Commutation detection method based on power device, electronic device and readable storage medium

Abstract

This application discloses a commutation detection method, electronic device, and readable storage medium based on power equipment. The method includes: acquiring the current duty cycle of the power equipment, where the current duty cycle represents the ratio of the high-level duration to the pulse period in one pulse cycle; determining current commutation detection parameters based on the device type and the current duty cycle in response to a difference between the current duty cycle and historical duty cycles; and performing commutation judgment on the acquired power operation signal based on the current commutation detection parameters to determine whether to control the commutation of the power operation signal. This dynamically adjusts the commutation detection parameters by adjusting the duty cycle, reducing the impact of duty cycle changes on commutation detection and improving the accuracy of commutation detection.

Description

Technical Field

[0001] This invention relates to the field of power technology, and in particular to a commutation detection method, electronic device, and computer-readable storage medium based on power devices. Background Technology

[0002] In the field of power equipment control, commutation detection is crucial for ensuring the normal operation of power equipment. Commutation detection refers to the process by which a power equipment determines the need to change the direction of the winding current. Accurate commutation detection ensures the normal operation of the power equipment.

[0003] Current commutation detection methods mostly rely on Hall effect sensors to directly obtain the rotor position and determine the commutation time. This method increases the hardware cost and wiring complexity of the power unit. Another method is back EMF detection, which indirectly calculates the commutation time through electrical quantities such as back EMF. However, this method is not effective when the back EMF is weak or zero at low speeds or when the unit is stationary. Summary of the Invention

[0004] The main technical problem addressed by this application is to provide a commutation detection method, electronic device, and computer-readable storage medium based on power devices, which can improve the accuracy of commutation detection.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a commutation detection method based on a power device, the commutation detection method based on a power device includes: acquiring the current duty cycle of the power device, the current duty cycle representing the ratio of the high-level duration to the pulse period in a pulse period; in response to a difference between the current duty cycle and a historical duty cycle, determining current commutation detection parameters based on the device type of the power device and the current duty cycle; and performing commutation judgment on the acquired power operation signal based on the current commutation detection parameters to determine whether to control the commutation of the power operation signal.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide an electronic device, including a memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the above-mentioned commutation detection method based on power devices.

[0007] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium including program data, which, when executed by a processor, is used to implement the above-mentioned commutation detection method based on power devices.

[0008] This application's commutation detection method for power installations acquires the current duty cycle of the power installation, which represents the ratio of the high-level duration to the pulse period within a pulse cycle. Responding to differences between the current and historical duty cycles, current commutation detection parameters are determined based on the power installation type and the current duty cycle. Commutation judgment is then performed on the acquired power operation signal based on these parameters to determine whether to control the commutation of the power operation signal. Thus, by dynamically adjusting the commutation detection parameters using the duty cycle, the impact of duty cycle changes on commutation detection is reduced, improving the accuracy of commutation detection. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic flowchart of an exemplary embodiment of the commutation detection method shown in this application; Figure 2 This is a schematic flowchart illustrating an exemplary embodiment of the commutation detection parameter determination process shown in this application; Figure 3 This is a flowchart illustrating an exemplary embodiment of the commutation determination process shown in this application; Figure 4 This is a schematic flowchart of an exemplary embodiment of the stall determination process shown in this application; Figure 5 This is a flowchart illustrating another exemplary embodiment of the commutation detection method shown in this application; Figure 6 This is a schematic diagram of an exemplary embodiment of the commutation detection device shown in this application; Figure 7 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application; Figure 8 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0011] First, it should be noted that traditional commutation detection involves inferring the rotor position by analyzing the inherent fluctuations in the motor's current or voltage during operation. However, these fluctuations vary significantly across different duty cycles, making it difficult for fixed parameters to adapt to such variations.

[0012] Based on this, embodiments of this application propose a commutation detection method, electronic device, and computer-readable storage medium based on a power device. The method determines the current commutation detection parameters using the current duty cycle, thereby improving the accuracy of commutation detection. The commutation detection method based on a power device is hereinafter referred to as the commutation detection method. For details, please refer to [reference needed]. Figure 1 , Figure 1 This is a schematic flowchart of an exemplary embodiment of the commutation detection method shown in this application.

[0013] The execution entity of the commutation detection method can be a terminal device, a server, or other processing device. The terminal device can be a user equipment (UE), computer, mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, in-vehicle device, wearable device, etc. The execution entity of the commutation detection method can also be a commutation detection device. In some possible implementations, the commutation detection method can be implemented by a processor calling computer-readable instructions stored in memory.

[0014] Specifically, the commutation detection method in this embodiment includes the following steps: S110: Obtain the current duty cycle of the power device. The current duty cycle represents the ratio of the high-level duration to the pulse cycle in a pulse cycle.

[0015] Commutation refers to the process in a power or motor system where the direction or phase of current is reversed by switching current paths or phase sequences to control voltage, power, or motor movement. Commutation detection is the process of determining when a change in the direction of winding current is necessary.

[0016] An electrical device refers to equipment used for the production, transmission, distribution, and use of electrical energy. For example, an electrical device can be a motor, which is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction. In other embodiments, the electrical device can also be a frequency converter, rectifier, etc.

[0017] The current duty cycle refers to the ratio of the high-level duration to the pulse period within a single pulse cycle. The pulse period is the time interval between two adjacent pulses in a periodically repeating pulse sequence. Within a pulse cycle, the current high-level duration is calculated, and the ratio of this duration to the pulse period is determined as the current duty cycle. The current duty cycle of a power installation determines its average voltage, which in turn affects its current. Generally, a higher current duty cycle results in a higher average voltage and a larger current; conversely, a lower current duty cycle results in a lower average voltage and a smaller current. Therefore, it can be seen that the fluctuation characteristics of various power operating signals from a power installation differ significantly under different duty cycles, making it difficult to adapt to these differences using fixed commutation detection parameters.

[0018] The high-level duration refers to the time a high-level signal occupies within a pulse cycle. A pulse cycle can include both high and low levels. The high-level duration is calculated by counting the time the high-level signal lasts within one pulse cycle. Within the same pulse cycle, a longer high-level duration indicates a higher duty cycle, while a shorter high-level duration indicates a lower duty cycle.

[0019] S120: In response to the difference between the current duty cycle and the historical duty cycle, determine the current commutation detection parameters based on the device type of the power installation and the current duty cycle.

[0020] The historical duty cycle is acquired earlier than the current duty cycle. For example, the historical duty cycle can be the duty cycle of the power device at the previous moment, or it can be a pre-set duty cycle. When the current duty cycle differs from the historical duty cycle, the change in duty cycle indicates a change in the power device's power operation signal fluctuation characteristics. Therefore, it is necessary to dynamically adjust the commutation detection parameters based on the current duty cycle of the power device to obtain the current commutation detection parameters.

[0021] Device type is used to distinguish different types of electrical devices. Different device types differ in power / size, voltage and current ratings, etc. For example, when the electrical device is a motor, motors can be divided into large motors and small motors, with the large motor having higher power and voltage than the small motor. For instance, the power of a large motor might be greater than a first preset power threshold, while the power of a small motor might be less than a second preset power threshold, but the first preset power threshold is greater than the second preset power threshold. The voltage of a large motor might be the first preset voltage, while the voltage of a small motor might be the second preset voltage, but the first preset voltage is greater than the second preset voltage. Due to the performance differences between different device types, using device type as a factor in considering commutation detection parameters can further improve the adaptability of commutation detection parameters.

[0022] Commutation detection parameters refer to the commutation conditions that the power operating signal must meet. For example, the commutation detection parameters can be determined based on the type of power installation and the current duty cycle. As an example, the commutation detection parameters may include at least one of a current filtering window, a current peak width, and a current commutation determination threshold. The current filtering window is used to filter the power operating signal to smooth its trend. The current peak width is used to limit the duration of the power operating signal in a certain operating state; the duration may be required to be greater than or equal to the current peak width. The current commutation determination threshold is used to limit the magnitude of the power operating signal; for example, the power operating signal may be required to be greater than or equal to the current commutation determination threshold.

[0023] S130: Based on the current commutation detection parameters, perform commutation judgment on the acquired power operation signal to determine whether to control the commutation of the power operation signal.

[0024] Power operation signals refer to the signals generated by power equipment during operation. For example, power operation signals can be voltage or current. When the power operation signal is current, the current of the power equipment can be obtained using tools such as sampling resistors and current sensors.

[0025] In some embodiments, the current filtering window can be determined based on the device type of the power device and the current duty cycle; during commutation judgment, the power operation signal is filtered using the current filtering window, and then the power operation signal after filtering is detected to determine whether commutation is needed; or the relationship between the power operation signal after filtering and a preset signal threshold is determined to determine whether commutation is needed.

[0026] In other embodiments, the current peak width can be determined based on the device type of the power device and the current duty cycle. During commutation judgment, it is determined whether the duration of the power operation signal in a certain operating state is greater than or equal to the current peak width; if so, the power operation signal is controlled to commutate.

[0027] In other embodiments, the current commutation determination threshold can be determined based on the device type of the power device and the current duty cycle. When determining commutation, it is determined whether the change amplitude of the power operation signal in a certain operating state is greater than or equal to the current commutation determination threshold; if so, the power operation signal is controlled to commutate.

[0028] In some embodiments, the current filtering window and current peak width can be determined based on the device type of the power unit and the current duty cycle. During commutation judgment, the power operating signal is first filtered, and then it is determined whether the filtered power operating signal meets the current peak width. In other embodiments, the current filtering window and current commutation judgment threshold can be determined based on the device type of the power unit and the current duty cycle. During commutation judgment, the power operating signal is first filtered, and then it is determined whether the filtered power operating signal meets the current commutation judgment threshold. In other embodiments, the current peak width and current commutation judgment threshold can be determined based on the device type of the power unit and the current duty cycle. During commutation judgment, it is directly determined whether the power operating signal meets the current peak width and current commutation judgment threshold. In other embodiments, the current filtering window, current peak width, and current commutation judgment threshold can be determined based on the device type of the power unit and the current duty cycle. During commutation judgment, the power operating signal is first filtered, and then it is determined whether the filtered power operating signal meets the current peak width and current commutation judgment threshold.

[0029] As can be seen, the commutation detection method in this embodiment acquires the current duty cycle of the power device, which represents the ratio of the high-level duration to the pulse period in one pulse cycle. In response to the difference between the current duty cycle and the historical duty cycle, the current commutation detection parameters are determined based on the device type of the power device and the current duty cycle. The acquired power operation signal is then subjected to commutation judgment based on the current commutation detection parameters to determine whether to control the commutation of the power operation signal. Thus, by dynamically adjusting the commutation detection parameters using the duty cycle, the influence of duty cycle changes on commutation detection is reduced, improving the accuracy of commutation detection.

[0030] In some embodiments, the process of determining the current commutation detection parameters based on the device type and current duty cycle of the power device in S120 may include: in response to the power device type belonging to a first preset device type, processing the current duty cycle using a first objective optimization method to obtain the current commutation detection parameters; in response to the power device type belonging to a second preset device type, processing the current duty cycle using a second objective optimization method to obtain the current commutation detection parameters. Thus, by selecting different optimization methods based on the device type to determine the current commutation detection parameters, the current commutation detection parameters become more accurate.

[0031] The first preset device type and the second preset device type are predetermined different device types. As an example, when the power device is a motor, the first preset device type can be a large motor, and the second preset device type can be a small motor. In other embodiments, when the power device is a motor, the device type can include three types: a large motor, a medium-sized motor, and a small motor.

[0032] The first and second objective optimization methods differ. For example, the first and second objective optimization methods can be determined by pre-setting rules. In some embodiments, the first objective optimization method may be to establish a linear relationship between the duty cycle and commutation detection parameters, and determine the current commutation detection parameters corresponding to the current duty cycle based on the linear relationship; the second objective optimization method may be to determine the current commutation detection parameters corresponding to the current duty cycle based on a preset mapping relationship between a preset duty cycle and preset commutation detection parameters. In other embodiments, the first objective optimization method may also be to establish a nonlinear relationship between the duty cycle and the current commutation detection parameters, and determine the current commutation detection parameters corresponding to the current duty cycle based on the nonlinear relationship; the second objective optimization method may determine the current commutation detection parameters using a step function.

[0033] In other embodiments, when there are more than two types of power devices, different linear or nonlinear relationships can be obtained by debugging according to the device type, and the current commutation detection parameters corresponding to the current duty cycle can be determined according to the linear or nonlinear relationship of each power device.

[0034] Specifically, when the current commutation detection parameters include at least one of the current filter window, the current peak width, and the current commutation determination threshold, and the first target optimization method is to determine the current commutation detection parameters based on the linear relationship between the duty cycle and the current commutation detection parameters, the commutation detection device acquires a target difference between a first preset value and the current duty cycle; calculates a first ratio between the target difference and the preset filter coefficient corresponding to the acquired current filter window, and determines the current filter window by the sum of the second preset value and the first ratio; and / or, calculates a second ratio between the target difference and the preset peak coefficient corresponding to the acquired current peak width, and determines the current peak width by the sum of the second preset value and the second ratio; and / or, calculates a third ratio between the target difference and the preset threshold coefficient corresponding to the acquired current commutation determination threshold, and determines the current commutation determination threshold by the sum of the second preset value and the third ratio.

[0035] The preset filter coefficient, preset peak coefficient, and preset threshold coefficient can be obtained through pre-tuning. For example, the preset filter coefficient can be 16, the preset peak coefficient can be 18, and the preset threshold coefficient can be 6. This is just an example; the specific settings can be adjusted according to actual needs.

[0036] The first and second preset values ​​can be determined based on experience or obtained through pre-tuning. For example, the first preset value can be 100, and the second preset value can be 1. This is just an example; the specific values ​​can be set according to actual needs. For example, the preset filter coefficient, preset peak coefficient, preset threshold coefficient, first preset value, and second preset value can be determined according to the type of power equipment.

[0037] For example, the formula for calculating the current filtering window can be:

[0038] in, Indicates the current filtering window. This represents the first preset value. Indicates the current duty cycle. Indicates the preset filter coefficients. This indicates the second preset value.

[0039] The formula for calculating the current peak width can be:

[0040] in, Indicates the current peak width. This represents the first preset value. Indicates the current duty cycle. Indicates the preset peak value coefficient. This indicates the second preset value.

[0041] The formula for calculating the current commutation determination threshold can be:

[0042] in, This indicates the commutation determination threshold. This represents the first preset value. Indicates the current duty cycle. This represents the preset threshold coefficient. This indicates the second preset value.

[0043] When the second objective optimization method is to determine the current commutation detection parameter corresponding to the current duty cycle based on the preset mapping relationship between the preset duty cycle and the preset commutation detection parameter, the commutation detection device determines the first preset commutation detection parameter as the current commutation detection parameter corresponding to the current duty cycle if the current duty cycle is greater than the preset duty cycle threshold; and determines the second preset commutation detection parameter as the current commutation detection parameter corresponding to the current duty cycle if the current duty cycle is less than or equal to the preset duty cycle threshold.

[0044] The preset duty cycle threshold can be set empirically or obtained experimentally. For example, the preset duty cycle threshold can be any value between 95% and 98%. When the current duty cycle is greater than the preset duty cycle threshold, the first preset commutation detection parameter is used as the current commutation detection parameter; when the current duty cycle is less than or equal to the preset duty cycle threshold, the second preset commutation detection parameter is used as the current commutation detection parameter. Specifically, when the current duty cycle is greater than the preset duty cycle threshold, the waveform of the power operation signal is relatively steep. Therefore, the first preset peak width in the first preset commutation detection parameter can be set to 1, and the first preset filter window can be adjusted to the minimum value to adapt to the steep waveform. As an example, the first preset commutation detection parameter can be: first preset filter window = 1, first preset peak width = 1, first preset commutation determination threshold = 0; the second preset commutation detection parameter can be: second preset filter window = 3, second preset peak width = 2, second preset commutation determination threshold = 7.

[0045] In other embodiments, when the second objective optimization method is to determine the current commutation detection parameter corresponding to the current duty cycle based on a preset mapping relationship between a preset duty cycle and a preset commutation detection parameter, the commutation detection device, in response to the current duty cycle being greater than a preset duty cycle threshold, determines the first preset commutation detection parameter as the current commutation detection parameter corresponding to the current duty cycle; in response to the current duty cycle being less than or equal to the preset duty cycle threshold, it further determines whether the power device is in peak state; if so, it determines the second preset commutation detection parameter as the current commutation detection parameter corresponding to the current duty cycle; if not, it determines the third preset commutation detection parameter as the current commutation detection parameter corresponding to the current duty cycle.

[0046] Taking an electric motor as an example, please refer to [link / reference]. Figure 2 , Figure 2 This is a flowchart illustrating an exemplary embodiment of the commutation detection parameter determination process shown in this application. The commutation detection device determines whether the current duty cycle of the motor is the same as the historical duty cycle; if so, it returns without updating the commutation detection parameters; otherwise, it updates the historical duty cycle to the current duty cycle; it determines the motor type; when the motor type is a large motor, it substitutes the current duty cycle into the calculation formulas for the filter window, peak width, and commutation determination threshold to obtain the current filter window, current peak width, and current commutation determination threshold; when the motor type is a small motor, it determines whether the current duty cycle is greater than a preset duty cycle threshold; if so, it determines the first preset commutation detection parameter as the current commutation detection parameter; otherwise, it determines the second preset commutation detection parameter as the current commutation detection parameter; it performs parameter upper limit protection on the current commutation detection parameter, completing the update of the commutation detection parameter.

[0047] After determining the current commutation detection parameters, if the current commutation detection parameters include the current filtering window, the power operation signal is filtered according to the current filtering window to obtain the filtered power operation signal; based on the filtered power operation signal, it is determined whether to control the commutation of the power operation signal.

[0048] For example, the commutation detection device can write the acquired power operation signals at different times into a circular buffer; and filter the power operation signals in the circular buffer according to the current filtering window to obtain the filtered power operation signal. The circular buffer stores the most recent N power operation signals. The filtering process can be performed by calculating a moving average of each power operation signal within the current filtering window, and using the average value as the filtered power operation signal.

[0049] If the current commutation detection parameters include the current peak width and the current commutation determination threshold, commutation detection is performed using the change information of the power operation signal. In some embodiments, in response to detecting a switch of the power operation signal from a first operating state to a second operating state, the current duration interval of the power operation signal in the second operating state is detected, where the first and second operating states characterize the changing trend of the power operation signal; in response to detecting that the current duration interval is greater than or equal to the current peak width, the signal change value of the power operation signal corresponding to the end of the current duration interval is obtained relative to the power operation signal corresponding to the obtained state switching time, where the state switching time is the moment when the power operation signal switches from the first operating state to the second operating state; in response to the signal change value being greater than or equal to the current commutation determination threshold, the power operation signal is controlled to commutate. Therefore, verification using the current peak width can effectively avoid false triggering caused by noise.

[0050] The first and second operating states characterize the changing trends of the power operation signal over time. For example, the operating states include rising, falling, and stable states. The first operating state can be a rising state, and the second operating state can be a falling state; conversely, the first operating state can also be a falling state, and the second operating state can be a rising state.

[0051] It should be noted that during normal conduction, the power operation signal is relatively stable; during commutation, the trend of the power operation signal changes. Therefore, commutation can be determined by detecting the operating state of the power operation signal. As an example, the signal change value of the power operation signal over time can be calculated. When the signal change value is greater than a first preset change threshold, it indicates that a rising edge has been detected, confirming that the power operation signal is in the first operating state, i.e., the trend is rising. When the signal change value is less than a second preset change threshold, it is confirmed that the power operation signal is in the second operating state, i.e., the trend is falling. If the power operation signal switches from the first operating state to the second operating state, the power operation signal corresponding to the state switching moment is obtained, and the current maintenance time interval of the second operating state is recorded from the state switching moment. If the current maintenance time interval is greater than or equal to the current peak width, and the signal change value of the power operation signal is greater than the current commutation determination threshold from the state switching moment until the end of the current maintenance time interval, then commutation of the power operation signal is confirmed.

[0052] If the first operating state represents an upward trend in the power operation signal, and the second operating state represents a downward trend in the power operation signal, then the state switching moment can be understood as the peak value of the power operation signal during this state change process.

[0053] In other embodiments, if the current commutation detection parameters include the current peak width, then when the power operation signal switches from the first operation state to the second operation state, it can be determined whether the current duration interval of the second operation state is greater than or equal to the current peak width; if so, then the commutation of the control power operation signal is confirmed.

[0054] In other embodiments, if the current commutation detection parameters include the current commutation determination threshold, then when the power operation signal switches from the first operation state to the second operation state, it can be determined whether, during the duration of the second operation state, there is a signal change value between a power operation signal and the power operation signal corresponding to the state switching time that is greater than or equal to the current commutation determination threshold; if so, then it is confirmed that the power operation signal is commutated.

[0055] In other embodiments, if the current commutation detection parameters include the current filtering window, the current peak width, and the current commutation determination threshold, then the power operation signal is filtered according to the current filtering window to obtain the filtered power operation signal; then it is determined whether the filtered power operation signal has switched from the first operating state to the second operating state; if so, the current duration interval of the filtered power operation signal in the second operating state is detected; if the current duration interval is greater than or equal to the current peak width, and the signal change value of the filtered power operation signal is greater than or equal to the current commutation determination threshold from the start of the state switching time to the end of the current duration interval, then the commutation of the control power operation signal is confirmed.

[0056] Furthermore, the trend of power operation signal changes also includes a third operating state. As an example, the third operating state can be a stable state, the first operating state can be an increasing state, and the second operating state can be a decreasing state. When the signal change value of the power operation signal is greater than or equal to a second preset change threshold and less than or equal to a first preset change threshold, the power operation signal is confirmed to be in a stable state. When the signal change value of the power operation signal is greater than the first preset change threshold, the power operation signal is confirmed to be in an increasing state. When the signal change value of the power operation signal is less than the second preset change threshold, the power operation signal is confirmed to be in a decreasing state. The first, second, and third preset change thresholds can be determined based on the fluctuation of the power operation signal in the stable state. For example, the maximum increase in the stable state can be determined as the first preset change threshold, and the maximum decrease can be determined as the second preset change threshold.

[0057] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating an exemplary embodiment of the commutation determination process shown in this application. The process involves: acquiring the signal change value of the power operation signal; when the power operation signal is in an idle / stable state, if the detected signal change value is greater than a first preset change threshold, confirming that the power operation signal has entered a rising state; if the detected signal change value is less than a second preset change threshold, recording the peak value when switching from the rising state to the falling state, and entering the falling state; during the process of the power operation signal being in the falling state, if the current duration interval of the falling state is greater than or equal to the current peak width and the signal change value during the falling state is greater than or equal to the current commutation determination threshold, then commutation is confirmed, and after commutation, the system enters an idle / stable state; if, after the power operation signal enters the falling state, the signal change value becomes greater than the first preset change threshold, confirming an abnormal rise in the power operation signal, and switching back to the rising state.

[0058] After the commutation is determined, the rotational speed of the power unit can be determined based on the commutation count. Specifically, in response to controlling the commutation of the power unit, the historical commutation count is adjusted according to the operating direction of the power unit to obtain the current commutation count; the rotational speed of the power unit is calculated based on the current commutation count and the current timestamp.

[0059] Commutation count refers to the cumulative number of commutation times. When the operating direction of the power installation is different, the commutation sequence is reversed, and the count is increased or decreased accordingly. Historical commutation count can refer to the previous commutation count corresponding to the current commutation count in chronological order. For example, the operating direction of the power installation includes clockwise and counterclockwise. When the operating direction of the power installation is clockwise, the historical commutation count is incremented by 1 to obtain the current commutation count; when the operating direction of the power installation is counterclockwise, the historical commutation count is decremented by 1 to obtain the current commutation count.

[0060] Rotational speed refers to the number of revolutions a power device makes per unit time. For example, the rotational speed of the power device can be determined using the current commutation count and the current timestamp. Specifically, the number of revolutions the power device has made is determined based on the current commutation count; the commutation measurement time period is determined based on the current timestamp and the start timestamp; and the ratio between the number of revolutions and the commutation measurement time period is determined as the rotational speed of the power device. The number of revolutions can be determined based on the number of pole pairs of the power device and the preset number of commutations per revolution, and a preset target number of commutations per revolution is determined based on the number of pole pairs and the preset number of commutations; the ratio between the current commutation count and the preset target number of commutations is determined as the number of revolutions the power device has made.

[0061] During operation, if a power unit experiences a stall, the rotor will become stuck and unable to rotate. If this is not addressed promptly, it can cause serious damage within a short period. Therefore, it is necessary to detect stalling in the power unit in a timely manner and take corresponding measures. For example, in response to the detection that the power operation signal is in the target operating state, the target difference between the power operation signal and a preset stop threshold is obtained. If the power unit's operating direction is clockwise, and the target difference of the power operation signal is greater than a first stall protection threshold and the duration of this difference is greater than a preset safety time, then the power unit is controlled to stop commutation detection. Similarly, if the power unit's operating direction is counterclockwise, and the target difference of the power operation signal is greater than a second stall protection threshold and the duration of this difference is greater than a preset safety time, then the power unit is controlled to stop commutation detection. This distinction between clockwise and counterclockwise stall detection improves the accuracy of stall detection and prevents damage to the power unit.

[0062] The target operating state refers to the trend of power operation signal changes meeting requirements. For example, the target operating state could be a downward trend in the power operation signal. In other embodiments, the target operating state could also be an upward trend or a stable state.

[0063] When the power unit is operating clockwise, the first stall protection threshold corresponding to clockwise is obtained. If the target difference between the power operation signal and the preset stop threshold is greater than the first stall protection threshold, and the duration of this state is greater than the preset safety time, then the power unit is confirmed to be stalled, and the power unit needs to be controlled to stop commutation detection and set the stop flag. The first stall protection threshold and the second stall protection threshold can be the same or different.

[0064] When the power device is running counterclockwise, the second stall protection threshold corresponding to counterclockwise is obtained. If the target difference between the power operation signal and the preset stop threshold is greater than the second stall protection threshold, and the duration of this state is greater than the preset safety time, then the power device is confirmed to be stalled, and the power device needs to be controlled to stop the commutation detection and the stop flag is set.

[0065] In other embodiments, the duration can be replaced by the number of continuous sampling points, i.e., the number of continuously sampled power operation signals. Whether the power unit is stalled is determined by comparing the number of continuous sampling points with a preset safety threshold. See details in [link to relevant documentation]. Figure 4 , Figure 4 This is a flowchart illustrating an exemplary embodiment of the stall detection process shown in this application. The process involves determining whether the power operation signal is in the target operating state; if not, normal detection continues; if so, the operating direction of the power device is determined; if the operating direction of the power device is clockwise, the difference between the power operation signal and a preset stop threshold is determined as the target difference, and a stop flag is set and commutation detection is stopped when the target difference is greater than a first stall protection threshold and the number of continuous sampling points is greater than a preset safety threshold; if the operating direction of the power device is counterclockwise, the difference between the preset stop threshold and the power operation signal is determined as the target difference, and a stop flag is set and commutation detection is stopped when the target difference is greater than a second stall protection threshold and the number of continuous sampling points is greater than a preset safety threshold.

[0066] To elaborate on the application of this application in the commutation detection method, Figure 5 The flowchart shown below provides further explanation, as detailed below: Initialize the detection structure Ripple_t, including clearing the circular buffer, setting the state machine state, and initializing the commutation count. Set the initial duty cycle and determine the commutation detection parameters corresponding to the initial duty cycle.

[0067] When the current duty cycle is the first duty cycle, it is compared with the initial duty cycle; when the current duty cycle is not the first duty cycle, it is compared with historical duty cycles. This determines whether the current duty cycle has changed. If the current duty cycle has changed, the current commutation detection parameters are determined based on the current duty cycle and the device type of the power equipment. Specifically, when the device type belongs to the first preset device type, the current filter window, current peak width, and current commutation judgment threshold are calculated using the corresponding formulas. When the device type belongs to the second preset device type, the current commutation detection parameters are determined based on the relationship between the current duty cycle and the preset duty cycle threshold. When the current duty cycle is greater than the preset duty cycle threshold, the first preset commutation detection parameter is determined as the current commutation detection parameter corresponding to the current duty cycle; when the current duty cycle is less than or equal to the preset duty cycle threshold, the second preset commutation detection parameter is determined as the current commutation detection parameter corresponding to the current duty cycle.

[0068] The acquired power operation signal is filtered using the current filtering window to obtain a filtered power operation signal. The operating state is determined based on the signal change value of the filtered power operation signal, and a state transition is performed. When the power operation signal is in an idle / stable state, if the detected signal change value is greater than a first preset change threshold, the system enters an ascending state. In the ascending state, if the detected signal change value is less than a second preset change threshold, the system enters a descending state. During the descending state, if the descending signal change value is greater than or equal to the current commutation determination threshold and the current duration of the descending signal is greater than or equal to the current peak width, commutation is confirmed. The historical commutation count is adjusted according to the operating direction of the power unit to obtain the current commutation count.

[0069] Locked-rotor protection: When the power operation signal is in a declining state, the target difference between the power operation signal and the preset stop threshold is obtained; when the power device is running clockwise, if the target difference is greater than the first locked-rotor protection threshold and the duration of the difference is greater than the preset safety time, the power device is controlled to stop commutation detection; when the power device is running counterclockwise, if the target difference is greater than the second locked-rotor protection threshold and the duration of the difference is greater than the preset safety time, the power device is controlled to stop commutation detection.

[0070] Rotational speed calculation: The current commutation count is converted into Hall effect steps, and the rotational speed of the power unit is calculated by combining the current timestamp; if no commutation is detected within the timeout period, the rotational speed is reset to zero.

[0071] Finally, determine whether to continue detecting commutation. If not, end the process; otherwise, reacquire the current duty cycle and continue the determination.

[0072] Please see Figure 6, Figure 6 This is a schematic diagram of an exemplary embodiment of the commutation detection device shown in this application. The commutation detection device 600 includes an acquisition module 610, a determination module 620, and a judgment module 630. The acquisition module 610 is used to acquire the current duty cycle of the power device, where the current duty cycle represents the ratio of the high-level duration to the pulse cycle in one pulse cycle. The determination module 620 is used to determine the current commutation detection parameters based on the device type of the power device and the current duty cycle in response to a difference between the current duty cycle and the historical duty cycle. The judgment module 630 is used to perform commutation judgment on the acquired power operation signal based on the current commutation detection parameters and determine whether to control the commutation of the power operation signal.

[0073] The above scheme involves a commutation detection device acquiring the current duty cycle of the power unit. The current duty cycle represents the proportion of the pulse period occupied by the high-level signal. Responding to differences between the current and historical duty cycles, current commutation detection parameters are determined based on the power unit type and the current duty cycle. Commutation judgment is then performed on the acquired power operation signal based on these parameters to determine whether to control commutation. This dynamic adjustment of the commutation detection parameters by the duty cycle reduces the impact of duty cycle changes on commutation detection and improves its accuracy.

[0074] The functions of each module can be found in the embodiment of the commutation detection method, and will not be repeated here.

[0075] To implement the commutation detection method of the above embodiments, this application proposes another electronic device, please refer to [link to details]. Figure 7 , Figure 7 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application.

[0076] Electronic device 700 includes memory 710 and processor 720, wherein memory 710 and processor 720 are coupled together.

[0077] The memory 710 is used to store program data, and the processor 720 is used to execute the program data to implement the commutation detection method of the above embodiment.

[0078] In this embodiment, processor 720 can also be referred to as CPU (Central Processing Unit). Processor 720 may be an integrated circuit chip with signal processing capabilities. Processor 720 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The general-purpose processor can be a microprocessor, or processor 720 can be any conventional processor.

[0079] This application also provides a computer-readable storage medium, such as Figure 8 As shown, the computer-readable storage medium 800 is used to store program data 810, which, when executed by a processor, is used to implement the commutation detection method as described in the method embodiments of this application.

[0080] The methods involved in the commutation detection method embodiments of this application, when implemented as software functional units and sold or used as independent products, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0082] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. The term "and / or" is merely a description of the association of related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, "many" in this document means two or more. In addition, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of elements, such as including at least one of A, B, and C, and may mean including any one or more elements selected from the set consisting of A, B, and C.

Claims

1. A commutation detection method based on power equipment, characterized in that, The commutation detection method based on power devices includes: Obtain the current duty cycle of the power device, wherein the current duty cycle represents the ratio of the high-level duration to the pulse period in a pulse period; In response to the difference between the current duty cycle and the historical duty cycle, the current commutation detection parameters are determined based on the device type of the power unit and the current duty cycle; Based on the current commutation detection parameters, the acquired power operation signal is commutated to determine whether to control the commutation of the power operation signal.

2. The commutation detection method based on power devices according to claim 1, characterized in that, The step of determining the current commutation detection parameters based on the device type of the power device and the current duty cycle includes: In response to the fact that the device type of the power device belongs to a first preset device type, the current duty cycle is processed in a first target optimization manner to obtain the current commutation detection parameters; In response to the fact that the device type of the power device belongs to the second preset device type, the current duty cycle is processed in a second objective optimization manner to obtain the current commutation detection parameters.

3. The commutation detection method based on power devices according to claim 2, characterized in that, The current commutation detection parameters include at least one of the current filter window, the current peak width, and the current commutation determination threshold. The step of processing the current duty cycle using a first objective optimization method to obtain the current commutation detection parameters includes: Obtain the target difference between the first preset value and the current duty cycle; Calculate a first ratio between the target difference and the preset filter coefficients corresponding to the current filter window, and determine the current filter window by the sum of a second preset value and the first ratio; and / or, Calculate a second ratio between the target difference and the preset peak coefficient corresponding to the current peak width, and determine the current peak width by the sum of the second preset value and the second ratio; and / or, Calculate the third ratio between the target difference and the preset threshold coefficient corresponding to the current commutation determination threshold, and determine the sum of the second preset value and the third ratio as the current commutation determination threshold.

4. The commutation detection method based on power devices according to claim 2, characterized in that, The step of processing the current duty cycle using a second objective optimization method to obtain the current commutation detection parameters includes: In response to the current duty cycle being greater than a preset duty cycle threshold, the first preset commutation detection parameter is determined as the current commutation detection parameter corresponding to the current duty cycle; In response to the current duty cycle being less than or equal to the preset duty cycle threshold, the second preset commutation detection parameter is determined as the current commutation detection parameter corresponding to the current duty cycle.

5. The commutation detection method based on power devices according to claim 1, characterized in that, The current commutation detection parameters include the current peak width and the current commutation determination threshold. The step of determining whether to control the commutation of the acquired power operation signal based on the current commutation detection parameters includes: In response to detecting that the power operation signal switches from a first operating state to a second operating state, the current duration interval of the power operation signal in the second operating state is detected, wherein the first operating state and the second operating state characterize the changing trend of the power operation signal; In response to detecting that the current maintenance time interval is greater than or equal to the current peak width, the signal change value of the power operation signal corresponding to the end time of the current maintenance time interval relative to the power operation signal corresponding to the acquired state switching time is obtained, wherein the state switching time is the time when the power operation signal switches from the first operation state to the second operation state; In response to the signal change value being greater than or equal to the current commutation determination threshold, the power operation signal is controlled to commutate.

6. The commutation detection method based on power devices according to claim 1, characterized in that, The current commutation detection parameters include the current filtering window. The step of determining whether to control the commutation of the power operation signal based on the current commutation detection parameters includes: The power operation signal is filtered according to the current filtering window to obtain the filtered power operation signal; Whether to control the commutation of the power operation signal is determined based on the filtered power operation signal.

7. The commutation detection method based on power devices according to claim 1, characterized in that, After the step of determining whether to control the commutation of the acquired power operation signal based on the current commutation detection parameters, the method further includes: In response to controlling the commutation of the power device, the historical commutation count is adjusted according to the operating direction of the power device to obtain the current commutation count; The rotational speed of the power unit is calculated based on the current commutation count and the current timestamp.

8. The commutation detection method based on power devices according to claim 1, characterized in that, The method further includes: In response to detecting that the power operation signal is in the target operating state, the target difference between the power operation signal and the preset stop threshold is obtained; In response to the power device operating in a clockwise direction, if the target difference of the power operation signal is greater than the first stall protection threshold and the duration of the difference is greater than the first stall protection threshold is greater than a preset safety time, then the power device is controlled to stop commutation detection. In response to the power device operating in a counterclockwise direction, if the target difference of the power operation signal is greater than the second stall protection threshold and the duration of the difference is greater than the preset safety time, then the power device is controlled to stop commutation detection.

9. An electronic device, characterized in that, include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to perform the method as claimed in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, include: The system stores program data, which, when executed by a processor, is used to implement the method as described in any one of claims 1-8.

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