Determination method for steering of vehicle traction motor, medium, device, and system

Abstract

The present invention relates to the technical field of traction transmission system control for rail transit vehicles, and in particular to a determination method for steering of a vehicle traction motor, a medium, a device, and a system. According to the present disclosure, under the condition that a target vehicle supplies power to each traction motor on the basis of a test instruction during a steering test, rotor information of each traction motor is acquired; and an actual steering sequence of each traction motor during the steering test is determined on the basis of the rotor information of each traction motor.

Description

A method, medium, device and system for determining the steering of a vehicle traction motor

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to Chinese Patent Application CN202411341889X entitled "A method, device, medium, equipment and system for determining the steering of a vehicle traction motor" filed on September 25, 2024, the entire contents of which are incorporated by reference into the present disclosure. TECHNICAL FIELD

[0003] The present invention belongs to the technical field of control of a traction drive system of a rail transit vehicle, and specifically relates to a method, medium, device and system for determining the steering of a vehicle traction motor. BACKGROUND

[0004] The traction motor, as one of the important components of power conversion and transmission in the traction drive system of a rail transit vehicle, is suspended on a bogie frame, converts three-phase alternating current provided by a frequency converter into electric power through the principle of magnetic induction, and transmits the power to the wheel pair through a flexible connection with a coupling, a gear box and other transmission devices to drive the operation of the vehicle.

[0005] The two traction motors on the same bogie of a vehicle are usually installed in axial symmetry. In the case of a certain phase sequence of the three-phase alternating current output by the frequency converter, the rotation direction of the traction motor is related to the three-phase line sequence. Therefore, for a vehicle control or bogie control traction drive system, the three-phase large lines (U\V\W phases) from the frequency converter to the traction motor need to be cross-connected. The rotation shaft directions of the two traction motors on the same bogie are opposite to each other, ensuring that the rotation directions of all the traction wheel pairs of the vehicle are consistent. If the three-phase line sequence of the traction motor is reversed, the traction motor will be reversed, the rotation direction of the traction motor will be opposite to that of the other traction motor, and the temperature of the traction motor winding will abnormally rise. This may cause the vehicle to lose power due to overheating of the motor, or even cause the traction motor to burn out. Therefore, the traction motor steering test is required when the vehicle is newly manufactured and debugged, the traction motor is replaced or troubleshooting is performed to restore the traction motor connection in the field.

[0006] In some cases, the methods for testing the steering of the motor can be mainly divided into three categories, which are: overall bogie test method, vehicle dynamic test method and vehicle starting static test method. These methods have the problems of long time consumption and low precision.

[0007] SUMMARY

[0008] To solve the above technical problems, the present application provides a method, medium, device and system for determining the steering of a vehicle traction motor. The present application obtains rotor information of each traction motor when the target vehicle is powered according to test instructions during the steering test; determines the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence includes a plurality of actual rotation directions; determines the expected steering sequence of each traction motor according to the test instructions and the shaft position information of each traction motor, wherein the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; performs consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; and determines whether the rotation direction of each traction motor is correct according to the result of the consistency judgment. The present application tests all traction motors on the target vehicle at the same time, generates a corresponding actual steering sequence for each traction motor, so that the steering test of all traction motors on the target vehicle can be completed at one time, reducing the test time. In addition, the present application directly obtains the sensor signal of the traction motor, and each traction motor has a plurality of test data during the test, improving the accuracy of the test result.

[0009] To solve the above technical problems, the present application provides a method, medium, device and system for determining the steering of a vehicle traction motor. The present application obtains rotor information of each traction motor when the target vehicle is powered according to test instructions during the steering test; determines the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence includes a plurality of actual rotation directions; determines the expected steering sequence of each traction motor according to the test instructions and the shaft position information of each traction motor, wherein the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; performs consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; and determines whether the rotation direction of each traction motor is correct according to the result of the consistency judgment. The present application tests all traction motors on the target vehicle at the same time, generates a corresponding actual steering sequence for each traction motor, so that the steering test of all traction motors on the target vehicle can be completed at one time, reducing the test time. In addition, the present application directly obtains the sensor signal of the traction motor, and each traction motor has a plurality of test data during the test, improving the accuracy of the test result.

[0010] The first aspect of the present application is a method for determining the steering of a vehicle traction motor, comprising: obtaining rotor information of each traction motor when the target vehicle is powered according to test instructions during the steering test; determining the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence includes a plurality of actual rotation directions; determining the expected steering sequence of each traction motor according to the test instructions and the shaft position information of each traction motor, wherein the expected steering sequence includes a plurality of expected rotation directions corresponding to the actual rotation directions; performing consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor; and determining whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0011] In an exemplary embodiment, when the traction motor is an asynchronous traction motor, the rotor information includes rotor steering information; obtaining the rotor rotation information of each traction motor includes: for each traction motor, obtaining the pulse signal output by the rotation speed sensor on the traction motor; and determining the rotor steering information of the traction motor according to the pulse signal.

[0012] In an example embodiment, in the case that the traction motor is a permanent magnet traction motor, the rotor information includes rotor position information; obtaining rotor rotation information of each traction motor further includes: for each traction motor, performing the following operations: obtaining a resolver signal output by a position sensor on the traction motor; and generating rotor position information at each time point according to the resolver signal at each time point.

[0013] In an example embodiment, determining an actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor includes: generating a rotor position change curve according to the time sequence relationship of each rotor position information; generating a rotor position sequence according to the starting value and the plurality of extreme values of the rotor position change curve according to the time sequence relationship; determining a rotation angle of a rotor single rotation in the rotor position sequence according to adjacent values; obtaining a preset angle change reference table; determining each actual rotation direction in the actual steering sequence according to each rotation angle and the angle change reference table; and generating the actual steering sequence according to the time sequence relationship of each actual rotation direction.

[0014] In an example embodiment, performing consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor includes: for each traction motor, performing the following operations: performing consistency judgment on each corresponding actual rotation direction in the actual steering sequence according to the expected steering sequence, and forming a judgment result sequence.

[0015] In an example embodiment, determining whether the rotation direction of each traction motor is correct according to the result of the consistency judgment includes: counting the number of judgment results that are consistent in the judgment result sequence; obtaining a preset judgment threshold; and in the case that the number of judgment results that are consistent is greater than or equal to the judgment threshold, determining that the rotation direction of the traction motor is correct.

[0016] In an example embodiment, determining whether the rotation direction of each traction motor is correct according to the result of the consistency judgment includes: in the case that the number of judgment results that are consistent is less than the judgment threshold, determining whether there is a test abnormality flag; and in the case that there is a test abnormality flag, determining that the steering test of the target vehicle fails.

[0017] In an example embodiment, the method further includes: during the steering test, controlling the asynchronous traction motor to be in an excitation state at all times until the steering test ends or a frequency converter fault occurs.

[0018] In an example embodiment, before the target vehicle supplies power to each traction motor according to the test instruction during the steering test, the method includes: performing prerequisite detection on the target vehicle; and in the case that the target vehicle passes the prerequisite detection, controlling the target vehicle to execute a preset steering test instruction, so that the target vehicle supplies power to each traction motor according to the steering test instruction.

[0019] In an exemplary embodiment, the turning test instruction comprises a plurality of preset duration test periods; each test period comprises: a preset duration forward instruction, a preset duration zero position instruction, and a preset duration backward instruction; the forward instruction and the backward instruction of each test period are followed by the zero position instruction.

[0020] In a second aspect, the disclosure discloses a determination device for vehicle traction motor turning, comprising: a first acquisition module configured to acquire rotor information of each traction motor when a target vehicle supplies power to each traction motor according to a test instruction during a turning test; a first determination module configured to determine an actual turning sequence of each traction motor during the turning test according to the rotor information of each traction motor, wherein the actual turning sequence comprises a plurality of actual rotation directions; a second determination module configured to determine an expected turning sequence of each traction motor according to the test instruction and shaft position information of each traction motor, wherein the expected turning sequence comprises a plurality of expected rotation directions corresponding to the actual rotation directions; a first execution module configured to perform consistency judgment on the actual turning sequence of each traction motor according to the expected turning sequence of each traction motor; and a third determination module configured to determine whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0021] In a third aspect, the disclosure discloses a computer device, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any method of the first aspect.

[0022] In a fourth aspect, the disclosure discloses a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of any method of the first aspect.

[0023] In a fifth aspect, the disclosure provides a system for determining steering of traction motors of a vehicle, comprising: a console display, a network control system, an on-board controller, a frequency converter, traction motors, and on-board sensors; the console display is connected to the network control system and configured to send a start test instruction to the network control system so that the vehicle is in a test state; the network control system is connected to the on-board controller and configured to send a steering instruction and a frequency converter control instruction to the on-board controller according to a preset steering test instruction after receiving the start test instruction; the on-board controller is connected to the frequency converter and configured to generate a PWM signal according to the steering instruction and the frequency converter control instruction, and send the PWM signal to the frequency converter; the frequency converter is connected to the traction motors and configured to supply power to the traction motors according to the PWM signal; the on-board sensors are connected to the on-board controller and configured to generate a sensor signal when the traction motors rotate, and send the sensor signal to the on-board controller; the on-board controller is further configured to determine the steering test result of each traction motor according to the sensor signal and the steering instruction; the network control system is further configured to obtain the steering test result of the on-board controller, and send the steering test result to the console display.

[0024] In an example embodiment, the vehicle controller comprises: a logic processing unit, a signal processing unit and a frequency converter control unit; the logic processing unit is connected with the network control system and the frequency converter control unit, configured to generate a direction control instruction according to a steering instruction, and send the direction control instruction and a frequency converter control instruction to the frequency converter control unit; the frequency converter control unit is connected with the frequency converter, configured to generate a PWM signal according to the direction control instruction and the frequency converter control instruction; a sensor signal: sensor position information, a pulse signal or a resolver signal; the signal processing unit is connected with the vehicle sensor, configured to determine the motor position of the corresponding traction motor according to the sensor position information; the signal processing unit is further configured to filter the pulse signal; the signal processing unit is further configured to determine the rotor position information of the rotor of the traction motor at each moment according to the resolver signal; the signal processing unit is further connected with the logic processing unit, configured to send the motor position, the filtered pulse signal or the rotor position information at each moment to the logic processing unit; the logic processing unit is further configured to determine the steering test result of each traction motor according to the motor position, the pulse signal or the rotor position information; the network control system is further configured to obtain the steering test result of the logic processing unit. In an example embodiment, the logic processing unit comprises: a direction control module, a single motor steering judgment module, a vehicle level steering judgment module and a result determination module; the direction control module is connected with the network control system, configured to generate a direction control instruction according to a steering instruction, and send the direction control instruction and a frequency converter control instruction to the frequency converter control unit; the single motor steering judgment module is connected with the signal processing unit, configured to determine the actual rotation direction of the traction motor at each steering instruction execution according to the pulse signal or the rotor position information at each moment; the single motor steering judgment module is further connected with the vehicle level steering judgment module, and is further configured to send the actual rotation direction and the motor position to the vehicle level steering judgment module; the vehicle level steering judgment module is connected with the result determination module, configured to determine the expected rotation direction according to the motor position and the corresponding steering instruction, and determine whether the rotation direction of the traction motor at the execution of the steering instruction is correct according to the expected rotation direction and the actual rotation direction, to form a first judgment result; the result determination module is connected with the network control system, configured to obtain a plurality of first judgment results generated by each traction motor at each steering instruction execution, and determine the steering test result of each traction motor at the steering test according to the plurality of first judgment results.

[0025] In an exemplary embodiment, the logic processing unit further comprises a test exception determination module; the test exception determination module is connected with the network control system and configured to monitor whether the network control system sends a frequency converter control instruction affecting the test, and generate an exception test flag in the case that the network control system sends a frequency converter control instruction affecting the test; the test exception determination module is further connected with the result determination module and configured to send the exception test flag to the result determination module; the result determination module is further configured to determine the turning test result of each traction motor in the turning test according to the plurality of first determination results and the exception test flag.

[0026] In an exemplary embodiment, in the case that the traction motor is an asynchronous traction motor, the logic processing unit further comprises an excitation module; the excitation module is connected with the network control system and configured to generate an excitation start instruction according to the frequency converter control instruction, so that the excitation part of the traction motor is always in a start state in the test state; the excitation module is further configured to generate an excitation cancel instruction to cancel the excitation of the traction motor when the frequency converter control instruction includes a frequency converter blocking instruction or a frequency converter tripping instruction.

[0027] In an exemplary embodiment, the turning test instruction comprises a plurality of test periods of a preset time length; each test period comprises a forward instruction of a preset time length, a zero position instruction of a preset time length and a backward instruction of a preset time length; the forward instruction and the backward instruction of each test period are followed by the zero position instruction.

[0028] In an exemplary embodiment, the console display is further configured to send a prerequisite detection instruction to the network control system before sending the start test instruction; the network control system detects the prerequisites required for the turning test according to the prerequisite detection instruction and sends the detection result to the console display.

[0029] In an exemplary embodiment, the required prerequisites include that the console is in an active state, the vehicle is in a stationary state, the direction instruction is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop is closed valid, the UB loop is closed valid and the non-emergency mode is valid. BRIEF DESCRIPTION OF DRAWINGS

[0030] The scope of the present disclosure can be better understood by reading the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings, in which:

[0031] FIG. 1 is a whole flow chart of a determination method of vehicle traction motor turning provided by an embodiment of the present disclosure;

[0032] FIG. 2 is a period relationship chart between a turning test instruction and other instructions provided by an embodiment of the present disclosure;

[0033] Fig. 3 is a structural block diagram of a vehicle traction motor steering determination device according to an embodiment of the present disclosure;

[0034] Fig. 4 is a structural block diagram of a vehicle traction motor steering determination system according to an embodiment of the present disclosure;

[0035] Fig. 5 is a structural block diagram of a vehicle controller according to an embodiment of the present disclosure.

[0036] In the drawings:

[0037] 1 - first acquisition module, 2 - first determination module, 3 - second determination module, 4 - first execution module, 5 - third determination module, 100 - console display, 200 - network control system, 300 - vehicle controller, 310 - logic processing unit, 311 - single machine steering judgment module, 312 - vehicle level steering judgment module, 313 - result determination module, 314 - direction control module, 315 - test exception judgment module, 316 - excitation module, 320 - signal processing unit, 330 - frequency converter control unit, 400 - frequency converter, 500 - traction motor, 600 - vehicle sensor. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present disclosure clearer, the present disclosure will be described in further detail below with reference to the drawings, and the described embodiments should not be regarded as limiting the present disclosure, and all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0039] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict.

[0040] In the application file, similar descriptions of "first\second\third" are added under the following circumstances: in the following description, the terms "first\second\third" involved are only to distinguish similar objects, and do not represent a specific order of the objects, and it can be understood that "first\second\third" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the embodiments of the present disclosure and are not intended to limit the present disclosure.

[0042] Embodiment 1:

[0043] In some cases, the method of steering test for electric motor can be mainly divided into three categories, which are: overall frame test method, vehicle dynamic cut test method and vehicle starting static test method. These methods have the problems of long time-consuming and low precision.

[0044] In view of the problems existing in some cases, as shown in FIG. 1, the present disclosure provides a method for determining the steering of a vehicle traction motor. The method system is in an electronic device, which can be a server, a mobile terminal, a computer, a cloud platform, etc. The function realized by the device data processing provided by the embodiment of the present disclosure can be realized by calling program code by the processor of the electronic device, wherein the program code can be saved in the computer storage medium. The method for determining the steering of a vehicle traction motor comprises:

[0045] Because of the flexible connection between the traction motor and the coupling and the gap between the gears of the gearbox, in the case of wheel pair locking, 5% of the maximum traction force can also cause the coupling to rotate slightly, resulting in a certain angle of rotation. Therefore, based on this principle, the present disclosure can control the vehicle to apply maximum common braking to lock the wheel pair during the steering test, and supply power to the traction motor according to the test instruction, so that the traction motor rotates within a certain range according to the test instruction under the premise that the vehicle does not move.

[0046] Step S1: Obtain the sensor signal of each traction motor on the target vehicle during the steering test.

[0047] In an exemplary embodiment, before step S1 "the target vehicle supplies power to each traction motor according to the test instruction during the steering test", the method comprises:

[0048] Step S11: Perform precondition detection on the target vehicle.

[0049] Step S12: In the case that the target vehicle passes the precondition detection, control the target vehicle to execute the preset steering test instruction, so that the target vehicle supplies power to each traction motor according to the steering test instruction.

[0050] The technical solution of the present disclosure does not need to additionally add test tools and tooling, etc., but only needs to cooperate with the existing sensors, control systems, etc. of the target vehicle to complete the steering test of the target vehicle, so that the prerequisite detection of the target vehicle is needed before the test, and the prerequisite detection includes that the console is in an active state, the vehicle is in a stationary state, the direction instruction is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop is closed, the UB loop is closed, and the non-emergency mode is valid. When all these prerequisites are met, it is determined that the target vehicle can use the method of the present disclosure to test the steering of the vehicle. At this time, the steering test instruction can be issued to the vehicle, so that the vehicle supplies power to each traction motor according to the steering test instruction, and the Hall sensor or rotary transformer output sensor signal installed on the traction motor is output within a certain angle range.

[0051] In an exemplary embodiment, the steering test instruction includes a plurality of test periods of a preset time length; each test period includes a forward instruction of a preset time length, a zero position instruction of a preset time length, and a backward instruction of a preset time length; and the forward instruction and the backward instruction of each test period are followed by the zero position instruction.

[0052] Since before the test, the gap of the gear and the state of the coupling may not be in an ideal state, i.e. the gap of the gear box of some traction motors may be exactly in the preset target rotation direction, which may cause the traction motor to not be able to produce effective rotation under the previous test instruction, thereby making it impossible to obtain the sensor signal, so the present disclosure needs to perform multiple reciprocating tests on each traction motor to ensure the accuracy of the test results. When multiple tests are performed, multiple steering test instructions need to be input, and in the case of manual input of instructions, errors are easy to occur, and the interval between each instruction is also difficult to control, which makes the processing of the sensor signal difficult. Therefore, in order to eliminate the problem of easy errors and difficult processing of the sensor signal caused by multiple steering instructions, the steering test instruction is preset in the present disclosure, so that the steering test instruction includes a plurality of test periods of a preset time length, each test period includes a forward instruction of a preset time length, a zero position instruction of a preset time length, and a backward instruction of a preset time length. The forward instruction and the backward instruction of each test period are followed by the zero position instruction. For example, the overall time length of a steering test instruction is 55s, which includes 5 test periods, and the instruction arrangement order of each test period is: 3s forward traction → 2s zero position → 3s backward traction → 2s zero position. The instruction relationship diagram is shown in FIG. 2.

[0053] Because of the gear backlash and the flexible connection between the shafts, the rotation direction of the rotor can be tested instead of the rotation angle of the shaft. To test the rotation direction of the rotor, the rotor information during the test is needed. The traction motor of the vehicle is equipped with a sensor configured to detect the rotation speed and direction of the traction motor. For different types of traction motors, different sensors are used. For an asynchronous traction motor, a Hall sensor is used to detect the rotation direction and speed of the traction motor. For a permanent magnet traction motor, a rotary transformer is used to detect the rotation direction and speed of the traction motor. Therefore, in the case of an asynchronous traction motor, the rotor information is the rotor rotation direction information, and in the case of a permanent magnet traction motor, the rotor information is the rotor position information at each moment.

[0054] Therefore, in an exemplary embodiment, the step S1 of obtaining the rotor information of each traction motor comprises:

[0055] Step S13: Obtain the pulse signal output by the rotation speed sensor on the traction motor.

[0056] Step S14: Determine the rotor rotation direction information of the traction motor according to the pulse signal.

[0057] In the case of an asynchronous traction motor, the sensor installed on the traction motor and configured to monitor the rotor rotation information is a Hall sensor, and the Hall sensor outputs a pulse signal. Through the pulse signal, the rotation direction of the rotor during rotation, i.e., the rotor rotation direction information of the traction motor, can be obtained.

[0058] In the case of a permanent magnet motor, in an exemplary embodiment, the step S1 of obtaining the rotor rotation information of each traction motor further comprises:

[0059] Step S15: Obtain the rotary transformer signal output by the position sensor on the traction motor.

[0060] Step S16: Generate the rotor position information at each moment according to the rotary transformer signal at each moment.

[0061] In the case of a permanent magnet traction motor, the sensor configured to detect the rotor rotation condition is usually a rotary transformer, which can generate a rotary transformer signal. Through the rotary transformer signal, the rotor position information at each moment can be obtained.

[0062] Step S2: Determine the actual rotation sequence of each traction motor during the rotation test according to the rotor information of each traction motor, wherein the actual rotation sequence includes a plurality of actual rotation directions.

[0063] For convenience of expression and understanding, the following steps are operations for a single traction motor. Although the following examples introduce the processing for a single traction motor, the disclosure can actually simultaneously perform the steering test on all traction motors of the target vehicle and simultaneously determine whether the steering of all traction motors is correct.

[0064] In an exemplary embodiment, step S2 "determining the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor" includes:

[0065] Step S21: generating a rotor position change curve according to the time sequence relationship of each rotor position information.

[0066] Step S22: generating a rotor position sequence according to the starting value and the plurality of extreme values of the rotor position change curve according to the time sequence relationship.

[0067] Step S23: determining the rotation angle of the rotor in a single time in the rotor position sequence according to adjacent values.

[0068] Step S24: obtaining a preset angle change reference table.

[0069] Step S25: determining each actual rotation direction in the actual steering sequence according to each rotation angle and the angle change reference table.

[0070] Step S26: generating an actual steering sequence according to the time sequence relationship of each actual rotation direction.

[0071] The test method disclosed herein can be configured for various traction motors, among which common traction motors include asynchronous traction motors and permanent magnet traction motors. For permanent magnet traction motors, the speed and direction of rotation are generally obtained through a rotary transformer. The rotary transformer outputs sinusoidal and cosine voltages, which provide information on the rotor position of the traction motor at various moments. The rotor position change curve can be obtained by analyzing the temporal relationship of the rotor position information at various moments. Since the rotor position information obtained through the sinusoidal and cosine voltages is expressed in terms of angles, and the wheelset in this disclosure is in a locked state, the rotation range of the traction motor is only the cumulative result of the gear clearance in the gearbox and the deformation at the flexible connection between the traction motor and the coupling. Therefore, the rotation range of the traction motor is finite. Thus, the traction motor will reach a maximum / minimum rotor position during the execution of forward or backward commands, resulting in a rotor position change curve that appears as multiple line segments moving back and forth between two extreme values. The extreme values ​​of the rotor position curve and the initial values ​​of the starting points are used to generate a rotor position sequence based on the temporal relationship. In the rotor position sequence, the rotation angle of the traction motor can be obtained by subtracting the next value from the previous value according to the timing sequence. The magnitude and sign of this rotation angle indicate the rotation direction and effectiveness of the traction motor. This disclosure also includes a preset angle change reference table. The preset reference information in this table includes: when ab > c, the traction motor is judged to be rotating forward; when ab < -c, the traction motor is judged to be rotating in reverse; when -c ≤ ab ≤ c, the traction motor is judged to have no result. Here, c is a preset value based on the actual rotation range of the traction motor. In the rotor position sequence, the timing of a is earlier than b, and a and b are adjacent. ab represents the rotation angle. Therefore, the actual steering sequence of the traction motor during the steering test can be generated based on the rotor position sequence and the angle change reference value.

[0072] In asynchronous traction motors, Hall effect sensors are used to detect the motor's speed and direction of rotation. These sensors output pulse signals, which are divided into two channels: channel A and channel B. By studying the correspondence between the rising edge, falling edge, high level, and low level of the channel A and channel B pulse signals, the actual rotation direction of the traction motor at each stage can be easily determined. These actual rotation directions, based on timing relationships, can then be used to obtain the actual steering sequence of the traction motor.

[0073] For vehicles with asynchronous traction motors, the excitation command to the asynchronous traction motor will be cancelled when the vehicle stops or reaches zero potential. When a directional command is received, the excitation phase will be re-entered. However, the rotor vibration of the asynchronous traction motor during the excitation phase can significantly impact steering tests.

[0074] Therefore, in an example embodiment, during the turning test, the asynchronous traction motor is controlled to be in the excited state all the time until the end of the turning test or the inverter fails.

[0075] That is, during the turning test, no matter what instruction is given to the vehicle, the asynchronous traction motor needs to be in the excited state to prevent frequent starting of the excitation stage during the test process from affecting the turning test result of the vehicle.

[0076] Step S3: determining the expected turning sequence of each traction motor according to the test instruction and the shaft position information of each traction motor, the expected turning sequence including a plurality of expected rotating directions corresponding to the actual rotating directions.

[0077] For a vehicle, especially a locomotive for rail transit, there is a case where a plurality of traction motors are powered by an inverter, and during installation, the turning of the traction motors of different shaft positions is different, but in essence, the rotating directions of the wheel pairs driven are the same, so that the plurality of wheel pairs of the vehicle can rotate in the same direction, and therefore it is necessary to determine the expected turning sequence for each traction motor according to the shaft position thereof and in combination with the turning test instruction.

[0078] Step S4: performing consistency judgment on the actual turning sequence of the corresponding traction motor according to the expected turning sequence of each traction motor.

[0079] In an example embodiment, step S4 "performing consistency judgment on the actual turning sequence of the corresponding traction motor according to the expected turning sequence of each traction motor" includes:

[0080] Step S41: performing consistency judgment on each corresponding actual rotating direction in the actual turning sequence according to the expected turning sequence, and forming a judgment result sequence.

[0081] After learning the actual turning sequence and the expected turning sequence of each traction motor, it can be determined whether each actual rotating direction in the actual turning sequence is correct, and then whether the rotating direction of each traction motor is correct. The expected turning sequence can be used to judge each actual rotating direction in the actual turning sequence, whether they are consistent, and in the case of consistency, it is indicated that the actual rotating direction is correct, and in the case of inconsistency, it is indicated that it is incorrect, and a judgment result sequence can be formed.

[0082] Step S5: determining whether the rotating direction of each traction motor is correct according to the result of the consistency judgment

[0083] Therefore, in an example embodiment, step S5 "determining whether the rotating direction of each traction motor is correct according to the result of the consistency judgment" includes:

[0084] Step S51: Count the number of consistent determination results in the determination result sequence.

[0085] Step S52: Obtain a preset determination threshold.

[0086] Step S53: When the number of consistent determination results is greater than or equal to the determination threshold, determine that the rotation direction of the traction motor is correct.

[0087] Since at the beginning of the test, the backlash of some traction motors corresponding to the gearboxes may deviate from the initial target rotation direction, the rotation range of the traction motor may be small or unable to produce rotation, and thus the problem of being unable to determine the rotation direction may occur or the rotation direction may be incorrect, it is necessary to count the number of consistent determination results in the determination result sequence, obtain a preset determination threshold, and determine that the rotation direction of the traction motor is correct when the number of consistent determination results is greater than or equal to the determination threshold. The expected rotation direction in the expected steering sequence and the actual rotation direction in the actual steering sequence correspond according to the time range.

[0088] In an exemplary embodiment, step S5 "determine whether the rotation direction of each traction motor is correct according to the result of the consistency determination" further includes:

[0089] Step S54: When the number of consistent determination results is less than the determination threshold, determine whether there is a test abnormality flag.

[0090] Step S55: When there is a test abnormality flag, determine that the steering test of the target vehicle fails.

[0091] Although theoretically, when the number of consistent determination results is less than the determination threshold, it indicates that the traction motor may have a wiring error, in actual testing, it is very likely that the vehicle has a fault, and some faults need to be prevented from further expansion by locking the frequency converter or cutting off the frequency converter, which will cause the test process to be unable to proceed and will also cause the number of consistent determination results to be less than the determination threshold. Therefore, this case cannot indicate whether the traction motor is wired correctly.

[0092] Therefore, when the number of consistent results is less than the judgment threshold in the present disclosure, the reason for such result needs to be analyzed. First, it is determined whether there is a test abnormality flag. The test abnormality flag can represent whether a fault occurs during the test process that needs to block the frequency converter or cut off the frequency converter, so in the case of the presence of the test abnormality flag, it indicates that a fault occurs during the test process that needs to block the frequency converter or cut off the frequency converter, so that the test cannot continue, and further leads to the number of consistent results being less than the judgment threshold, at this time, it cannot be determined whether the wiring of each traction motor is correct, so this case is set as a test failure.

[0093] Therefore, the method of the present disclosure solves the problem of long time consumption and low accuracy in the background art when the vehicle traction motor is tested. The present disclosure simultaneously tests all traction motors on the target vehicle, generates a corresponding actual steering sequence for each traction motor, so that the steering test of all traction motors on the target vehicle can be completed by one test, reducing the test time. Moreover, the present disclosure directly acquires the sensor signal of the traction motor, and each traction motor has multiple test data during the test process, improving the accuracy of the test result. Moreover, in order to prevent the influence of the jitter of the excitation part of the asynchronous traction motor when it is frequently started on the test result, the asynchronous traction motor is kept in the excited state during the entire test phase. Moreover, compared with the conventional technical solution, the present disclosure does not need to additionally add test tools and fixtures, and realizes automatic test of the steering of the traction motor of the vehicle under static state through one-key operation of the driver control console display, and the length of the vehicle train does not affect the length of the vehicle train. Moreover, the test does not need to be operated in an environment with safety hazards, which greatly guarantees the safety of the staff.

[0094] Embodiment 2:

[0095] Based on the foregoing embodiments, the present disclosure provides a determination device for vehicle traction motor steering. The modules included in the device and the units included in the modules can be realized by a processor in a computer device. Alternatively, they can be realized by a specific logic circuit. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0096] As shown in Figure 3, a vehicle traction motor steering determination device comprises a first acquisition module 1, a first determination module 2, a second determination module 3, a first execution module 4 and a third determination module 5.

[0097] The first acquisition module 1 is configured to acquire rotor information of each traction motor when the target vehicle supplies power to each traction motor according to test instructions during a steering test. The first determination module 2 is configured to determine an actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence comprises a plurality of actual rotation directions. The second determination module 3 is configured to determine an expected steering sequence of each traction motor according to the test instructions and the shaft position information of each traction motor, wherein the expected steering sequence comprises a plurality of expected rotation directions corresponding to the actual rotation directions. The first execution module 4 is configured to make a consistency judgment on the actual steering sequence of the corresponding traction motor according to the expected steering sequence of each traction motor. The third determination module 5 is configured to determine whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

[0098] Each module in the above-mentioned vehicle traction motor steering determination device can be realized by software, hardware and a combination thereof in whole or in part. Each module can be embedded in or independent of the processor in the device in hardware form, or can be stored in the memory in the processing device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module. It should be noted that the division of the modules in the embodiments of the present disclosure is schematic and is only a logical function division. In actual implementation, another division mode can be used.

[0099] Embodiment 3:

[0100] In a third aspect, a computer device is provided, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any method in the first aspect.

[0101] Embodiment 4:

[0102] In a fourth aspect, a computer readable storage medium is provided, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of any method in the first aspect.

[0103] Embodiment 5:

[0104] In a fifth aspect, as shown in Figure 4, the present disclosure provides a vehicle traction motor steering determination system 500, which comprises a console display 100, a network control system 200, an on-board controller 300, a frequency converter 400, a traction motor 500 and an on-board sensor 600.

[0105] Due to the flexible connection between the traction motor and the coupling and the existence of the gap between the gears of the gear box, in the case of wheel pair locking, 5% of the maximum traction force can also cause the coupling to rotate slightly, resulting in a certain rotation angle. Therefore, based on this principle, the present disclosure can control the vehicle to apply the maximum commonly used brake to lock the wheel pair during the steering test, and supply power to the traction motor 500 according to the test instruction, so that the traction motor 500 rotates within a certain range according to the test instruction under the premise that the vehicle does not move.

[0106] Due to the existence of the gear gap and the flexible connection of the coupling, in the present disclosure, the test on the rotation direction of the rotor of the traction motor 500 can be used instead of the test on the rotation angle of the coupling. Since the traction motor 500 itself is provided with a vehicle-mounted sensor 600 configured to detect the rotation state of the rotor, it is only necessary to enable the traction motor 500 to rotate according to the steering instruction during the test and the vehicle as a whole is stationary, and the system of the vehicle itself can achieve this function, so in the present disclosure, no additional test tools and tooling are needed, and only the existing console display 100, network control system 200 and vehicle controller 300 of the vehicle are needed to complete the rotation of the traction motor 500 under the condition that the vehicle is stationary. The vehicle-mounted device itself does not have the ability to determine the rotation direction of each traction motor 500 according to the sensor signal of the vehicle-mounted sensor 600, so some settings need to be made to the console controller, network control system 200 and vehicle controller 300. In order to realize the steering test of each motor on the vehicle through the existing vehicle-mounted device, the settings of each existing vehicle-mounted device are as follows.

[0107] The console display 100 is connected with the network control system 200 and is configured to issue a start test instruction to the network control system 200, so that the vehicle is in a test state.

[0108] In an exemplary embodiment, the console display 100 is further configured to issue a prerequisite detection instruction to the network control system 200 before issuing the start test instruction.

[0109] The network control system 200 detects the prerequisites required for the steering test according to the prerequisite detection instruction, and sends the detection result to the console display 100.

[0110] In an exemplary embodiment, the required prerequisites include:

[0111] The console is in an active state, the vehicle is in a stationary state, the direction instruction is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop is closed, the UB loop is closed, and the non-emergency mode is valid.

[0112] Since the vehicle needs to rotate the traction motor 500 within a certain range in a stationary state, the function configured to achieve this purpose on the vehicle needs to be detected before starting the test, i.e. pre-condition detection.

[0113] The network control system 200 is connected with the vehicle-mounted controller 300 and is configured to send the steering instruction and the frequency converter control instruction to the vehicle-mounted controller 300 according to the preset steering test instruction after receiving the start test instruction.

[0114] In an exemplary embodiment, the steering test instruction includes a plurality of test periods of preset time length.

[0115] Each test period includes a forward instruction of preset time length, a zero position instruction of preset time length, and a backward instruction of preset time length. The forward instruction and the backward instruction of each test period are followed by the zero position instruction.

[0116] Since the clearance of the gear and the state of the coupling joint may not be in an ideal state before the test, i.e. the clearance of the gear box of the traction motor 500 may be exactly in the preset target rotation direction, which may cause the traction motor 500 to be unable to produce effective rotation under the previous test instruction, thereby making it impossible to obtain the sensor signal, the present disclosure needs to perform multiple reciprocating tests on each traction motor 500 to ensure the accuracy of the test results. Among them, multiple tests need to be input multiple steering test instructions, in the case of manual input of steering instructions, errors are easy to occur, and the interval between each instruction is also difficult to control, making the processing of the sensor signal in the later stage have a greater hindrance. Therefore, in order to eliminate the problem of easy error and difficult sensor signal processing caused by multiple steering instructions, the steering test instruction is preset in the present disclosure, so that the steering test instruction includes a plurality of test periods of preset time length, each test period includes a forward instruction of preset time length, a zero position instruction of preset time length, and a backward instruction of preset time length. The forward instruction and the backward instruction of each test period are followed by the zero position instruction. For example, the overall time length of one steering test instruction is 55s, which includes 5 test periods, and the instruction arrangement order of each test period is: 3s forward traction→2s zero position→3s backward traction→2s zero position. The instruction relationship diagram is shown in FIG. 2. Therefore, the steering instruction output by the network control system 200 in the present disclosure is a forward traction instruction or a backward traction instruction.

[0117] The vehicle-mounted controller 300 is connected with the frequency converter 400 and is configured to generate a PWM signal according to the steering instruction and the frequency converter control instruction, and send the PWM signal to the frequency converter 400.

[0118] In an exemplary embodiment, the vehicle-mounted controller 300 comprises a logic processing unit 310, a signal processing unit 320 and a frequency converter control unit 320.

[0119] The logic processing unit 310 is connected with the network control system 200 and the frequency converter control unit 320, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit 320.

[0120] In an exemplary embodiment, as shown in FIG. 5, the logic processing unit 310 comprises a direction control module 314, a single-machine steering judgment module 311, a vehicle-level steering judgment module 312 and a result determination module 313.

[0121] The direction control module 314 is connected with the network control system 200, and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit 320.

[0122] The frequency converter 400 may have various faults during operation, and these faults need to be handled as soon as possible to reduce the loss caused by the faults. Among them, the blocking of the frequency converter and the removal of the frequency converter will make the frequency converter 400 unable to output externally, so that the traction motor 500 connected with the blocked or removed frequency converter 400 cannot rotate, which will affect the steering test. Therefore, it is necessary to detect these directly during the test, and form a test exception flag in the presence.

[0123] Therefore, in an exemplary embodiment, the logic processing unit 310 further comprises a test exception judgment module 315.

[0124] The test exception judgment module 315 is connected with the network control system 200, and is configured to monitor whether the network control system 200 sends a frequency converter control instruction that affects the test, and generate an abnormal test flag when the network control system 200 sends a frequency converter control instruction that affects the test.

[0125] The test method of the present disclosure can be configured for various traction motors 500, among which the common traction motors 500 are asynchronous traction motors and permanent magnet traction motors. In the case of asynchronous traction motor 500, when the vehicle stops or has zero potential, the excitation instruction of the asynchronous traction motor will be cancelled, and when there is a direction instruction, it will re-enter the excitation stage. However, because the asynchronous traction motor rotor shakes in the excitation stage, the backlash will change, so that the next rotation range of the traction motor 500 cannot be determined, which will greatly affect the steering test.

[0126] Therefore, in an exemplary embodiment, when the traction motor 500 is an asynchronous traction motor, the logic processing unit 310 further comprises an excitation module 316.

[0127] The excitation module 316 is connected to the network control system 200 and configured to generate an excitation start instruction according to the frequency converter control instruction, so that the excitation part of the traction motor 500 is always in a start state in the test state.

[0128] That is, during the steering test, no matter what instruction is given to the vehicle, the asynchronous traction motor needs to be in an excitation state to prevent the excitation stage from being frequently started during the test process and affecting the steering test results of the vehicle.

[0129] The excitation module 316 is further configured to generate an excitation cancel instruction to cancel the excitation of the traction motor 500 in the case that the frequency converter control instruction includes a blocking frequency converter instruction or a tripping frequency converter instruction.

[0130] In the case of a fault that requires blocking the frequency converter or tripping the frequency converter, the excitation module 316 generates an excitation cancel instruction.

[0131] The frequency converter control unit 320 is connected to the frequency converter 400 and configured to generate a PWM signal according to the direction control instruction and the frequency converter control instruction.

[0132] The frequency converter 400 is connected to the traction motor 500 and configured to send power to the traction motor 500 according to the PWM signal.

[0133] The on-board sensor 600 is connected to the on-board controller 300 and configured to generate a sensor signal when the traction motor 500 rotates and send the sensor signal to the on-board controller 300.

[0134] The on-board controller 300 is further configured to determine the steering test result of each traction motor 500 according to the sensor signal and the steering instruction.

[0135] The sensor signal: sensor position information, pulse signal or resolver signal.

[0136] The signal processing unit 320 is connected to the on-board sensor 600 and configured to determine the motor position of the corresponding traction motor 500 according to the sensor position information.

[0137] The signal processing unit 320 is further configured to filter the pulse signal.

[0138] The signal processing unit 320 is further configured to determine the rotor position information of the rotor of the traction motor 500 at each time according to the resolver signal.

[0139] The traction motor 500 of the vehicle is provided with a sensor configured to detect the rotating speed and direction of the traction motor 500, wherein the sensor used is different for different types of traction motor 500. When the traction motor 500 is an asynchronous traction motor, a Hall sensor is used to detect the rotating direction and speed of the traction motor 500. When the traction motor 500 is a permanent magnet traction motor, a rotary transformer is used to detect the rotating direction and speed of the traction motor 500. Therefore, when the traction motor 500 is an asynchronous traction motor, the rotor information is rotor turning direction information, and when the traction motor 500 is a permanent magnet traction motor, the rotor information is rotor position information at each moment.

[0140] When the traction motor 500 is an asynchronous traction motor, the sensor configured to monitor the rotor turning information installed on the traction motor 500 is a Hall sensor, and the Hall sensor outputs a pulse signal. Through the pulse signal, the rotating direction of the rotor when it is turning can be obtained, i.e., the rotor turning direction information of the traction motor 500. When the traction motor 500 is a permanent magnet traction motor, the sensor configured to detect the rotor turning condition is usually a rotary transformer. The rotary transformer can generate a rotary signal, and through the rotary signal, the rotor position information at each moment can be obtained.

[0141] For a permanent magnet traction motor, the rotating speed and direction of the permanent magnet traction motor are generally obtained through a rotary transformer. The rotary transformer outputs a sine voltage and a cosine voltage. Through the sine voltage and the cosine voltage, the rotor position information of the traction motor 500 at each moment can be obtained. Through the time sequence relationship of the rotor position information at each moment, a rotor position change curve can be obtained. Since the rotor position information obtained through the sine voltage and the cosine voltage is expressed in terms of angle, and in the present disclosure, the wheel set is in a locked state, the rotating range of the traction motor 500 is only the cumulative result of the gear clearance in the gear box and the deformation amount at the flexible connection between the traction motor 500 and the coupling, so the rotating range of the traction motor 500 is limited. Therefore, the traction motor 500 will reach a limit rotor position during the execution of the forward command or the reverse command. The difference between two adjacent limit rotor positions can represent the rotating direction of the traction motor 500 during the execution of the turning command. Therefore, the judgment process is as follows: a-b<-c, it is judged that the traction motor 500 is reversed; -c≤a-b≤c, it is judged that the traction motor 500 has no result, wherein c is a preset value according to the actual rotating range of the traction motor 500, a and b respectively represent two adjacent limit rotor positions, and the occurrence time of a is earlier than that of b.

[0142] The rotation speed and rotation direction of the traction motor 500 are detected by a Hall sensor on the asynchronous traction motor, and the Hall sensor outputs a pulse signal. The pulse signal is divided into two paths, i.e., an A-path pulse signal and a B-path pulse signal. By studying the rising edge, falling edge, high level and low level of the A-path pulse signal and the B-path pulse signal, the actual rotation direction of the traction motor 500 in each stage can be easily understood.

[0143] The signal processing unit 320 is also connected to the logic processing unit 310 and is configured to send the motor position, the filtered pulse signal or the rotor position information at each moment to the logic processing unit 310.

[0144] The logic processing unit 310 is also configured to determine the rotation test result of each traction motor 500 according to the motor position, the pulse signal or the rotor position information.

[0145] The single-machine rotation judgment module 311 is connected to the signal processing unit 320 and is configured to determine the actual rotation direction of the traction motor 500 when each rotation instruction is executed according to the pulse signal or the rotor position information at each moment.

[0146] The single-machine rotation judgment module 311 is also connected to the vehicle-level rotation judgment module 312 and is also configured to send the actual rotation direction and the motor position to the vehicle-level rotation judgment module 312.

[0147] The vehicle-level rotation judgment module 312 is connected to the result determination module 313 and is configured to determine the expected rotation direction according to the motor position and the corresponding rotation instruction, and determine whether the rotation direction of the traction motor 500 when executing the rotation instruction is correct according to the expected rotation direction and the actual rotation direction, to form a first judgment result.

[0148] For a vehicle, especially a locomotive for rail transit, there is a case where a frequency converter supplies power to multiple traction motors 500. When installed, the rotation directions of the traction motors 500 at different shaft positions are different, but in essence, the rotation directions of the wheel pairs driven are the same, so that multiple wheel pairs of the vehicle can rotate in the same direction. Therefore, it is necessary to determine the expected rotation direction of each traction motor 500 according to the motor position and in combination with the rotation instruction. After learning the actual rotation direction and the expected rotation direction of each traction motor 500, it can be determined whether the actual rotation direction of the traction motor 500 is correct, and a first judgment result can be formed.

[0149] The result determination module 313 is connected to the network control system 200 and is configured to obtain multiple first judgment results generated by each traction motor 500 when each rotation instruction is executed, and determine the rotation test result of each traction motor 500 during the rotation test according to the multiple first judgment results.

[0150] Since at the beginning of the test, some traction motors 500 corresponding to the gear box backlash may deviate from the initial target rotation direction, so that the rotation range of the traction motor 500 is small, or cannot produce rotation, and then the problem of being unable to determine the rotation direction or the rotation direction error occurs, it is necessary to count the number of correct results in multiple first judgment results, and obtain a preset judgment threshold. When the number of correct results is greater than or equal to the judgment threshold, it indicates that the rotation direction of the traction motor 500 is correct.

[0151] The test exception determination module 315 is also connected with the result determination module 313, and is configured to send the abnormal test flag to the result determination module 313.

[0152] The result determination module 313 is also configured to determine the steering test result of each traction motor 500 during the steering test according to the multiple first judgment results and the abnormal test flag.

[0153] Although theoretically, in the case where the number of correct results is less than the judgment threshold, it can be indicated that the traction motor 500 may have a wiring error, but in actual testing, it is very likely that the vehicle has a fault, and some of these faults need to be prevented from further loss by blocking the frequency converter or cutting off the frequency converter, and blocking the frequency converter or cutting off the frequency converter will cause the test process to be unable to proceed, and will also cause the number of consistent judgment results to be less than the judgment threshold. However, this situation cannot indicate whether the traction motor 500 is wired correctly. Therefore, in the present disclosure, when the number of correct results is less than the judgment threshold, the cause of such a result needs to be analyzed. Therefore, it is necessary to determine whether there is a test exception flag, and the test exception flag can represent whether a fault occurs during the test process that needs to block the frequency converter or cut off the frequency converter. Therefore, in the case where there is a test exception flag, it indicates that a fault occurs during the test process that needs to block the frequency converter or cut off the frequency converter, so that the test cannot continue, and thus the number of correct results is less than the judgment threshold. However, at this time, it cannot be determined whether the wiring of each traction motor 500 is correct, so this situation is set as a test failure.

[0154] The network control system 200 is also configured to obtain the steering test result of the logic processing unit 310.

[0155] The network control system 200 is also configured to obtain the steering test result of the vehicle-mounted controller 300, and send the steering test result to the cab display 100.

[0156] The system of the present disclosure has two flow lines during the whole steering test, one is the instruction issuing flow line and the other is the data processing flow line.

[0157] The instruction issuing flow line is: the console display 100-network control system 200-vehicle-mounted controller 300(logical processing unit 310(direction control module 314, excitation module 316 (traction motor 500 is an asynchronous motor and has excitation module 316))-frequency converter control unit 320)-frequency converter 400.

[0158] The console display 100 issues a start test instruction to the network control system 200, and the network control system 200 issues a frequency converter control instruction and a steering instruction to the vehicle-mounted controller 300. The direction control module 314 generates a direction control instruction according to the steering instruction, the excitation module 316 generates an excitation start instruction according to the frequency converter control instruction, the frequency converter control unit 320 generates a PWM signal according to the frequency converter control instruction and the direction control instruction, and the frequency converter 400 supplies power to the traction motor 500 according to the PWM signal.

[0159] Since the traction motor 500 is installed with the vehicle-mounted sensor 600, when the traction motor 500 rotates, the vehicle-mounted sensor 600 will generate a sensor signal. The traction motor 500 used by a general vehicle may be an asynchronous traction motor or a permanent magnet traction motor. In the case of an asynchronous traction motor 500, the vehicle-mounted sensor 600 at this time is a Hall sensor, and the generated sensor signal is a pulse signal. In the case of a permanent magnet traction motor 500, the vehicle-mounted sensor 600 at this time is a rotary transformer, and the generated sensor signal is a rotary transformer signal.

[0160] The data processing flow line is as follows: vehicle-mounted sensor 600-vehicle-mounted controller 300(signal processing unit 320-logical processing unit 310(single-machine steering judgment module 311-vehicle-level steering judgment module 312-result determination module 313))-network control system 200-console display 100.

[0161] The vehicle sensor 600 sends the pulse signal or the resolver signal to the signal processing unit 320 of the vehicle controller 300. The signal processing unit 320 filters the pulse signal to obtain a filtered pulse signal and decodes the resolver signal to obtain rotor position information. The single machine steering judgment module 311 obtains the actual rotation direction of each traction motor 500 during the execution of each steering instruction according to the filtered pulse signal or the rotor position information. The vehicle level steering judgment module 312 determines the expected rotation direction of each traction motor 500 during the execution of each steering instruction according to the motor position of each motor and each steering instruction, and then determines whether the rotation direction of each traction motor 500 during the execution of each steering instruction is correct according to the expected rotation direction and the actual rotation direction, i.e. the first judgment result. The result determination module 313 is configured to count the number of results that the first judgment result is correct, and determine the steering test result of each traction motor 500 during the entire test period according to the number of results.

[0162] In the case where the steering test result indicates that the traction motor 500 may have a wiring error, it is necessary to further determine whether there is really a wiring error or it is caused by other reasons. Therefore, the abnormality detection line is further included.

[0163] The abnormality detection line is: the network control system 200-the test abnormality judgment module 315-the result determination module 313.

[0164] The network control system 200 will issue inverter control instructions, but these inverter control instructions may affect the test process. Therefore, the test abnormality judgment module 315 will monitor the inverter control instructions. When the inverter control instructions appear to block the inverter or remove the inverter instructions, an abnormal test flag is generated and sent to the result determination module 313. The result determination module 313 can determine that the reason why the steering test result is not ideal is due to a fault, and it cannot be concluded that the traction motor 500 has a wiring error.

[0165] Therefore, the method of the present disclosure solves the problem of long time consumption and low accuracy in the background art when testing the steering of the vehicle traction motor 500. The present disclosure simultaneously tests all traction motors 500 on the target vehicle, generates a corresponding actual steering sequence for each traction motor 500, so that the steering test of all traction motors 500 on the target vehicle can be completed in one test, reducing the test time. Moreover, the present disclosure directly acquires the sensor signals of the traction motor 500, and each traction motor 500 has multiple test data during the test process, improving the accuracy of the test results. Moreover, in order to prevent the influence of the jitter of the excitation part of the asynchronous traction motor when it is frequently started during the test phase on the test results, the asynchronous traction motor is kept in the excited state during the entire test phase. Moreover, compared with the existing conventional technical solutions, the present disclosure does not need to additionally add test tools and fixtures, and can realize automatic testing of the steering of all traction motors of the vehicle under static state through one-key operation of the driver control console display 100, and the time and accuracy of the vehicle steering test are not affected by the length of the vehicle train. Moreover, the operator does not need to be in a potentially dangerous environment during the entire test process, which greatly ensures the safety of the operator.

[0166] The beneficial effects of the present invention are: the present disclosure simultaneously tests all traction motors on the target vehicle, generates a corresponding actual steering sequence for each traction motor, so that the steering test of all traction motors on the target vehicle can be completed in one test, reducing the test time. Moreover, the present disclosure directly acquires the sensor signals of the traction motor, and each traction motor has multiple test data during the test process, improving the accuracy of the test results.

[0167] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, database or other medium used in each embodiment provided by the present disclosure can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. The volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0168] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present disclosure, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The above-mentioned sequence number of the embodiments of the present disclosure is only for description, not representing the advantages or disadvantages of the embodiments.

[0169] It should be noted that in this paper, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but further includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0170] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other manners. The described device embodiments are merely schematic. For example, the division of the units is merely a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, or direct coupling or communication connection between the components can be indirect coupling or communication connection through some interfaces, devices, or units, and can be electrical, mechanical, or in other forms.

[0171] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units. They can be located in one place, or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0172] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0173] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by a program instructing related hardware, and the foregoing program can be stored in a computer readable storage medium, and the program is executed to perform the steps of the above-mentioned method embodiments. The foregoing storage medium includes mobile storage devices, read-only memories (ROMs), magnetic disks or optical disks, and various media that can store program codes.

[0174] Alternatively, the integrated units of the present disclosure are implemented in the form of software functional modules and sold or used as independent products in the case of being sold or used as independent products, which can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product in essence or in the form of a part that contributes to some cases. The computer software product is stored in a storage medium, and includes a number of instructions for causing a controller to perform all or part of the methods described in the embodiments of the present disclosure. The foregoing storage medium includes mobile storage devices, ROMs, magnetic disks or optical disks, and various media that can store program codes.

[0175] The above merely describes the embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method of determining vehicle traction motor steering, wherein, The method comprises the following steps: acquiring rotor information of each traction motor in the case that the target vehicle supplies power to each traction motor according to test instructions during a steering test; determining an actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor, wherein the actual steering sequence comprises a plurality of actual rotation directions; determining an expected steering sequence of each traction motor according to the test instructions and shaft position information of each traction motor, wherein the expected steering sequence comprises a plurality of expected rotation directions corresponding to the actual rotation directions; performing consistency judgment on the actual steering sequence of each traction motor according to the expected steering sequence of the corresponding traction motor; determining whether the rotation direction of each traction motor is correct according to the result of the consistency judgment.

2. The method of claim 1, wherein, In the case that the traction motor is an asynchronous traction motor, the rotor information comprises rotor steering information, and the acquiring of the rotor information of each traction motor comprises the following steps: performing the following operations for each traction motor: acquiring a pulse signal output by a rotation speed sensor on the traction motor; determining rotor steering information of the traction motor according to the pulse signal.

3. The method of claim 1, wherein, In the case that the traction motor is a permanent magnet traction motor, the rotor information comprises rotor position information, and the acquiring of the rotor information of each traction motor further comprises the following steps: performing the following operations for each traction motor: acquiring a resolver signal output by a position sensor on the traction motor; generating rotor position information at each time according to the resolver signal at each time. The determining of the actual steering sequence of each traction motor during the steering test according to the rotor information of each traction motor comprises the following steps:

4. The method of claim 3, wherein, generating a rotor position change curve according to the time sequence relationship of each rotor position information; generating a rotor position sequence according to the starting value and a plurality of extreme values of the rotor position change curve according to the time sequence relationship; determining a rotor single rotation angle in the rotor position sequence according to adjacent values; acquiring a preset angle change reference table; determining each actual rotation direction in the actual steering sequence according to each rotor single rotation angle and the angle change reference table; generating the actual steering sequence according to the time sequence relationship of each actual rotation direction. The consistency judgment on the actual steering sequence of each traction motor according to the expected steering sequence of the corresponding traction motor comprises the following steps:

5. The method of claim 1, wherein, performing the following operations for each traction motor: performing consistency judgment on each corresponding actual rotation direction in the actual steering sequence according to the expected steering sequence, and forming a judgment result sequence. The determining of whether the rotation direction of each traction motor is correct according to the result of the consistency judgment comprises the following steps:

6. The method of claim 5, wherein, counting the number of consistent judgment results in the judgment result sequence; acquiring a preset judgment threshold value; in the case that the number of consistent judgment results is greater than or equal to the judgment threshold value, determining that the rotation direction of the traction motor is correct. The determining of whether the rotation direction of each traction motor is correct according to the result of the consistency judgment comprises the following steps:

7. The method of claim 6, wherein, in the case that the number of consistent judgment results is less than the judgment threshold value, determining whether there is a test abnormality flag. ​ In the presence of the test abnormality flag, it is determined that the steering test for the target vehicle has failed.

8. The method of claim 2, wherein, The method further comprises: During the steering test, the asynchronous traction motor is controlled to be in an excited state until the end of the steering test or a frequency converter failure occurs.

9. The method of any one of claims 1-8, wherein, Before the target vehicle supplies power to each traction motor according to the test instructions during the steering test, it comprises: Performing precondition detection on the target vehicle; In the case where the target vehicle passes the precondition detection, the target vehicle is controlled to execute preset steering test instructions, so that the target vehicle supplies power to each traction motor according to the steering test instructions.

10. The method of claim 9, wherein, The steering test instructions comprise a plurality of test periods of preset time lengths; Each test period comprises a forward instruction of a preset time length, a zero position instruction of a preset time length, and a backward instruction of a preset time length. The forward instruction and the backward instruction of each test period are followed by a zero position instruction.

11. A computer device, wherein, A memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the method of any one of claims 1 to 10.

12. A computer readable storage medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 10.

13. A system for determination of a vehicle traction motor (500) steering angle, wherein, It comprises: a console display (100), a network control system (200), an on-board controller (300), a frequency converter (400), a traction motor (500), and an on-board sensor (600); The console display (100) is connected to the network control system (200) and is configured to issue a start test instruction to the network control system (200) so that the vehicle is in a test state; The network control system (200) is connected to the on-board controller (300) and is configured to send steering instructions and frequency converter control instructions to the on-board controller (300) according to preset steering test instructions after receiving the start test instruction; The on-board controller (300) is connected to the frequency converter (400) and is configured to generate a PWM signal according to the steering instructions and the frequency converter control instructions and send the PWM signal to the frequency converter (400); The frequency converter (400) is connected to the traction motor (500) and is configured to supply power to the traction motor (500) according to the PWM signal; The on-board sensor (600) is connected to the on-board controller (300) and is configured to generate a sensor signal when the traction motor (500) rotates and send the sensor signal to the on-board controller (300); The on-board controller (300) is further configured to determine the steering test result of each traction motor (500) according to the sensor signal and the steering instructions; The network control system (200) is further configured to obtain the steering test result of the on-board controller (300) and send the steering test result to the console display (100).

14. The system of claim 13, wherein, The on-board controller (300) comprises a logic processing unit (310), a signal processing unit (320), and a frequency converter control unit (330); The logic processing unit (310) is connected with the network control system (200) and the frequency converter control unit (330), and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit (330); The frequency converter control unit (330) is connected with the frequency converter (400), and is configured to generate a PWM signal according to the direction control instruction and the frequency converter control instruction; The sensor signal: sensor position information, pulse signal or resolver signal; The signal processing unit (320) is connected with the vehicle sensor (600), and is configured to determine the motor position of the corresponding traction motor (500) according to the sensor position information; The signal processing unit (320) is further configured to filter the pulse signal; The signal processing unit (320) is further configured to determine the rotor position information of the rotor of the traction motor (500) at each moment according to the resolver signal; The signal processing unit (320) is further connected with the logic processing unit (310), and is configured to send the motor position, the filtered pulse signal or the rotor position information at each moment to the logic processing unit (310); The logic processing unit (310) is further configured to determine the steering test result of each traction motor (500) according to the motor position, the pulse signal or the rotor position information; The network control system (200) is further configured to obtain the steering test result of the logic processing unit (310).

15. The system of claim 14, wherein, The logic processing unit (310) includes a direction control module (314), a single-machine steering judgment module (311), a vehicle-level steering judgment module (312) and a result determination module (313); The direction control module (314) is connected with the network control system (200), and is configured to generate a direction control instruction according to the steering instruction, and send the direction control instruction and the frequency converter control instruction to the frequency converter control unit (330); The single-machine steering judgment module (311) is connected with the signal processing unit (320), and is configured to determine the actual rotation direction of the traction motor (500) at each steering instruction execution according to the pulse signal or the rotor position information at each moment; The single-machine steering judgment module (311) is further connected with the vehicle-level steering judgment module (312), and is further configured to send the actual rotation direction and the motor position to the vehicle-level steering judgment module (312); The vehicle-level steering judgment module (312) is connected with the result determination module (313), and is configured to determine the expected rotation direction according to the motor position and the corresponding steering instruction, and determine whether the rotation direction of the traction motor (500) when executing the corresponding steering instruction is correct according to the expected rotation direction and the actual rotation direction, to form a first judgment result; The result determination module (313) is connected with the network control system (200) and configured to acquire a plurality of first determination results generated by each traction motor (500) when each steering instruction is executed, and determine a steering test result of each traction motor (500) during the steering test according to the plurality of first determination results.

16. The system of claim 15, wherein, The logic processing unit (310) further comprises a test exception determination module (315); The test exception determination module (315) is connected with the network control system (200) and configured to monitor whether the network control system (200) sends a frequency converter control instruction affecting the test, and generate an exception test flag in the case that the network control system (200) sends a frequency converter control instruction affecting the test; The test exception determination module (315) is also connected with the result determination module (313) and configured to send the exception test flag to the result determination module (313); The result determination module (313) is also configured to determine the steering test result of each traction motor (500) during the steering test according to the plurality of first determination results and the exception test flag.

17. The system of any of claims 15-16, wherein, In the case that the traction motor (500) is an asynchronous traction motor (500), the logic processing unit (310) further comprises an excitation module (316); The excitation module (316) is connected with the network control system (200) and configured to generate an excitation start instruction according to the frequency converter control instruction, so that the excitation part of the traction motor (500) is always in a start state in the test state; The excitation module (316) is also configured to generate an excitation cancel instruction to cancel the excitation of the traction motor (500) in the case that the frequency converter control instruction includes a frequency converter blocking instruction or a frequency converter tripping instruction.

18. The system of claim 13, wherein, The steering test instruction includes a plurality of test periods with preset time lengths; Each test period includes a forward instruction with a preset time length, a zero position instruction with a preset time length, and a backward instruction with a preset time length; The forward instruction and the backward instruction of each test period are followed by the zero position instruction.

19. The system of claim 13, wherein, The console display (100) is also configured to send a prerequisite detection instruction to the network control system (200) before sending a start test instruction. The network control system (200) detects the prerequisites required for the steering test according to the prerequisite detection instruction, and sends the detection result to the console display (100).

20. The system of claim 19, wherein, The required prerequisites include: The console is in an activated state, the vehicle is in a stationary state, the direction instruction is valid, the vehicle high-voltage power supply is valid, the 7-level brake is valid, the brake release is valid, the EB loop is closed, the UB loop is closed, and the non-emergency mode is valid.

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