CN112436761B - Magnetic steel crushing diagnosis method and diagnosis system for brushless motor position sensor - Google Patents
Magnetic steel crushing diagnosis method and diagnosis system for brushless motor position sensor Download PDFInfo
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- CN112436761B CN112436761B CN202011230378.2A CN202011230378A CN112436761B CN 112436761 B CN112436761 B CN 112436761B CN 202011230378 A CN202011230378 A CN 202011230378A CN 112436761 B CN112436761 B CN 112436761B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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Abstract
The invention discloses a magnetic steel crushing diagnosis method for a brushless motor position sensor, which comprises the steps of inputting the angle of the motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor; judging whether the maximum value of the angle variation of the motor position sensor is larger than a designed angle variation threshold value or not, and calculating the maximum value of the motor output torque variation according to the judgment result; and diagnosing whether the magnetic steel is broken or not according to the maximum value of the calculated output torque variation of the motor and a designed counting threshold. The invention discloses a magnetic steel crushing diagnosis system of a brushless motor position sensor. The invention can quickly and accurately diagnose the motor position sensor fault caused by the magnetic steel breakage of the mechanical structure of the motor position sensor, and improves the safety of the system.
Description
Technical Field
The invention relates to the field of automotive electronics, in particular to a magnetic steel breaking diagnosis method for a brushless motor position sensor of an automotive electronic power-assisted steering system. The invention also relates to a magnetic steel crushing diagnosis system for the brushless motor position sensor of the automobile electronic power-assisted steering system.
Background
When the brushless motor outputs the assistance outwards, the position information of the motor rotor needs to be known, and the RPS (motor position sensor) can detect the position of the motor rotor. It is worth pointing out that if the motor rotor position information provided by the RPS is incorrect, the output assistance of the motor does not accord with the target torque, and abnormal assistance of the motor is caused. For example, in an electric steering assistance system, the RPS provides wrong position information of a motor rotor, which causes the motor to provide too large or too small assistance to affect the driving experience of a driver, and the wrong position information of the motor causes the motor to provide assistance opposite to a target torque, and finally the steering wheel is locked, so that the life safety of the driver is directly endangered. To reduce the risk of damage due to motor position sensor failure to an acceptable level, it is necessary to diagnose the motor position sensor.
The motor position sensor diagnosis means that when the motor position sensor does not work normally, the motor position sensor can be identified in time by software and hardware, and then the power of the motor is cut off, so that the motor can not function wrongly. Currently, the common RPS diagnosis is mainly to diagnose whether the RPS chip works normally. It is worth noting that the diagnostics for the RPS chip mentioned above typically cannot identify this fault when the mechanical structure of the motor position sensor has broken magnetic steel, resulting in the sensor not functioning properly.
For a reluctance type motor position sensor, the working principle is that a magnetic signal is converted into an electric signal by utilizing the characteristic that the resistance of a reluctance material can change along with the change of an external magnetic field. The magnetic steel is arranged on the motor rotor, and the installation position of the magnetic steel is shown in figure l and moves coaxially with the motor rotor. The motor rotor rotates, the magnetic field of the magnetic steel arranged on the rotor changes, the electric signal acquired by the motor position sensor also changes, and the acquired electric signal is resolved into the position information of the motor rotor by using a relevant resolving algorithm. When the magnetic steel is broken and adsorbed on the peripheral metal shell and does not rotate along with the rotation of the motor rotor, the position of the rotor measured by the RPS sensor remains unchanged, the position information provided by the RPS is incorrect, and the fault cannot be well identified by common diagnosis aiming at the RPS chip under the working condition.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to provide a method for quickly and accurately diagnosing the motor position sensor fault caused by magnetic steel breakage of a mechanical structure of the motor position sensor.
The invention aims to solve another technical problem of providing a system capable of quickly and accurately diagnosing the motor position sensor fault caused by magnetic steel breakage of a mechanical structure of the motor position sensor.
In order to solve the technical problem, the magnetic steel crushing diagnosis method of the brushless motor position sensor provided by the invention comprises the following steps of:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor;
102, judging whether the maximum value of the angle variation of the motor position sensor is larger than a designed angle variation threshold value or not, and calculating the maximum value of the motor output torque variation according to the judgment result;
103, diagnosing whether the magnetic steel is broken or not according to the maximum value of the variation of the output torque of the motor calculated in the step 102 and a design counting threshold.
Optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 102 includes:
if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
if the value is larger than the designed angle variation threshold value, the variation of the motor output torque is cleared, and the maximum value of the motor output torque variation in the maximum value interval of the angle variation of the motor position sensor is recalculated;
optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 103 includes:
if the maximum value of the motor output torque variation obtained by calculation in the step 102 is greater than or equal to the design torque variation threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the motor power assisting is cut off;
and if the maximum value of the motor output torque variation obtained by calculation in the step 102 is smaller than the design torque variation threshold and the magnetic steel crushing count is smaller than or equal to the design count threshold, zero clearing is carried out on the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
Optionally, the magnetic steel breaking diagnosis method for the brushless motor position sensor is further improved, and the maximum value of the angle variation of the motor position sensor and the maximum value of the variation of the motor output torque in multiple cycles are calculated in an accumulating manner and used as judgment parameters.
The invention provides a magnetic steel crushing diagnosis method for a brushless motor position sensor, which comprises the following steps of:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor;
202, judging whether the maximum value of the angle variation of the motor position sensor is greater than a design angle variation threshold or not, or whether the maximum value of the rotation speed of the motor position sensor is greater than a design rotation speed threshold or not, and calculating the maximum value of the X variation according to the judgment result, wherein X is (a + m + b + n), a is the hand force, b is the output assistance of the motor, and m and n are calibration coefficients;
and 203, judging whether the magnetic steel is broken or not according to the maximum value of the X variation, the designed X variation threshold and the designed counting threshold which are calculated in the step 202.
Optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 202 includes:
if the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design angle variation threshold value, and the maximum value of the rotating speed of the motor position sensor is smaller than or equal to the design rotating speed threshold value, synchronously calculating whether the maximum value of the X variation within the time corresponding to the angle variation of the motor position sensor is smaller than the design X variation threshold value or not;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, resetting the original X variation value, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor;
optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 203 includes:
if the maximum value calculated in the step 202 is greater than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X variation is smaller than the designed X variation threshold in the step 202, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
The invention provides a magnetic steel crushing diagnosis method for a brushless motor position sensor, which comprises the following steps of:
301, inputting hand force, motor output assistance and motor position sensor angle;
302, calculating the maximum value of the angular variation of the motor position sensor, or the maximum value of the rotating speed of the motor position sensor, and the variation of X within the corresponding time of the angular variation of the motor position sensor, wherein X is (a + m + b + n), a is the hand force, b is the output assistance of the motor, and m and n are calibration coefficients;
303, calculating the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor;
and 304, judging whether the magnetic steel is broken or not according to the X variable quantity.
Optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 303 includes:
if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, cleaning the variation of the X, and recalculating the variation of the X;
and if the maximum value of the angle variation of the motor position sensor is less than or equal to the designed angle variation threshold value, or the maximum value of the rotating speed of the motor position sensor is less than or equal to the designed rotating speed threshold value, adopting the existing X variation.
Optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 304 includes:
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
The invention provides a magnetic steel crushing diagnosis method for a brushless motor position sensor, which comprises the following steps of:
401, inputting hand force, motor output power assistance and a motor position sensor angle;
402, calculating the maximum value of the X variation and the maximum value of the motor position sensor angle variation within the corresponding time of the motor position sensor angle variation, wherein X is (a × m + b × n), a is the hand force, b is the motor output power assistance, and m and n are calibration coefficients;
and 403, judging whether magnetic steel crushing occurs or not according to the maximum value of the X variation, the maximum value of the angle variation of the motor position sensor, the threshold value of the X variation and a designed motor angle variation interval.
Optionally, the magnetic steel breaking diagnosis method of the brushless motor position sensor is further improved, and step 403 includes:
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating the X variation;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
The invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for calculating the maximum value of the motor output torque variation according to the judgment result according to whether the maximum value of the motor position sensor angle variation is larger than the design angle variation threshold or not;
and the diagnosis module is used for diagnosing whether the magnetic steel is broken or not according to the maximum value of the calculated output torque variation of the motor and the maximum value of the angle variation of the motor position sensor.
Optionally, the magnetic steel crushing diagnosis system of the brushless motor position sensor is further improved, and the second calculation module adopts the following method for calculation;
if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
if the value is larger than the designed angle variation threshold value, the variation of the motor output torque is cleared, and the maximum value of the motor output torque variation in the maximum value interval of the angle variation of the motor position sensor is recalculated;
optionally, the magnetic steel breaking diagnosis system of the brushless motor position sensor is further improved, and a diagnosis module diagnoses in the following mode;
if the maximum value of the motor output torque variation obtained by calculation is larger than or equal to the design torque variation threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is larger than the design counting threshold, magnetic steel crushing is judged to occur, and the motor power is cut off;
and if the maximum value of the output torque variation of the motor obtained by calculation is smaller than the design torque variation threshold value and the magnetic steel crushing count is smaller than or equal to the design count threshold value, zero clearing is carried out on the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
Optionally, the magnetic steel crushing diagnosis system of the brushless motor position sensor is further improved, and the maximum value of the angle variation of the motor position sensor and the maximum value of the output torque variation of the motor in multiple periods are accumulated and calculated to be used as judgment parameters.
The invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor and the maximum value of the rotating speed of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for judging whether the maximum value of the angle variation of the motor position sensor is larger than a design angle variation threshold or not, judging whether the maximum value of the rotation speed of the motor position sensor is larger than a design rotation speed threshold or not, and calculating the X variation according to the judgment result, wherein X is (a X m + b X n), a is the hand force, b is the output power of the motor, and m and n are calibration coefficients;
and the diagnosis module judges whether the magnetic steel is broken or not according to the calculated X variable quantity, the designed X variable quantity threshold and the designed counting threshold.
Optionally, the magnetic steel crushing diagnosis system of the brushless motor position sensor is further improved, and the second calculation module adopts the following method for calculation;
if the maximum value of the angle variation of the motor position sensor is less than or equal to the design angle variation threshold, and the maximum value of the rotating speed of the motor position sensor is less than or equal to the design rotating speed threshold, synchronously calculating whether the maximum value of the X variation in the time corresponding to the angle variation of the motor position sensor is less than the design X variation threshold;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, resetting the original X, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor;
optionally, the magnetic steel breaking diagnosis system of the brushless motor position sensor is further improved, and a diagnosis module diagnoses in the following mode;
if the calculated maximum value is larger than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, if the magnetic steel crushing count is larger than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X variation is smaller than the designed X variation threshold, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
Optionally, the magnetic steel crushing diagnosis system of the brushless motor position sensor is further improved, and the second calculation module calculates the X variation within the time corresponding to the angle variation of the motor position sensor, and calculates the maximum value of the angle variation of the motor position sensor and the maximum value of the rotating speed of the motor position sensor;
and the diagnosis module is used for judging whether magnetic steel crushing occurs or not according to the maximum value of the angle variation of the motor position sensor, the maximum value of the rotating speed of the motor position sensor, the designed threshold value of the angle variation of the motor position sensor, the designed threshold value of the rotating speed of the motor position sensor and the designed counting threshold value.
The invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor according to the input hand force, the output power of the motor and the angle of the motor position sensor, and the variation of X within the corresponding time of the angle variation of the motor position sensor, wherein X is (a + m + b + n), a is the hand force, b is the output power of the motor, and m and n are calibration coefficients;
the second calculation module calculates the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor;
and the diagnosis module judges whether the magnetic steel is broken or not according to the X variable quantity.
Optionally, the magnetic steel breaking diagnosis system of the brushless motor position sensor is further improved, and the first calculation module calculates in the following way;
if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, cleaning the variation of the X, and recalculating the variation of the X;
and if the maximum value of the angle variation of the motor position sensor is less than or equal to the designed angle variation threshold value, or the maximum value of the rotating speed of the motor position sensor is less than or equal to the designed rotating speed threshold value, adopting the existing X variation.
Optionally, the magnetic steel breaking diagnosis system of the brushless motor position sensor is further improved, and the diagnosis module diagnoses in the following way;
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
The invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of X variation and the maximum value of motor position sensor angle variation within the corresponding time of the motor position sensor angle variation according to the input hand force, the motor output power assistance and the motor position sensor angle, wherein X is (a + m + b + n), a is the hand force, b is the motor output power assistance, and m and n are calibration coefficients;
and the diagnosis module judges whether the magnetic steel is broken or not according to the maximum X variation, the maximum motor position sensor angle variation, the X variation threshold and the designed motor angle variation interval.
Optionally, the magnetic steel breaking diagnosis system of the brushless motor position sensor is further improved, and the diagnosis module diagnoses in the following way;
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating X;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, the magnetic steel crushing counting is cleared to judge that the non-magnetic steel is crushed.
In practical use, after the motor magnetic steel of the brushless motor is broken, the motor power assistance is abnormal, and the negative influence brought by serious people such as an electric power steering system in which the motor provides opposite force causes the motor to be locked, so that the life safety of a driver is endangered. And the commonly used motor diagnosis method is mainly used for diagnosing whether the RPS chip works normally or not, and can not identify RPS faults caused by magnetic steel breakage of a mechanical structure of a motor position sensor.
The working principle of the invention is as follows: assuming that the RPS changes a small angle, the magnitude of the variation of the power output outwards by the motor is different when the normal power is assisted and the magnetic steel is broken. When the magnetic steel is broken, the motor outputs assistance outwards, but the position angle measured by the RPS is not changed, and even if the input torque of the motor continues to increase at the moment, the angle measured by the RPS of the motor is still basically unchanged. When the magnetic steel is not broken, the motor outputs power outwards, the motor rotor rotates, and the RPS angle also changes correspondingly. When the RPS changes a small angle, the change amount of the motor output assisting force is small. The invention can effectively identify the magnetic steel crushing working condition of the motor and avoid the abnormal assistance of the motor.
The motor position sensor magnetic steel crushing working condition diagnosis method/diagnosis system is applied to the field of automobile electric steering systems, normal working conditions (such as tail end working conditions) of motor magnetic steel which is not crushed and magnetic steel crushing working conditions are selected for simulation testing, test input data of a model come from real vehicle test acquisition data of all working conditions, and simulation results are shown in fig. 2a and fig. 2b in detail. As can be seen from fig. 2a and 2b, when the magnetic steel of the motor position sensor is not broken and the RPS changes in a small interval, the torque variation value is small and is less than 15% of the torque range; when the magnetic steel of the motor position sensor is broken and the RPS changes in a small interval, the torque variation value is large and reaches 50% -100% of torque range (the torque range is defined as the difference between the maximum value and the minimum value of the input torque of the motor). The difference between the moment variations of the two working conditions of magnetic steel crushing and non-crushing can distinguish the two working conditions.
Drawings
The accompanying drawings, which are included to provide further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. The drawings are, however, not to scale and may not accurately reflect the precise structural or performance characteristics of any given embodiment, nor should the drawings be construed as limiting or restricting the scope of the numerical values or attributes encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a schematic view of an RPS installation location.
Fig. 2a is a schematic diagram of magnetic steel crushing condition simulation.
FIG. 2b is a diagram illustrating simulation results of normal operating conditions.
FIG. 3 is a schematic flow chart of a first embodiment of the diagnostic method of the present invention.
FIG. 4 is a schematic flow chart of a second embodiment of the diagnostic method of the present invention.
FIG. 5 is a schematic flow chart of a third embodiment of the diagnostic method of the present invention.
FIG. 6 is a schematic flow chart of a fourth embodiment of the diagnostic method of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the drawings.
A first embodiment;
as shown in fig. 3, the present invention provides a magnetic steel breaking diagnosis method for a brushless motor position sensor, comprising the following steps:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor;
102, judging whether the maximum value of the angle variation of the motor position sensor is larger than a designed angle variation threshold value or not, and calculating the maximum value of the motor output torque variation according to the judgment result; if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
if the value is larger than the design angle variation threshold, resetting the variation of the motor output torque, and recalculating the maximum value of the motor output torque variation within the maximum value interval of the angle variation of the motor position sensor;
103, diagnosing whether magnetic steel crushing occurs according to the maximum value of the motor output torque variation calculated in the step 102 and a design counting threshold; if the maximum value of the motor output torque variation obtained by calculation in the step 102 is greater than or equal to the design torque variation threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the motor power is cut off;
and if the maximum value of the motor output torque variation obtained by calculation in the step 102 is smaller than the design torque variation threshold and the magnetic steel crushing count is smaller than or equal to the design count threshold, zero clearing is carried out on the magnetic steel crushing count to judge that no magnetic steel is crushed.
Alternatively, the first embodiment described above is modified such that the maximum value of the amount of change in the angle of the motor position sensor and the maximum value of the amount of change in the output torque of the motor for a plurality of cycles are cumulatively calculated as the determination parameters.
A second embodiment;
as shown in fig. 4, the invention provides a magnetic steel breaking diagnosis method for a brushless motor position sensor, which comprises the following steps:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor;
202, judging whether the maximum value of the angle variation of the motor position sensor is greater than a design angle variation threshold or not, or whether the maximum value of the rotation speed of the motor position sensor is greater than a design rotation speed threshold or not, and calculating the maximum value of the X variation according to the judgment result, wherein X is (a + m + b + n), a is the hand force, b is the output assistance of the motor, and m and n are calibration coefficients;
if the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design angle variation threshold, or the maximum value of the rotating speed of the motor position sensor is smaller than or equal to the design rotating speed threshold, synchronously calculating whether the maximum value of the X variation within the time corresponding to the angle variation of the motor position sensor is smaller than the design X variation threshold;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, resetting the original X variation value, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor;
203, judging whether magnetic steel crushing occurs according to the maximum value of the X variable quantity, the design X variable quantity threshold and the design counting threshold which are calculated in the step 202;
if the maximum value calculated in the step 202 is greater than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X in the step 202 is smaller than the variable quantity threshold value of the design X, the magnetic steel crushing count is cleared to judge that the non-magnetic steel is crushed.
A third embodiment;
as shown in fig. 5, the present invention provides a magnetic steel breaking diagnosis method for a brushless motor position sensor, comprising the following steps:
301, inputting hand force, motor output assistance and motor position sensor angle;
302, calculating the maximum value of the angular variation of the motor position sensor, or the maximum value of the rotating speed of the motor position sensor, and the variation of X within the corresponding time of the angular variation of the motor position sensor, wherein X is (a + m + b + n), a is the hand force, b is the output assistance of the motor, and m and n are calibration coefficients;
303, calculating the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor; if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, cleaning the variation of the X, and recalculating the variation of the X;
and if the maximum value of the angle variation of the motor position sensor is less than or equal to the designed angle variation threshold value, or the maximum value of the rotating speed of the motor position sensor is less than or equal to the designed rotating speed threshold value, adopting the existing X variation.
304, judging whether the magnetic steel is broken or not according to the X variable quantity;
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
A fourth embodiment;
as shown in fig. 6, the present invention provides a magnetic steel breaking diagnosis method for a brushless motor position sensor, comprising the following steps:
401, inputting hand force, motor output power and motor position sensor angle;
402, calculating the maximum value of X variation and the maximum value of motor position sensor angle variation in the corresponding time of the motor position sensor angle variation, wherein X is (a + m + b + n), a is hand force, b is motor output power assistance, and m and n are calibration coefficients;
403, judging whether magnetic steel crushing occurs or not according to the maximum value of the X variation, the maximum value of the angle variation of the motor position sensor, the threshold value of the X variation and a designed motor angle variation interval;
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating the X variation;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
A fifth embodiment;
the invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for calculating the maximum value of the motor output torque variation according to the judgment result according to whether the maximum value of the motor position sensor angle variation is larger than the design angle variation threshold or not; the second calculation module adopts the following mode to calculate;
if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
if the value is larger than the designed angle variation threshold value, the variation of the motor output torque is cleared, and the maximum value of the motor output torque variation in the maximum value interval of the angle variation of the motor position sensor is recalculated;
the diagnosis module is used for diagnosing whether magnetic steel is broken or not according to the maximum value of the calculated output torque variation of the motor and the maximum value of the angle variation of the motor position sensor; the diagnosis module diagnoses in the following way;
if the maximum value of the motor output torque variation obtained by calculation is larger than or equal to the design torque variation threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is larger than the design counting threshold, magnetic steel crushing is judged to occur, and the motor power is cut off;
and if the maximum value of the motor output torque variation obtained by calculation is smaller than the design torque variation threshold and the magnetic steel crushing count is smaller than or equal to the design count threshold, zero clearing is carried out on the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
In a further modification of the fifth embodiment, the maximum values of the angular variations of the motor position sensors and the maximum value of the variation of the output torque of the motor are calculated in an accumulated manner for a plurality of cycles as the determination parameters.
A sixth embodiment;
the invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for judging whether the maximum value of the angle variation of the motor position sensor is larger than a design angle variation threshold or not, or whether the maximum value of the rotation speed of the motor position sensor is larger than a design rotation speed threshold or not, and calculating the maximum value of the X variation according to the judgment result, wherein X is (a X m + b X n), a is the hand force, b is the output power of the motor, and m and n are calibration coefficients; the second calculation module adopts the following mode to calculate;
if the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design angle variation threshold value, and the maximum value of the rotating speed of the motor position sensor is smaller than or equal to the design rotating speed threshold value, synchronously calculating whether the maximum value of the X variation within the time corresponding to the angle variation of the motor position sensor is smaller than the design X variation threshold value or not;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, resetting the original X variation value, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor;
the diagnosis module judges whether magnetic steel crushing occurs or not according to the calculated maximum value of the X variation, the designed X variation threshold and the designed counting threshold;
if the calculated maximum value is larger than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, if the magnetic steel crushing count is larger than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X variation is smaller than the designed X variation threshold, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
A seventh embodiment;
the invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor according to the input hand force, the output power of the motor and the angle of the motor position sensor, and the variation of X within the corresponding time of the angle variation of the motor position sensor, wherein X is (a + m + b + n), a is the hand force, b is the output power of the motor, and m and n are calibration coefficients;
the second calculation module calculates the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor; the second calculation module adopts the following mode to calculate;
if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, cleaning the variation of the X, and recalculating the variation of the X;
and if the maximum value of the angle variation of the motor position sensor is less than or equal to the designed angle variation threshold value, or the maximum value of the rotating speed of the motor position sensor is less than or equal to the designed rotating speed threshold value, adopting the existing X variation.
The diagnosis module judges whether the magnetic steel is broken or not according to the X variable quantity; the diagnosis module diagnoses in the following way;
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
An eighth embodiment;
the invention provides a magnetic steel crushing diagnosis system of a brushless motor position sensor, which comprises:
the first calculation module calculates the maximum value of X variation and the maximum value of motor position sensor angle variation within the corresponding time of the motor position sensor angle variation according to the input hand force, the motor output power assistance and the motor position sensor angle, wherein X is (a + m + b + n), a is the hand force, b is the motor output power assistance, and m and n are calibration coefficients;
the diagnosis module judges whether the magnetic steel is broken or not according to the maximum X variation, the maximum motor position sensor angle variation, the X variation threshold and the designed motor angle variation interval; the diagnosis module diagnoses in the following way;
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating X;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, the magnetic steel crushing counting is cleared to judge that the non-magnetic steel is crushed.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (14)
1. A magnetic steel crushing diagnosis method for a brushless motor position sensor is characterized by comprising the following steps:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor;
102, judging whether the maximum value of the angle variation of the motor position sensor is larger than a designed angle variation threshold value or not, and calculating the maximum value of the motor output torque variation according to the judgment result;
103, diagnosing whether magnetic steel is broken or not according to the maximum value of the motor output torque variation calculated in the step 102 and a design counting threshold;
if the maximum value of the motor output torque variation obtained by calculation in the step 102 is greater than or equal to the design torque variation threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the motor power is cut off;
and if the maximum value of the motor output torque variation obtained by calculation in the step 102 is smaller than the design torque variation threshold and the magnetic steel crushing count is smaller than or equal to the design count threshold, zero clearing is carried out on the magnetic steel crushing count to judge that no magnetic steel is crushed.
2. The method for magnetic steel fragmentation diagnosis of a brushless motor position sensor according to claim 1, wherein step 102 comprises:
if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
if the value is larger than the designed angle variation threshold value, the variation of the motor output torque is cleared, and the maximum value of the motor output torque variation in the maximum value interval of the angle variation of the motor position sensor is recalculated.
3. The method for magnetic steel fragmentation diagnosis of a brushless motor position sensor according to claim 1, characterized in that: and accumulating and calculating the maximum value of the angle variation of the motor position sensor and the maximum value of the output torque variation of the motor in multiple periods to be used as judgment parameters.
4. A magnetic steel crushing diagnosis method for a brushless motor position sensor is characterized by comprising the following steps:
inputting the angle of a motor position sensor, and calculating the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor;
202, judging whether the maximum value of the angle variation of the motor position sensor is greater than a design angle variation threshold or not, or whether the maximum value of the rotation speed of the motor position sensor is greater than a design rotation speed threshold or not, and calculating the maximum value of the X variation according to the judgment result, wherein X = (a X m + b X n), a is hand force, b is motor output power assistance, and m and n are calibration coefficients;
203, judging whether magnetic steel crushing occurs according to the maximum value of the X variable quantity, the design X variable quantity threshold and the design counting threshold which are calculated in the step 202;
if the maximum value calculated in the step 202 is greater than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, and if the magnetic steel crushing count is greater than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X variation is smaller than the designed X variation threshold in the step 202, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
5. The brushless motor position sensor magnetic steel fragmentation diagnostic method of claim 4, where step 202 includes:
if the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design angle variation threshold value, and the maximum value of the rotating speed of the motor position sensor is smaller than or equal to the design rotating speed threshold value, synchronously calculating whether the maximum value of the X variation within the time corresponding to the angle variation of the motor position sensor is smaller than the design X variation threshold value or not;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, clearing the original X variation value, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor.
6. A magnetic steel crushing diagnosis method for a brushless motor position sensor is characterized by comprising the following steps:
301, inputting hand force, motor output assistance and motor position sensor angle;
302, calculating the maximum value of the angle variation of the motor position sensor, or the maximum value of the rotating speed of the motor position sensor, and the X variation in the corresponding time of the angle variation of the motor position sensor, wherein X = (a X m + b X n), a is the hand force, b is the output assistance of the motor, and m and n are calibration coefficients;
303, calculating the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor; if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation, or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, resetting the variation of X, and recalculating the variation of X;
if the maximum value of the angle variation of the motor position sensor is less than or equal to the threshold value of the design angle variation, or the maximum value of the rotating speed of the motor position sensor is less than or equal to the threshold value of the design rotating speed, adopting the X variation calculated in the step 302;
304, judging whether magnetic steel crushing occurs according to the X variable quantity determined in the step 303;
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
7. A magnetic steel crushing diagnosis method for a brushless motor position sensor is characterized by comprising the following steps:
401, inputting hand force, motor output power assistance and a motor position sensor angle;
402, calculating the maximum value of X variation and the maximum value of motor position sensor angle variation in the time corresponding to the motor position sensor angle variation, wherein X = (a X m + b X n), a is hand force, b is motor output power assistance, and m and n are calibration coefficients;
403, judging whether magnetic steel crushing occurs or not according to the maximum value of the X variation, the maximum value of the angle variation of the motor position sensor, the threshold value of the X variation and a designed motor angle variation interval;
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating X;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
8. A brushless motor position sensor magnetic steel crushing diagnosis system is characterized by comprising:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for calculating the maximum value of the motor output torque variation according to the judgment result according to whether the maximum value of the motor position sensor angle variation is larger than the design angle variation threshold or not;
the diagnosis module diagnoses whether magnetic steel crushing occurs according to the maximum value of the calculated output torque variation of the motor and the maximum value of the angle variation of the motor position sensor, counts the magnetic steel crushing if the maximum value of the calculated output torque variation of the motor is larger than or equal to a design torque variation threshold, and judges that the magnetic steel crushing occurs and cuts off the power of the motor if the magnetic steel crushing count is larger than the design count threshold;
and if the maximum value of the output torque variation of the motor obtained by calculation is smaller than the design torque variation threshold value and the magnetic steel crushing count is smaller than or equal to the design count threshold value, zero clearing is carried out on the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
9. The brushless electric machine position sensor magnetic steel breaking diagnostic system of claim 8, wherein the second computing module computes;
if the angle variation is smaller than or equal to the designed angle variation threshold, synchronously calculating the maximum value of the motor output torque variation within the time corresponding to the angle variation of the motor position sensor;
and if the maximum value of the angle variation of the motor position sensor is larger than the designed angle variation threshold, resetting the variation of the output torque of the motor, and recalculating the maximum value of the variation of the output torque of the motor in the maximum value interval of the angle variation of the motor position sensor.
10. The brushless motor position sensor magnetic steel fragmentation diagnostic system of claim 9, wherein: and accumulating and calculating the maximum value of the angle variation of the motor position sensor and the maximum value of the output torque variation of the motor in multiple periods to be used as judgment parameters.
11. The utility model provides a broken diagnostic system of brushless motor position sensor magnet steel which characterized in that includes:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor according to the angle of the motor position sensor;
the second calculation module is used for judging whether the maximum value of the angle variation of the motor position sensor is larger than a design angle variation threshold or not, or whether the maximum value of the rotating speed of the motor position sensor is larger than a design rotating speed threshold or not, and calculating the maximum value of the X variation according to the judgment result, wherein X = (a X m + b X n), a is hand force, b is motor output power assisting, and m and n are calibration coefficients;
the diagnosis module judges whether magnetic steel crushing occurs or not according to the calculated maximum value of the X variation, the designed X variation threshold and the designed counting threshold;
if the calculated maximum value is larger than or equal to the design X variable quantity threshold, magnetic steel crushing is counted, if the magnetic steel crushing count is larger than the design counting threshold, magnetic steel crushing is judged to occur, and the power assisting of the motor is cut off;
and if the maximum value of the calculated X variation is smaller than the designed X variation threshold, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
12. The brushless electric machine position sensor magnetic steel breaking diagnostic system of claim 11, wherein the second computing module computes;
if the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design angle variation threshold value, and the maximum value of the rotating speed of the motor position sensor is smaller than or equal to the design rotating speed threshold value, synchronously calculating whether the maximum value of the X variation within the time corresponding to the angle variation of the motor position sensor is smaller than the design X variation threshold value or not;
if the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor is larger than the respective threshold value, clearing the original X variation value, and recalculating the maximum value of the angle variation of the new motor position sensor and the X variation corresponding to the maximum value of the rotating speed of the new motor position sensor.
13. A brushless motor position sensor magnetic steel crushing diagnosis system is characterized by comprising:
the first calculation module calculates the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor according to the input hand force, the output power of the motor and the angle of the motor position sensor, and the X variation in the corresponding time of the angle variation of the motor position sensor, wherein X = (a is m + b is n), a is the hand force, b is the output power of the motor, and m and n are calibration coefficients;
the second calculation module calculates the X variation according to the maximum value of the angle variation of the motor position sensor or the maximum value of the rotating speed of the motor position sensor; if the maximum value of the angle variation of the motor position sensor is greater than the threshold value of the design angle variation, or the maximum value of the rotating speed of the motor position sensor is greater than the threshold value of the design rotating speed, clearing the variation of the X, and recalculating the variation of the X;
if the maximum value of the angle variation of the motor position sensor is less than or equal to a design angle variation threshold, or the maximum value of the rotating speed of the motor position sensor is less than or equal to a design rotating speed threshold, calculating the X variation by the first calculating module;
the diagnosis module judges whether the magnetic steel is broken or not according to the X variable quantity calculated by the second calculation module;
if the maximum value of the X variation is larger than or equal to the designed X variation threshold, judging that the magnetic steel is broken, and cutting off the power of the motor;
and if the maximum value of the X variable quantity is smaller than the designed X variable quantity threshold, resetting the magnetic steel crushing count, and judging that the non-magnetic steel is crushed.
14. A brushless motor position sensor magnetic steel crushing diagnosis system is characterized by comprising:
the first calculation module is used for calculating the maximum value of X variation and the maximum value of motor position sensor angle variation within the time corresponding to the motor position sensor angle variation according to input hand force, motor output power assistance and motor position sensor angle, wherein X = (a X m + b X n), a is hand force, b is motor output power assistance, and m and n are calibration coefficients;
the diagnosis module judges whether the magnetic steel is broken or not according to the maximum X variation, the maximum motor position sensor angle variation, the X variation threshold and the designed motor angle variation interval;
if the maximum value of the X variation is larger than or equal to the design X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the design motor angle variation threshold value, judging that the magnetic steel is broken and cutting off the power assistance of the motor;
if the maximum value of the angle variation of the motor position sensor is larger than the designed motor angle variation threshold, recalculating the X variation;
and if the maximum value of the X variation is smaller than the designed X variation threshold value and the maximum value of the angle variation of the motor position sensor is smaller than or equal to the designed motor angle variation threshold value, resetting the magnetic steel crushing count to judge that the non-magnetic steel is crushed.
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| CN208112440U (en) * | 2018-03-21 | 2018-11-16 | 成都华川电装有限责任公司 | The fixed structure of permanent magnet synchronous motor position sensor |
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| JP2008187861A (en) * | 2007-01-31 | 2008-08-14 | Nissan Motor Co Ltd | Motor control device, motor control method, and drive control device for vehicle |
| CN109757126A (en) * | 2016-08-09 | 2019-05-14 | 日本电产株式会社 | Motor control method, motor control system and electric boosting steering system |
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