WO2019015350A1 - 一种电机控制模式故障检测方法及装置 - Google Patents

一种电机控制模式故障检测方法及装置 Download PDF

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Publication number
WO2019015350A1
WO2019015350A1 PCT/CN2018/079842 CN2018079842W WO2019015350A1 WO 2019015350 A1 WO2019015350 A1 WO 2019015350A1 CN 2018079842 W CN2018079842 W CN 2018079842W WO 2019015350 A1 WO2019015350 A1 WO 2019015350A1
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Prior art keywords
control mode
motor
sensible
abnormal
rotation speed
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PCT/CN2018/079842
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English (en)
French (fr)
Inventor
陈毅东
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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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
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • 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
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • 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

Definitions

  • the present application relates to the field of motor control technologies, and in particular, to a motor control mode fault detection method and apparatus.
  • the sense control mode is adopted, that is, the sensor (using magnetic code, linear/switching Hall, etc.) is used to obtain the rotational speed and position information.
  • the sensor using magnetic code, linear/switching Hall, etc.
  • the machine will have a bomber. Therefore, how to detect whether the motor's sensible control mode is faulty is particularly important.
  • the main purpose of the embodiment of the present application is to provide a motor control mode fault detection method and device, which can detect and judge the fault condition of the motor in a timely and effective manner when the sensor is faulty.
  • an embodiment of the present application provides a motor control mode fault detection method, where the method includes:
  • the method further includes:
  • the motor control mode fault detection method further includes:
  • the sensible control mode is continuously used.
  • the preset threshold value is 5% to 10%.
  • the embodiment of the present application further provides a motor control mode fault detecting apparatus, and the apparatus includes:
  • a relative error acquiring unit configured to acquire a first rotation speed n s of the motor under the current throttle control mode and a second rotation speed n sl of the non-inductive control mode, and calculate the first rotation speed n s and the second rotation speed Relative error ⁇ n between n sl ;
  • An error determining unit configured to determine whether an absolute value of the relative error ⁇ n is greater than a preset threshold
  • An abnormal mode determining unit configured to determine that the sensible control mode is abnormal when an absolute value of the relative error ⁇ n is greater than the preset threshold; and when an absolute value of the relative error ⁇ n is less than or equal to the preset threshold At this time, it is determined that the sensible control mode is normal.
  • the abnormal mode determining unit further includes: a rotational speed determining module, a first power determining module, and a second power determining module, wherein the abnormal mode determining unit is when the absolute value of the relative error ⁇ n is greater than the preset threshold Determining the sense control mode abnormality, further comprising:
  • the rotation speed determining module determines whether the first rotation speed n s is greater than the second rotation speed n sl ;
  • the first power determination module calculates a corresponding input theoretical power according to the current throttle value, and determines whether the input theoretical power is greater than the actual power of the motor. And when the input theoretical power is greater than the actual power, the abnormal mode determining unit determines that the sensible control mode is abnormal;
  • the second power determination module calculates a corresponding input theoretical power according to the current throttle value, and determines whether the input theoretical power is less than the actual power of the motor. And when the input theoretical power is less than the actual power, the abnormal mode determining unit determines that the sensible control mode is abnormal.
  • the motor control mode fault detecting device further includes:
  • control mode switching unit configured to switch the motor control mode from the sensible control mode to the non-inductive control mode when determining that the sensible control mode is abnormal; and when it is determined that the sensible control mode is normal, continue The sensible control mode is used.
  • the preset threshold value is 5% to 10%.
  • the embodiment of the present application further provides a non-transitory computer readable storage medium having stored thereon a computer program, the computer program being executed by the processor to implement the steps of the motor control mode failure detecting method as described above.
  • the embodiment of the present application further provides a motor control mode fault detecting component, including a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor executes the computer program as described above The steps of the motor control mode fault detection method.
  • a motor control mode fault detecting component including a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor executes the computer program as described above.
  • the beneficial effects of the embodiment of the present application are: based on the rotational speed of the motor in the sensible control mode and the non-inductive control mode, whether the sensor is faulty or not, and further determining the theoretical power and the actual power, thereby improving the motor control mode.
  • the accuracy of the fault detection can change the motor control mode to the non-inductive control mode in a timely and effective manner in the case of a fault in the sense control mode, thereby avoiding the catastrophic failure caused by the motor control failure caused by the sensor failure. as a result of.
  • FIG. 1 is a flow chart of a specific example of a motor control mode fault detecting method in an embodiment of the present application
  • FIG. 2 is a flow chart of a specific example of a throttle-input theoretical power relationship generated by pre-fitting in the embodiment of the present application;
  • FIG. 3 is a schematic diagram of a specific example of a throttle-input theoretical power relationship fitting curve in the embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a specific example of a motor control mode fault detecting apparatus in an embodiment of the present application
  • FIG. 5 shows a module further included in the abnormal mode determining unit 3 of the motor control mode fault detecting device in another embodiment of the present application
  • FIG. 6A and FIG. 6B are schematic structural diagrams showing a specific example of a motor control mode fault detecting component in the embodiment of the present application.
  • the embodiment of the present application provides a motor control mode fault detection method.
  • the motor control mode fault detection method mainly includes the following steps:
  • Step S1 acquiring a first rotation speed n s of the motor under the current throttle control mode and a second rotation speed n sl of the non-inductive control mode, and calculating a relative error ⁇ n between the first rotation speed n s and the second rotation speed n sl ;
  • Step S2 determining whether the absolute value of the relative error ⁇ n is greater than a preset threshold
  • Step S3 when the absolute value of the relative error ⁇ n is greater than the preset threshold, determining that the sensible control mode of the motor is abnormal; when the absolute value of the relative error ⁇ n is less than or equal to the preset threshold, determining the sense of the motor The control mode is normal.
  • the motor control mode fault detection method of the embodiment of the present application determines whether the sensor is normal based on the rotational speed of the motor in the inductive control mode and the non-inductive control mode, and can determine more timely and accurately. Whether the sense control mode has failed.
  • step S1 the first rotation speed n s of the motor under the current throttle control mode and the second rotation speed n sl of the non-inductive control mode are obtained, and the relative relationship between the first rotation speed n s and the second rotation speed n sl is calculated. Error ⁇ n.
  • the sensible control mode can be used to calculate the rotational speed of the rotor, that is, the speed and position of the rotor are obtained by sampling (for example, linear Hall, etc.) and calculated (in the sense control mode) A speed n s ).
  • the non-inductive control mode can also be used to calculate the rotational speed of the rotor, for example, by detecting the counter electromotive force of each phase of the motor to calculate the rotational speed of the rotor (the second rotational speed n sl in the non-inductive control mode).
  • n s is the first rotational speed of the sensible control mode and n sl is the second rotational speed of the non-inductive control mode.
  • step S2 it is determined whether the absolute value of the relative error ⁇ n is greater than a preset threshold.
  • step S3 when the absolute value of the relative error ⁇ n is greater than the preset threshold, it is determined that the sensible control mode of the motor is abnormal; when the relative error ⁇ n is absolute When the value is less than or equal to the preset threshold, it is determined that the sensible control mode of the motor is normal.
  • of the relative error ⁇ n calculated through the above step S1 is equal to a predetermined threshold. If
  • the preset threshold may be any value from 5% to 10%. For example, when the preset threshold is 5%, if
  • the values of the foregoing preset thresholds are merely illustrative and are not intended to limit the application.
  • step S2 if it is determined in the above step S2 that the absolute value of the relative error ⁇ n of the first rotation speed n s and the second rotation speed n sl is greater than the preset threshold, it is preliminary determined that the motor has a sense control mode abnormality. At this time, another detection process is further performed to further determine whether the sensible control mode of the motor does fail.
  • the rotation speed of the motor in the sensible control mode is The difference between the rotational speeds obtained in the non-inductive control mode is not large enough, so it is not possible to determine whether the sensible control mode is abnormal by this determination result. At this time, it is still determined that the sensible control mode is in a normal state.
  • step S3 the step of "determining that the sensible control mode of the motor is abnormal when the absolute value of the relative error ⁇ n is greater than the preset threshold" further includes the following steps:
  • the corresponding input theoretical power is calculated according to the current throttle value, and it is determined whether the input theoretical power is greater than the actual power of the motor. When the input theoretical power is greater than the actual power of the motor, then It is determined that the motor's sense control mode is abnormal.
  • the corresponding input theoretical power is calculated according to the current throttle value, and it is determined whether the input theoretical power is less than the actual power of the motor. When the input theoretical power is less than the actual power of the motor, then It is determined that the motor's sense control mode is abnormal.
  • the corresponding input theoretical power is calculated according to the current throttle value, and the current throttle value is input to a pre-fit generated throttle-input theoretical power.
  • the relationship calculates the input theoretical power.
  • the process of pre-fitting to generate the throttle-input theoretical power relationship mainly includes the following steps:
  • step S201 the DC side input power of the motor under different throttles is obtained.
  • Step S202 generating a throttle-input theoretical power relationship according to a DC-side input power corresponding to different throttles.
  • the data shown in Table 1 above is only an example, and the number of actually sampled data can be adjusted as needed.
  • fitting is performed to generate a throttle-input theoretical power relationship.
  • the serial number has a total of 13 lines. Take points 1 and 3, 3 and 5, ... respectively, and then recurse to 11 and 13 to construct 6 curves. Take the first row data and the third row data in the serial number as an example, the other curves are similar. Fit by formula (2):
  • b y 3 -ax 3
  • x is the throttle value
  • y is the DC side input power corresponding to the throttle value x
  • the angle is the serial number corresponding to x and y.
  • the current throttle value can be input into the relational expression, and the input theoretical power corresponding to the current throttle value can be calculated.
  • the corresponding input theoretical power is calculated according to the current throttle value.
  • the corresponding input theoretical power is calculated according to the current throttle value, and the current throttle value is input to a throttle-input theoretical power relationship (formula (2) above) generated by a pre-fit to calculate the input theoretical power.
  • step S3 When it is initially determined in step S3 that the sense control mode of the motor is abnormal, further analysis and judgment are made according to different situations.
  • the preset threshold is 5%, but the value is only an example, and is not intended to limit the application.
  • n sl is accurate at this time, and only n s is high or low because of the fault of the sense control mode, only when ⁇ n>5% and P are satisfied at the same time.
  • n sl is accurate at this time, and only n s is high or low due to the failure of the sense control mode, only when ⁇ n ⁇ 5% and P are satisfied at the same time.
  • Ref ⁇ P, ie, n s ⁇ n sl and P ref ⁇ P satisfies the relationship between power and speed, in order to fully explain that the motor's sensible control mode does have a fault.
  • the motor control mode fault detection method of the embodiment of the present application further includes a control mode switching step.
  • the motor control mode is switched from the sensible control mode to the non-inductive control mode by the control mode switching step.
  • the motor control mode fault detection method in the embodiment of the present application can improve the accuracy of the motor control mode fault detection, thereby timely responding to the fault condition that may occur in the sense control mode, and switching the motor to the non-inductive state, so that the motor control can be Effectively continue to avoid catastrophic consequences such as machine burnout that may occur in this mode after the motor has failed in the sense control mode.
  • the embodiment of the present application provides a motor control mode fault detecting device.
  • the motor control mode fault detecting device mainly includes: a relative error acquiring unit 1, an error determining unit 2, an abnormal mode determining unit 3, and the like.
  • the relative error acquiring unit 1 is configured to acquire a first rotation speed n s of the motor under the current throttle control mode and a second rotation speed n sl of the non-inductive control mode, and calculate the first rotation speed n s and the second rotation speed.
  • the relative error ⁇ n between the n sl ; the error judging unit 2 is configured to determine whether the absolute value of the relative error ⁇ n is greater than a preset threshold; and the abnormal mode determining unit 3 is configured to: when the absolute value of the relative error ⁇ n is greater than the preset threshold, It is determined that the sensible control mode of the motor is abnormal; when the absolute value of the relative error ⁇ n is less than or equal to the preset threshold, it is determined that the sensible control mode of the motor is normal.
  • the motor control mode fault detecting device of the embodiment of the present application can initially determine whether the sensor is normal or not based on the rotational speed of the motor in the inductive control mode and the non-inductive control mode. Accurately determine whether the sense control mode has failed.
  • the relative error acquiring unit 1 is configured to acquire a first rotation speed n s of the motor under the current throttle control mode and a second rotation speed n sl of the non-inductive control mode, and calculate the first rotation speed n s and the second rotation speed n The relative error ⁇ n between sl .
  • the speed and position of the rotor (the first speed n s in the sense control mode) can be sampled by a sensor (for example, linear Hall, etc.) and calculated.
  • the non-inductive control mode can also be used to calculate the rotational speed of the rotor, for example, by detecting the counter electromotive force of each phase of the motor to calculate the rotational speed of the rotor (the second rotational speed n sl in the non-inductive control mode).
  • n s is the first rotational speed of the sensible control mode and n sl is the second rotational speed of the non-inductive control mode.
  • the error judging unit 2 is configured to determine whether the absolute value of the relative error ⁇ n is greater than a preset threshold.
  • the abnormal mode determining unit 3 is configured to determine the sensible control of the motor when the absolute value of the relative error ⁇ n is greater than a preset threshold. The mode is abnormal; when the absolute value of the relative error ⁇ n is less than or equal to the preset threshold, it is determined that the sensible control mode of the motor is normal.
  • of the relative error ⁇ n calculated by the relative error acquiring unit 1 is equal to a predetermined threshold. If
  • the difference between the rotational speed and the rotational speed in the non-inductive control mode is large, and the motor's sense control mode abnormality can be initially determined.
  • the preset threshold may be any value from 5% to 10%.
  • the preset threshold is 5%, if
  • the values of the foregoing preset thresholds are merely illustrative and are not intended to limit the application.
  • the error determining unit 2 determines that the absolute value of the relative error ⁇ n of the first rotational speed n s and the second rotational speed n sl is greater than the preset threshold, it is preliminary determined that the motor has a sense control mode abnormality. . At this time, another detection process may be further performed to further determine whether the sensible control mode of the motor does fail.
  • the error judging unit 2 judges that the absolute value of the relative error ⁇ n of the first rotation speed n s and the second rotation speed n sl is less than or equal to the above-mentioned preset threshold value, the rotation speed of the motor in the sensible control mode is The difference between the rotational speeds obtained in the non-inductive control mode is not large enough, so it is not possible to determine whether the sensible control mode is abnormal by this determination result. At this time, it is still determined that the sensible control mode is in a normal state.
  • the error determining unit 2 determines that the absolute value of the relative error ⁇ n of the first rotational speed n s and the second rotational speed n sl is greater than the preset threshold, it is preliminary determined that the motor has a sense control mode abnormality. . At this time, another detection process may be further performed to further determine whether the sensible control mode of the motor does fail. It will be described in detail as follows.
  • the abnormal mode determining unit 3 rotates the determining module 4, the first power determining module 5, and the second power determining module 6.
  • the abnormal mode determining unit 3 further performs the following steps after initially determining that the sense control mode is abnormal when the absolute value of the relative error ⁇ n is greater than the preset threshold.
  • the rotation speed judging module 4 judges whether the first rotation speed n s is greater than the second rotation speed n sl .
  • the first power determining module 5 calculates a corresponding input theoretical power according to the current throttle value, and determines whether the input theoretical power is greater than the actual power of the motor, when the input theoretical power is greater than the motor. In the actual power, the abnormal mode determining unit 3 determines that the sensible control mode of the motor is abnormal.
  • the second power determining module 6 calculates a corresponding input theoretical power according to the current throttle value, and determines whether the input theoretical power is less than the actual power of the motor, when the input theoretical power is smaller than the motor. In the actual power, the abnormal mode determining unit 3 determines that the sensible control mode of the motor is abnormal.
  • the rotational speed determining module 4 determines that the first rotational speed n s is greater than the second rotational speed n sl , the corresponding input theoretical power is calculated according to the current throttle value, and the current throttle value is input to a pre-fit generated.
  • the throttle-input theoretical power relationship (formula (2) above) calculates the input theoretical power.
  • the second power determining module 6 calculates a corresponding input theoretical power according to the current throttle value.
  • the corresponding input theoretical power is calculated according to the current throttle value, and the current throttle value is input to a throttle-input theoretical power relationship (formula (2) above) generated by a pre-fit to calculate the input theoretical power. .
  • the second power judging module 6 judges whether the input theoretical power is less than the actual power of the motor.
  • the motor control mode fault detecting apparatus of the embodiment of the present application further includes a control mode switching unit 9.
  • the motor control mode is switched from the sensible control mode to the non-inductive control mode by the control mode switching unit 9.
  • the motor control mode fault detecting device of the embodiment of the present invention can improve the fault detection accuracy of the motor sense control mode operation state, thereby timely responding to the fault condition that may occur in the sense control mode, and switching the motor to the non-inductive state. This allows the motor to continue to operate effectively, thereby avoiding the catastrophic consequences of the machine burning down in the mode after the motor has failed in the sense control mode.
  • FIG. 6A and FIG. 6B are schematic diagrams showing the hardware structure of a motor control mode fault detecting component for performing a motor control mode fault detecting method according to an embodiment of the present application.
  • the motor control mode fault detecting component includes one or The plurality of processors 610 and the memory 620 are exemplified by one processor 610 in FIGS. 6A and 6B.
  • the motor control mode failure detecting component that performs the motor control mode failure detecting method may further include: an input device 630 and an output device 640.
  • the processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, and the bus connection is taken as an example in FIGS. 6A and 6B.
  • the processor 610 can be a Central Processing Unit (CPU).
  • the processor 610 can also be another general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or Other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., or a combination of the above various types of chips.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 620 is used as a non-transitory computer readable storage medium, and can be used for storing a non-transitory software program, a non-transitory computer executable program, and a module, such as a program instruction corresponding to the motor control mode fault detection method in the embodiment of the present application. / Module (for example, relative error acquisition unit 1, error determination unit 2, and abnormal mode determination unit 3 shown in FIG. 4).
  • the processor 610 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in the memory 620, that is, the motor control mode failure detecting method of the above method embodiment.
  • the memory 620 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to use of the motor control mode failure detecting device, and the like. .
  • memory 620 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device.
  • memory 620 can optionally include memory remotely located relative to processor 610 that can be connected to the processing device of the list item operation over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 630 can receive the input digital or character information and generate a key signal input related to user settings and function control of the motor control mode failure detecting device.
  • the output device 640 can include a display device such as a display screen.
  • the one or more modules are stored in the memory 620, and when executed by the one or more processors 610, perform a motor control mode failure detection method of the above method embodiments.
  • the embodiment of the present application further provides a non-transitory computer storage medium, where the non-transitory computer storage medium stores a computer executable computer program, and the computer executable program can execute the motor control mode fault in any of the foregoing method embodiments.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk (Hard). Disk Drive, abbreviated as: HDD) or Solid-State Drive (SSD), etc.; the storage medium may also include a combination of the above types of memories.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can 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, etc.) including computer usable program code.

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Abstract

一种电机控制模式故障检测方法及装置，该电机控制模式故障检测方法包括：获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算所述第一转速n s与所述第二转速n sl之间的相对误差Δn（S1）；判断所述相对误差Δn的绝对值是否大于预设阈值（S2）；当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常；当所述相对误差Δn的绝对值小于或等于预设阈值时，则判定所述有感控制模式正常（S3）。可提高对电机控制模式故障检测的准确度，能够更加及时有效地在有感控制模式出现故障的情况下，将电机控制的模式切换为无感控制模式，从而避免因传感器出现故障而导致电机控制失误带来的灾难性后果。

Description

一种电机控制模式故障检测方法及装置
本申请要求于2017年07月21日提交中国专利局、申请号为201710600189.1、申请名称为“一种电机控制模式故障检测方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电机控制技术领域，具体涉及一种电机控制模式故障检测方法及装置。
背景技术
电机设备，尤其是应用于无人飞行器(特别是行业无人机)中的电机，其运行的安全可靠性显得至关重要。对于电机控制而言，采用有感控制模式，即，有传感器(采用磁编码、线性/开关霍尔等)的方式来获取转速和位置信息。但是，如果传感器出现问题，那么对于电机控制而言是灾难性的，整机必将出现炸机。因此，如何检测电机的有感控制模式是否出现故障显得尤为重要。
因此，如何在有感控制模式下使用的传感器出现故障时，有效地对故障情况进行检测和判断，并及时将电机控制由当前所采用的有感控制模式切换为无感控制模式，是亟待解决的一个难题。
发明内容
本申请实施例的主要目的在于提供一种电机控制模式故障检测方法及 装置，从而在传感器出现故障时，能够及时有效地对电机的故障情况进行检测和判断。
为了实现上述目的，本申请实施例提供一种电机控制模式故障检测方法，该方法包括：
获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算所述第一转速n s与所述第二转速n sl之间的相对误差Δn；
判断所述相对误差Δn的绝对值是否大于预设阈值；
当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常；
当所述相对误差Δn的绝对值小于或等于所述预设阈值时，则判定所述有感控制模式正常。
进一步地，所述相对误差
Figure PCTCN2018079842-appb-000001
进一步地，所述当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常，进一步包括：
判断所述第一转速n s是否大于所述第二转速n sl；
当所述第一转速n s大于所述第二转速n sl时，根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否大于所述电机的实际功率，当所述输入理论功率大于所述实际功率时，则判定所述有感控制模式异常；
当所述第一转速n s小于所述第二转速n sl时，根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否小于所述电机的实际功 率，当所述输入理论功率小于所述实际功率时，则判定所述有感控制模式异常。
进一步地，所述的电机控制模式故障检测方法还包括：
当判定所述有感控制模式异常时，将电机控制模式从所述有感控制模式切换至所述无感控制模式；
当判定所述有感控制模式正常时，继续使用所述有感控制模式。
进一步地，所述预设阈值的取值为5％～10％。
本申请实施例还提供一种电机控制模式故障检测装置，该装置包括：
相对误差获取单元，用于获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算所述第一转速n s与所述第二转速n sl之间的相对误差Δn；
误差判断单元，用于判断所述相对误差Δn的绝对值是否大于预设阈值；
异常模式判定单元，用于当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常；当所述相对误差Δn的绝对值小于或等于所述预设阈值时，判定所述有感控制模式正常。
进一步地，所述相对误差
Figure PCTCN2018079842-appb-000002
进一步地，所述异常模式判定单元进一步包括：转速判断模块、第一功率判断模块和第二功率判断模块，所述异常模式判定单元当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常，进一步包括：
转速判断模块判断所述第一转速n s是否大于所述第二转速n sl；
当所述第一转速n s大于所述第二转速n sl时，所述第一功率判断模块根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否大于所述电机的实际功率，当所述输入理论功率大于所述实际功率时，所述异常模式判定单元判定所述有感控制模式异常；
当所述第一转速n s小于所述第二转速n sl时，所述第二功率判断模块根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否小于所述电机的实际功率，当所述输入理论功率小于所述实际功率时，所述异常模式判定单元判定所述有感控制模式异常。
进一步地，所述的电机控制模式故障检测装置还包括：
控制模式切换单元，用于当判定所述有感控制模式异常时，将电机控制模式从所述有感控制模式切换至所述无感控制模式；当判定所述有感控制模式正常时，继续使用所述有感控制模式。
进一步地，所述预设阈值的取值为5％～10％。
本申请实施例还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上所述的电机控制模式故障检测方法的步骤。
本申请实施例还提供一种电机控制模式故障检测组件，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述的电机控制模式故障检测方法的步骤。
本申请实施例的有益效果在于，基于电机在有感控制模式和无感控制模式下的转速进行初步判断传感器是否故障，并结合输入理论功率与实际 功率做进一步判断，从而提高了对电机控制模式故障检测的准确度，能够更加及时有效地在有感控制模式出现故障的情况下，将电机控制的模式切换为无感控制模式，从而避免因传感器出现故障而导致电机控制失误带来的灾难性后果。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例中电机控制模式故障检测方法的一个具体示例的流程图；
图2为本申请实施例中预先拟合生成的油门-输入理论功率关系式的一个具体示例的流程图；
图3为本申请实施例中油门-输入理论功率关系拟合曲线的一个具体示例的示意图；
图4为本申请实施例中电机控制模式故障检测装置的一个具体示例的结构示意图；
图5示出本申请另一实施例中电机控制模式故障检测装置的异常模式判定单元3进一步所包括的模块；
图6A及图6B为本申请实施例中电机控制模式故障检测组件的一个具体示例的结构示意图。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
实施例1
本申请实施例提供一种电机控制模式故障检测方法，如图1所示，该电机控制模式故障检测方法主要包括以下步骤：
步骤S1：获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算第一转速n s与第二转速n sl之间的相对误差Δn；
步骤S2：判断相对误差Δn的绝对值是否大于预设阈值；
步骤S3：当相对误差Δn的绝对值大于所述预设阈值时，判定电机的有 感控制模式异常；当相对误差Δn的绝对值小于或等于所述预设阈值时，则判定电机的有感控制模式正常。
通过上述的步骤S1至步骤S3，本申请实施例的电机控制模式故障检测方法，基于电机在有感控制模式和无感控制模式下的转速进行初步判断传感器是否正常，可更加及时准确地判断有感控制模式是否出现故障。
以下结合具体示例，对本申请实施例的电机控制模式故障检测方法中的各个步骤做详细说明。
上述的步骤S1，获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算第一转速n s与第二转速n sl之间的相对误差Δn。
在实际应用中，电机控制中，可采用有感控制模式计算转子的转速，即，通过传感器(例如：线性霍尔等)采样并经过计算得到转子的转速及位置(有感控制模式下的第一转速n s)。同时，在电机控制中，也可采用无感控制模式计算转子的转速，例如是利用检测该电机各相的反电动势来计算转子的转速(无感控制模式下的第二转速n sl)。
在获取到有感控制模式下的第一转速n s及无感控制模式下的第二转速n sl后，可通过以下公式(1)求取该第一转速n s及第二转速n sl的相对误差Δn：
Figure PCTCN2018079842-appb-000003
其中，n s为有感控制模式的第一转速，n sl为无感控制模式的第二转速。
上述步骤S2，判断相对误差Δn的绝对值是否大于预设阈值，上述的步骤S3，当相对误差Δn的绝对值大于预设阈值时，判定电机的有感控制模式异常；当相对误差Δn的绝对值小于或等于所述预设阈值时，则判定电机的有感控制模式正常。
具体地，则是判断经过上述步骤S1计算得到的相对误差Δn的绝对值|Δn|与一预设阈值的大小。若|Δn|小于或等于该预设阈值，则说明电机控制当前所采用的有感控制模式未出现异常；若|Δn|大于该预设阈值时，则说明电机在有感控制模式下的转速与无感控制模式下分别获取的转速之间的差距较大，则可初步判定电机的有感控制模式异常。
在一较佳实施例中，该预设阈值可为5％～10％中的任意数值，例如，当该预设阈值为5％时，若|Δn|≤5％，则可判定电机控制当前所采用的有感控制模式未出现异常，若|Δn|>5％，则可初步判定电机的有感控制模式异常；或者该预设阈值为7％时，若|Δn|≤7％，则可判定电机当前所采用的有感控制模式正常，若|Δn|>7％，则可初步判定电机的有感控制模式异常。但上述预设阈值的取值仅为举例说明，并非用以限制本申请。
在一较佳实施例中，若上述步骤S2中判断第一转速n s与第二转速n sl的相对误差Δn的绝对值大于该预设阈值，则是初步判定电机的有感控制模式异常。此时，进一步执行另一检测过程，进一步确定该电机的有感控制模式是否确实出现故障。应理解的是，若上述步骤S2中判断第一转速n s与第二转速n sl的相对误差Δn的绝对值小于或等于上述的预设阈值，则说明电机在有感控制模式下的转速与无感控制模式下分别获取的转速之间的差 距不够大，因此不能够通过此判定结果得出有感控制模式是否出现异常，此时，仍然判定有感控制模式处于正常状态。
在上述的步骤S3中，“当相对误差Δn的绝对值大于预设阈值时，判定电机的有感控制模式异常”的步骤进一步包括以下步骤：
首先，判断上述的第一转速n s是否大于第二转速n sl。
当第一转速n s大于第二转速n sl时，根据当前油门值计算对应的输入理论功率，判断该输入理论功率是否大于电机的实际功率，当该输入理论功率大于电机的实际功率时，则判定电机的有感控制模式异常。
当第一转速n s小于第二转速n sl时，根据当前油门值计算对应的输入理论功率，判断该输入理论功率是否小于电机的实际功率，当该输入理论功率小于电机的实际功率时，则判定电机的有感控制模式异常。
在本申请实施例中，当第一转速n s大于第二转速n sl时，根据当前油门值计算对应的输入理论功率，是将当前油门值输入至一预先拟合生成的油门-输入理论功率关系式计算该输入理论功率。
如图2所示，预先拟合生成油门-输入理论功率关系式的过程主要包括以下步骤：
步骤S201，获取电机在不同油门下的直流侧输入功率。
在不同油门下直流侧输入功率与油门的对应关系如下表1所示。
表1
Figure PCTCN2018079842-appb-000004
Figure PCTCN2018079842-appb-000005
步骤S202，根据不同油门对应的直流侧输入功率拟合生成油门-输入理论功率关系式。
在本申请实施例中，上述表1所示出的数据仅为举例说明，实际采样的数据的数量可根据需要进行调整。对于采样获得的不同油门对应的直流侧输入功率值，进行拟合，生成油门-输入理论功率关系式。
从表1可知，序号一共有13行。分别取点1和3、3和5、……依次递推至11和13，构建6条曲线。以序号中第1行数据和第3行数据为例说明，其余曲线类似。通过公式(2)进行拟合：
y(1)＝ax(1)+b，                            (2)
其中，
Figure PCTCN2018079842-appb-000006
b＝y 3-ax 3，x为油门值，y为油门值x对应的直流侧输入功率，角标为x、y对应的序号。
通过上述过程拟合后得到的曲线如图3中的点划线所示，并将拟合后的曲线的值输入到表1中，得到“拟合与真实数据误差”。通过对结果分析可知，误差可以控制在5％以内。
对于步骤S201及步骤S202预先拟合生成的油门-输入理论功率关系式，可将当前油门值输入该关系式，计算当前油门值所对应的输入理论功率。
然后，判断输入理论功率是否大于该电机的实际功率，当输入理论功率大于该实际功率时，则可判定电机的有感控制模式出现故障。
类似地，在本申请实施例中，当第一转速n s小于第二转速n sl时，根据当前油门值计算对应的输入理论功率。在本申请实施例中，根据当前油门值计算对应的输入理论功率，是将当前油门值输入至一预先拟合生成的油门-输入理论功率关系式(上述公式(2))计算该输入理论功率。
然后，判断输入理论功率是否小于该电机的实际功率，当输入理论功率小于该实际功率时，则可判定电机的有感控制模式出现故障。
以下通过一实例对上述判定过程做详细说明。
当在步骤S3中初步判定电机的有感控制模式异常，则根据不同的情况做进一步分析判断。
在此实施例中，是以该预设阈值为5％为例，但该数值仅为举例说明，而并非用以限制本申请。
当|Δn|>5％时，可包含两种情况：(一)Δn>5％，(二)Δn<-5％。
对于上述第(一)种情况，当Δn>5％时，Δn为正值，即第一转速n s大于第二转速n sl(n s>n sl)。此时，将当前油门x i代入上述公式(2)拟合得到输入理论功率(P ref)，然后通过电路上自带直流电压(U)及母线电流测量信号(I)计算实际功率(P，P＝UI)。然后，比较该输入理论功率P ref及 实际功率P的大小关系。若P ref>P，则进一步验证传感器输出值存在变大的异常，电机的有感控制模式出现故障。这是因为，功率与转速呈正相关关系。在该进一步验证的过程中，假设此时n sl的值均是准确的，只有n s因为有感控制模式的故障而存在偏高或偏低的情况，只有当同时满足Δn>5％且P ref>P，即n s>n sl且P ref>P，才满足了功率与转速呈正相关的关系，才能充分说明电机的有感控制模式的确出现了故障。
应理解的是，对于上述第(一)种情况，当Δn>5％时，若P ref<P，则表明通过该进一步验证的过程，不能判定有感控制模式已失效。当然，并不表明确定有感控制模式未出现故障，此时，有感控制模式可能已经出现故障，也可能是正常的，只是该进一步验证的过程只能判断在Δn>5％且P ref>P时有感控制模式一定是出现故障的，但却无法判断Δn>5％且P ref<P时有感控制模式就一定没有出现故障。
对于上述第(二)种情况，当Δn<-5％时，Δn为负值，即第一转速n s小于第二转速n sl(n s<n sl)。此时，将当前油门x i代入上述公式(2)拟合得到输入理论功率(P ref)，然后通过电路上自带直流电压(U)及母线电流测量信号(I)计算实际功率(P，P＝UI)。然后，比较该输入理论功率P ref及实际功率P的大小关系。若P ref<P，则进一步验证传感器输出值存在变小的异常，电机的有感控制模式出现故障。这是因为，功率与转速呈正相关关系。在该进一步验证的过程中，假设此时n sl的值均是准确的，只有n s因为有感控制模式的故障而存在偏高或偏低的情况，只有当同时满足Δn<5％且P ref<P，即n s<n sl且P ref<P，才满足了功率与转速呈正相关的关系，才能充分说明电机的有感控制模式的确出现了故障。
应理解的是，对于上述第(二)种情况，当Δn<5％时，若P ref>P，则表明通过该进一步验证的过程，不能判定有感控制模式已失效。当然，并不表明确定有感控制模式未出现故障，此时，有感控制模式可能已经出现故障，也可能是正常的，只是该进一步验证的过程只能判断在Δn<5％且P ref<P时有感控制模式一定是出现故障的，但却无法判断Δn<5％且P ref>P时有感控制模式就一定没有出现故障。
在一较佳实施例中，本申请实施例的电机控制模式故障检测方法还包含一控制模式切换步骤。
在通过上述过程判定电机的有感控制模式异常时，通过该控制模式切换步骤，将电机控制模式由有感控制模式切换至无感控制模式。
通过本申请实施例的电机控制模式故障检测方法，能够提高对电机控制模式故障检测的准确度，从而及时应对有感控制模式可能出现的故障情况，将电机切换到无感状态，使得电机控制能够有效继续进行，从而避免电机在有感控制模式出现故障后继续进行在该模式下可能导致的机器烧毁等灾难性后果。
实施例2
本申请实施例提供一种电机控制模式故障检测装置，如图4所示，该电机控制模式故障检测装置主要包括：相对误差获取单元1、误差判断单元2及异常模式判定单元3等。
其中，上述的相对误差获取单元1用于获取电机在当前油门下有感控 制模式的第一转速n s及无感控制模式的第二转速n sl，并计算第一转速n s与第二转速n sl之间的相对误差Δn；误差判断单元2用于判断相对误差Δn的绝对值是否大于预设阈值；异常模式判定单元3用于当相对误差Δn的绝对值大于所述预设阈值时，判定电机的有感控制模式异常；当相对误差Δn的绝对值小于或等于预设阈值时，判定电机的有感控制模式正常。
通过上述的各个组成部分之间的协同工作，本申请实施例的电机控制模式故障检测装置，能够基于电机在有感控制模式和无感控制模式下的转速进行初步判断传感器是否正常，可更加及时准确地判断有感控制模式是否出现故障。
以下结合具体示例，对本申请实施例的电机控制模式故障检测装置中的各个组成部分及其功能做详细说明。
上述的相对误差获取单元1，用于获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算第一转速n s与第二转速n sl之间的相对误差Δn。
在实际应用中，电机控制正常进行过程中，可通过传感器(例如：线性霍尔等)采样并经过计算得到转子的转速及位置(有感控制模式下的第一转速n s)。同时，在进行电机控制时，也可采用无感控制模式计算转子的转速，例如是利用检测该电机各相的反电动势来计算转子的转速(无感控制模式下的第二转速n sl)。
在获取到有感控制模式下的第一转速n s及无感控制模式下的第二转速n sl后，可通过以下公式(1)求取该第一转速n s及第二转速n sl的相对误差 Δn：
Figure PCTCN2018079842-appb-000007
其中，n s为有感控制模式的第一转速，n sl为无感控制模式的第二转速。
上述误差判断单元2，用于判断相对误差Δn的绝对值是否大于预设阈值；上述的异常模式判定单元3，用于当相对误差Δn的绝对值大于预设阈值时，判定电机的有感控制模式异常；当相对误差Δn的绝对值小于或等于预设阈值时，判定电机的有感控制模式正常。
具体地，则是判断通过上述相对误差获取单元1计算得到的相对误差Δn的绝对值|Δn|与一预设阈值的大小。若|Δn|小于或等于该预设阈值，则说明电机控制所采用的有感控制模式未出现异常；若|Δn|大于该预设阈值时，则说明电机控制所采用的有感控制模式下的转速与无感控制模式下的转速之间的差距较大，则可初步判定电机的有感控制模式异常。
在一较佳实施例中，该预设阈值可为5％～10％中的任意数值，例如，当该预设阈值为5％时，若|Δn|≤5％，则可判定电机控制所采用的有感控制模式未出现异常，若|Δn|>5％，则可初步判定电机的有感控制模式异常；或者该预设阈值为7％时，若|Δn|≤7％，则可判定电机控制所采用的有感控制模式未出现异常，若|Δn|>7％，则可初步判定电机的有感控制模式异常。但上述预设阈值的取值仅为举例说明，并非用以限制本申请。
在一较佳实施例中，若上述误差判断单元2判断第一转速n s与第二转速n sl的相对误差Δn的绝对值大于该预设阈值，则是初步判定电机的有感控制模式异常。此时，可进一步执行另一检测过程，进一步确定该电机的有 感控制模式是否确实出现故障。应理解的是，若误差判断单元2判断第一转速n s与第二转速n sl的相对误差Δn的绝对值小于或等于上述的预设阈值，则说明电机在有感控制模式下的转速与无感控制模式下分别获取的转速之间的差距不够大，因此不能够通过此判定结果得出有感控制模式是否出现异常，此时，仍然判定有感控制模式处于正常状态。
在一较佳实施例中，若上述误差判断单元2判断第一转速n s与第二转速n sl的相对误差Δn的绝对值大于该预设阈值，则是初步判定电机的有感控制模式异常。此时，可进一步执行另一检测过程，进一步确定该电机的有感控制模式是否确实出现故障。如下将具体描述。
如图5所示，异常模式判定单元3转速判断模块4、第一功率判断模块5和第二功率判断模块6。异常模式判定单元3在当相对误差Δn的绝对值大于预设阈值时，初步判定有感控制模式异常后，进一步执行以下步骤：。
首先，通过转速判断模块4判断上述的第一转速n s是否大于第二转速n sl。
当第一转速n s大于第二转速n sl时，第一功率判断模块5根据当前油门值计算对应的输入理论功率，判断该输入理论功率是否大于电机的实际功率，当该输入理论功率大于电机的实际功率时，则异常模式判定单元3判定电机的有感控制模式异常。
当第一转速n s小于第二转速n sl时，第二功率判断模块6根据当前油门值计算对应的输入理论功率，判断该输入理论功率是否小于电机的实际功率，当该输入理论功率小于电机的实际功率时，则异常模式判定单元3判定电机的有感控制模式异常。
在本申请实施例中，当转速判断模块4判断第一转速n s大于第二转速n sl时，根据当前油门值计算对应的输入理论功率，是将当前油门值输入至一预先拟合生成的油门-输入理论功率关系式(上述公式(2))计算该输入理论功率。
，类似地，在本申请实施例中，当转速判断模块4判断第一转速n s小于第二转速n sl时，第二功率判断模块6根据当前油门值计算对应的输入理论功率。在本申请实施例中，根据当前油门值计算对应的输入理论功率，是将当前油门值输入至一预先拟合生成的油门-输入理论功率关系式(上述公式(2))计算该输入理论功率。
然后，第二功率判断模块6判断输入理论功率是否小于该电机的实际功率。
在一较佳实施例中，如图5所示，本申请实施例的电机控制模式故障检测装置还包含一控制模式切换单元9。在通过上述过程判定电机的有感控制模式异常时，通过该控制模式切换单元9，将电机控制模式由有感控制模式切换至无感控制模式。
需要说明的是，由于本申请实施例中的装置实施例与方法实施例基于相同的发明构思，方法实施例中的技术内容同样适用于装置实施例，因此，装置实施例中与方法实施例相同的更细节的技术内容在此不再赘述。
通过本申请实施例的电机控制模式故障检测装置，能够提高对电机有感控制模式运行情况的故障检测准确度，从而及时应对有感控制模式可能出现的故障情况，将电机切换到无感状态，使得电机能够有效继续运行， 从而避免电机在有感控制模式出现故障后继续运行在该模式下可能导致的机器烧毁等灾难性后果。
实施例3
图6A及图6B是本申请实施例提供的执行电机控制模式故障检测方法的电机控制模式故障检测组件的硬件结构示意图，如图6A及图6B所示，该电机控制模式故障检测组件包括一个或多个处理器610以及存储器620，图6A及图6B中以一个处理器610为例。
执行电机控制模式故障检测方法的电机控制模式故障检测组件还可以包括：输入装置630和输出装置640。
处理器610、存储器620、输入装置630和输出装置640可以通过总线或者其他方式连接，图6A及图6B中以通过总线连接为例。
处理器610可以为中央处理器(Central Processing Unit，CPU)。处理器610还可以为其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器620作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本申请实施例中的电机 控制模式故障检测方法对应的程序指令/模块(例如，图4所示的相对误差获取单元1、误差判断单元2及异常模式判定单元3)。处理器610通过运行存储在存储器620中的非暂态软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例的电机控制模式故障检测方法。
存储器620可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据电机控制模式故障检测装置的使用所创建的数据等。此外，存储器620可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器620可选包括相对于处理器610远程设置的存储器，这些远程存储器可以通过网络连接至列表项操作的处理装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置630可接收输入的数字或字符信息，以及产生与电机控制模式故障检测装置的用户设置以及功能控制有关的键信号输入。输出装置640可包括显示屏等显示设备。
所述一个或者多个模块存储在所述存储器620中，当被所述一个或者多个处理器610执行时，执行上述方法实施例的电机控制模式故障检测方法。
实施例4
本申请实施例还提供了一种非暂态计算机存储介质，该非暂态计算机存储介质存储有计算机可执行计算机程序，该计算机可执行计算机程序可执行上述任意方法实施例中的电机控制模式故障检测方法。其中，所述存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random Access Memory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive，SSD)等；所述存储介质还可以包括上述种类的存储器的组合。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本申请创造的保护范围之中。

Claims (12)

  1. 一种电机控制模式故障检测方法，其特征在于，所述方法包括：
    获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算所述第一转速n s与所述第二转速n sl之间的相对误差Δn；
    判断所述相对误差Δn的绝对值是否大于预设阈值；
    当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常；
    当所述相对误差Δn的绝对值小于或等于所述预设阈值时，则判定所述有感控制模式正常。
  2. 根据权利要求1所述的电机控制模式故障检测方法，其特征在于，所述相对误差
    Figure PCTCN2018079842-appb-100001
  3. 根据权利要求1或2所述的电机控制模式故障检测方法，其特征在于，所述当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常，进一步包括：
    判断所述第一转速n s是否大于所述第二转速n sl；
    当所述第一转速n s大于所述第二转速n sl时，根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否大于所述电机的实际功率，当所述输入理论功率大于所述实际功率时，则判定所述有感控制模式异常；
    当所述第一转速n s小于所述第二转速n sl时，根据当前油门值计算 对应的输入理论功率，判断所述输入理论功率是否小于所述电机的实际功率，当所述输入理论功率小于所述实际功率时，则判定所述有感控制模式异常。
  4. 根据权利要求1至3中任一项所述的电机控制模式故障检测方法，其特征在于，所述的电机控制模式故障检测方法还包括：
    当判定所述有感控制模式异常时，将电机控制模式从所述有感控制模式切换至所述无感控制模式；
    当判定所述有感控制模式正常时，继续使用所述有感控制模式。
  5. 根据权利要求1至4中任一项所述的电机控制模式故障检测方法，其特征在于，所述预设阈值的取值为5％～10％。
  6. 一种电机控制模式故障检测装置，其特征在于，所述装置包括：
    相对误差获取单元，用于获取电机在当前油门下有感控制模式的第一转速n s及无感控制模式的第二转速n sl，并计算所述第一转速n s与所述第二转速n sl之间的相对误差Δn；
    误差判断单元，用于判断所述相对误差Δn的绝对值是否大于预设阈值；
    异常模式判定单元，用于当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常；当所述相对误差Δn的绝对值小于或等于所述预设阈值时，判定所述有感控制模式正常。
  7. 根据权利要求6所述的电机控制模式故障检测方法，其特征在于，所述相对误差
    Figure PCTCN2018079842-appb-100002
  8. 根据权利要求6或7所述的电机控制模式故障检测装置，其特征在 于，所述异常模式判定单元进一步包括：转速判断模块、第一功率判断模块和第二功率判断模块，所述异常模式判定单元当所述相对误差Δn的绝对值大于所述预设阈值时，判定所述有感控制模式异常，进一步包括：
    转速判断模块判断所述第一转速n s是否大于所述第二转速n sl；
    当所述第一转速n s大于所述第二转速n sl时，所述第一功率判断模块根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否大于所述电机的实际功率，当所述输入理论功率大于所述实际功率时，所述异常模式判定单元判定所述有感控制模式异常；
    当所述第一转速n s小于所述第二转速n sl时，所述第二功率判断模块根据当前油门值计算对应的输入理论功率，判断所述输入理论功率是否小于所述电机的实际功率，当所述输入理论功率小于所述实际功率时，所述异常模式判定单元判定所述有感控制模式异常。
  9. 根据权利要求6至8中任一项所述的电机控制模式故障检测装置，其特征在于，还包括：
    控制模式切换单元，用于当判定所述有感控制模式异常时，将电机控制模式从所述有感控制模式切换至所述无感控制模式；当判定所述有感控制模式正常时，继续使用所述有感控制模式。
  10. 根据权利要求6至9中任一项所述的电机控制模式故障检测装置，其特征在于，所述预设阈值的取值为5％～10％。
  11. 一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-5中任一项所述的电机控制模式故障检测方法的步骤。
  12. 一种电机控制模式故障检测组件，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1-5中任一项所述的电机控制模式故障检测方法的步骤。
PCT/CN2018/079842 2017-07-21 2018-03-21 一种电机控制模式故障检测方法及装置 Ceased WO2019015350A1 (zh)

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