rate and equivalent impedance slope are calculated. Combined with the estimated values of the motor's three-phase current and load torque, the stall detection analysis is performed, and the stall status is determined by comprehensive scoring.
It improves the accuracy, timeliness, and predictability of stall detection, reduces detection costs, and enhances the reliability of stall identification through multi-dimensional analysis.
Smart Images
Figure CN121813982A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control technology, and in particular to a method, apparatus, computer equipment, and storage medium for detecting stall in a permanent magnet synchronous motor. Background Technology
[0002] A motor is considered stalled when it continues to output torque even when its speed is zero. There are many reasons for motor stalling, including mechanical and human factors. For example, the rotor may become stuck in contact with the stator, the driven equipment may be jammed, or the equipment load may be too high for the motor to handle. In the field of motor control, stall detection is a key technology for preventing damage to permanent magnet synchronous motors and improving system reliability.
[0003] However, current methods for detecting stall in permanent magnet synchronous motors have problems such as low detection accuracy or predictability. Summary of the Invention
[0004] Therefore, it is necessary to provide a stall detection method, device, computer equipment, and storage medium for permanent magnet synchronous motors that can improve detection accuracy and predictability in response to the above-mentioned technical problems.
[0005] In a first aspect, a stall detection method for a permanent magnet synchronous motor is provided, the method comprising: In response to receiving a stall detection command from a permanent magnet synchronous motor, the target frequency and target amplitude of a high-frequency voltage signal are obtained. Based on the target frequency and target amplitude, a square wave high-frequency voltage signal generation command is generated and output to a high-frequency signal generator, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal. In response to the completion of the high-frequency voltage injection of the target square wave, the high-frequency response current of the target square wave high-frequency voltage signal is obtained. The high-frequency response current is analyzed by fast Fourier transform to obtain the harmonic current components. The harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor are calculated based on the harmonic current components. In response to the permanent magnet synchronous motor being in operation, the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor are obtained. The phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system is calculated based on the three-phase current of the motor. The measured estimated value of the load torque of the permanent magnet synchronous motor is calculated based on the three-phase current of the motor. The load torque estimation deviation value is calculated based on the theoretical estimated value and the measured estimated value of the load torque. Stall rotor detection and analysis results are obtained by estimating deviations based on harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque.
[0006] In one embodiment, obtaining the target frequency and target amplitude of a high-frequency voltage signal includes: obtaining the frequency range and amplitude range of the high-frequency voltage signal; and randomly selecting from the frequency range and amplitude range to obtain the target frequency and target amplitude.
[0007] In one embodiment, obtaining the high-frequency response current of the target square wave high-frequency voltage signal includes: obtaining the total stator winding current of the motor stator winding collected by the signal acquisition device; and extracting the signal from the total stator winding current based on the control bandpass filter to obtain the high-frequency response current.
[0008] In one embodiment, the calculation of the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component includes: filtering from each harmonic current component to obtain each odd-order harmonic current component; determining the amplitude of the fundamental current component based on the first harmonic current component; determining the amplitude of the corresponding target odd-order harmonic current component based on each target odd-order harmonic current component; the target odd-order harmonics are odd-order harmonics other than the first harmonic; determining the target sum of squares based on the sum of squares of the amplitudes of each target odd-order harmonic current component; and determining the harmonic distortion rate based on the quotient of the square root of the target sum of squares and the amplitude of the fundamental current component.
[0009] In one embodiment, the calculation of the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component further includes: obtaining the amplitude and frequency of each harmonic voltage component; calculating the equivalent impedance at each harmonic frequency based on each harmonic voltage component, each harmonic frequency and each harmonic current component; and calculating the equivalent impedance slope based on the equivalent impedance at each harmonic frequency and each harmonic frequency.
[0010] In one embodiment, calculating the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current of the motor includes: performing a Clarke transformation based on the three-phase current of the motor to obtain the α-axis current component and the β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system; performing a Park transformation based on the α-axis current component and the β-axis current component to obtain the d-axis current component and the q-axis current component; and calculating the current phase difference based on the d-axis current component and the q-axis current component.
[0011] In one embodiment, the estimated load torque of the permanent magnet synchronous motor is calculated based on the three-phase current of the motor, including: obtaining the number of pole pairs of the permanent magnet synchronous motor, the flux linkage of the permanent magnet of the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; and calculating the estimated load torque based on the electromagnetic torque algorithm of the motor, according to the number of pole pairs of the motor, the flux linkage of the permanent magnet of the motor, the d-axis inductance parameter, the q-axis inductance parameter, the d-axis current component, and the q-axis current component.
[0012] In one embodiment, stall detection analysis is performed based on harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation to obtain stall detection analysis results. This includes: performing static stall detection analysis based on harmonic distortion rate and equivalent impedance slope to obtain a static stall detection score; performing dynamic stall detection analysis based on current phase difference and load torque estimation deviation to obtain a dynamic stall detection score; obtaining a first weight corresponding to the static stall detection score and a second weight corresponding to the dynamic stall detection score; calculating a comprehensive stall detection score based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score; determining a stall detection state if the comprehensive stall detection score is greater than a scoring threshold; and determining a normal state if the comprehensive stall detection score is less than or equal to the scoring threshold.
[0013] Secondly, a stall detection device for a permanent magnet synchronous motor is provided, the device comprising a signal generation module, a static analysis data calculation module, a dynamic analysis data calculation module, and a stall detection and analysis module.
[0014] The signal generation module, in response to a stall detection command from the permanent magnet synchronous motor, acquires the target frequency and target amplitude of the high-frequency voltage signal. Based on the target frequency and target amplitude, it generates and outputs a square-wave high-frequency voltage signal generation command to the high-frequency signal generator, enabling the high-frequency signal generator to inject the target square-wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor. The static analysis data calculation module, in response to the completion of the target square-wave high-frequency voltage injection, acquires the high-frequency response current of the target square-wave high-frequency voltage signal, performs fast Fourier transform analysis on the high-frequency response current to obtain the harmonic current components, and calculates the harmonic distortion rate and the permanent magnet synchronous motor's stator winding based on the harmonic current components. The equivalent impedance slope of the permanent magnet synchronous motor; the dynamic analysis data calculation module is used to obtain the theoretical estimates of the three-phase current and load torque of the permanent magnet synchronous motor in response to the motor's operating state; it calculates the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current; it calculates the measured estimate of the load torque of the permanent magnet synchronous motor based on the three-phase current; and it calculates the load torque estimation deviation value based on the theoretical estimate value and the measured estimate value of the load torque; the stall detection analysis module is used to perform stall detection analysis based on the harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation value, and obtains the stall detection analysis results.
[0015] Thirdly, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in the above method embodiments.
[0016] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described in the above method embodiments.
[0017] The aforementioned stall detection method, apparatus, computer equipment, and storage medium for permanent magnet synchronous motors, in response to receiving a stall detection command from the permanent magnet synchronous motor, acquire the target frequency and target amplitude of a high-frequency voltage signal, generate and output a square wave high-frequency voltage signal generation command to a high-frequency signal generator based on the target frequency and target amplitude, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal; then, in response to the completion of the target square wave high-frequency voltage injection, acquire the high-frequency response current of the target square wave high-frequency voltage signal, perform fast Fourier transform analysis on the high-frequency response current to obtain each harmonic current component, and calculate the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component; then... In response to the permanent magnet synchronous motor being in operation, the theoretical estimates of the motor's three-phase current and load torque are obtained. Based on the three-phase current, the phase difference between the d-axis and q-axis current components of the permanent magnet synchronous motor in the synchronous rotating coordinate system is calculated. Based on the three-phase current, the measured estimate of the load torque is calculated. The load torque estimation deviation is calculated based on the theoretical and measured estimates. Finally, based on the harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation, stall detection analysis is performed to obtain stall detection analysis results. This improves the timeliness, adaptability to operating conditions, accuracy, and predictability of detection, reduces detection costs, and enhances the overall reliability of stall identification through multi-dimensional analysis. Attached Figure Description
[0018] Figure 1 This is an application environment diagram of a stall detection method for a permanent magnet synchronous motor in one embodiment; Figure 2 This is a flowchart illustrating a stall detection method for a permanent magnet synchronous motor in one embodiment. Figure 3 This is a flowchart illustrating the process of obtaining the target frequency and target amplitude of a high-frequency voltage signal in one embodiment. Figure 4 This is a flowchart illustrating the process of obtaining the high-frequency response current of a target square wave high-frequency voltage signal in one embodiment. Figure 5 This is a flowchart illustrating the process of obtaining the stall detection analysis results by estimating the deviation value based on harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque in one embodiment. Figure 6 This is a structural block diagram of a stall detection device for a permanent magnet synchronous motor in one embodiment; Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0020] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
[0022] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.
[0023] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.
[0024] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.
[0025] The stall detection method for permanent magnet synchronous motors provided in this application can be applied to, for example... Figure 1 The diagram shows a stall detection system for a permanent magnet synchronous motor. The stall detection system includes a high-frequency signal generator 100, a signal acquisition unit 200, and a signal processor 300. The high-frequency signal generator 100 is electrically connected to the signal processor 300, and the signal acquisition unit 200 is also electrically connected to the signal processor 300.
[0026] In a specific example, the stall detection system for a permanent magnet synchronous motor also includes a bandpass filter. The bandpass filter is electrically connected to the signal processor 300, and the signal acquisition unit 200 can be, but is not limited to, a current sensor or a power analyzer. The above is merely a specific example; in actual applications, the configuration can be flexibly adjusted according to user needs, and no restrictions are imposed here.
[0027] In one embodiment, such as Figure 2 As shown, a stall detection method for a permanent magnet synchronous motor is provided, which is then applied to... Figure 1 The following steps are used as an example of signal processor 300, including steps 201 to 204.
[0028] Step 201: In response to receiving the stall detection command from the permanent magnet synchronous motor, the target frequency and target amplitude of the high-frequency voltage signal are obtained, and a square wave high-frequency voltage signal generation command is generated and output to the high-frequency signal generator according to the target frequency and target amplitude, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal.
[0029] Specifically, in response to receiving a stall detection command from a permanent magnet synchronous motor, the signal processor 300 acquires the target frequency and target amplitude of a high-frequency voltage signal, generates a square wave high-frequency voltage signal generation command based on the target frequency and target amplitude, and outputs it to a high-frequency signal generator so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor based on the square wave high-frequency voltage signal.
[0030] In one embodiment, such as Figure 3 As shown, the target frequency and target amplitude of the high-frequency voltage signal are obtained, including steps 301 to 302.
[0031] Step 301: Obtain the frequency range and amplitude range of the high-frequency voltage signal; Step 302: Randomly select from the frequency range and amplitude range to obtain the target frequency and target amplitude.
[0032] Specifically, the signal processor 300 acquires the frequency range and amplitude range of the high-frequency voltage signal; then, it randomly selects the target frequency and target amplitude based on the frequency range and amplitude range, thereby improving the efficiency and accuracy of acquiring the target frequency and target amplitude, and facilitating the generation and output of the target square wave high-frequency voltage signal.
[0033] In a specific example, the frequency of the high-frequency voltage signal The amplitude of the high-frequency voltage signal is in the range of 5~10kHz. The range is 5% to 10% of the rated voltage of the permanent magnet synchronous motor. Therefore, the angular frequency of the high-frequency voltage signal can be calculated. .
[0034] It is understandable that the expression for the target square wave high-frequency voltage signal is:
[0035] in, It is a symbolic function; For time; The target is a square wave high-frequency voltage signal; The above are just specific examples. In actual applications, the settings should be flexibly adjusted according to user needs, and no restrictions are imposed here.
[0036] In this embodiment, the frequency range and amplitude range of the high-frequency voltage signal are obtained; then, the target frequency and target amplitude are obtained by random selection based on the frequency range and amplitude range, which improves the efficiency and accuracy of obtaining the target frequency and target amplitude, and facilitates the generation and output of the target square wave high-frequency voltage signal.
[0037] Step 202: In response to the completion of the high-frequency voltage injection of the target square wave, the high-frequency response current of the target square wave high-frequency voltage signal is obtained. The high-frequency response current is analyzed by fast Fourier transform to obtain the harmonic current components. The harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor are calculated based on the harmonic current components.
[0038] Specifically, in response to the completion of the high-frequency voltage injection of the target square wave, the signal processor 300 acquires the high-frequency response current of the target square wave high-frequency voltage signal, performs fast Fourier transform analysis on the high-frequency response current to obtain the harmonic current components, and calculates the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on the harmonic current components, thereby facilitating the static stall detection analysis of the permanent magnet synchronous motor based on the harmonic distortion rate and the equivalent impedance slope.
[0039] In one embodiment, such as Figure 4 As shown, the high-frequency response current of the target square wave high-frequency voltage signal is obtained, including steps 401 to 402.
[0040] Step 401: Obtain the total stator winding current of the motor stator winding collected by the signal acquisition device; Step 402: Based on the control bandpass filter, the signal is extracted from the total current of the stator winding to obtain the high-frequency response current.
[0041] Specifically, the signal processor 300 acquires the total stator winding current of the motor stator winding collected by the signal acquisition device; then, based on the control bandpass filter, it extracts the signal from the total stator winding current to obtain the high-frequency response current, which improves the convenience and efficiency of acquiring the high-frequency response current.
[0042] In a specific example, the expression for the total stator winding current of the motor stator winding collected by the signal acquisition device is:
[0043] in, This represents the total current in the stator windings of the motor. The current generated by the fundamental frequency control signal; The high-frequency response current of the standard square wave high-frequency voltage signal.
[0044]
[0045] in, The high-frequency response current of the standard square wave high-frequency voltage signal; This represents the total current in the stator windings of the motor. This is the low cutoff frequency of the bandpass filter; This is the high cutoff frequency of the bandpass filter; the above is just a specific example, and in actual applications, it can be flexibly set according to user needs, without any restrictions.
[0046] In this embodiment, the total stator winding current of the motor stator winding is acquired by the signal acquisition device; then, based on the control bandpass filter, the signal is extracted from the total stator winding current to obtain the high-frequency response current, which improves the convenience and efficiency of acquiring the high-frequency response current.
[0047] In a specific example, the fast Fourier transform analysis of the high-frequency response current yields the harmonic current components based on the following expression:
[0048] in, For the first k Subharmonic current components; T The sampling period; it is understandable that, . The frequency of the target square wave high-frequency voltage signal is given. The above is only a specific example; in actual applications, it can be flexibly set according to user needs, and there are no restrictions here.
[0049] In one embodiment, the calculation of the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component includes: By filtering the harmonic current components, the odd-numbered harmonic current components are obtained. The amplitude of the fundamental current component is determined based on the first harmonic current component. The amplitude of the corresponding odd-order harmonic current component is determined based on the odd-order harmonic current components of each target. The target amplitude sum of squares is determined by the sum of the squares of the amplitudes of the odd-order harmonic current components of each target, and the harmonic distortion rate is determined by the quotient of the square root of the target amplitude sum of squares and the amplitude of the fundamental current component.
[0050] The target odd-order harmonics are all odd-order harmonics except the first harmonic. Specifically, the signal processor 300 filters the harmonic current components to obtain the odd-order harmonic current components; then, it determines the amplitude of the fundamental current component based on the first harmonic current component; next, it determines the amplitude of the corresponding target odd-order harmonic current component based on each target odd-order harmonic current component; finally, it determines the target sum of squares based on the sum of squares of the amplitudes of each target odd-order harmonic current component, and determines the harmonic distortion rate based on the quotient of the square root of the target sum of squares and the amplitude of the fundamental current component, thus improving the efficiency and accuracy of determining the harmonic distortion rate.
[0051] In a specific example, the harmonic distortion rate is determined based on the following expression:
[0052] in, Harmonic distortion rate; The amplitude of the target odd-order harmonic current component; This represents the amplitude of the fundamental current component. The above is merely a specific example; in practical applications, it can be flexibly set according to user needs, and no restrictions are imposed here.
[0053] In this embodiment, each harmonic current component is filtered to obtain each odd-order harmonic current component; then, the amplitude of the fundamental current component is determined based on the first harmonic current component; next, the amplitude of the corresponding target odd-order harmonic current component is determined based on each target odd-order harmonic current component; finally, the target amplitude sum of squares is determined based on the sum of the squares of the amplitudes of each target odd-order harmonic current component, and the harmonic distortion rate is determined based on the quotient of the square root of the target amplitude sum of squares and the amplitude of the fundamental current component, thereby improving the efficiency and accuracy of determining the harmonic distortion rate.
[0054] In one embodiment, calculating the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component further includes: Obtain the amplitude and frequency of each harmonic voltage component; The equivalent impedance at each harmonic frequency is calculated based on the voltage component, frequency, and current component of each harmonic. The slope of the equivalent impedance is calculated based on the equivalent impedance at each harmonic frequency and the harmonic frequency.
[0055] Specifically, the signal processor 300 acquires the amplitude and frequency of each harmonic voltage component; then, it calculates the equivalent impedance at each harmonic frequency based on the harmonic voltage component, harmonic frequency, and harmonic current component; next, it calculates the equivalent impedance slope based on the equivalent impedance at each harmonic frequency and the harmonic frequency, thereby improving the efficiency and accuracy of acquiring the equivalent impedance slope.
[0056] In a specific example, in the high-frequency response current k Subharmonic frequency At this point, the high-frequency equivalent impedance From high frequency voltage and high frequency current Calculated; .in, The target square wave high-frequency voltage signal After performing a Fourier series expansion, the first k Amplitude of the subharmonic voltage component Target square wave high-frequency voltage signal After Fourier series expansion, it becomes:
[0057] Equivalent impedance slope S Represents high-frequency equivalent impedance With the harmonic frequency of the current signal The rate of change.
[0058]
[0059] in, S The slope of the equivalent impedance; The first harmonic frequency of the high-frequency response current; The third harmonic frequency of the high-frequency response current; The equivalent impedance at the third harmonic frequency of the high-frequency response current; The above is just a specific example of the equivalent impedance at the first harmonic frequency of the high-frequency response current. In actual applications, it can be flexibly set according to user needs, and there are no restrictions here.
[0060] In this embodiment, the amplitude and frequency of each harmonic voltage component are obtained; then, the equivalent impedance at each harmonic frequency is calculated based on the harmonic voltage component, the harmonic frequency, and the harmonic current component; next, the slope of the equivalent impedance is calculated based on the equivalent impedance at each harmonic frequency and the harmonic frequency, which improves the efficiency and accuracy of obtaining the slope of the equivalent impedance.
[0061] Step 203: In response to the permanent magnet synchronous motor being in operation, obtain the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor, calculate the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current of the motor, calculate the measured estimated value of the load torque of the permanent magnet synchronous motor based on the three-phase current of the motor, and calculate the load torque estimation deviation value based on the theoretical estimated value and the measured estimated value of the load torque.
[0062] Specifically, in response to the permanent magnet synchronous motor being in operation, the signal processor 300 acquires the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor, calculates the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current, calculates the measured estimated value of the load torque of the permanent magnet synchronous motor based on the three-phase current, and calculates the load torque estimation deviation value based on the theoretical estimated value and the measured estimated value of the load torque. This facilitates dynamic stall detection analysis based on the current phase difference and the load torque estimation deviation value, improving the accuracy and efficiency of the stall detection analysis results.
[0063] In one embodiment, calculating the phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current of the motor includes: Based on the Clarke transformation of the three-phase current of the motor, the α-axis current component and β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system are obtained. The Parker transformation is performed on the α-axis current component and the β-axis current component to obtain the d-axis current component and the q-axis current component. The current phase difference is obtained by calculating based on the d-axis current component and the q-axis current component.
[0064] In the control of permanent magnet synchronous motors (PMSMs), the dq coordinate system is a core tool for understanding their dynamic characteristics and designing control algorithms. It simplifies the three-phase AC system into a two-phase DC system through coordinate transformation, achieving decoupled control and thus improving motor performance. The d-axis of the synchronous rotating coordinate system is aligned with the direction of the rotor's permanent magnet magnetic field, and the q-axis leads the d-axis by 90°, thereby converting three-phase AC quantities into DC quantities, simplifying the control model, and achieving control effects similar to those of a DC motor.
[0065] Specifically, the signal processor 300 performs a Clarke transformation based on the three-phase current of the motor to obtain the α-axis current component and β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system; then, it performs a Park transformation based on the α-axis current component and β-axis current component to obtain the d-axis current component and q-axis current component; next, it calculates the current phase difference based on the d-axis current component and q-axis current component, thereby improving the accuracy and convenience of obtaining the current phase difference.
[0066] In a specific example, the Clarke transform is based on the following expression:
[0067] in, , and This refers to the three-phase current of the motor; For the α-axis current component; This represents the β-axis current component.
[0068] The Parker transform is based on the following expression:
[0069] in, The α-axis current component; This refers to the β-axis current component; The rotor position angle; The current component is the d-axis component; This represents the q-axis current component.
[0070] The current phase difference is calculated based on the following expression:
[0071] in, The phase difference of the current; The current component is the d-axis component; This refers to the q-axis current component. This represents the desired d-axis current component at the current torque and speed operating point. This represents the desired q-axis current component at the current torque and speed operating point. The above is merely a specific example; in practical applications, it should be flexibly set according to user needs, and no restrictions are imposed here.
[0072] In this embodiment, the Clarke transform is performed based on the three-phase current of the motor to obtain the α-axis current component and β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system; then, the Park transform is performed based on the α-axis current component and β-axis current component to obtain the d-axis current component and q-axis current component; next, the current phase difference is calculated based on the d-axis current component and q-axis current component, which improves the accuracy and convenience of obtaining the current phase difference.
[0073] In one embodiment, the estimated load torque of the permanent magnet synchronous motor is calculated based on the three-phase current of the motor, including: Obtain the number of pole pairs of the permanent magnet synchronous motor, the magnetic flux linkage of the permanent magnet of the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; Based on the motor electromagnetic torque algorithm, the measured estimated value of the load torque is obtained by calculating the number of motor pole pairs, motor permanent magnet flux linkage, d-axis inductance parameters, q-axis inductance parameters, d-axis current components, and q-axis current components.
[0074] Specifically, the signal processor 300 acquires the number of pole pairs of the permanent magnet synchronous motor, the flux linkage of the permanent magnet in the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system. Then, based on the motor electromagnetic torque algorithm, it calculates the estimated value of the load torque based on the number of pole pairs, the flux linkage of the permanent magnet in the motor, the d-axis inductance parameter, the q-axis inductance parameter, the d-axis current component, and the q-axis current component, thereby improving the efficiency and accuracy of determining the estimated value of the load torque.
[0075] In a specific example, the theoretical estimate of the load torque based on the Lumberjack observer is determined based on the following expression:
[0076] in, This is a theoretical estimate of the load torque. This represents the number of pole pairs of the motor. For permanent magnet flux linkage in motors; The d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; The q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; This refers to the d-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system under normal operating conditions. This refers to the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system under normal operating conditions.
[0077] The estimated value of the measured load torque is determined based on the following expression:
[0078] in, This is an estimated value based on the measured load torque. This represents the number of pole pairs of the motor. For permanent magnet flux linkage in motors; The d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; The q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; The current component is the d-axis component; This represents the q-axis current component.
[0079] The load torque estimation deviation is calculated based on the following expression:
[0080] in, Estimate the deviation value for the load torque; This is a theoretical estimate of the load torque. The above is an estimated value of the load torque based on actual measurements; it is only a specific example and can be flexibly set according to user needs in actual applications, without any restrictions.
[0081] In this embodiment, the number of pole pairs of the permanent magnet synchronous motor, the flux linkage of the permanent magnet in the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system are obtained. Then, based on the motor electromagnetic torque algorithm, the measured estimated value of the load torque is obtained by calculating the number of pole pairs, the flux linkage of the permanent magnet in the permanent magnet, the d-axis inductance parameter, the q-axis inductance parameter, the d-axis current component, and the q-axis current component, thereby improving the efficiency and accuracy of determining the measured estimated value of the load torque.
[0082] Step 204: Based on the harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation, perform stall detection analysis to obtain stall detection analysis results.
[0083] Specifically, the signal processor 300 performs stall detection analysis based on the harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation value to obtain stall detection analysis results. This improves the timeliness, adaptability to operating conditions, accuracy, and predictability of the detection, reduces the detection cost, and also improves the overall reliability of stall identification after multi-dimensional analysis.
[0084] In a specific example, stall detection analysis is performed based on the estimated deviation values of harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque. The results of the stall detection analysis include: In response to the harmonic distortion rate being greater than the harmonic distortion rate threshold and the equivalent impedance slope being greater than the equivalent impedance slope threshold, the permanent magnet synchronous motor is determined to meet the first condition stall criterion. When the current phase difference is greater than the current phase difference threshold and the load torque estimation deviation is greater than the load torque estimation deviation threshold, the permanent magnet synchronous motor is determined to meet the second condition stall criterion. In response to the permanent magnet synchronous motor meeting both the first and second conditions of the stall criterion, the stall detection and analysis results are determined to be in a stall state. If the permanent magnet synchronous motor does not meet the first condition stall criterion or the second condition stall criterion, the stall detection and analysis results are determined to be in a normal state.
[0085] Understandably, the first condition for determining stall conditions is based on the following: When a permanent magnet synchronous motor (PMSM) is stalled, the rotor does not rotate, no back EMF is generated, and the motor's equivalent impedance decreases. Because the equivalent impedance decreases and the amplitude of the high-frequency current increases, the harmonic components of the high-frequency current relatively increase, leading to an increase in the high-frequency current harmonic distortion rate (THD). If the PMSM stalls, the magnetic circuit saturation of the motor increases, the dependence of the motor's equivalent impedance on frequency decreases, resulting in a decrease in the slope of the equivalent impedance changing with frequency.
[0086] Understandably, the second condition for stall criterion is based on the ideal condition that the phase difference between the d-axis and q-axis currents should be close to 90° during normal operation of the permanent magnet synchronous motor. When the permanent magnet synchronous motor stalls, the rotor speed decreases, leading to a change in the rotor position angle. Changes in motor impedance can cause the current phase difference to deviate from the normal range. When the motor is stalled, the magnetic circuit saturates, affecting motor parameters such as inductance and flux linkage. The electromagnetic torque cannot be effectively converted into mechanical torque, leading to a greater deviation between the actual output torque and the theoretically estimated torque. The above are just specific examples; in practical applications, settings should be flexibly adjusted according to user needs, and no restrictions are imposed here.
[0087] Based on this, the aforementioned stall detection method for permanent magnet synchronous motors, in response to receiving a stall detection command from the permanent magnet synchronous motor, acquires the target frequency and target amplitude of the high-frequency voltage signal, generates and outputs a square wave high-frequency voltage signal generation command to a high-frequency signal generator based on the target frequency and target amplitude, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal; then, in response to the completion of the target square wave high-frequency voltage injection, acquires the high-frequency response current of the target square wave high-frequency voltage signal, performs fast Fourier transform analysis on the high-frequency response current to obtain each harmonic current component, and calculates the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component; then, in response to the permanent magnet synchronous motor being in operation... During operation, the theoretical estimates of the three-phase current and load torque of the permanent magnet synchronous motor are obtained. Based on the three-phase current, the phase difference between the d-axis and q-axis current components of the permanent magnet synchronous motor in the synchronous rotating coordinate system is calculated. Based on the three-phase current, the measured estimate of the load torque of the permanent magnet synchronous motor is calculated. The load torque estimation deviation is calculated based on the theoretical and measured estimates. Finally, stall detection analysis is performed based on the harmonic distortion rate, equivalent impedance slope, current phase difference, and load torque estimation deviation. The stall detection analysis results are obtained, which improves the timeliness, adaptability, accuracy, and predictability of detection, reduces the deployment cost of detection, and improves the overall reliability of stall identification after multi-dimensional analysis, effectively avoiding misjudgment caused by single-index detection.
[0088] In one embodiment, such as Figure 5 As shown, stall detection analysis is performed based on the estimated deviation values of harmonic distortion rate, equivalent impedance slope, current phase difference and load torque to obtain stall detection analysis results, including steps 501 to 505.
[0089] Step 501: Perform static stall test analysis based on harmonic distortion rate and equivalent impedance slope to obtain static stall test score; Step 502: Based on the current phase difference and load torque, estimate the deviation value and perform dynamic stall detection analysis to obtain a dynamic stall detection score; Step 503: Obtain the first weight corresponding to the static stall detection score and the second weight corresponding to the dynamic stall detection score. Calculate the comprehensive stall detection score based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score. Step 504: In response to the overall score of the stall detection being greater than the score threshold, the stall detection analysis result is determined to be a stalled state; Step 505: In response to the overall score of the stall detection being less than or equal to the score threshold, the stall detection analysis result is determined to be in a normal state.
[0090] Specifically, the signal processor 300 performs static stall detection analysis based on harmonic distortion rate and equivalent impedance slope to obtain a static stall detection score. Then, it performs dynamic stall detection analysis based on current phase difference and load torque estimation deviation to obtain a dynamic stall detection score. Next, it obtains the first weight corresponding to the static stall detection score and the second weight corresponding to the dynamic stall detection score. A comprehensive stall detection score is then calculated based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score. If the comprehensive stall detection score is greater than a scoring threshold, the stall detection analysis result is determined to be a stalled state. Finally, if the comprehensive stall detection score is less than or equal to the scoring threshold, the stall detection analysis result is determined to be a normal state, effectively improving the timeliness, accuracy, and adaptability of motor stall detection.
[0091] In this embodiment, static stall detection analysis is performed based on harmonic distortion rate and equivalent impedance slope to obtain a static stall detection score. Then, dynamic stall detection analysis is performed based on current phase difference and load torque estimation deviation to obtain a dynamic stall detection score. Next, a first weight corresponding to the static stall detection score and a second weight corresponding to the dynamic stall detection score are obtained. A comprehensive stall detection score is calculated based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score. Then, in response to a comprehensive stall detection score greater than a scoring threshold, the stall detection analysis result is determined to be a stalled state. Finally, in response to a comprehensive stall detection score less than or equal to the scoring threshold, the stall detection analysis result is determined to be a normal state, effectively improving the timeliness, accuracy, and adaptability of motor stall detection.
[0092] Although Figures 2-5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 2-5 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
[0093] Secondly, such as Figure 6 As shown, a stall detection device for a permanent magnet synchronous motor is provided. The device includes a signal generation module 610, a static analysis data calculation module 620, a dynamic analysis data calculation module 630, and a stall detection and analysis module 640.
[0094] The signal generation module 610, in response to receiving a stall detection command from the permanent magnet synchronous motor, acquires the target frequency and target amplitude of the high-frequency voltage signal, generates a square wave high-frequency voltage signal generation command based on the target frequency and target amplitude, and outputs it to the high-frequency signal generator so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor. The static analysis data calculation module 620, in response to the completion of the target square wave high-frequency voltage injection, acquires the high-frequency response current of the target square wave high-frequency voltage signal, performs fast Fourier transform analysis on the high-frequency response current to obtain each harmonic current component, and calculates the harmonic distortion rate of the high-frequency response current and the permanent magnet synchronous motor winding based on each harmonic current component. The equivalent impedance slope of the synchronous motor; the dynamic analysis data calculation module 630 is used to obtain the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor in response to the permanent magnet synchronous motor being in operation, calculate the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current, calculate the measured estimated value of the load torque of the permanent magnet synchronous motor based on the three-phase current, and calculate the load torque estimation deviation value based on the theoretical estimated value and the measured estimated value of the load torque; the stall detection analysis module 640 is used to perform stall detection analysis based on the harmonic distortion rate, equivalent impedance slope, current phase difference and load torque estimation deviation value, and obtain the stall detection analysis results.
[0095] In one embodiment, the signal generation module 610 includes a frequency amplitude random selection unit.
[0096] The frequency amplitude random selection unit is used to obtain the frequency range and amplitude range of the high-frequency voltage signal; the frequency amplitude random selection unit is used to randomly select based on the frequency range and amplitude range to obtain the target frequency and target amplitude.
[0097] In one embodiment, the static analysis data calculation module 620 includes a signal extraction unit.
[0098] The signal extraction unit is used to acquire the total stator winding current of the motor stator winding collected by the signal acquisition unit; the signal extraction unit is used to extract the signal from the total stator winding current based on the control bandpass filter to obtain the high-frequency response current.
[0099] In one embodiment, the static analysis data calculation module 620 includes a harmonic distortion rate calculation unit.
[0100] The harmonic distortion rate calculation unit is used to filter the harmonic current components to obtain the odd-order harmonic current components; the harmonic distortion rate calculation unit is used to determine the amplitude of the fundamental current component based on the first harmonic current component; the harmonic distortion rate calculation unit is used to determine the amplitude of the corresponding target odd-order harmonic current component based on each target odd-order harmonic current component; the target odd-order harmonics are odd-order harmonics other than the first order; the harmonic distortion rate calculation unit is used to determine the target amplitude sum of squares based on the sum of the squares of the amplitudes of each target odd-order harmonic current component, and to determine the harmonic distortion rate based on the quotient of the square root of the target amplitude sum of squares and the amplitude of the fundamental current component.
[0101] In one embodiment, the static analysis data calculation module 620 includes an equivalent impedance slope calculation unit.
[0102] The equivalent impedance slope calculation unit is used to obtain the amplitude and frequency of each harmonic voltage component; the equivalent impedance slope calculation unit is used to calculate the equivalent impedance at each harmonic frequency based on the harmonic voltage component, harmonic frequency and harmonic current component; the equivalent impedance slope calculation unit is used to calculate the equivalent impedance slope based on the equivalent impedance at each harmonic frequency and the harmonic frequency.
[0103] In one embodiment, the dynamic analysis data calculation module 630 includes a current phase difference calculation unit.
[0104] The current phase difference calculation unit is used to perform Clark transformation based on the three-phase current of the motor to obtain the α-axis current component and β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system; the current phase difference calculation unit is used to perform Park transformation based on the α-axis current component and β-axis current component to obtain the d-axis current component and q-axis current component; the current phase difference calculation unit is used to calculate based on the d-axis current component and q-axis current component to obtain the current phase difference.
[0105] In one embodiment, the dynamic analysis data calculation module 630 includes a load torque measured estimate calculation unit.
[0106] The load torque estimation calculation unit is used to obtain the number of pole pairs of the permanent magnet synchronous motor, the permanent magnet flux linkage of the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system. The load torque estimation calculation unit is used to calculate the load torque estimation value based on the motor electromagnetic torque algorithm, according to the number of pole pairs, permanent magnet flux linkage, d-axis inductance parameter, q-axis inductance parameter, d-axis current component, and q-axis current component.
[0107] In one embodiment, the stall detection and analysis module 640 includes a stall detection and analysis unit.
[0108] The system includes several components: a stall detection and analysis unit for static stall detection and analysis based on harmonic distortion rate and equivalent impedance slope, yielding a static stall detection score; a stall detection and analysis unit for dynamic stall detection and analysis based on current phase difference and load torque to estimate deviation values, yielding a dynamic stall detection score; a stall detection and analysis unit for obtaining the first weight corresponding to the static stall detection score and the second weight corresponding to the dynamic stall detection score, and calculating a comprehensive stall detection score based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score; a stall detection and analysis unit for determining a stall state when the comprehensive stall detection score is greater than a scoring threshold; and a stall detection and analysis unit for determining a normal state when the comprehensive stall detection score is less than or equal to a scoring threshold.
[0109] Specific limitations regarding the stall detection device for permanent magnet synchronous motors can be found in the above description of the stall detection method for permanent magnet synchronous motors, and will not be repeated here. Each module in the aforementioned stall detection device for permanent magnet synchronous motors can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the corresponding operations of each module.
[0110] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a stall detection method for a permanent magnet synchronous motor. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.
[0111] Those skilled in the art will understand that Figure 7The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0112] Thirdly, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in the above method embodiments.
[0113] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described in the above method embodiments.
[0114] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0116] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A method for detecting stall in a permanent magnet synchronous motor, the method comprising: In response to receiving a stall detection command from a permanent magnet synchronous motor, the target frequency and target amplitude of a high-frequency voltage signal are obtained. Based on the target frequency and target amplitude, a square wave high-frequency voltage signal generation command is generated and output to a high-frequency signal generator, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal. In response to the completion of the injection of the target square wave high-frequency voltage, the high-frequency response current of the target square wave high-frequency voltage signal is obtained, and the high-frequency response current is analyzed by fast Fourier transform to obtain the harmonic current components. Based on the harmonic current components, the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor are calculated. In response to the permanent magnet synchronous motor being in operation, the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor are obtained. Based on the three-phase current of the motor, the phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system is calculated. Based on the three-phase current of the motor, the measured estimated value of the load torque of the permanent magnet synchronous motor is calculated. Based on the theoretical estimated value of the load torque and the measured estimated value of the load torque, the load torque estimation deviation value is calculated. Based on the harmonic distortion rate, the equivalent impedance slope, the current phase difference, and the estimated deviation of the load torque, a stall detection analysis is performed to obtain the stall detection analysis results.
2. The method according to claim 1, characterized in that, The acquisition of the target frequency and target amplitude of the high-frequency voltage signal includes: Obtain the frequency range and amplitude range of the high-frequency voltage signal; The target frequency and the target amplitude are obtained by randomly selecting from the frequency range and the amplitude range.
3. The method according to claim 1, characterized in that, The step of acquiring the high-frequency response current of the target square wave high-frequency voltage signal includes: Obtain the total stator winding current of the motor stator winding collected by the signal acquisition device; The high-frequency response current is obtained by extracting the signal from the total current of the stator winding based on the control bandpass filter.
4. The method according to claim 1, characterized in that, The calculation of the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component includes: By filtering the harmonic current components of each order, the odd-order harmonic current components are obtained. The amplitude of the fundamental current component is determined based on the first harmonic current component. The amplitude of the corresponding odd-order harmonic current component is determined based on the odd-order harmonic current components of each target; the odd-order harmonic current components are any odd-order harmonics other than the first order. The target amplitude sum of squares is determined based on the sum of the squares of the amplitudes of the target odd-order harmonic current components, and the harmonic distortion rate is determined based on the quotient of the square root of the target amplitude sum of squares and the amplitude of the fundamental current component.
5. The method according to claim 4, characterized in that, The calculation of the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component further includes: Obtain the amplitude and frequency of each harmonic voltage component; The equivalent impedance at each harmonic frequency is calculated based on the harmonic voltage component, the harmonic frequency, and the harmonic current component. The slope of the equivalent impedance is calculated based on the equivalent impedance at each harmonic frequency and the harmonic frequency itself.
6. The method according to claim 1, characterized in that, The calculation of the phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current of the motor includes: Based on the three-phase current of the motor, the α-axis current component and β-axis current component of the permanent magnet synchronous motor in the two-phase stationary coordinate system are obtained by performing Clarke transformation. The d-axis current component and the q-axis current component are obtained by performing Parker transformation based on the α-axis current component and the β-axis current component. The current phase difference is calculated based on the d-axis current component and the q-axis current component.
7. The method according to claim 6, characterized in that, The calculation of the measured estimated value of the load torque of the permanent magnet synchronous motor based on the three-phase current of the motor includes: Obtain the number of pole pairs of the permanent magnet synchronous motor, the magnetic flux linkage of the permanent magnet of the permanent magnet synchronous motor, the d-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system, and the q-axis inductance parameter of the permanent magnet synchronous motor in the synchronous rotating coordinate system; Based on the motor electromagnetic torque algorithm, the measured estimated value of the load torque is obtained by calculating the number of motor pole pairs, the magnetic flux linkage of the motor permanent magnet, the d-axis inductance parameter, the q-axis inductance parameter, the d-axis current component, and the q-axis current component.
8. The method according to claim 1, characterized in that, The stall detection analysis is performed based on the harmonic distortion rate, the equivalent impedance slope, the current phase difference, and the estimated deviation value of the load torque to obtain the stall detection analysis results, including: Static stall detection analysis is performed based on the harmonic distortion rate and the equivalent impedance slope to obtain a static stall detection score; Dynamic stall detection analysis is performed based on the current phase difference and the estimated deviation value of the load torque to obtain a dynamic stall detection score. Obtain the first weight corresponding to the static stall detection score and the second weight corresponding to the dynamic stall detection score, and calculate the comprehensive stall detection score based on the first weight, the static stall detection score, the second weight, and the dynamic stall detection score; If the overall score of the stall detection is greater than the score threshold, the stall detection analysis result is determined to be a stall state; If the overall score for stall detection is less than or equal to the score threshold, the stall detection analysis result is determined to be in a normal state.
9. A stall detection device for a permanent magnet synchronous motor, characterized in that, The device includes: The signal generation module is used to respond to the received stall detection command of the permanent magnet synchronous motor, obtain the target frequency and target amplitude of the high-frequency voltage signal, generate and output a square wave high-frequency voltage signal generation command to the high-frequency signal generator according to the target frequency and target amplitude, so that the high-frequency signal generator injects the target square wave high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor according to the square wave high-frequency voltage signal. The static analysis data calculation module is used to obtain the high-frequency response current of the target square wave high-frequency voltage signal in response to the completion of the target square wave high-frequency voltage injection, perform fast Fourier transform analysis on the high-frequency response current to obtain each harmonic current component, and calculate the harmonic distortion rate of the high-frequency response current and the equivalent impedance slope of the permanent magnet synchronous motor based on each harmonic current component. The dynamic analysis data calculation module is used to, in response to the permanent magnet synchronous motor being in operation, obtain the theoretical estimated values of the three-phase current and load torque of the permanent magnet synchronous motor, calculate the current phase difference between the d-axis current component and the q-axis current component of the permanent magnet synchronous motor in the synchronous rotating coordinate system based on the three-phase current, calculate the measured estimated value of the load torque of the permanent magnet synchronous motor based on the three-phase current, and calculate the load torque estimation deviation value based on the theoretical estimated value and the measured estimated value of the load torque. The stall detection and analysis module is used to perform stall detection and analysis based on the harmonic distortion rate, the equivalent impedance slope, the current phase difference, and the estimated deviation of the load torque, and to obtain the stall detection and analysis results.
10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.