CN111953258B - Motor control device, control method, electronic equipment and storage medium - Google Patents
Motor control device, control method, electronic equipment and storage medium Download PDFInfo
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- CN111953258B CN111953258B CN202010862143.9A CN202010862143A CN111953258B CN 111953258 B CN111953258 B CN 111953258B CN 202010862143 A CN202010862143 A CN 202010862143A CN 111953258 B CN111953258 B CN 111953258B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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Abstract
The invention provides a motor control device, a motor control method, an electronic apparatus, and a storage medium. The device includes motor control unit, three-phase circuit, first current sensor, second current sensor and third current sensor: the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit; the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit; the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit; the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit; and the motor control unit is used for sending a control signal to the motor according to the current measured value of the three-phase circuit so as to control the motor. By the device, how to control the motor can be determined through current measurement values acquired by the three current sensors, and the fault tolerance rate of the current sensors during fault is effectively improved.
Description
Technical Field
The present disclosure relates to the field of automobiles, and in particular, to a motor control device, a motor control method, an electronic device, and a storage medium.
Background
There are a large number of electronic systems in automobiles, wherein motors are widely used in control systems, and the safety problems of automobiles caused by motor control are very concerned by automobile users and automobile purchasers. In the prior art, a motor control unit is connected with a motor through a three-phase circuit, a current sensor is arranged on two phases of the three-phase circuit to obtain a current measurement value of the two phases of the three-phase circuit, and the motor control unit performs closed-loop control on the motor according to the current measurement value of the two phases of the three-phase circuit.
However, the prior art has the following problems: once any one current sensor fails, the motor control unit is difficult to continue to control the motor to work, so that the fault tolerance rate is low when the motor is controlled by the technical scheme.
Disclosure of Invention
An embodiment of the present disclosure provides a motor control apparatus, a motor control method, an electronic device, and a storage medium, to solve a problem of how to improve a fault tolerance when controlling a motor.
To solve the above technical problem, one embodiment of the present specification is implemented as follows:
in a first aspect, an embodiment of the present specification provides a motor control device, which includes a motor control unit, a three-phase circuit, a first current sensor, a second current sensor, and a third current sensor, wherein:
the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit;
the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit;
the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit;
the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit;
and the motor control unit is used for sending a control signal to the motor according to the current measured value of the first phase circuit, the current measured value of the second phase circuit and the current measured value of the third phase circuit so as to control the motor.
In a second aspect, another embodiment of the present specification provides a motor control method applied to the motor control apparatus according to the first aspect, including:
acquiring current measurement values of a first phase circuit, a second phase circuit and a third phase circuit;
determining a current theoretical value of another phase circuit according to the current measured value of any two phase circuits in the three-phase circuit; the other phase circuit is a circuit except any two-phase circuit in the three-phase circuit;
determining the operating states of a first current sensor, a second current sensor and a third current sensor according to the current measured value and the current theoretical value of the three-phase circuit;
and determining a motor control scheme according to the running states of the first current sensor, the second current sensor and the third current sensor.
In a third aspect, another embodiment of the present specification provides an electronic device, including: a memory, a processor and computer executable instructions stored on the memory and executable on the processor, which when executed by the processor implement the steps of the motor control method as described in the second aspect above.
In a fourth aspect, a further embodiment of the present specification provides a computer-readable storage medium for storing computer-executable instructions which, when executed by a processor, implement the steps of the motor control method according to the second aspect as described above.
In one embodiment of the present specification, a motor control apparatus includes a motor control unit, a three-phase circuit, a first current sensor, a second current sensor, and a third current sensor: the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit; the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit; the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit; the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit; and the motor control unit is used for sending a control signal to the motor according to the current measured value of the three-phase circuit so as to control the motor. By the motor control device, how to control the motor can be determined by the current measurement values acquired by the three current sensors, and the fault tolerance rate of the current sensors during fault is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in one or more embodiments of the present disclosure, the following briefly introduces the drawings that are needed to be used in the embodiments or the prior art descriptions, obviously, the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts;
fig. 1 is a schematic structural diagram of a motor control device according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a motor control method according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a motor control method according to another embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in one or more embodiments of the present disclosure, the technical solutions in one or more embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in one or more embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from one or more of the embodiments described herein without making any inventive step shall fall within the scope of protection of this document.
Fig. 1 is a schematic structural diagram of a motor control device according to an embodiment of the present disclosure.
Referring to fig. 1, the motor control apparatus 100 includes a motor control unit 102, a three-phase circuit 104, a first current sensor 106, a second current sensor 108, and a third current sensor 110.
In an example embodiment, the motor control unit 102 is coupled to the motor 112 via a three-phase circuit 104, the three-phase circuit 104 including: a first phase circuit 114, a second phase circuit 116, and a third phase circuit 118.
Optionally, the three-phase circuit 104 is a three-phase equalization circuit, and the three-phase voltage sources are all sine waves, and have the same frequency, the same amplitude, and a phase difference of 120 degrees. The three-phase circuit 104 includes a first phase circuit 114, a second phase circuit 116, and a third phase circuit 118. The loads of the first phase circuit 114, the second phase circuit 116, and the third phase circuit 118 are all the motor 112, and the load impedances of the first phase circuit 114, the second phase circuit 116, and the third phase circuit 118 are the same and are all linear impedances. The sum of the actual values of the currents in the first phase circuit 114, the second phase circuit 116, and the third phase circuit 118 is 0 ampere.
The first current sensor 106 is disposed in the first phase circuit 114, and is used for obtaining a current measurement value of the first phase circuit 114.
The second current sensor 108 is implemented in the second phase circuit 116 to obtain a current measurement from the second phase circuit 116.
The third current sensor 110 is disposed in the third phase circuit 118 and is configured to obtain a current measurement of the third phase circuit 118.
In an example embodiment, if the operating state of at least one of the first current sensor 106, the second current sensor 108 and the third current sensor 110 is a normal operating state, the current measurement value obtained by the current sensor in the normal operating state is a current real value of the circuit corresponding to the current sensor; if the operating state of at least one of the first current sensor 106, the second current sensor 108, and the third current sensor 110 is a fault state, the current sensor in which the operating state is the fault state obtains a current measurement value of zero.
For example, if the operation state of the first current sensor 106 is a normal operation state, the current measurement value 5 amperes obtained by the first current sensor 106 is the actual current value of the first phase circuit 114; if the operating state of the second current sensor 108 is a fault state, the current measurement value obtained by the second current sensor 108 is infinitely close to 0 ampere, which can be regarded as 0 ampere of the current measurement value obtained by the second current sensor 108.
In this embodiment, when the operating state of the current sensor is the fault state, the current sensor cannot acquire the true current value of the corresponding circuit. For example, if the operation state of the third current sensor 110 is a fault state, and the actual current value of the third phase circuit at a certain time is-3 amperes, the measured current value obtained by the third current sensor 110 at that time is 0 amperes, which is different from the actual current value.
A motor control unit 102 for sending control signals to the motor 112 to control the motor 112 based on the current measurements of the first phase circuit 114, the second phase circuit 116, and the third phase circuit 118.
Optionally, the motor control unit 102 is configured to determine a theoretical current value of the first phase circuit 114, a theoretical current value of the second phase circuit 116, and a theoretical current value of the third phase circuit 118 according to the measured current value of the first phase circuit 114, the measured current value of the second phase circuit 116, and the measured current value of the third phase circuit 118; determining the operating states of the first current sensor 106, the second current sensor 108 and the third current sensor 110 according to the current measured values and the current theoretical values of the first phase circuit 114, the second phase circuit 116 and the third phase circuit 118; then, a motor control scheme is determined according to the operating states of the three current sensors, and a corresponding control signal is generated according to the scheme and sent to the motor 112 to control the motor 112.
In the embodiment shown in fig. 1, the motor control device includes a motor control unit, a three-phase circuit, a first current sensor, a second current sensor, and a third current sensor: the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit; the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit; the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit; the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit; and the motor control unit is used for sending a control signal to the motor according to the current measured value of the three-phase circuit so as to control the motor. By the motor control device, how to control the motor can be determined by the current measurement values acquired by the three current sensors, and the fault tolerance rate of the current sensors during fault is effectively improved.
Fig. 2 is a schematic flowchart of a motor control method according to an embodiment of the present disclosure. The motor control method in the embodiment of fig. 2 is applied to the motor control device in the embodiment of fig. 1.
Referring to fig. 2, in step S202, measured values of currents of the first phase circuit, the second phase circuit, and the third phase circuit are acquired.
In an example embodiment, obtaining current measurements for a first phase circuit, a second phase circuit, and a third phase circuit includes: reading the current value of the first current sensor according to a preset current value reading time period to be used as a current measured value of the first phase circuit; reading the current value of the second current sensor according to the current value reading time period to be used as the current measured value of the second phase circuit; and reading the current value of the third current sensor according to the current value reading time period to be used as the current measured value of the third-phase circuit.
For example, the current value of the first current sensor is read every 2 milliseconds as the current measurement value of the first phase circuit as follows: 5,4,2,0, -2, -4, -5 … … wherein the positive and negative of the current measurement represent opposite directions of current flow, respectively.
Optionally, the preset current value reading time period is 2 milliseconds.
It should be noted that the current measurement value obtained by the current sensor with the operating state being the normal operating state is zero, which is the current actual value of the circuit corresponding to the current sensor, and the current measurement value obtained by the current sensor with the operating state being the fault state is zero.
In step S204, determining a current theoretical value of another phase circuit according to the current measured value of any two phase circuits in the three-phase circuit; the other phase circuit is a circuit except any two-phase circuit in the three-phase circuit.
In an exemplary embodiment, the sum of the current measurement value of any two-phase circuit in the three-phase circuit and the current theoretical value of the other-phase circuit is zero.
Since the sum of the current measured values of any two-phase circuit in the three-phase circuit and the numerical value of the current theoretical value of the other-phase circuit is 0, the current theoretical value of the other-phase circuit can be obtained through calculation according to the current measured values of any two-phase circuit in the three-phase circuit.
For example, if the measured current value of the first phase circuit is 4 amperes and the measured current value of the second phase circuit is 1 ampere, the sum of the measured current values of the first phase circuit and the second phase circuit is 5 amperes, and the theoretical current value of the third phase circuit can be found to be-5 amperes.
For example, if the measured current value of the first phase circuit is 0 ampere and the measured current value of the second phase circuit is 1 ampere, the sum of the measured current values of the first phase circuit and the second phase circuit is 1 ampere, and the theoretical current value of the third phase circuit can be found to be-1 ampere.
In step S206, the operating states of the first current sensor, the second current sensor, and the third current sensor are determined according to the current measurement values and the current theoretical values of the three-phase circuit.
In an example embodiment, determining the operating states of the first current sensor, the second current sensor, and the third current sensor based on the current measurement values and the current theoretical values of the three-phase circuit includes: acquiring the duration of the difference value between the current measured value and the current theoretical value of any one phase circuit in the three-phase circuit corresponding to the same time point, which is outside a preset tolerance range; if the duration time is less than a preset first time threshold, determining that the running states of the first current sensor, the second current sensor and the third current sensor are normal working states; and if the duration time is greater than or equal to the first time threshold value, determining the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measured values of the three-phase circuit.
The method includes the steps of obtaining the duration of a difference value between a current measured value and a current theoretical value of any one phase circuit corresponding to the same time point in a three-phase circuit, wherein the difference value is outside a preset tolerance range, for example, at the same time point, the current measured value of a first phase circuit is obtained to be 4 amperes, the current measured value of a second phase circuit is obtained to be 1 ampere, the current measured value of a third phase circuit is obtained to be-5 amperes, the preset tolerance range is-0.02-0.02, the current theoretical value of the third phase circuit can be obtained to be-5 amperes, and the duration of the difference value between the current measured value and the current theoretical value of the third phase circuit corresponding to the same time point is obtained to be 0.
For another example, at the same time point, the current measurement value of the first phase circuit is obtained to be 0 ampere, the current measurement value of the second phase circuit is obtained to be 1 ampere, the current measurement value of the third phase circuit is-5 ampere, the preset tolerance range is-0.02-0.02, the current theoretical value of the third phase circuit can be obtained to be-1 ampere, the difference value between the current measurement value and the current theoretical value of the third phase circuit corresponding to the same time point is outside the preset tolerance range, the difference value between the current measurement value and the current theoretical value of the third phase circuit corresponding to the same time point at a plurality of time points is counted, and the duration time of the difference value between the current measurement value and the current theoretical value of the third phase circuit corresponding to the same time point outside the preset tolerance range can be obtained to be 6 seconds.
If the duration time is less than a preset first time threshold, determining that the running states of the first current sensor, the second current sensor and the third current sensor are normal working states; and if the duration time is greater than or equal to the first time threshold value, determining the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measured values of the three-phase circuit. For example, if the duration is 0, it is obviously less than the preset first time threshold for 0.02 seconds, and it is determined that the operating states of the first current sensor, the second current sensor, and the third current sensor are all normal operating states; if the duration is 6 seconds, which is obviously greater than or equal to 0.02 seconds, it is determined that at least one current sensor with a fault operating state exists in the three current sensors, and the operating states of the three sensors need to be further determined according to the current measurement values of the three-phase circuit.
It should be noted that if one of the three-phase circuits satisfies that the duration of the difference between the measured current value and the theoretical current value corresponding to the same time point is outside the preset tolerance range is less than the first time threshold, the other two-phase circuits necessarily satisfies that the duration of the difference between the measured current value and the theoretical current value corresponding to the same time point is outside the preset tolerance range is less than the first time threshold. On the contrary, if one of the three-phase circuits does not satisfy the duration that the difference between the measured current value and the theoretical current value corresponding to the same time point is outside the preset tolerance range, the other two-phase circuits inevitably satisfy the duration that the difference between the measured current value and the theoretical current value corresponding to the same time point is outside the preset tolerance range.
For example, at the same time point, the current measurement value of the first phase circuit is obtained to be 0 ampere, the current measurement value of the second phase circuit is obtained to be 1 ampere, the current measurement value of the third phase circuit is obtained to be-5 ampere, the preset tolerance range is obtained to be-0.02-0.02, the current theoretical value of the third phase circuit can be obtained to be-1 ampere according to the current measurement values of the first phase circuit and the second phase circuit, the current theoretical value of the first phase circuit can be obtained to be 4 amperes according to the current measurement values of the second phase circuit and the third phase circuit, and the current theoretical value of the second phase circuit can be obtained to be 5 amperes according to the current measurement values of the first phase circuit and the third phase circuit.
In an example embodiment, determining the operating states of the first current sensor, the second current sensor, and the third current sensor from the current measurements of the three-phase circuit includes: judging whether the duration time of the current measured values of the first phase circuit, the second phase circuit and the third phase circuit being zero exceeds a preset second time threshold value or not; if the duration time is greater than or equal to the second time threshold, determining that the operation state of the current sensor corresponding to the current measurement value is a fault state; and if the duration time is less than the second time threshold, determining that the running state of the current sensor corresponding to the current measurement value is a normal working state.
It is determined whether the duration in which the measured current values of the first phase circuit, the second phase circuit, and the third phase circuit are zero exceeds a preset second time threshold, for example, whether the duration in which the measured current value of the first phase circuit is 0 exceeds 2 milliseconds. I.e. to determine whether the current measurement continues to be 0.
If the duration time of the current measurement value of 0 is greater than or equal to the second time threshold, the operation state of the current sensor corresponding to the current measurement value is a fault state; and if the current measurement value is 0 and the duration time is small, the operation state of the current sensor corresponding to the current measurement value is a normal working state.
In another embodiment, after it is determined that the operating state of one current sensor in the three-phase circuit is the fault state, it may also be determined whether the operating state of the current sensor corresponding to the other two-phase circuit changes from the normal operating state to the fault state by whether the current measurement values of the other two-phase circuit suddenly remain unchanged and the duration exceeds the second time threshold.
In step S208, a motor control scheme is determined according to the operating states of the first current sensor, the second current sensor, and the third current sensor.
In an example embodiment, determining a motor control scheme based on operating states of the first current sensor, the second current sensor, and the third current sensor includes: determining the number of current sensors with the running states of normal working states according to the running states of the first current sensor, the second current sensor and the third current sensor; if the number is three, determining that the motor control scheme is that the motor is subjected to closed-loop control through the motor control unit according to the current measurement value of any two-phase circuit in the three-phase circuit; if the number is two, determining that the motor control scheme is that the motor is subjected to closed-loop control by the motor control unit according to the current measurement values of the two-phase circuits corresponding to the two current sensors with the running state being the normal working state; if the number is one, determining that the motor control scheme is that the motor is subjected to open-loop control through a motor control unit according to a current measurement value of a circuit corresponding to a current sensor with a normal operating state, and controlling the motor to reduce the output power to a preset safe power threshold; and if the number is zero, determining that the motor control scheme is to control the motor to stop running through the motor control unit.
Specifically, after the operating states of the first current sensor, the second current sensor and the third current sensor are determined, the number of current sensors in the three current sensors, the operating states of which are normal operating states, is counted. For example, if the operating state of the first current sensor is a normal operating state and the operating states of the second current sensor and the third current sensor are faults, the number of current sensors whose operating states are normal operating states is 1.
If the number of the three current sensors is three, namely, the three current sensors corresponding to the first phase circuit, the second phase circuit and the third phase circuit in the three-phase circuit are all in normal working states, the motor control scheme is determined to be that the motor is subjected to closed-loop control through the motor control unit according to the current measurement value of any two phase circuit in the three-phase circuit.
And if the number is two, determining that the motor control scheme is that the motor is subjected to closed-loop control by the motor control unit according to the current measurement values of the two-phase circuits corresponding to the two current sensors with the running state being the normal working state. Specifically, in the three current sensors, two current sensors are normal, and one current sensor is damaged, the motor control unit generates a closed-loop control signal according to current measurement values obtained by the two normal current sensors and sends the closed-loop control signal to the motor so as to perform closed-loop control on the motor, that is, the motor control unit is in a closed-loop control mode.
For example, if the second current sensor and the third current sensor are normal and the first current sensor is damaged, the motor control unit performs closed-loop control on the motor according to the current measurement value of the second phase circuit obtained by the second current sensor and the current measurement value of the third phase circuit obtained by the third current sensor.
It should be noted that the damage of the current sensor does not affect the normal operation of the corresponding circuit. For example, if the first current sensor is damaged, the current measurement value obtained by the first current sensor is continuously 0, but the first phase circuit is normally operated and the actual value of the current of the first phase circuit is always changed. Even if one of the three current sensors is damaged, the motor control unit can perform closed-loop control on the motor through the current measurement values of the two normal current sensors.
In addition, the present embodiment has the following effects: no matter only one current sensor is damaged or three current sensors work normally, the motor control unit can carry out closed-loop control on the motor through the current measurement value of the two-phase circuit, but the motor control unit immediately controls the motor to stop when one current sensor is damaged, so that the technical scheme in the embodiment can continuously keep the original output power of the motor and control the motor in a closed-loop mode when only one current sensor is damaged, and the fault tolerance rate is high.
If the number is one, determining that the motor control scheme is that the motor is subjected to open-loop control through a motor control unit according to a current measurement value of a circuit corresponding to one current sensor with the running state being the normal working state, and controlling the motor to reduce the output power to a preset safe power threshold. Specifically, one current sensor of the three current sensors is normal, and the two current sensors are damaged, so that the motor control unit generates an open-loop control signal according to a current measurement value obtained by the normal current sensor and sends the open-loop control signal to the motor to perform open-loop control on the motor, that is, the motor control unit is switched from the closed-loop control mode to the open-loop control mode, and controls the motor to reduce the output power.
For example, if the second current sensor is normal, the first current sensor is damaged, and the originally normal third current sensor is damaged, the motor control unit performs open-loop control on the motor according to the current measurement value of the second phase circuit obtained by the second current sensor, and controls the motor to reduce the output power from 10 kw to 3 kw.
According to the technical scheme in the embodiment, on one hand, even if two current sensors in the three current sensors are damaged, only one current sensor works normally, the motor control unit can carry out open-loop control on the motor according to the normally working current sensor instead of directly stopping the motor, and the fault tolerance rate of motor control can be improved; on the other hand, when the number of damaged motors is changed from one to two, the motor control unit controls the motors to reduce the output power, and the safety of motor control can be improved.
And if the number is zero, determining that the motor control scheme is to control the motor to stop running through the motor control unit. For example, three current sensors corresponding to a three-phase circuit are all in a fault state. In general, the two current sensors are in a fault state, and one current sensor is in a normal operating state, and the three current sensors are in a fault state.
The motor control unit cannot acquire the current true value of any three-phase circuit, so the motor control unit sends a stop control signal to the motor to control the motor to stop.
Generally, when at least a current sensor corresponding to a two-phase circuit in a three-phase circuit is normal, the output power of a motor is preset output power in a closed-loop control mode; when the number of damaged current sensors is increased, namely the current sensors corresponding to the two-phase circuit are damaged and the current sensor corresponding to the third-phase circuit is not damaged, the motor control unit is switched from a closed-loop control mode to an open-loop control mode, and controls the motor to reduce the output power; when the current sensor corresponding to the third phase circuit is damaged, the current sensors of the first phase circuit, the second phase circuit and the third phase circuit which are included in the three-phase circuit are damaged, and then the motor control unit is switched to a shutdown mode from an open-loop control mode. The motor control unit controls the motor to stop, i.e. the output power of the motor is reduced from the reduced output power to 0 again.
For example, when two current sensors are normal and one current sensor is damaged, the output power of the motor is 10 kilowatts; when one of the two normal current sensors is damaged suddenly, namely one current sensor is normal, the motor control unit controls the output power of the motor to be reduced from 10 kilowatts to 3 kilowatts; when the only normal current sensor is suddenly damaged, namely three current sensors are damaged, the output power of the motor is reduced from 3 kilowatts to 0 kilowatt.
According to the scheme in the embodiment, the preset output power can be reduced firstly, and then the reduced output power is reduced to 0, so that inconvenience and potential safety hazards brought to a driver by sudden shutdown are avoided, for example, power interruption of an electric vehicle, electric power steering failure, performance reduction of a brake power pump and the like are avoided, and the safety in the motor control process is improved.
Fig. 3 is a schematic flowchart of a motor control method according to another embodiment of the present disclosure.
Referring to fig. 3, in step 302, current measurements are collected for a first phase circuit, a second phase circuit, and a third phase circuit.
In an example embodiment, a current value of the first current sensor is read as a current measurement value of the first phase circuit at a preset current value reading time period; reading the current value of the second current sensor according to the current value reading time period to be used as the current measured value of the second phase circuit; and reading the current value of the third current sensor according to the current value reading time period to be used as the current measured value of the third-phase circuit.
For example, the current value of the first current sensor is read once for 2 milliseconds as the current measurement value of the first phase circuit.
In step 304, a theoretical current value for the third phase circuit is calculated from the measured current values of the first and second phase circuits.
In an example embodiment, the sum of the measured current values of the first and second phase circuits and the theoretical current value of the third phase circuit is 0 ampere, so the theoretical current value of the third phase circuit may be calculated from the sum of the measured current values of the first and second phase circuits.
For example, if the measured current value of the first phase circuit is 4 amperes and the measured current value of the second phase circuit is 1 ampere, the sum of the measured current values of the first phase circuit and the second phase circuit is 5 amperes, and the theoretical current value of the third phase circuit can be found to be-5 amperes.
It should be noted that, in step 304, the theoretical current value of the second phase circuit may be calculated from the current measurements of the first phase circuit and the third phase circuit, or the theoretical current value of the first phase circuit may be calculated from the current measurements of the second phase circuit and the third phase circuit.
In step 306, it is determined whether the theoretical current value and the measured current value of the third phase circuit are within a preset tolerance range.
In an exemplary embodiment, if yes, go to step S308; if not, the process proceeds to step S310.
In one embodiment, the current theoretical value and the current measured value of the third phase circuit are within a preset tolerance range, for example, the current measured value of the first phase circuit is 4 amperes, the current measured value of the second phase circuit is 1 ampere, the current measured value of the third phase circuit is-5 amperes, the current theoretical value of the third phase circuit is-5 amperes, and the preset tolerance range is-0.02 amperes to-0.02 amperes.
In another embodiment, the current theoretical value and the current measured value of the third phase circuit are not within the preset tolerance range, for example, the current measured value of the first phase circuit is 4 amperes, the current measured value of the second phase circuit is 0 amperes, the current measured value of the third phase circuit is-5 amperes, the current theoretical value of the third phase circuit is-4 amperes, and the preset tolerance range is-0.02 amperes to 0.02 amperes. For another example, the current measurement value of the first phase circuit is 4 amperes, the current measurement value of the second phase circuit is 1 ampere, the current measurement value of the third phase circuit is 0 ampere, the theoretical current value of the third phase circuit is-5 amperes, and the preset tolerance range is-0.02 amperes to 0.02 amperes.
In step 308, the motor is closed-loop controlled based on the current measurements of the first phase circuit and the second phase circuit.
In an example embodiment, the current theoretical value and the current measured value of the third-phase circuit are within a preset tolerance range, that is, the operation states of the three current sensors are normal operation states. At the moment, the motor control unit generates a closed-loop control signal according to the current measured values of the first phase circuit and the second phase circuit and sends the closed-loop control signal to the motor so as to perform closed-loop control on the motor.
It should be noted that step 308 may also be a closed loop control of the motor based on current measurements from the first phase circuit and the third phase circuit, or a closed loop control of the motor based on current measurements from the second phase circuit and the third phase circuit.
In step 310, the number and location of the damaged sensors are identified.
In an example embodiment, the theoretical value of the current and the measured value of the current of the third phase circuit are not within the preset tolerance range, which indicates that at least one damaged current sensor exists in the three current sensors corresponding to the three-phase circuit. And determining whether the current sensor corresponding to each circuit is damaged or not by judging whether the time when the current measured value of each circuit is 0 is greater than or equal to a preset second time threshold or not. For example, if the current measurement value of the first phase circuit is 0 and exceeds the preset second time threshold for 6 milliseconds, the operation state of the first current sensor corresponding to the first phase circuit is determined to be a fault state, that is, the first current sensor is damaged.
In step 312, it is determined whether the number of sensor failures is greater than 1.
In an exemplary embodiment, if yes, go to step S314; if not, the process proceeds to step S316.
In step 314, it is determined whether the number of sensor failures is greater than 2.
In an exemplary embodiment, if yes, go to step S318; if not, the process proceeds to step S320.
In step 316, the damaged sensor is eliminated and the motor is closed-loop controlled using the current measurements of the remaining two-phase circuit.
In an example embodiment, two current sensors of the three current sensors are normal, and one current sensor is damaged, the motor control unit generates a closed-loop control signal according to current measurement values obtained by the two normal current sensors and sends the closed-loop control signal to the motor so as to perform closed-loop control on the motor, that is, the motor control unit is in a closed-loop control mode.
For example, if the second current sensor and the third current sensor are normal and the first current sensor is damaged, the motor control unit performs closed-loop control on the motor according to the current measurement value of the second phase circuit obtained by the second current sensor and the current measurement value of the third phase circuit obtained by the third current sensor.
It should be noted that the damage of the current sensor does not affect the normal operation of the corresponding circuit. For example, if the first current sensor is damaged, the current measurement value obtained by the first current sensor is continuously 0, but the first phase circuit is normally operated and the actual value of the current of the first phase circuit is always changed. Even if one of the three current sensors is damaged, the motor control unit can perform closed-loop control on the motor through the current measurement values of the two normal current sensors.
In addition, the present embodiment has the following effects: no matter only one current sensor is damaged or three current sensors work normally, the motor control unit can carry out closed-loop control on the motor through the current measurement value of the two-phase circuit, but the motor control unit immediately controls the motor to stop when one current sensor is damaged, so that the technical scheme in the embodiment can continuously keep the original output power of the motor and control the motor in a closed-loop mode when only one current sensor is damaged, and the fault tolerance rate is high.
In step 318, the motor is controlled to stop.
In an example embodiment, when all three current sensors are damaged, that is, the operating states of all the three current sensors are fault states, the motor control unit cannot acquire the current true values of any three-phase circuit, so that the motor control unit sends a stop control signal to the motor to control the motor to stop.
Generally, when at least a current sensor corresponding to a two-phase circuit in a three-phase circuit is normal, the output power of a motor is preset output power in a closed-loop control mode; when the number of damaged current sensors is increased, namely the current sensors corresponding to the two-phase circuit are damaged and the current sensor corresponding to the third-phase circuit is not damaged, the motor control unit is switched from a closed-loop control mode to an open-loop control mode, and controls the motor to reduce the output power; when the current sensor corresponding to the third phase circuit is damaged, the current sensors of the first phase circuit, the second phase circuit and the third phase circuit which are included in the three-phase circuit are damaged, and then the motor control unit is switched to a shutdown mode from an open-loop control mode. The motor control unit controls the motor to stop, i.e. the output power of the motor is reduced from the reduced output power to 0 again.
For example, when two current sensors are normal and one current sensor is damaged, the output power of the motor is 10 kilowatts; when one of the two normal current sensors is damaged suddenly, namely one current sensor is normal, the motor control unit controls the output power of the motor to be reduced from 10 kilowatts to 3 kilowatts; when the only normal current sensor is suddenly damaged, namely three current sensors are damaged, the output power of the motor is reduced from 3 kilowatts to 0 kilowatt.
According to the scheme in the embodiment, the preset output power can be reduced firstly, and then the reduced output power is reduced to 0, so that inconvenience and potential safety hazards brought to a driver by sudden shutdown are avoided, for example, power interruption of an electric vehicle, electric power steering failure, performance reduction of a brake power pump and the like are avoided, and the safety in the motor control process is improved.
In step 320, the mode is switched, the motor is controlled in an open loop mode, and the output power of the motor is reduced.
In an example embodiment, if one of the three current sensors is normal and two of the three current sensors are damaged, the motor control unit generates an open-loop control signal according to a current measurement value obtained by the normal current sensor and sends the open-loop control signal to the motor to perform open-loop control on the motor, that is, the motor control unit switches from the closed-loop control mode to the open-loop control mode and controls the motor to reduce the output power.
For example, if the second current sensor is normal, the first current sensor is damaged, and the originally normal third current sensor is damaged, the motor control unit performs open-loop control on the motor according to the current measurement value of the second phase circuit obtained by the second current sensor, and controls the motor to reduce the output power from 10 kw to 3 kw.
According to the technical scheme in the embodiment, on one hand, even if two current sensors in the three current sensors are damaged, only one current sensor works normally, the motor control unit can carry out open-loop control on the motor according to the normally working current sensor instead of directly stopping the motor, and the fault tolerance rate of motor control can be improved; on the other hand, when the number of damaged motors is changed from one to two, the motor control unit controls the motors to reduce the output power, and the safety of motor control can be improved.
The motor control method in fig. 3 can implement the processes in the foregoing embodiment of the motor control method, and achieve the same effects and functions, which are not described herein again.
Further, an embodiment of the present specification further provides an electronic device, fig. 4 is a schematic structural diagram of the electronic device provided in an embodiment of the present specification, and as shown in fig. 4, the electronic device includes: memory 401, processor 402, bus 403, and communication interface 404. The memory 401, processor 402, and communication interface 404 communicate via a bus 403. the communication interface 404 may include input and output interfaces including, but not limited to, a keyboard, a mouse, a display, a microphone, and the like.
In fig. 4, the memory 401 has stored thereon computer-executable instructions executable on the processor 402, which when executed by the processor 402 implement the following process:
acquiring current measurement values of a first phase circuit, a second phase circuit and a third phase circuit;
determining a current theoretical value of another phase circuit according to the current measured value of any two phase circuits in the three-phase circuit; the other phase circuit is a circuit except any two-phase circuit in the three-phase circuit;
determining the operating states of a first current sensor, a second current sensor and a third current sensor according to the current measured value and the current theoretical value of the three-phase circuit;
and determining a motor control scheme according to the running states of the first current sensor, the second current sensor and the third current sensor.
Optionally, when executed by the processor, the computer-executable instructions determine the operating states of the first current sensor, the second current sensor, and the third current sensor according to the current measurement values and the current theoretical values of the three-phase circuit, including:
acquiring the duration of the difference value between the current measured value and the current theoretical value of any one phase circuit in the three-phase circuit corresponding to the same time point, which is outside a preset tolerance range;
if the duration time is less than a preset first time threshold, determining that the running states of the first current sensor, the second current sensor and the third current sensor are normal working states;
and if the duration time is greater than or equal to the first time threshold value, determining the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measured values of the three-phase circuit.
Optionally, the computer executable instructions, when executed by the processor, determine the operating state of the first current sensor, the second current sensor, and the third current sensor based on the current measurements of the three-phase circuit, comprising:
judging whether the duration time of the current measured values of the first phase circuit, the second phase circuit and the third phase circuit being zero exceeds a preset second time threshold value or not;
if the duration time is greater than or equal to the second time threshold, determining that the operation state of the current sensor corresponding to the current measurement value is a fault state;
and if the duration time is less than the second time threshold, determining that the running state of the current sensor corresponding to the current measurement value is a normal working state.
Optionally, when executed by the processor, the computer executable instructions determine a motor control scheme based on operating conditions of the first current sensor, the second current sensor, and the third current sensor, comprising:
determining the number of current sensors with the running states of normal working states according to the running states of the first current sensor, the second current sensor and the third current sensor;
if the number is three, determining that the motor control scheme is that the motor is subjected to closed-loop control through the motor control unit according to the current measurement value of any two-phase circuit in the three-phase circuit;
if the number is two, determining that the motor control scheme is that the motor is subjected to closed-loop control by the motor control unit according to the current measurement values of the two-phase circuits corresponding to the two current sensors with the running state being the normal working state;
if the number is one, determining that the motor control scheme is that the motor is subjected to open-loop control through a motor control unit according to a current measurement value of a circuit corresponding to a current sensor with a normal operating state, and controlling the motor to reduce the output power to a preset safe power threshold;
and if the number is zero, determining that the motor control scheme is to control the motor to stop running through the motor control unit.
Optionally, when the computer executable instructions are executed by the processor, the sum of the current measured value of any two-phase circuit in the three-phase circuit and the current theoretical value of the other-phase circuit is zero.
Optionally, the computer executable instructions, when executed by the processor, obtain current measurements for a first phase circuit, a second phase circuit, and a third phase circuit, comprising:
reading the current value of the first current sensor according to a preset current value reading time period to be used as a current measured value of the first phase circuit;
reading the current value of the second current sensor according to the current value reading time period to be used as the current measured value of the second phase circuit;
and reading the current value of the third current sensor according to the current value reading time period to be used as the current measured value of the third-phase circuit.
In one embodiment of the present specification, a motor control apparatus includes a motor control unit, a three-phase circuit, a first current sensor, a second current sensor, and a third current sensor: the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit; the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit; the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit; the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit; and the motor control unit is used for sending a control signal to the motor according to the current measured value of the three-phase circuit so as to control the motor. By the motor control device, how to control the motor can be determined by the current measurement values acquired by the three current sensors, and the fault tolerance rate of the current sensors during fault is effectively improved.
The electronic device provided in an embodiment of the present specification can implement the processes in the foregoing method embodiments, and achieve the same functions and effects, which are not repeated here.
Further, another embodiment of the present specification also provides a storage medium for storing computer-executable instructions, which when executed by a processor implement the following processes:
acquiring current measurement values of a first phase circuit, a second phase circuit and a third phase circuit;
determining a current theoretical value of another phase circuit according to the current measured value of any two phase circuits in the three-phase circuit; the other phase circuit is a circuit except any two-phase circuit in the three-phase circuit;
determining the operating states of a first current sensor, a second current sensor and a third current sensor according to the current measured value and the current theoretical value of the three-phase circuit;
and determining a motor control scheme according to the running states of the first current sensor, the second current sensor and the third current sensor.
Optionally, when executed by the processor, the computer executable instructions determine the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measurement values and the current theoretical values of the three-phase circuit, and include:
acquiring the duration of the difference value between the current measured value and the current theoretical value of any one phase circuit in the three-phase circuit corresponding to the same time point, which is outside a preset tolerance range;
if the duration time is less than a preset first time threshold, determining that the running states of the first current sensor, the second current sensor and the third current sensor are normal working states;
and if the duration time is greater than or equal to the first time threshold value, determining the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measured values of the three-phase circuit.
Optionally, the computer executable instructions, when executed by the processor, determine the operating state of the first current sensor, the second current sensor, and the third current sensor based on the current measurements of the three-phase circuit, comprising:
judging whether the duration time of the current measured values of the first phase circuit, the second phase circuit and the third phase circuit being zero exceeds a preset second time threshold value or not;
if the duration time is greater than or equal to the second time threshold, determining that the operation state of the current sensor corresponding to the current measurement value is a fault state;
and if the duration time is less than the second time threshold, determining that the running state of the current sensor corresponding to the current measurement value is a normal working state.
Optionally, when executed by the processor, the computer executable instructions determine a motor control scheme based on operating conditions of the first current sensor, the second current sensor, and the third current sensor, comprising:
determining the number of current sensors with the running states of normal working states according to the running states of the first current sensor, the second current sensor and the third current sensor;
if the number is three, determining that the motor control scheme is that the motor is subjected to closed-loop control through the motor control unit according to the current measurement value of any two-phase circuit in the three-phase circuit;
if the number is two, determining that the motor control scheme is that the motor is subjected to closed-loop control by the motor control unit according to the current measurement values of the two-phase circuits corresponding to the two current sensors with the running state being the normal working state;
if the number is one, determining that the motor control scheme is that the motor is subjected to open-loop control through a motor control unit according to a current measurement value of a circuit corresponding to a current sensor with a normal operating state, and controlling the motor to reduce the output power to a preset safe power threshold;
and if the number is zero, determining that the motor control scheme is to control the motor to stop running through the motor control unit.
Optionally, when the computer executable instructions are executed by the processor, the sum of the current measured value of any two-phase circuit in the three-phase circuit and the current theoretical value of the other-phase circuit is zero.
Optionally, the computer executable instructions, when executed by the processor, obtain current measurements for a first phase circuit, a second phase circuit, and a third phase circuit, comprising:
reading the current value of the first current sensor according to a preset current value reading time period to be used as a current measured value of the first phase circuit;
reading the current value of the second current sensor according to the current value reading time period to be used as the current measured value of the second phase circuit;
and reading the current value of the third current sensor according to the current value reading time period to be used as the current measured value of the third-phase circuit.
In one embodiment of the present specification, a motor control apparatus includes a motor control unit, a three-phase circuit, a first current sensor, a second current sensor, and a third current sensor: the motor control unit is connected with the motor through a three-phase circuit, and the three-phase circuit comprises: a first phase circuit, a second phase circuit, and a third phase circuit; the first current sensor is arranged on the first phase circuit and used for acquiring a current measurement value of the first phase circuit; the second current sensor is arranged in the second phase circuit and used for acquiring a current measured value of the second phase circuit; the third current sensor is arranged on the third-phase circuit and used for acquiring a current measurement value of the third-phase circuit; and the motor control unit is used for sending a control signal to the motor according to the current measured value of the three-phase circuit so as to control the motor. By the motor control device, how to control the motor can be determined by the current measurement values acquired by the three current sensors, and the fault tolerance rate of the current sensors during fault is effectively improved.
The computer-readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The storage medium provided in an embodiment of the present specification can implement the respective processes in the foregoing method embodiments, and achieve the same functions and effects, and will not be repeated here.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (6)
1. A motor control method, comprising:
acquiring current measurement values of a first phase circuit, a second phase circuit and a third phase circuit;
determining a current theoretical value of another phase circuit according to the current measured value of any two phase circuits in the three-phase circuit; the other phase circuit is a circuit except any two-phase circuit in the three-phase circuit;
determining the operating states of a first current sensor, a second current sensor and a third current sensor according to the current measured value and the current theoretical value of the three-phase circuit; the method specifically comprises the following steps:
acquiring the duration of the difference value between the current measured value and the current theoretical value of any one phase circuit of the three-phase circuit corresponding to the same time point, which is outside a preset tolerance range;
if the duration time is less than a preset first time threshold, determining that the running states of the first current sensor, the second current sensor and the third current sensor are normal working states;
if the duration time is greater than or equal to the first time threshold value, determining the operating states of the first current sensor, the second current sensor and the third current sensor according to the current measurement values of the three-phase circuit; the method specifically comprises the following steps: judging whether the duration of zero current measurement values of the first phase circuit, the second phase circuit and the third phase circuit exceeds a preset second time threshold value;
if the duration time is greater than or equal to the second time threshold, determining that the operation state of the current sensor corresponding to the current measurement value is a fault state;
if the duration time is less than the second time threshold, determining that the operation state of the current sensor corresponding to the current measurement value is a normal working state;
and determining a motor control scheme according to the running states of the first current sensor, the second current sensor and the third current sensor.
2. The method of claim 1, wherein determining a motor control scheme based on the operating conditions of the first current sensor, the second current sensor, and the third current sensor comprises:
determining the number of current sensors with the running states of normal working states according to the running states of the first current sensor, the second current sensor and the third current sensor;
if the number is three, determining that the motor control scheme is to perform closed-loop control on the motor according to the current measurement value of any two-phase circuit in the three-phase circuit through a motor control unit;
if the number is two, determining that the motor control scheme is that the motor is subjected to closed-loop control by the motor control unit according to the current measurement values of the two-phase circuits corresponding to the two current sensors with the running state being the normal working state;
if the number is one, determining that the motor control scheme is that the motor is subjected to open-loop control through the motor control unit according to a current measurement value of a circuit corresponding to one current sensor with a normal operating state, and controlling the motor to reduce the output power to a preset safe power threshold;
and if the number is zero, determining that the motor control scheme is that the motor control unit controls the motor to stop running.
3. The method of claim 1, wherein the sum of the measured current value of any two-phase circuit of the three-phase circuit and the theoretical current value of the other-phase circuit is zero.
4. The method of claim 1, wherein the obtaining current measurements for the first phase circuit, the second phase circuit, and the third phase circuit comprises:
reading the current value of the first current sensor according to a preset current value reading time period to be used as a current measured value of the first phase circuit;
reading the current value of the second current sensor according to the current value reading time period to be used as the current measured value of the second phase circuit;
and reading the current value of the third current sensor according to the current value reading time period to be used as the current measured value of the third-phase circuit.
5. An electronic device comprising a memory and a processor, the memory having stored thereon computer-executable instructions that, when executed on the processor, are capable of performing the steps of the method of any of claims 1-4.
6. A storage medium having stored thereon computer-executable instructions, which when executed by a processor, are capable of performing the steps of the method of any one of claims 1 to 4.
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| US8004226B2 (en) * | 2008-08-06 | 2011-08-23 | Caterpillar Inc. | Method and system for detecting a failed current sensor in a three-phase machine |
| US8558496B2 (en) * | 2011-03-16 | 2013-10-15 | GM Global Technology Operations LLC | Systems and methods for monitoring current in an electric motor |
| JP2014072973A (en) * | 2012-09-28 | 2014-04-21 | Denso Corp | Control device of alternating current motor |
| KR102217599B1 (en) * | 2014-10-29 | 2021-02-22 | 현대모비스 주식회사 | Failure diagnostic apparatus of a current sensor for a 3phase brushless ac motor and method thereof |
| JP6257689B2 (en) * | 2016-04-22 | 2018-01-10 | 三菱電機株式会社 | Synchronous machine controller |
| US10960922B2 (en) * | 2017-01-31 | 2021-03-30 | Steering Solutions Ip Holding Corporation | Fault tolerant field oriented control for electric power steering |
| CN107528518B (en) * | 2017-09-28 | 2020-06-12 | 北京新能源汽车股份有限公司 | Motor vector control method and device and terminal equipment |
| CN108508386B (en) * | 2018-03-29 | 2020-12-22 | 北京新能源汽车股份有限公司 | Fault detection method and device of current sensor |
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