WO2019015350A1 - Procédé et dispositif de détection de défaillance de mode de commande de moteur - Google Patents

Procédé et dispositif de détection de défaillance de mode de commande de moteur 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)
Chinese (zh)
Inventor
陈毅东
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深圳市道通智能航空技术有限公司
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Publication of WO2019015350A1 publication Critical patent/WO2019015350A1/fr

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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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de détection de défaillance de mode de commande de moteur, ledit procédé consistant : à acquérir une première vitesse de rotation ns d'un moteur dans un mode de commande de détection sous un accélérateur de courant, et une seconde vitesse de rotation nsl dans un mode de commande de non-détection, et à calculer une erreur relative Δn entre la première vitesse de rotation ns et la seconde vitesse de rotation nsl (S1) ; à déterminer si la valeur absolue de l'erreur relative Δn est supérieure ou non à une valeur seuil prédéfinie (S2) ; si tel est le cas, à établir que le mode de commande de détection est anormal ; et si tel n'est pas le cas, à établir que le mode de commande de détection est normal (S3). Ainsi, la précision de détection de défaillance de mode de commande de moteur peut être améliorée, et quand une défaillance se produit dans le mode de commande de détection, un mode de commande de moteur peut être rapidement et efficacement commuté vers un mode de commande de non-détection, ce qui permet d'éviter les conséquences catastrophiques d'une défaillance de commande de moteur engendrées par un capteur subissant une défaillance.
PCT/CN2018/079842 2017-07-21 2018-03-21 Procédé et dispositif de détection de défaillance de mode de commande de moteur WO2019015350A1 (fr)

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CN113472254B (zh) * 2021-08-06 2023-11-03 北京航空航天大学宁波创新研究院 集成测试优化方法的电子油泵电机控制方法和系统
CN115931036B (zh) * 2023-03-09 2023-06-27 深圳市好盈科技股份有限公司 一种磁编码器故障检测方法、装置、电子设备和存储介质

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