Motor stall control method, device, medium, and product

Abstract

The application provides a motor stall control method, device, medium and product. The method comprises the following steps: when it is detected that the motor is in a stall working condition, determining a mechanical angle offset of a rotor of the motor; controlling the rotor to perform a rotation action of the mechanical angle offset; repeatedly performing the following steps until it is detected that the motor is in a non-stall working condition: judging whether a rotor rotation condition is triggered according to a current temperature of the motor and an end time of a previous rotation action; and if it is judged that the rotor rotation condition is triggered, controlling the rotor to perform the rotation action of the mechanical angle offset. The method can avoid causing the junction temperature of the power device to rise rapidly or the winding to fail.

Description

Technical Field

[0001] This application relates to the field of motor control technology, specifically to a motor stall control method, device, medium, and product. Background Technology

[0002] In applications such as new energy vehicles, permanent magnet synchronous motors need to cope with stall conditions such as hill starts and engine jamming. In these situations, the rotor is stationary, but the motor still needs to continuously output a large torque. Since the three-phase current exhibits DC characteristics at this time, the current amplitude of one or two phases remains at its peak for a long period of time, resulting in highly concentrated copper losses in the corresponding windings and conduction losses of power devices, leading to prominent local temperature rise issues.

[0003] Currently, the commonly used approach in related technologies is to directly reduce the peak output torque of the motor using a derating strategy, sacrificing power performance to reduce total heat generation.

[0004] However, it is impossible to fundamentally change the phenomenon that heat is concentrated on the same phase winding and corresponding power devices for a long time, which leads to a surge in junction temperature of power devices or winding failure. Summary of the Invention

[0005] In view of this, this application aims to provide a motor stall control method, device, medium and product to solve the problem of power device junction temperature spikes or winding failures in traditional related technologies.

[0006] The first aspect of this application provides a motor stall control method, comprising: when the motor is detected to be in a stall condition, determining the mechanical angle offset of the motor rotor; controlling the rotor to perform a rotation action of the mechanical angle offset; repeating the following steps until the motor is detected to be in a non-stall condition: determining whether a rotor rotation condition is triggered based on the current temperature of the motor and the end time of the last rotation action; if it is determined that a rotor rotation condition is triggered, controlling the rotor to perform a rotation action of the mechanical angle offset.

[0007] In one possible implementation of this application, determining the mechanical angle offset of the motor rotor includes: obtaining the number of motor pole pairs and the electrical angle interval of the three-phase current; and determining the mechanical angle offset of the motor rotor based on the number of motor pole pairs and the electrical angle interval.

[0008] In one possible implementation of this application, controlling the rotor to perform a rotational action with a mechanical angular offset includes: before controlling the rotor to perform the rotational action with a mechanical angular offset, reducing the pulse width modulation frequency from a preset normal frequency to a preset minimum frequency under stall conditions; and obtaining the expected value of the three-phase current when the rotor rotates to the target mechanical position; during the process of controlling the rotor to perform the rotational action with a mechanical angular offset, keeping the current setpoints of the d-axis and q-axis constant, and adjusting the amplitude of the three-phase current in real time in conjunction with the expected value of the three-phase current; controlling the three-phase current to output according to the adjusted amplitude of the three-phase current; and when the rotational action is detected to be completed, restoring the pulse width modulation frequency to the preset normal frequency.

[0009] In one possible implementation of this application, the amplitude of the three-phase current is adjusted in real time in conjunction with the expected value of the three-phase current, including: obtaining the current mechanical position of the rotor; converting the current mechanical position into the current electrical angle; performing an inverse coordinate transformation based on the current setpoint of the d-axis, the current setpoint of the q-axis, and the current electrical angle, and outputting a three-phase current amplitude command; and controlling the amplitude of the three-phase current to smoothly transition to the expected value of the three-phase current based on the three-phase current amplitude command.

[0010] In one possible implementation of this application, determining whether to trigger the rotor rotation condition based on the current temperature of the motor and the end time of the last rotation action includes: obtaining the temperature of the three-phase windings and the junction temperature of the bridge arm power devices of each phase winding from the current temperature of the motor; if the temperature of any phase winding exceeds a first preset temperature threshold, or the junction temperature of any phase winding bridge arm power device exceeds a second preset temperature threshold, or the time difference between the end time of the last rotation action and the current time exceeds a first preset time threshold, then it is determined that the rotor rotation condition is triggered.

[0011] In one possible implementation of this application, after controlling the rotor to perform a rotational action with a mechanical angle offset, the method further includes: obtaining the rotation start time of the rotor performing the rotational action; detecting that the rotor has completed the rotational action, or that the time difference between the rotation start time and the current time exceeds a second preset time threshold, and then controlling the rotor to lock the current mechanical position.

[0012] In one possible implementation of this application, after determining that the rotor rotation condition is triggered, the method further includes: if it is detected that there is a risk of the vehicle slipping or the load torque exceeds the maximum safe switching torque of the motor, then the rotor is controlled to stop performing the rotation action of the mechanical angle offset.

[0013] A second aspect of this application also provides a motor stall control device, comprising: a determining module, configured to determine the mechanical angle offset of the motor rotor when the motor is detected to be in a stall condition; a control module, configured to control the rotor to perform a rotational action based on the mechanical angle offset; and a repeating execution module, configured to repeat the following steps until the motor is detected to be in a non-stall condition; wherein the repeating execution module comprises: a judging unit, configured to judge whether a rotor rotation condition is triggered based on the current temperature of the motor and the end time of the previous rotational action; and a control unit, configured to control the rotor to perform a rotational action based on the mechanical angle offset if the rotor rotation condition is determined to be triggered.

[0014] A third aspect of this application provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform a motor stall control method as described in the first aspect and possible implementations thereof.

[0015] The fourth aspect of this application provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a motor stall control method as described in the first aspect and possible implementations thereof.

[0016] The fifth aspect of this application provides a computer program product, comprising: a computer program that, when executed by a processor, implements a motor stall control method as described in the first aspect and possible implementations of the first aspect.

[0017] The motor stall control method, device, medium, and product provided in this application, after determining that the motor is in a stall condition, calculates the mechanical angle offset based on the number of pole pairs of the motor, causing the peak current originally fixed in a certain phase winding to rotate to the adjacent phase winding. Before detecting that the motor is in a non-stall condition, the steps of determining whether the rotor rotation condition is triggered and controlling the rotor to perform the rotation action of the mechanical angle offset when triggered are repeated. This ensures that during the motor stall condition, the three-phase windings take turns bearing the heat load generated by the peak current, each obtaining a cooling window, breaking the bottleneck of continuous overheating of a single-phase winding, and avoiding the power device junction temperature surge or winding failure caused by concentrated heat generation in a single-phase winding. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this application, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced 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.

[0019] Figure 1 A flowchart illustrating the motor stall control method provided in this application embodiment. Figure 1 .

[0020] Figure 2 A flowchart illustrating the motor stall control method provided in this application embodiment. Figure 2 .

[0021] Figure 3 This is a schematic diagram of the motor stall control device provided in the embodiments of this application.

[0022] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the field of motor control technology, a common technical solution for thermal management protection of permanent magnet synchronous motors under stall conditions is a derating strategy that reduces output torque. The basic principle is to reduce the overall heat generation by decreasing the peak output torque of the motor. This method is chosen because it is simple to implement and can, to some extent, slow down the temperature rise of power devices and windings. However, it cannot fundamentally change the phenomenon of heat acting on the same phase winding and corresponding power devices in a long-term, concentrated manner, thus causing a surge in junction temperature of power devices or winding failure.

[0025] To solve the above-mentioned technical problems, this application proposes the following technical concept: After the motor enters a stall condition, the mechanical angle offset of the motor rotor is determined, so that the peak current originally fixed in a certain phase winding is rotated to the adjacent phase winding. Through the dual triggering conditions of temperature and time, this rotation action is repeated periodically, so that the three-phase windings take turns to bear the heat load and each obtains a cooling window, breaking the bottleneck of continuous overheating of single-phase windings and avoiding the resulting surge in junction temperature of power devices or winding failure.

[0026] Figure 1 A flowchart illustrating the motor stall control method provided in this application embodiment. Figure 1 The execution subject in this embodiment is an electronic device, such as... Figure 1 As shown, the method includes: S101: When the motor is detected to be in a stalled state, determine the mechanical angular offset of the motor rotor.

[0027] In this embodiment, when the motor rotor speed is lower than a preset speed threshold and the output torque is non-zero, the motor is determined to be in a stall condition. The preset speed threshold is pre-set and can be adjusted according to actual conditions.

[0028] Optionally, the rotor mechanical angle can be analyzed in real time using a position sensor to calculate the rotor speed.

[0029] In this embodiment, the mechanical angle offset refers to the mechanical angle by which the rotor needs to rotate in order to transfer the thermal stress on the phase winding currently carrying the peak current to the adjacent phase winding. The magnitude of the mechanical angle offset is determined based on the number of pole pairs of the motor and the electrical angle interval of the three-phase current.

[0030] Specifically, the number of motor pole pairs and the electrical angle interval of the three-phase current are obtained; based on the number of motor pole pairs and the electrical angle interval, the mechanical angle offset of the motor rotor is determined.

[0031] Optionally, the number of motor pole pairs can be pre-stored in a storage unit or automatically identified by the motor model. The electrical angle interval in this invention is 120°, which is the phase difference between the three-phase currents.

[0032] In this embodiment, the mechanical angle offset = electrical angle interval / number of motor pole pairs. The electrical angle interval is typically 120°. When the electrical angle interval is 120°, the mechanical angle offset = 120° / number of motor pole pairs.

[0033] Alternatively, the electrical angle interval can also be selected according to the actual phase distribution of the motor or other specific requirements, such as 60° and 180°.

[0034] For example, for a four-pole permanent magnet synchronous motor, the number of pole pairs is 4, and the mechanical angle offset is 120° / 4 = 30°; for a six-pole motor, the number of pole pairs is 6, and the mechanical angle offset is 120° / 6 = 20°; for an eight-pole motor, the number of pole pairs is 8, and the mechanical angle offset is 120° / 8 = 15°.

[0035] In this embodiment, the mechanical angle offset obtained based on the number of motor pole pairs is such that the mechanical angle offset decreases as the number of motor pole pairs increases, thus having little impact on the overall vehicle attitude.

[0036] S102: Controls the rotor to perform a rotational action with a mechanical angular offset.

[0037] In this embodiment, based on the torque smooth switching mechanism, the rotor is controlled to perform a rotational action with mechanical angle offset, so that the phase winding with the largest current switches from the current phase winding to the adjacent phase winding.

[0038] The torque smoothing switching mechanism refers to a series of control actions implemented during the rotational movement of the rotor to control the mechanical angular offset, in order to suppress electromagnetic torque fluctuations and avoid additional junction temperature rise. The torque smoothing switching mechanism will be described in detail in subsequent embodiments.

[0039] S103: Repeat the following steps until the motor is detected to be in a non-stalled operating condition.

[0040] Specifically, step S103 includes S1031~S1032: S1031: Determine whether to trigger the rotor rotation condition based on the current temperature of the motor and the end time of the last rotation.

[0041] Specifically, the temperature of the three-phase windings and the junction temperature of the bridge arm power devices of each phase winding are obtained from the current temperature of the motor. If the temperature of any phase winding exceeds the first preset temperature threshold, or the junction temperature of any phase winding bridge arm power device exceeds the second preset temperature threshold, or the time difference between the end time of the last rotation action and the current time exceeds the first preset time threshold, then the condition for triggering rotor rotation is determined.

[0042] In this embodiment, the temperature of the three-phase winding is obtained by a winding temperature sensor, and the junction temperature of the bridge arm power device of each phase winding is obtained by a bridge arm power device junction temperature sensing element.

[0043] Among them, the junction temperature of the power device in the bridge arm refers to the chip junction temperature of the power switching device (such as IGBT or MOSFET) in each phase bridge arm, which directly affects the reliability and lifespan of the device.

[0044] In this embodiment, the time difference between the end time of the previous rotation action and the current time is obtained in order to obtain the duration of the stall condition after the end of the previous rotation action.

[0045] Optionally, the first preset temperature threshold is 150℃, the second preset temperature threshold is 125℃, and the first preset time threshold is 5 seconds.

[0046] For example, if the temperature of any phase winding exceeds 150°C, or the junction temperature of the bridge arm power device of any phase winding exceeds 125°C, or the time difference between the end time of the last rotation action and the current time exceeds 5 seconds, then the condition for triggering rotor rotation is determined.

[0047] The first preset temperature threshold, the second preset temperature threshold, and the first preset time threshold can be adjusted according to the actual situation.

[0048] S1032: If the condition for triggering rotor rotation is determined, the rotor is controlled to perform a rotation action with mechanical angle offset.

[0049] In this embodiment, if the condition for triggering rotor rotation is determined, the rotor is controlled to perform a rotational action with a mechanical angular offset, thereby switching the phase winding carrying the peak current and transferring the thermal stress to the next adjacent phase winding. This cycle repeats, allowing the three-phase windings to take turns carrying the peak current, each bearing approximately 1 / 3 of the thermal load time. Utilizing their respective thermal inertia and heat dissipation windows for alternating cooling, the stall tolerance time is significantly extended. When the motor is detected to be in a non-stalled operating condition (e.g., the speed returns to normal), the cycle ends.

[0050] To further ensure vehicle stability in safety-sensitive scenarios such as slopes, a safety check is added after determining the conditions that trigger rotor rotation and before executing the rotation action.

[0051] Specifically, if a risk of vehicle slippage is detected, or if the load torque exceeds the motor's maximum safe switching torque, the rotor is controlled to stop performing the rotational action with the mechanical angular offset.

[0052] Optionally, the maximum safe switching torque of the motor can be preset according to the motor characteristics.

[0053] Alternatively, the presence of vehicle slippage can be determined using signals from inertial sensors or wheel speed sensors.

[0054] In this embodiment, when a risk of vehicle rollover is detected, or the load torque exceeds the motor's maximum safe switching torque, the rotor is controlled to stop rotating by the mechanical angular offset. At this time, thermal management protection gives way to the higher vehicle safety objective.

[0055] As described above, after determining that the motor is in a stalled state, the mechanical angle offset is calculated based on the number of pole pairs, causing the peak current, originally fixed in one phase winding, to rotate to the adjacent phase winding. Before detecting that the motor is not in a stalled state, the steps of determining whether the rotor rotation condition is triggered and controlling the rotor to perform the rotation action of the mechanical angle offset when triggered are repeated. This ensures that during the stalled state, the three-phase windings take turns bearing the heat load generated by the peak current, each obtaining a cooling window, breaking the bottleneck of continuous overheating of a single-phase winding, and avoiding the power device junction temperature spike or winding failure caused by concentrated heat generation in a single-phase winding.

[0056] Based on the above embodiments, in this embodiment, after controlling the rotor to perform rotation, a timeout protection for locking the rotor position is also included.

[0057] Specifically, the rotation start time of the rotor's rotation action is obtained; if the rotor completes its rotation action or the time difference between the rotation start time and the current time exceeds a second preset time threshold, the rotor is controlled to lock the current mechanical position.

[0058] In this embodiment, the second preset time threshold is the timeout protection threshold for the rotor to perform rotation, that is, the maximum allowed duration of the rotation process, and its value can be preset to 500 milliseconds.

[0059] In this embodiment, when the rotor completes its rotation and reaches the target mechanical position normally, it is determined that the rotation has been completed normally, and the rotor is controlled to lock the current mechanical position to complete the hot spot switching.

[0060] In this embodiment, the time difference between the start time of rotation and the current time is obtained to determine the rotation duration of the rotor. When the rotation duration exceeds a second preset time threshold, the rotation action is determined to have timed out. This is usually caused by abnormal operating conditions such as rotor jamming, abnormal position sensing, or sudden load changes. The rotor is controlled to lock the current mechanical position to prevent the rotation transition state from lasting for a long time, which could lead to excessive switching losses of power devices and excessive thermal load, thus achieving device protection under abnormal operating conditions.

[0061] As described above, the rotation start time of the rotor is obtained; if the rotor completes its rotation, or the time difference between the rotation start time and the current time exceeds a second preset time threshold, the rotor is controlled to lock its current mechanical position. By precisely monitoring the rotation action in time and detecting the results, a dual guarantee of immediate locking upon completion and forced locking after timeout is provided. This ensures that the current mechanical position is immediately fixed after the rotor rotates to its correct position to maintain a stable output of electromagnetic torque. Simultaneously, the forced locking after timeout prevents the motor from entering an uncontrollable, prolonged adjustment state if it cannot rotate to the target position within a specified time due to abnormal load, thus ensuring the vehicle's attitude safety.

[0062] Figure 2 A flowchart illustrating the motor stall control method provided in this application embodiment. Figure 2 This embodiment focuses on describing the specific process of establishing a spatiotemporal network quality map database. For example... Figure 2 As shown, the process is described in detail below: S201: Before controlling the rotor to perform the rotational action of mechanical angle offset, reduce the pulse width modulation frequency from the preset normal frequency to the preset minimum frequency under stall condition; and obtain the expected value of the three-phase current when the rotor rotates to the target mechanical position.

[0063] The pulse width modulation frequency refers to the switching frequency of the inverter's switching devices, i.e., the PWM frequency. For example, the preset normal frequency is the switching frequency set according to the motor's operating conditions and performance requirements; while under stall conditions, when controlling the rotor to perform rotation, the frequency is temporarily reduced to the preset minimum frequency to reduce switching losses of power devices and suppress the sudden rise in junction temperature caused by the rotation itself.

[0064] Optionally, the preset normal frequency can be 10kHz, and the preset minimum frequency under stall conditions can be 2kHz.

[0065] For example, before controlling the rotor to perform the rotational action of mechanical angular offset, the pulse width modulation frequency is reduced from 10 kHz to 2 kHz to significantly reduce switching losses.

[0066] The expected value of the three-phase current refers to the target amplitude of the three-phase current that should be achieved after the rotor is controlled to perform rotational action and reach the target mechanical position in order to synthesize the required electromagnetic torque and meet the current constraints.

[0067] S202: During the process of controlling the rotor to perform the rotational action of mechanical angle offset, the current setpoint of the d-axis and the current setpoint of the q-axis are kept constant, and the amplitude of the three-phase current is adjusted in real time in combination with the expected value of the three-phase current; the three-phase current is controlled to be output according to the adjusted amplitude of the three-phase current.

[0068] The d-axis current setpoint refers to the target value of the current component used to control the flux linkage in a synchronous rotating coordinate system oriented by the rotor's magnetic field; the q-axis current setpoint refers to the target value of the current component used to control the torque in a synchronous rotating coordinate system oriented by the rotor's magnetic field.

[0069] In this embodiment, by keeping the current setpoints of the d-axis and q-axis constant, i.e. not changing with the rotation of the rotor, the stable output of electromagnetic torque is maintained, and torque disturbances caused by sudden changes in the target current are avoided.

[0070] Specifically, the current mechanical position of the rotor is obtained; the current mechanical position is converted into the current electrical angle; based on the current setpoint of the d-axis, the current setpoint of the q-axis and the current electrical angle, the coordinate inverse transformation is performed, and the three-phase current amplitude command is output; based on the three-phase current amplitude command, the amplitude of the three-phase current is controlled to smoothly transition to the desired value of the three-phase current.

[0071] In this context, inverse coordinate transformation refers to the mathematical transformation that converts the current given value in the synchronous rotating coordinate system into the current command in the three-phase stationary coordinate system.

[0072] In this embodiment, the current electrical angle is calculated based on the current mechanical position. Combined with constant d-axis and q-axis current setpoints, and through inverse coordinate transformations (such as Park and Clarke transformations), the corresponding three-phase current amplitude commands are calculated in real time, ensuring a smooth transition of the three-phase current amplitudes to the desired values. The desired three-phase current values ​​serve as the endpoint for this smooth transition, guiding changes in the three-phase currents and adjusting their amplitudes in real time to prevent sudden changes that could cause mechanical shocks.

[0073] S203: When the rotation action is detected to be complete, the pulse width modulation frequency is restored to the preset normal frequency.

[0074] For example, when the rotational motion is detected to be complete, the pulse width modulation frequency is restored from 2kHz to 10kHz.

[0075] As described above, before controlling the rotor to perform the rotational action of mechanical angle offset, the pulse width modulation frequency is reduced from the preset normal frequency to the preset minimum frequency under stall conditions. During rotation, the d-axis current setpoint and q-axis current setpoint are kept constant, while the expected three-phase current values ​​at the rotor target position are acquired to adjust the three-phase current amplitude in real time. After the rotation is completed, the pulse width modulation frequency is restored. Reducing the pulse width modulation frequency before controlling the rotor to perform the rotational action effectively reduces the switching losses of power devices during rotation and suppresses the additional temperature rise caused by the rotational action itself. During the rotor's rotational action, keeping the d-axis current setpoint and q-axis current setpoint constant and using the expected three-phase current values ​​to guide the amplitude changes of the three-phase current in real time ensures that the fluctuation of the synthesized electromagnetic torque is always limited within the preset range. This eliminates torque impact and vehicle vibration that may be caused by sudden angle changes, achieving a smooth hot spot transition without impact.

[0076] Figure 3 This is a schematic diagram of the motor stall control device provided in an embodiment of this application. Figure 3 As shown, the motor stall control device, applied to electronic equipment, includes: a determination module 301, a control module 302, and a repetitive execution module 303. The repetitive execution module 303 includes a judgment unit 3031 and a control unit 3032.

[0077] The determination module 301 is used to determine the mechanical angle offset of the motor rotor when the motor is detected to be in a stalled state.

[0078] The control module 302 is used to control the rotor to perform a rotational action with a mechanical angular offset.

[0079] The repeat execution module 303 is used to repeatedly execute the following steps until the motor is detected to be in a non-stalled operating condition.

[0080] The repetitive execution module 303 includes: The judgment unit 3031 is used to determine whether the rotor rotation condition is triggered based on the current temperature of the motor and the end time of the last rotation action.

[0081] The control unit 3032 is used to control the rotor to perform a rotation action with a mechanical angular offset if it is determined that the rotor rotation condition is triggered.

[0082] In one possible implementation of this application, the determining module 301 is specifically used to: obtain the number of motor pole pairs and the electrical angle interval of the three-phase current; and determine the mechanical angle offset of the motor rotor based on the number of motor pole pairs and the electrical angle interval.

[0083] In one possible implementation of this application, the control module 302 is specifically used to: reduce the pulse width modulation frequency from a preset normal frequency to a preset minimum frequency under stall conditions before controlling the rotor to perform the rotational action of the mechanical angle offset; and obtain the expected value of the three-phase current when the rotor rotates to the target mechanical position; during the process of controlling the rotor to perform the rotational action of the mechanical angle offset, keep the current setpoint values ​​of the d-axis and q-axis constant, and adjust the amplitude of the three-phase current in real time in combination with the expected value of the three-phase current; control the three-phase current to output according to the adjusted amplitude of the three-phase current; and restore the pulse width modulation frequency to the preset normal frequency when the rotational action is detected to be completed.

[0084] In one possible implementation of this application, the control module 302 is further configured to: obtain the current mechanical position of the rotor; convert the current mechanical position into the current electrical angle; perform inverse coordinate transformation based on the current setpoint of the d-axis, the current setpoint of the q-axis and the current electrical angle, and output a three-phase current amplitude command; and control the amplitude of the three-phase current to smoothly transition to the desired value of the three-phase current based on the three-phase current amplitude command.

[0085] In one possible implementation of this application, the judgment unit 3031 is specifically used to: obtain the temperature of the three-phase winding and the junction temperature of the bridge arm power device of each phase winding from the current temperature of the motor; if the temperature of any phase winding exceeds the first preset temperature threshold, or the junction temperature of any phase winding bridge arm power device exceeds the second preset temperature threshold, or the time difference between the end time of the last rotation action and the current time exceeds the first preset time threshold, then it is determined that the rotor rotation condition is triggered.

[0086] In one possible implementation of this application, the motor stall control device further includes a locking module. The locking module is specifically used to: acquire the rotation start time of the rotor's rotational action; and, upon detecting that the rotor has completed its rotational action, or that the time difference between the rotation start time and the current time exceeds a second preset time threshold, control the rotor to lock its current mechanical position.

[0087] In one possible implementation of this application, the motor stall control device further includes a stop control module. Specifically, the stop control module is used to: if a risk of vehicle rollaway is detected, or the load torque exceeds the motor's maximum safe switching torque, control the rotor to stop performing the rotational action with the mechanical angular offset.

[0088] The apparatus provided in this application embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0089] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device of this embodiment includes a processor 401 and a memory 402.

[0090] The memory 402 stores computer execution instructions; the processor 401 executes the computer execution instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0091] Alternatively, the memory 402 can be either standalone or integrated with the processor 401.

[0092] When the memory 402 is set up independently, the electronic device also includes a bus 403 for connecting the memory 402 and the processor 401.

[0093] This application also provides a vehicle, which includes a vehicle body and is equipped with the aforementioned electronic equipment for executing the aforementioned motor stall control method.

[0094] This application embodiment also provides a computer storage medium storing computer execution instructions. When the processor executes the computer execution instructions, the above-described motor stall control method is implemented.

[0095] This application also provides a computer program product, including a computer program, which, when executed by a processor, implements the above-described motor stall control method.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0097] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0098] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0099] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0100] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0101] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0102] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0103] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0104] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0105] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling a stalled motor, characterized in that, include: When a motor is detected to be in a stalled state, the mechanical angular offset of the motor rotor is determined; Control the rotor to perform the rotational action of the mechanical angular offset; Repeat the following steps until the motor is detected to be in a non-stalled operating condition: Based on the current temperature of the motor and the end time of the last rotation action, determine whether the rotor rotation condition is triggered; If the rotor rotation condition is determined to be triggered, the rotor is controlled to perform the rotation action of the mechanical angle offset.

2. The method according to claim 1, characterized in that, Determining the mechanical angular offset of the motor rotor includes: Obtain the number of pole pairs of the motor and the electrical angle interval of the three-phase current; The mechanical angular offset of the motor rotor is determined based on the number of motor pole pairs and the electrical angle interval.

3. The method according to claim 1, characterized in that, The control of the rotor to perform the rotational action of the mechanical angular offset includes: Before controlling the rotor to perform the rotational action of the mechanical angle offset, the pulse width modulation frequency is reduced from the preset normal frequency to the preset minimum frequency under stall conditions; and the expected value of the three-phase current when the rotor rotates to the target mechanical position is obtained. During the process of controlling the rotor to perform the rotational action of the mechanical angle offset, the current setpoints of the d-axis and q-axis are kept constant, and the amplitude of the three-phase current is adjusted in real time in combination with the expected value of the three-phase current; the three-phase current is controlled to be output according to the adjusted amplitude of the three-phase current. When the rotation action is detected to be complete, the pulse width modulation frequency is restored to the preset normal frequency.

4. The method according to claim 3, characterized in that, The step of adjusting the amplitude of the three-phase current in real time based on the expected value of the three-phase current includes: Obtain the current mechanical position of the rotor; Convert the current mechanical position into the current electrical angle; Based on the current setpoint of the d-axis, the current setpoint of the q-axis, and the current electrical angle, perform inverse coordinate transformation and output a three-phase current amplitude command; based on the three-phase current amplitude command, control the amplitude of the three-phase current to smoothly transition to the desired three-phase current value.

5. The method according to claim 1, characterized in that, The step of determining whether to trigger the rotor rotation condition based on the current temperature of the motor and the end time of the previous rotation action includes: From the current temperature of the motor, obtain the temperature of the three-phase windings and the junction temperature of the bridge arm power devices of each phase winding; If the temperature of any phase winding exceeds the first preset temperature threshold, or the junction temperature of the bridge arm power device of any phase winding exceeds the second preset temperature threshold, or the time difference between the end time of the previous rotation action and the current time exceeds the first preset time threshold, then the rotor rotation condition is determined to be triggered.

6. The method according to any one of claims 1-5, characterized in that, After controlling the rotor to perform the rotational action of the mechanical angular offset, the method further includes: Obtain the rotation start time when the rotor performs the rotation action; If the rotor is detected to have completed the rotation action, or if the time difference between the start time of the rotation and the current time exceeds a second preset time threshold, then the rotor is controlled to lock the current mechanical position.

7. The method according to any one of claims 1-5, characterized in that, After determining that the condition for triggering rotor rotation has been met, the following steps are also included: If a risk of vehicle slippage is detected, or if the load torque exceeds the motor's maximum safe switching torque, the rotor is controlled to stop performing the rotational action of the mechanical angle offset.

8. An electronic device, characterized in that, include: At least one processor; The at least one processor is also connected in communication with a memory, wherein the memory stores a computer program that can be executed by the at least one processor to cause the at least one processor to perform the motor stall control method according to any one of claims 1 to 7.

9. A computer storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the motor stall control method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the motor stall control method as described in any one of claims 1 to 7.

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