Current sensor fault detection method, apparatus, and device, and storage medium

Abstract

A current sensor fault detection method, apparatus, and device, and a storage medium. The method comprises: determining an alpha-axis current response and a beta-axis current response according to a space voltage vector corresponding to a permanent magnet synchronous motor (S10); then, according to the alpha-axis current response and the beta-axis current response, determining a direct-axis inductance and a quadrature-axis inductance corresponding to the permanent magnet synchronous motor (S20); and finally, performing fault detection on a current sensor according to the direct-axis inductance and the quadrature-axis inductance (S30).

Description

Fault detection methods, devices, equipment and storage media for current sensors

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410506896.4, filed on April 25, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of permanent magnet synchronous motor technology, and in particular to a fault detection method, device, equipment and storage medium for a current sensor. Background Technology

[0004] Permanent magnet synchronous motors, with their high efficiency and high power density, have been widely used in various industries. Three-phase current sensors are crucial in motor control; a malfunction in these sensors can lead to errors in the feedback of both quadrature-axis and direct-axis currents, affecting the overall stability of the motor. Therefore, effectively detecting faults in current sensors is a pressing issue that needs to be addressed.

[0005] Summary of the Invention

[0006] The main objective of this application is to provide a fault detection method, apparatus, device, and storage medium for current sensors, aiming to solve the technical problem of how to effectively detect faults in current sensors.

[0007] To achieve the above objectives, this application provides a fault detection method for a current sensor, which includes the following steps:

[0008] The α-axis current response and β-axis current response are determined based on the space voltage vector corresponding to the permanent magnet synchronous motor.

[0009] The direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor are determined based on the α-axis current response and the β-axis current response.

[0010] Fault detection of the current sensor is performed based on the direct-axis inductance and the quadrature-axis inductance.

[0011] In one embodiment, the step of determining the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor specifically includes:

[0012] Select a preset number of target space voltage vectors from the space voltage vectors corresponding to the permanent magnet synchronous motor;

[0013] After applying the target space voltage vector to the three-phase windings of the permanent magnet synchronous motor for a preset time, the three-phase response current is collected.

[0014] The α-axis current response and β-axis current response are determined based on the three-phase response currents.

[0015] In one embodiment, the step of determining the α-axis current response and β-axis current response based on the three-phase response current specifically includes:

[0016] Determine the first mapping relationship between the space voltage vector and the α-axis voltage, and determine the second mapping relationship between the space voltage vector and the β-axis voltage;

[0017] The α-axis current response is determined based on the first mapping relationship and the three-phase response current.

[0018] The β-axis current response is determined based on the second mapping relationship and the three-phase response current.

[0019] In one embodiment, the step of determining the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response specifically includes:

[0020] Calculate the inductance matrix based on the α-axis current response and the β-axis current response;

[0021] Calculate the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the inductance matrix.

[0022] In one embodiment, the step of fault detection of the current sensor based on the direct-axis inductance and the quadrature-axis inductance specifically includes:

[0023] When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the measured value of the current sensor is detected;

[0024] If the measured value is a preset value, it is determined that the current sensor has malfunctioned.

[0025] In one embodiment, the step of fault detection of the current sensor based on the direct-axis inductance and the quadrature-axis inductance specifically includes:

[0026] When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the fault type is determined based on the direct-axis inductance and the quadrature-axis inductance to detect faults in the current sensor.

[0027] In one embodiment, the step of determining the fault type based on the direct-axis inductance and the quadrature-axis inductance when the direct-axis inductance and the quadrature-axis inductance are not within a preset range specifically includes:

[0028] When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the fault type is determined according to a preset mapping relationship, the direct-axis inductance and the quadrature-axis inductance. The preset mapping relationship includes the relationship between the direct-axis inductance, the quadrature-axis inductance and the fault type.

[0029] Furthermore, to achieve the above objectives, this application also provides a fault detection device for a current sensor, the fault detection device for the current sensor comprising:

[0030] The current response determination module is used to determine the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor.

[0031] An inductance determination module is used to determine the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response.

[0032] The fault detection module is used to detect faults in the current sensor based on the direct-axis inductance and the quadrature-axis inductance.

[0033] Furthermore, to achieve the above objectives, this application also proposes a fault detection device for a current sensor, the fault detection device for the current sensor comprising: a memory, a processor, and a fault detection program for the current sensor stored in the memory and executable on the processor, the fault detection program for the current sensor being configured to implement the steps of the fault detection method for the current sensor as described above.

[0034] In addition, to achieve the above objectives, this application also proposes a storage medium storing a fault detection program for a current sensor, wherein when the current sensor fault detection program is executed by a processor, it implements the steps of the current sensor fault detection method as described above.

[0035] This application determines the α-axis and β-axis current responses based on the space voltage vector corresponding to the permanent magnet synchronous motor (PMSM). Then, it determines the direct-axis and quadrature-axis inductances of the PMSM based on these responses. Finally, it uses the direct-axis and quadrature-axis inductances to perform fault detection on the current sensor. This method of determining the direct-axis and quadrature-axis inductances of the PMSM based on the α-axis and β-axis current responses allows for accurate and effective acquisition of these inductances without increasing hardware costs, even when the PMSM is not running. Furthermore, the application utilizes these inductances to perform fault detection on the current sensor, effectively detecting faults based on changes in the direct-axis and quadrature-axis inductances. Attached Figure Description

[0036] Figure 1 is a schematic diagram of the structure of a fault detection device for a current sensor in the hardware operating environment involved in the embodiments of this application;

[0037] Figure 2 is a flowchart illustrating the first embodiment of the fault detection method for the current sensor of this application;

[0038] Figure 3 is a schematic diagram of a motor inverter according to an embodiment of the fault detection method for the current sensor of this application;

[0039] Figure 4 is a flowchart illustrating the second embodiment of the fault detection method for the current sensor of this application;

[0040] Figure 5 is a schematic diagram of the process of calculating the direct-axis inductance and quadrature-axis inductance using three voltage vectors V1, V2, and V4 in one embodiment of the fault detection method for the current sensor of this application.

[0041] Figure 6 is a schematic diagram of an embodiment of the fault detection method for the current sensor of this application, which uses three voltage vectors V1, V2, and V4 to calculate the voltage, current, and inductance waveforms of the direct-axis inductor and the quadrature-axis inductor.

[0042] Figure 7 is a schematic flowchart of an embodiment of the fault detection method for the current sensor of this application, which uses three voltage vectors V3, V5, and V6 to calculate the direct-axis inductance and quadrature-axis inductance.

[0043] Figure 8 is a schematic diagram of an embodiment of the fault detection method for the current sensor of this application, which uses three voltage vectors V3, V5, and V6 to calculate the voltage, current, and inductance waveforms of the direct-axis inductor and the quadrature-axis inductor.

[0044] Figure 9 is a schematic flowchart of an embodiment of the fault detection method for the current sensor of this application, which uses four voltage vectors V1, V3, V6, and V4 to calculate the direct-axis inductance and quadrature-axis inductance.

[0045] Figure 10 is a schematic diagram of an embodiment of the fault detection method for the current sensor of this application, which uses four voltage vectors V1, V3, V6, and V4 to calculate the voltage, current, and inductance waveforms of the direct-axis inductor and the quadrature-axis inductor.

[0046] Figure 11 is a flowchart illustrating the third embodiment of the fault detection method for the current sensor of this application;

[0047] Figure 12 is a schematic diagram of the preset mapping relationship of an embodiment of the fault detection method for the current sensor of this application;

[0048] Figure 13 is a structural block diagram of the first embodiment of the fault detection device for the current sensor of this application.

[0049] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0051] Referring to Figure 1, which is a schematic diagram of the fault detection device structure of the current sensor in the hardware operating environment involved in the embodiment of this application.

[0052] As shown in Figure 1, the fault detection device for this current sensor may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to establish communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; the user interface 1003 may also include standard wired and wireless interfaces. The network interface 1004 may include standard wired and wireless interfaces (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that the structure shown in Figure 1 does not constitute a limitation on the fault detection device for the current sensor, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] As shown in Figure 1, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a fault detection program for a current sensor.

[0055] In the fault detection device for the current sensor shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the fault detection device for the current sensor of this application can be set in the fault detection device for the current sensor. The fault detection device for the current sensor calls the fault detection program for the current sensor stored in the memory 1005 through the processor 1001 and executes the fault detection method for the current sensor provided in the embodiment of this application.

[0056] Based on the above-mentioned fault detection device for current sensors, this application provides a fault detection method for current sensors. Referring to FIG2, FIG2 is a flowchart of the first embodiment of the fault detection method for current sensors of this application.

[0057] In this embodiment, the fault detection method for the current sensor includes the following steps:

[0058] Step S10: Determine the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor.

[0059] The execution subject in this embodiment can be a controller capable of controlling a permanent magnet synchronous motor. This controller can apply a space voltage vector to the three-phase windings corresponding to the permanent magnet synchronous motor.

[0060] Referring to Figure 3, which is a schematic diagram of a motor inverter according to an embodiment of the fault detection method for the current sensor of this application, in Figure 3, Mortor is the motor, C is the DC capacitor of the inverter with voltage Vdc, and Q1-Q6 are six inverters. Table 1 defines the space voltage vectors V1 to V6 and the switching states of a general three-phase inverter.

[0061] Table 1:

[0062] In this embodiment, the aforementioned space voltage vector can be applied to the three-phase windings of the permanent magnet synchronous motor, and the α-axis current response and β-axis current response can be determined based on the measurement results.

[0063] Step S20: Determine the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response.

[0064] This embodiment can calculate the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response.

[0065] Step S30: Perform fault detection on the current sensor based on the direct-axis inductance and the quadrature-axis inductance.

[0066] In a specific implementation, this embodiment can detect faults in the current sensor based on the direct-axis inductance and the quadrature-axis inductance. Specifically, when the direct-axis inductance or the quadrature-axis inductance differs significantly from the normal inductance value, the current sensor is considered to be faulty.

[0067] This embodiment determines the α-axis and β-axis current responses based on the space voltage vector corresponding to the permanent magnet synchronous motor (PMSM). Then, it determines the direct-axis and quadrature-axis inductances of the PMSM based on these responses. Finally, it uses the direct-axis and quadrature-axis inductances to perform fault detection on the current sensor. This embodiment determines the direct-axis and quadrature-axis inductances of the PMSM based on the α-axis and β-axis current responses, accurately and effectively obtaining these inductances without increasing hardware costs, even when the PMSM is not running. Furthermore, it uses these direct-axis and quadrature-axis inductances to perform fault detection on the current sensor, thus effectively detecting faults in the current sensor based on changes in these inductances.

[0068] Referring to Figure 4, Figure 4 is a flowchart of the second embodiment of the fault detection method for the current sensor of this application.

[0069] Based on the first embodiment described above, in this embodiment, step S10 includes:

[0070] Step S101: Select a preset number of target space voltage vectors from the space voltage vectors corresponding to the permanent magnet synchronous motor.

[0071] In this embodiment, the preset number can be 3 or 4, that is, three or four space voltage vectors are applied to the three-phase windings of the permanent magnet synchronous motor. The selected target space voltage vectors should be symmetrical, and there are space voltage vectors on both the α axis and the β axis. For example, when the preset number is 3, symmetrical space voltage vectors such as V1, V2, V4 or V3, V6, V5 can be selected. When the preset number is 4, symmetrical space voltage vectors such as V1, V3, V6, V4 can be selected.

[0072] Step S102: After applying the target space voltage vector to the three-phase windings of the permanent magnet synchronous motor for a preset time, the three-phase response current is collected.

[0073] This embodiment can be illustrated using target space voltage vectors V1, V2, and V4 as examples. The steps are as follows: First, output the space voltage vector V1 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for time t1. Second, at the end of the application of space voltage vector V1, collect the three-phase response currents iu1, iv1, and iw1. Third, do not output any space voltage vector and wait for the three-phase response currents to return to zero. Fourth, output the space voltage vector V2 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for time t2. Fifth, at the end of the application of space voltage vector V2, collect the three-phase response currents iu2, iv2, and iw2. Sixth, do not output any space voltage vector and wait for the three-phase response currents to return to zero. Seventh, output the space voltage vector V4 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for time t4. Eighth, at the end of the application of space voltage vector V4, collect the three-phase response currents iu4, iv4, and iw4.

[0074] This embodiment can also be illustrated using target space voltage vectors V3, V6, and V5 as examples. The steps are as follows: First, output the space voltage vector V3 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time t3. Second, at the end of the application of space voltage vector V3, collect the three-phase response currents iu3, iv3, and iw3. Third, do not output any space voltage vector and wait for the three-phase response currents to return to zero. Fourth, output the space voltage vector V6 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time t6. Fifth, at the end of the application of space voltage vector V6, collect the three-phase response currents iu6, iv6, and iw6. Sixth, do not output any space voltage vector and wait for the three-phase response currents to return to zero. Seventh, output the space voltage vector V5 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time t5. Eighth, at the end of the application of space voltage vector V5, collect the three-phase response currents iu5, iv5, and iw5.

[0075] In a specific implementation, this embodiment can also be illustrated using target space voltage vectors V1, V3, V6, and V4 as examples. The steps are as follows: First, output the space voltage vector V1 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time t1. Second, at the end of the application of space voltage vector V1, collect the three-phase response currents iu1, iv1, and iw1. Third, do not output any space voltage vector and wait for the three-phase response currents to return to zero. Fourth, output the space voltage vector V3 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time t3. Fifth, the application of space voltage vector V3... Step 1: Acquire the three-phase response currents iu3, iv3, and iw3 at the beginning of the cycle; Step 6: Do not output any space voltage vector and wait for the three-phase response currents to return to zero; Step 7: Output the space voltage vector V6 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time of t6; Step 8: Acquire the three-phase response currents iu6, iv6, and iw6 at the end of the application of space voltage vector V6; Step 9: Output the space voltage vector V4 of the permanent magnet synchronous motor inverter and apply it to the three-phase windings for a time of t4; Step 10: Acquire the three-phase response currents iu4, iv4, and iw4 at the end of the application of space voltage vector V4.

[0076] Step S103: Determine the α-axis current response and β-axis current response based on the three-phase response current.

[0077] In one embodiment, step S103 includes: determining a first mapping relationship between the space voltage vector and the α-axis voltage, and determining a second mapping relationship between the space voltage vector and the β-axis voltage; determining the α-axis current response based on the first mapping relationship and the three-phase response current; and determining the β-axis current response based on the second mapping relationship and the three-phase response current.

[0078] Table 2 can represent the first mapping relationship between the space voltage vector and the α-axis voltage.

[0079] Table 2:

[0080] Table 3 can represent the second mapping relationship between the space voltage vector and the β-axis voltage.

[0081] Table 3:

[0082] In practical implementation, the α-axis current response and β-axis current response can be calculated using formula (1):

[0083] In equation (1), i α For the α-axis current response, i β For the β-axis current response, i u iv i w It consists of three response currents.

[0084] In one embodiment, in order to effectively determine the direct-axis inductance and quadrature-axis inductance, step S20 includes: calculating the inductance matrix based on the α-axis current response and the β-axis current response; and calculating the direct-axis inductance and quadrature-axis inductance corresponding to the permanent magnet synchronous motor based on the inductance matrix.

[0085] Formula (2) is the inductance matrix L calculated using the three voltage vectors V1, V2, and V4. αβ1 Formula (3) is the inductance matrix L calculated using the three voltage vectors V3, V5, and V6. αβ2 Formula (4) is the inductance matrix L calculated using four voltage vectors V1, V3, V6, and V4. αβ3 .

[0086] In this embodiment, the direct-axis inductance L can be calculated using formula (5). d The quadrature axis inductance L is calculated using formula (6). q .

[0087] In this embodiment, L is calculated using space voltage vectors V1, V2, and V4. d1 L q1 Alternatively, L can be calculated using space voltage vectors V3, V5, and V6. d2 L q2 Both can be used as the final direct-axis inductor and quadrature-axis inductor, and L can also be chosen. d1 L d2 The mean Ld, L q1 L q2 The average value Lq is used as the final direct-axis inductance and quadrature-axis inductance. In the two different vector combination schemes, the order in which the three vectors are applied does not affect the final inductance estimation result.

[0088] In a specific implementation, Figure 5 is a flowchart illustrating the calculation of the direct-axis inductance and quadrature-axis inductance using three voltage vectors V1, V2, and V4 in an embodiment of the fault detection method for the current sensor of this application; Figure 6 is a schematic diagram illustrating the voltage, current, and inductance waveforms for calculating the direct-axis inductance and quadrature-axis inductance using three voltage vectors V1, V2, and V4 in an embodiment of the fault detection method for the current sensor of this application; Figure 7 is a flowchart illustrating the calculation of the direct-axis inductance and quadrature-axis inductance using three voltage vectors V3, V5, and V6 in an embodiment of the fault detection method for the current sensor of this application; Figure 8 is... The present application's current sensor fault detection method is illustrated in an embodiment of the method using three voltage vectors V3, V5, and V6 to calculate the voltage, current, and inductance waveforms of the direct-axis inductance and quadrature-axis inductance. Figure 9 is a flowchart illustrating the calculation of the direct-axis inductance and quadrature-axis inductance using four voltage vectors V1, V3, V6, and V4 in an embodiment of the present application's current sensor fault detection method. Figure 10 is a schematic diagram illustrating the calculation of the voltage, current, and inductance waveforms of the direct-axis inductance and quadrature-axis inductance using four voltage vectors V1, V3, V6, and V4 in an embodiment of the present application's current sensor fault detection method.

[0089] This embodiment selects a preset number of target space voltage vectors from the space voltage vectors corresponding to the permanent magnet synchronous motor (PMSM). Then, after applying the target space voltage vectors to the three-phase windings of the PMSM for a preset time, it collects the three-phase response current and determines the α-axis and β-axis current responses based on these currents. This embodiment, by applying the target space voltage vectors to the three-phase windings of the PMSM for a preset time, collecting the three-phase response current, and then determining the α-axis and β-axis current responses based on these currents, can accurately and effectively obtain the α-axis and β-axis current responses even when the PMSM is not running.

[0090] Referring to Figure 11, Figure 11 is a flowchart of the third embodiment of the fault detection method for the current sensor of this application.

[0091] Based on the above embodiments, in this embodiment, step S30 includes: detecting the measured value of the current sensor when the direct-axis inductance and the quadrature-axis inductance are not within a preset range; and determining that the current sensor has malfunctioned when the measured value is a preset value.

[0092] When the direct-axis inductance and quadrature-axis inductance are not within the preset range, i.e., when the deviation from the normal range is large, the measured value of the current sensor can be detected. If the measured value of UVW or the U or V or W phase current in the three-phase current is 0 or ±AD, then the current sensor is determined to be faulty.

[0093] In one embodiment, step S30 further includes:

[0094] Step S301: When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, determine the fault type based on the direct-axis inductance and the quadrature-axis inductance to detect the fault in the current sensor.

[0095] When the direct-axis inductance and quadrature-axis inductance are not within the preset range, the fault type can be determined based on the direct-axis inductance and quadrature-axis inductance, and the current sensor can be fault detected based on the fault type.

[0096] In one embodiment, in order to effectively obtain the fault type, step S301 includes: when the direct-axis inductance and the quadrature-axis inductance are not within a preset range, determining the fault type according to a preset mapping relationship, the direct-axis inductance and the quadrature-axis inductance, wherein the preset mapping relationship includes the relationship between the direct-axis inductance, the quadrature-axis inductance and the fault type.

[0097] Referring to Figure 12, which is a schematic diagram of the preset mapping relationship of an embodiment of the fault detection method for the current sensor of this application, in Figure 12, the first column represents the fault type and the second column represents the direct-axis inductance L. d The third column represents the quadrature axis inductance L. q The method for determining the preset mapping relationship can be that the estimated inductance value corresponding to zero fault in phase A is L. d1 L q1 The estimated inductance value corresponding to the AB phase current + AD fault is L. d2 L q2 The fault type can be determined by estimating the inductance value.

[0098] In practice, if only one phase current sensor fails, the faulty phase current can be calculated using Kirchhoff's current law, without affecting motor control. If two or more phase current sensors fail, the motor cannot operate normally and the current sensors must be replaced before the motor can run.

[0099] This embodiment detects the measured value of the current sensor when the direct-axis inductance and quadrature-axis inductance are not within a preset range. If the measured value is within a preset range, a current sensor fault is determined. Alternatively, if the direct-axis inductance and quadrature-axis inductance are not within the preset range, the fault type is determined based on the direct-axis inductance and quadrature-axis inductance, thus performing fault detection on the current sensor. This embodiment effectively detects current sensor faults without increasing hardware costs by detecting faults when the direct-axis inductance and quadrature-axis inductance are not within the preset range.

[0100] Referring to Figure 13, which is a structural block diagram of the first embodiment of the fault detection device for the current sensor of this application.

[0101] As shown in Figure 13, the fault detection device for the current sensor proposed in this application includes:

[0102] The current response determination module 10 is used to determine the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor.

[0103] The inductance determination module 20 is used to determine the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response.

[0104] The fault detection module 30 is used to perform fault detection on the current sensor based on the direct-axis inductance and the quadrature-axis inductance.

[0105] This embodiment determines the α-axis and β-axis current responses based on the space voltage vector corresponding to the permanent magnet synchronous motor (PMSM). Then, it determines the direct-axis and quadrature-axis inductances of the PMSM based on these responses. Finally, it uses the direct-axis and quadrature-axis inductances to perform fault detection on the current sensor. This embodiment determines the direct-axis and quadrature-axis inductances of the PMSM based on the α-axis and β-axis current responses, accurately and effectively obtaining these inductances without increasing hardware costs, even when the PMSM is not running. Furthermore, it uses these direct-axis and quadrature-axis inductances to perform fault detection on the current sensor, thus effectively detecting faults in the current sensor based on changes in these inductances.

[0106] The workflow described above is merely illustrative and does not limit the scope of protection of this application. In practical applications, those skilled in the art can select some or all of it to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0107] In addition, for technical details not described in detail in this embodiment, please refer to the fault detection method of current sensor provided in any embodiment of this application, which will not be repeated here.

[0108] Based on the first embodiment of the fault detection device for the current sensor described in this application, a second embodiment of the fault detection device for the current sensor described in this application is proposed.

[0109] In this embodiment, the current response determination module 10 is further configured to select a preset number of target space voltage vectors from the space voltage vectors corresponding to the permanent magnet synchronous motor; after applying the target space voltage vectors to the three-phase windings corresponding to the permanent magnet synchronous motor for a preset time, collect the three-phase response current; and determine the α-axis current response and β-axis current response based on the three-phase response current.

[0110] In one embodiment, the current response determination module 10 is further configured to determine a first mapping relationship between the space voltage vector and the α-axis voltage, and to determine a second mapping relationship between the space voltage vector and the β-axis voltage; determine the α-axis current response based on the first mapping relationship and the three-phase response current; and determine the β-axis current response based on the second mapping relationship and the three-phase response current.

[0111] In one embodiment, the inductance determination module 20 is further configured to calculate an inductance matrix based on the α-axis current response and the β-axis current response; and to calculate the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the inductance matrix.

[0112] In one embodiment, the fault detection module 30 is further configured to detect the measured value of the current sensor when the direct-axis inductance and the quadrature-axis inductance are not within a preset range; and to determine that the current sensor has malfunctioned when the measured value is a preset value.

[0113] In one embodiment, the fault detection module 30 is further configured to determine the fault type based on the direct-axis inductance and the quadrature-axis inductance when the direct-axis inductance and the quadrature-axis inductance are not within a preset range, so as to perform fault detection on the current sensor.

[0114] In one embodiment, the fault detection module 30 is further configured to determine the fault type based on a preset mapping relationship, the direct-axis inductor and the quadrature-axis inductor when the direct-axis inductor and the quadrature-axis inductor are not within a preset range. The preset mapping relationship includes the relationship between the direct-axis inductor, the quadrature-axis inductor and the fault type.

[0115] Other embodiments or specific implementations of the fault detection device for the current sensor in this application can be found in the above-described method embodiments, and will not be repeated here.

[0116] Furthermore, this application also proposes a storage medium storing a fault detection program for a current sensor. When the current sensor fault detection program is executed by a processor, it implements the steps of the current sensor fault detection method described above.

[0117] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0118] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0120] The above are merely some embodiments of this application and do 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.

Claims

1. A fault detection method for a current sensor, wherein, The fault detection method for the current sensor includes the following steps: The α-axis current response and β-axis current response are determined based on the space voltage vector corresponding to the permanent magnet synchronous motor. The direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor are determined based on the α-axis current response and the β-axis current response. Fault detection of the current sensor is performed based on the direct-axis inductance and the quadrature-axis inductance.

2. The fault detection method for a current sensor as described in claim 1, wherein, The steps of determining the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor specifically include: Select a preset number of target space voltage vectors from the space voltage vectors corresponding to the permanent magnet synchronous motor; After applying the target space voltage vector to the three-phase windings of the permanent magnet synchronous motor for a preset time, the three-phase response current is collected. The α-axis current response and β-axis current response are determined based on the three-phase response currents.

3. The fault detection method for a current sensor as described in claim 2, wherein, The step of determining the α-axis current response and β-axis current response based on the three-phase response current specifically includes: Determine the first mapping relationship between the space voltage vector and the α-axis voltage, and determine the second mapping relationship between the space voltage vector and the β-axis voltage; The α-axis current response is determined based on the first mapping relationship and the three-phase response current. The β-axis current response is determined based on the second mapping relationship and the three-phase response current.

4. The fault detection method for a current sensor as described in claim 1, wherein, The step of determining the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response specifically includes: Calculate the inductance matrix based on the α-axis current response and the β-axis current response; Calculate the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the inductance matrix.

5. The fault detection method for a current sensor as described in any one of claims 1 to 4, wherein, The step of fault detection of the current sensor based on the direct-axis inductance and the quadrature-axis inductance specifically includes: When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the measured value of the current sensor is detected; If the measured value is a preset value, it is determined that the current sensor has malfunctioned.

6. The fault detection method for a current sensor as described in any one of claims 1 to 4, wherein, The step of fault detection of the current sensor based on the direct-axis inductance and the quadrature-axis inductance specifically includes: When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the fault type is determined based on the direct-axis inductance and the quadrature-axis inductance to detect faults in the current sensor.

7. The fault detection method for a current sensor as described in claim 6, wherein, The step of determining the fault type based on the direct-axis inductance and the quadrature-axis inductance when the direct-axis inductance and the quadrature-axis inductance are not within a preset range specifically includes: When the direct-axis inductance and the quadrature-axis inductance are not within a preset range, the fault type is determined according to a preset mapping relationship, the direct-axis inductance and the quadrature-axis inductance. The preset mapping relationship includes the relationship between the direct-axis inductance, the quadrature-axis inductance and the fault type.

8. A fault detection device for a current sensor, wherein, The fault detection device for the current sensor includes: The current response determination module is used to determine the α-axis current response and β-axis current response based on the space voltage vector corresponding to the permanent magnet synchronous motor. An inductance determination module is used to determine the direct-axis inductance and quadrature-axis inductance of the permanent magnet synchronous motor based on the α-axis current response and the β-axis current response. The fault detection module is used to detect faults in the current sensor based on the direct-axis inductance and the quadrature-axis inductance.

9. A fault detection device for a current sensor, wherein, The device includes: a memory, a processor, and a fault detection program for a current sensor stored in the memory and executable on the processor, the fault detection program for the current sensor being configured to implement the steps of the fault detection method for a current sensor as described in any one of claims 1 to 7.

10. A storage medium, wherein, The storage medium stores a fault detection program for a current sensor, which, when executed by a processor, implements the steps of the fault detection method for a current sensor as described in any one of claims 1 to 7.

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