WO2023284613A1 - Wiring test method and apparatus for electric driving system, and electric motor control system - Google Patents

Wiring test method and apparatus for electric driving system, and electric motor control system Download PDF

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Publication number
WO2023284613A1
WO2023284613A1 PCT/CN2022/104205 CN2022104205W WO2023284613A1 WO 2023284613 A1 WO2023284613 A1 WO 2023284613A1 CN 2022104205 W CN2022104205 W CN 2022104205W WO 2023284613 A1 WO2023284613 A1 WO 2023284613A1
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WIPO (PCT)
Prior art keywords
phase
motor
current
current sensor
reference voltage
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PCT/CN2022/104205
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French (fr)
Chinese (zh)
Inventor
潘忠亮
李岩
李健
李帅
李伟亮
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中国第一汽车股份有限公司
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Application filed by 中国第一汽车股份有限公司 filed Critical 中国第一汽车股份有限公司
Publication of WO2023284613A1 publication Critical patent/WO2023284613A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/18—Indicating phase sequence; Indicating synchronism

Definitions

  • the embodiments of the present application relate to the technical field of phase sequence detection of permanent magnet synchronous motors, for example, to a connection detection method and device of an electric drive system, and a motor control system.
  • Permanent magnet synchronous motors have the advantages of simple structure, small size, high efficiency, high power factor, and good torque control performance, and have been widely used in new energy vehicles.
  • the permanent magnet synchronous motor in the related art is driven by the rotor field-oriented vector control method, and the structural diagram of its control system is shown in Figure 1.
  • the torque-current conversion module 110 is used according to the torque Te outputs the current under the rotating coordinate system (i.e., the q-axis current Iq and the d-axis current Id) to the current controller 120, and the current controller 120 outputs Uq and Ud to the coordinate transformation module 130 according to Iq and Id respectively, and through the coordinate transformation module 130
  • the voltage in the rotating coordinate system ie, the q-axis voltage Uq and the d-axis voltage Ud
  • the stationary coordinate system ie, the ⁇ -axis voltage U ⁇ and the ⁇ -axis voltage U ⁇
  • the modulation circuit 140 adjusts the pulse width of U ⁇ and U ⁇ , and outputs a three-phase voltage signal to the input terminal of the motor 160 through the three-phase inverter 150 according to U ⁇ and U ⁇ of the adjusted pulse width
  • the current sensor 170 collects the three-phase current output by the motor
  • the power line of the three-phase inverter has three-phase wiring of U, V, and W
  • the input line and output line of the permanent magnet synchronous motor have three-phase wiring of A, B, and C
  • the input wiring of the current sensor has A, B , C three-phase wiring
  • the power lines (U, V, W) of the three-phase inverter and the input lines (A, B, C) of the permanent magnet synchronous motor must be connected in a certain phase sequence, and the permanent magnet synchronous
  • the output wires (A, B, C) of the motor and the input wires (A, B, C) of the current sensor must be connected according to a certain phase sequence, so that the motor can run normally.
  • the U-phase power line of the three-phase inverter is electrically connected to the A-phase input line of the motor, the V-phase power line is electrically connected to the B-phase input line of the motor, and the W-phase power line is electrically connected to the C-phase input line of the motor.
  • the A-phase input wire of the current sensor is electrically connected to the A-phase output wire of the motor, the B-phase input wire is electrically connected to the B-phase output wire of the motor, and the C-phase input wire is electrically connected to the C-phase output wire of the motor.
  • the present application provides a wiring detection method and device of an electric drive system, and a motor control system.
  • an embodiment of the present application provides a wiring detection method for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor that are electrically connected in sequence, including:
  • the ⁇ -axis reference voltage U ⁇ determines the relationship between the three-phase inverter and the motor Wiring status between three-phase input terminals
  • the embodiment of the present application also provides a wiring detection device for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor electrically connected in sequence, including:
  • the first information acquisition module is configured to provide the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information and the first position information of the rotor in the motor.
  • the second information acquisition module is configured to provide the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the second position information of the rotor in the motor and the second current signal output by the current sensor;
  • the first connection state determination module is configured to determine the three The wiring state between the phase inverter and the three-phase input terminal of the motor;
  • the second connection state determination module is configured to be based on the ⁇ -axis reference voltage U ⁇ and the first current signal output by the current sensor, or according to the ⁇ -axis reference voltage U ⁇ and the second current signal output by the current sensor At least one type of the three-phase output terminal of the motor and the connection state of the current sensor are determined.
  • the embodiment of the present application also provides a motor control system, including an electric drive system and a controller; the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor electrically connected in sequence ;
  • the controller is configured to execute the above-mentioned wiring detection method of the electric drive system.
  • Fig. 1 is a structural schematic diagram of a permanent magnet synchronous motor control system in the related art
  • Fig. 2 is a schematic structural diagram of an electric drive system provided by an embodiment of the present application.
  • FIG. 3 is a flow chart of a wiring detection method for an electric drive system provided in an embodiment of the present application
  • Fig. 4 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application.
  • Fig. 5 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application.
  • Fig. 6 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application.
  • Fig. 7 is a flow chart of another wiring detection method for an electric drive system provided by an embodiment of the present application.
  • Fig. 8 is a flow chart of another wiring detection method for an electric drive system provided by an embodiment of the present application.
  • Fig. 9 is a schematic structural diagram of a wiring detection device for an electric drive system provided in an embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of another connection detection device for an electric drive system provided by an embodiment of the present application.
  • the embodiment of the present application provides a wiring detection method for an electric drive system, which can detect the connection between the three-phase inverter and the motor, as well as the connection between the motor and the current sensor.
  • the connection detection device of the system is implemented.
  • the connection detection device of the electric drive system is implemented by software and/or hardware.
  • the connection detection device of the electric drive system can be integrated into the motor control system provided in the embodiment of the present application.
  • Fig. 2 is a schematic structural diagram of an electric drive system provided by an embodiment of the present application.
  • the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor electrically connected in sequence.
  • Fig. 3 is a flow chart of a wiring detection method of an electric drive system provided in an embodiment of the present application. As shown in Fig. 3, the wiring detection method of the electric drive system includes:
  • the open-loop control method is used to detect the wiring of the electric drive system, and directly provide the reference voltage in the static coordinate system (that is, the coordinate system composed of ⁇ -axis and ⁇ -axis) to the electric drive system.
  • the phase sequence of the power line of the three-phase inverter 220 and the input line of the motor 230 are connected correctly, when the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ are respectively input to the motor 230, the rotor of the motor 230 will operate under the two reference voltages.
  • the rotation angle difference is a fixed value; when the phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 is correct, the three-phase output current of the current sensor 240 has a corresponding relationship with U ⁇ or U ⁇ , so it can be passed to the electric drive system Respectively input the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ , and detect the phase sequence connection between the power line of the three-phase inverter 220 and the input line of the motor 230 by detecting the positional relationship of the rotor of the motor 230 under the two reference voltages, and The phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 is detected by detecting the output current of the current sensor 240 under the ⁇ -axis reference voltage U ⁇ and/or the ⁇ -axis reference voltage U ⁇ .
  • the ⁇ -axis reference voltage U ⁇ is provided to the pulse width modulation circuit 210, and the pulse width modulation circuit 210 performs pulse width modulation on the ⁇ -axis reference voltage U ⁇ and transmits the pulse-width-modulated signal to the three-phase inverter 220 for
  • the three-phase inverter 220 provides the DC bus voltage Udc, the three-phase inverter 220 is turned on and outputs an AC signal to the motor 230 according to the pulse width modulated signal, and the three-phase current signal output by the motor 230 is collected and output by the current sensor 240, At this time, the first position information of the rotor in the motor 230 under the ⁇ -axis reference voltage U ⁇ and the first current signal output by the current sensor 240 are acquired.
  • the state of the motor is returned to the initial position, and then the ⁇ -axis reference voltage U ⁇ is provided to the pulse width modulation circuit 210, and the pulse width modulation circuit 210 controls the pulse width of the ⁇ -axis reference voltage U ⁇ modulate and transmit the pulse width modulated signal to the three-phase inverter 220, and provide the DC bus voltage Udc to the three-phase inverter 220, and the three-phase inverter 220 is turned on and outputs an AC signal according to the pulse width modulated signal to The motor 230, the three-phase current signal output by the motor 230 is collected and output by the current sensor 240, at this time, the second position information of the rotor in the motor 230 under the ⁇ -axis reference voltage U ⁇ and the second current signal output by the current sensor 240 are obtained.
  • the relationship between the first position information and the second position information of the rotor in the motor 230 satisfies the relationship with the known ⁇ -axis reference voltage U ⁇ and ⁇ -axis reference voltage U ⁇ If the relationship between the three-phase inverter and the three-phase input terminal of the motor is correct, if the relationship between the first position information and the second position information does not satisfy the known ⁇ -axis reference voltage U ⁇ , ⁇ According to the relationship corresponding to the axis reference voltage U ⁇ , it is determined that the phase sequence of the wiring between the three-phase inverter and the three-phase input end of the motor is wrong.
  • the value of the first current signal output by the current sensor is the value corresponding to the ⁇ -axis reference voltage U ⁇ under the known ⁇ -axis reference voltage U ⁇
  • determine the phase sequence of the three-phase output terminal of the motor and the current sensor Correct if any of the above conditions are not met, then it is determined that the phase sequence of the wiring between the three-phase output terminal of the motor and the current sensor is wrong.
  • the wiring detection method of the electric drive system provided by the embodiment of the present application firstly provides the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtains the rotor in the motor under this reference voltage
  • the first position information and the first current signal output by the current sensor provide the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter again after the motor state is in the initial state, and refer to Under voltage
  • the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained, and according to the ⁇ -axis reference voltage U ⁇ , the ⁇ -axis reference voltage U ⁇ , and the first and second position information of the rotor in the motor, it can be detected
  • connection detection method can simultaneously detect the connection state of the three-phase inverter and the motor and the connection state of the motor and the current sensor through the respectively provided ⁇ -axis reference voltage U ⁇ and ⁇ -axis reference voltage U ⁇ , which is effective and simple, easy to implement, and capable of Effectively avoid the situation that the motor cannot work normally or damage the system components due to wrong wiring.
  • the first position information includes the first electrical angle of the motor rotor
  • the second position information includes the second electrical angle of the motor rotor
  • FIG. 4 is another wiring detection of the electric drive system provided by the embodiment of the present application
  • the flowchart of the method, as shown in Figure 4, the wiring detection method includes:
  • n is a coefficient related to the electromagnetic coefficient of the motor on the ⁇ axis.
  • the three-phase power lines (U, V, W) of the three-phase inverter and the motor When the phase sequence of the three-phase input wiring (A, B, C) is connected correctly, if the ⁇ -axis reference voltage U ⁇ and ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit are both positive and the torque generated by the motor rotor is equal, For example Or the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ are both negative and the torque generated by the motor rotor is equal, for example At this time, the phase difference between the second electrical angle that the motor rotor rotates under the ⁇ -axis reference voltage U ⁇ and the first electrical angle that rotates under the ⁇ -axis reference voltage U ⁇ is ⁇ /2.
  • phase difference of an electrical angle is ⁇ /2 determines whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate. If the phase difference between the second electrical angle and the first electrical angle is ⁇ /2, then Make sure that the wiring status between the three-phase inverter and the three-phase input terminal of the motor is normal.
  • phase difference between the second electrical angle and the first electrical angle is not ⁇ /2, then confirm that the three-phase inverter and the three-phase input of the motor
  • the wiring status between the input terminals is abnormal, that is, the three-phase power lines U, V, W of the three-phase inverter are not connected to the input lines A, B, and C of the motor, and the connection between the three-phase inverter and the motor can be reconnected. between the wiring.
  • FIG. 5 is a flowchart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 5 , the wiring detection method includes:
  • n is a coefficient related to the electromagnetic coefficient of the motor on the ⁇ axis.
  • the ⁇ -axis and the ⁇ -axis are perpendicular to each other and the positive direction of the ⁇ -axis is ahead of the positive direction of the ⁇ -axis by ⁇ /2 in the counterclockwise direction, that is, the positive direction of the ⁇ -axis is ahead of the negative direction of the ⁇ -axis by ⁇ /2, and the negative direction of the ⁇ -axis is ahead of the positive direction of the ⁇ -axis.
  • the pulse width modulation circuit The ⁇ -axis reference voltage U ⁇ provided is positive, the ⁇ -axis reference voltage U ⁇ is negative, and the torque generated by the motor rotor is equal, for example Or the ⁇ -axis reference voltage U ⁇ is a negative value, the ⁇ -axis reference voltage U ⁇ is a positive value and the torque generated by the motor rotor is equal, for example At this time, the phase difference between the second electrical angle that the motor rotor rotates under the ⁇ -axis reference voltage U ⁇ and the first electrical angle that rotates under the ⁇ -axis reference voltage U ⁇ is - ⁇ /2.
  • phase difference of the first electrical angle determines whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate, if the phase difference between the second electrical angle and the first electrical angle is - ⁇ /2 2. It is determined that the wiring status between the three-phase inverter and the three-phase input terminal of the motor is normal. If the phase difference between the second electrical angle and the first electrical angle is not - ⁇ /2, then it is determined that the three-phase inverter and the three-phase input end of the motor are in normal condition.
  • the wiring status between the three-phase input terminals of the motor is abnormal, that is, the three-phase power lines U, V, W of the three-phase inverter are not connected to the input lines A, B, and C of the motor, and the three-phase inverter can be reconnected. Wiring between the controller and the motor.
  • the wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the position information of the motor rotor corresponding to the different situations in which the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ are positive or negative. , which improves the intelligence of the wiring detection method, and is suitable for wiring detection in various situations.
  • the first current signal output by the current sensor includes the first A-phase current value Ia1, the first B-phase current value Ib1, and the first C-phase current value Ic1; wherein, the first A-phase current value Ia1 is the current The current output by the A-phase output terminal of the motor detected by the sensor, the first B-phase current value Ib1 is the current output by the B-phase output terminal of the motor detected by the current sensor, and the first C-phase current value Ic1 is the current output detected by the current sensor The current output by the C-phase output terminal of the motor; the second current signal output by the current sensor includes the second A-phase current value Ia2, the second B-phase current value Ib2 and the second C-phase current Ic2; wherein, the second A-phase current value Ia2 is the current output by the A-phase output terminal of the motor detected by the current sensor, the second B-phase current value Ib2 is the current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current
  • the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor
  • the B-phase output terminal of the motor is connected to the B-phase output terminal of the current sensor.
  • the current collection terminal is electrically connected
  • the C-phase output terminal of the motor is electrically connected with the C-phase current collection terminal of the current sensor.
  • FIG. 6 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 6 , the wiring detection method includes:
  • the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor
  • the B-phase output terminal of the motor is connected to the B-phase current collection terminal of the current sensor.
  • Terminals are electrically connected
  • the C-phase output terminal of the motor is electrically connected to the C-phase current collection terminal of the current sensor.
  • Both the first B-phase current value Ib1 and the first C-phase current value Ic1 are negative numbers. Therefore, when the input ⁇ -axis reference voltage U ⁇ is positive, the connection state between the motor and the current sensor can be determined by judging whether the three-phase output current of the motor satisfies the above relationship. If the judgment result is the first A-phase current value Ia1 If it is a positive number, the first B-phase current value Ib1 and the first C-phase current value Ic1 are both negative numbers, then it is determined that the connection between the three-phase output terminal of the motor and the current sensor is normal. If the judgment result does not match the above results, it is determined that the motor If the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, it can continue to judge the wiring error between the motor and the current sensor.
  • the output current of the current sensor is not a positive number for the first A-phase current value, and a negative number for both the first B-phase current value and the first C-phase current value, then determine The wiring status between the three-phase output terminal of the motor and the current sensor is abnormal. You can continue to judge which two wirings between the motor and the current sensor are incorrectly connected. For example, you can continue to judge whether the current value of the first A phase is the same as the first C phase. The current values are all negative, and the first B-phase current value is positive.
  • the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is connected to the current sensor.
  • the B-phase current signal acquisition terminal is electrically connected, and can directly reconnect the A-phase wiring and the B-phase wiring between the motor and the current sensor.
  • the output current of the current sensor is not negative for both the first A-phase current value and the first C-phase current value, and the first B-phase current value is If it is a positive number, the output current of the current sensor can be determined as: the first A-phase current value and the first B-phase current value are both negative numbers, and the first C-phase current value is a positive number.
  • the C-phase output terminal of the motor can be determined If it is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase wiring and C-phase wiring between the motor and the current sensor .
  • the output current of the current sensor when the connection between the three-phase output terminal of the motor and the current sensor is normal, if the input ⁇ -axis reference voltage U ⁇ is negative, the output current of the current sensor should be The first A-phase current value is a negative number, and the first B-phase current value and the first C-phase current value are both positive numbers. Therefore, when the input ⁇ -axis reference voltage U ⁇ is a negative value, it can be determined by judging the three-phase Whether the output current satisfies the above relationship determines the wiring status between the motor and the current sensor.
  • the judgment result is that the first A-phase current value is negative, and the first B-phase current value and the first C-phase current value are both positive, then determine The wiring status of the three-phase output terminal of the motor and the current sensor is normal. If the judgment result is inconsistent with the above results, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and it can continue to judge the wiring error between the motor and the current sensor Condition.
  • the wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the first current signal output by the current sensor corresponding to the different situations in which the ⁇ -axis reference voltage U ⁇ is positive or negative, and improves the The intelligent degree of the wiring detection method is suitable for wiring detection in various situations.
  • both the first A-phase current value and the first C-phase current value are positive numbers, and the first B-phase current value is a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor
  • the phase B output terminal of the current sensor is electrically connected to the phase A current signal acquisition terminal of the current sensor, and the phase A output terminal of the motor is electrically connected to the phase B current signal acquisition terminal of the current sensor, then the A phase between the motor and the current sensor can be directly reconnected.
  • Phase wiring and phase B wiring are
  • the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is abnormal. If it is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase wiring and C-phase wiring between the motor and the current sensor .
  • FIG. 7 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 7 , the wiring detection method includes:
  • the wiring status of the three-phase output line of the motor and the current sensor is normal, that is, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor is connected to the B-phase current collection terminal of the current sensor. Terminals are electrically connected, the C-phase output terminal of the motor is electrically connected with the C-phase current collection terminal of the current sensor, then when the input ⁇ -axis reference voltage U ⁇ is positive, the second A-phase current value Ia2 of the motor is 0, and the second The B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is a negative number.
  • the connection state between the motor and the current sensor can be determined by judging whether the three-phase output current of the motor satisfies the above relationship, that is, if the judgment result is the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is a negative number, then it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal, if the judgment result is inconsistent with the above result, then It is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the wiring error between the motor and the current sensor can be further judged.
  • the output current of the current sensor is not the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is Negative number, then it is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and it can continue to judge which two wirings between the motor and the current sensor are wrongly connected.
  • the second A-phase current value Ia2 is a positive number
  • the second B-phase current value Ib2 is 0,
  • the second C-phase current value Ic2 is a negative number
  • the A-phase output terminal is electrically connected to the B-phase current signal acquisition terminal of the current sensor, and can directly reconnect the A-phase wiring and the B-phase wiring between the motor and the current sensor.
  • S560 Determine whether the current value of the second phase A is negative, the current value of the second phase B is positive, and the current value of the second phase C is 0; if the current value of the second phase A is negative, the current value of the second phase B is If the current value of the second phase C is positive and the current value of the second phase C is 0, execute S570; if the current value of the second phase A is negative, the current value of the second phase B is positive, and the current value of the second phase C is 0, execute S580 .
  • S570 Determine that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is connected to the C-phase current of the current sensor.
  • the signal acquisition end is electrically connected.
  • the output current of the current sensor is not the second A-phase current value Ia2 is a positive number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ib2 is not positive.
  • phase current value Ic2 is a negative number, then it can continue to judge whether the output current of the current sensor is: the second A-phase current value Ia2 is a negative number, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is 0, If so, it can be determined that the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the motor and the current signal. Phase A wiring and phase C wiring between sensors.
  • the output current of the current sensor is that the second A-phase current value Ia2 is 0,
  • the second B-phase current value Ib2 is a negative number
  • the second C-phase current value Ic2 is a positive number.
  • the B-phase output terminal of the motor is electrically connected with the C-phase current signal acquisition terminal of the current sensor, and the C-phase output terminal of the motor If it is electrically connected to the B-phase current signal acquisition terminal of the current sensor, then directly reconnect the B-phase wiring and the C-phase wiring between the motor and the current sensor.
  • the output current of the current sensor when the connection between the three-phase output terminal of the motor and the current sensor is normal, if the input ⁇ -axis reference voltage U ⁇ is negative, the output current of the current sensor should be The second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a negative number, and the second C-phase current value Ic2 is a positive number. Therefore, when the input ⁇ -axis reference voltage U ⁇ is a negative value, it can be judged Whether the three-phase output current of the motor satisfies the above relationship determines the wiring status between the motor and the current sensor.
  • the judgment result is that the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is negative and the second C-phase current value is negative If the current value Ic2 is a positive number, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is normal. If the judgment result does not match the above results, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and the judgment can be continued Incorrect wiring condition between the motor and the current sensor.
  • the second A-phase current value Ia2 is a negative number
  • the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is a positive number
  • the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor
  • the A-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor
  • the motor and the current sensor can be directly reconnected between phase A wiring and phase B wiring.
  • the second A-phase current value Ia2 is a positive number
  • the second B-phase current value Ib2 is a negative number
  • the second C-phase current value Ic2 is 0, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor
  • the C-phase output terminal of the current sensor is electrically connected to the A-phase current signal acquisition terminal of the current sensor
  • the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase between the motor and the current sensor Wiring and C phase wiring.
  • the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is a negative number, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor
  • the B-phase output terminal of the current sensor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, and the C-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor, then directly reconnect the B-phase between the motor and the current sensor Wiring and C phase wiring.
  • the wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the second current signal output by the current sensor corresponding to different situations in which the ⁇ -axis reference voltage U ⁇ is positive or negative, and improves the The intelligent degree of the wiring detection method is suitable for wiring detection in various situations.
  • the first current signal obtained when the ⁇ -axis reference voltage U ⁇ is input and the second current signal obtained when the ⁇ -axis reference voltage U ⁇ is input can be detected simultaneously.
  • the detection result obtained from the reference voltage U ⁇ and the first current signal and the detection result obtained from the ⁇ -axis reference voltage U ⁇ and the second current signal determine the connection state between the motor and the current sensor.
  • FIG. 8 is a flowchart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 8 , the wiring detection method includes:
  • the ⁇ -axis reference voltage U ⁇ provided to the electric drive system can be controlled to gradually change from 0.
  • the ⁇ -axis reference voltage U ⁇ is provided to the pulse width modulation circuit several times until the voltage value of the ⁇ -axis reference voltage U ⁇ is a preset voltage value.
  • the ⁇ -axis reference voltage U ⁇ provided by the wide modulation circuit is positive, and the preset voltage value can be If the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit is negative, the preset voltage value can be When the value of the ⁇ -axis reference voltage U ⁇ is a preset voltage value, the first position information of the rotor in the motor and the first current signal output by the current sensor are obtained.
  • the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit later is greater than the voltage value of the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit previously by a first preset value (for example, 0.1V).
  • the ⁇ -axis reference voltage U ⁇ provided to the electric drive system can be controlled to gradually change from 0.
  • the ⁇ -axis reference voltage U ⁇ is provided to the pulse width modulation circuit several times until the voltage value of the ⁇ -axis reference voltage U ⁇ is a preset voltage value.
  • the ⁇ -axis reference voltage U ⁇ provided by the wide modulation circuit is positive, and the preset voltage value can be If the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit is a negative value, the preset voltage value can be When the value of the ⁇ -axis reference voltage U ⁇ is a preset voltage value, the second position information of the rotor in the motor and the second current signal output by the current sensor are acquired.
  • the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit in the latter time is greater than the voltage value of the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit in the previous time by a second preset value (for example, it may be the same as the first preset value , is 0.1V).
  • S630 Determine the connection state between the three-phase inverter and the three-phase input terminal of the motor according to the ⁇ -axis reference voltage U ⁇ , the ⁇ -axis reference voltage U ⁇ , and the first and second position information of the rotor in the motor.
  • the detection results of the connection between the three-phase inverter and the motor and the connection between the motor and the current sensor is displayed. For example, if the wiring status between the three-phase inverter and the motor is normal, a prompt indicating that the wiring is normal will be displayed; if the wiring status between the three-phase inverter and the motor is abnormal, it will be displayed that the wiring is abnormal.
  • Prompt for re-wiring if the wiring between the motor and the current sensor is normal, it will display the prompt of normal wiring; if the wiring between the motor and the current sensor is abnormal, it will display the specific wrong connection between the motor and the current sensor, for example, display the A-phase line of the motor and the current sensor If it is wrongly connected with the C-phase line, it can effectively remind the operator of the wiring status of the electric drive system.
  • the embodiment of the present application also provides a wiring detection device for an electric drive system, the wiring detection device for the electric drive system can detect the wiring status of the electric drive system, and the wiring detection device for the electric drive system can be used for To execute the connection detection method of the electric drive system provided in the embodiment of the present application, the connection detection device of the electric drive system may be implemented by software and/or hardware.
  • FIG. 9 is a schematic structural diagram of a wiring detection device for an electric drive system provided in an embodiment of the present application.
  • the electric drive system includes a pulse width modulation circuit 210, a three-phase Inverter 220, motor 230 and current sensor 240
  • the wiring detection device includes: a first information acquisition module 310, configured to provide the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and the DC bus voltage to the three-phase inverter During Udc, the first position information of the rotor in the motor and the first current signal output by the current sensor are obtained;
  • the second information acquisition module 320 is configured to provide the ⁇ -axis reference voltage U ⁇ to the pulse width modulation circuit and to the three-phase inverter When the DC bus voltage Udc is provided, the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained;
  • the first connection status determination module 330 is set to be based on the ⁇ -axis reference voltage U ⁇ , the
  • the connection detection device of the electric drive system obtains the first position information of the rotor in the motor and the first current signal output by the current sensor when the ⁇ -axis reference voltage U ⁇ is provided to the electric drive system through the first information acquisition module , when the ⁇ -axis reference voltage U ⁇ is provided to the electric drive system through the second information acquisition module, the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained, and the first connection status determination module is used to determine the information according to the acquired information Detect the connection state between the three-phase inverter and the three-phase input terminal of the motor, and detect the connection state between the three-phase output terminal of the motor and the current sensor through the second connection state determination module according to the obtained information, and the connection detection device can The wiring status of the three-phase inverter and the motor and the wiring status of the motor and the current sensor are detected at the same time, which is effective, simple and easy to implement, and can effectively avoid the situation that the motor cannot work normally or damage the system
  • the first position information includes the first electrical angle of the motor rotor
  • the second position information includes the second electrical angle of the motor rotor
  • FIG. 10 is another wiring detection of the electric drive system provided by the embodiment of the present application The structural diagram of the device, as shown in FIG.
  • the first connection state determination module 330 includes a first judging unit 331, which is configured to respond to both the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ being positive values, or the ⁇ -axis reference voltage Both U ⁇ and ⁇ -axis reference voltage U ⁇ are negative values, and it is judged whether the phase difference between the second electrical angle and the first electrical angle is ⁇ /2; in response to the difference between the second electrical angle and the first electrical angle The phase difference between them is ⁇ /2, and it is determined that the connection state between the three-phase inverter and the three-phase input terminal of the motor is normal; in response to the phase difference between the second electrical angle and the first electrical angle If the value is not ⁇ /2, it is determined that the connection state between the three-phase inverter and the three-phase input terminal of the motor is abnormal; the second judging unit 332 is set to respond to the positive value of the ⁇ -axis reference voltage U ⁇ and the ⁇ -axis reference voltage U ⁇ is a negative value, or the
  • the first current signal output by the current sensor includes the first A-phase current value, the first B-phase current value and the first C-phase current value; wherein, the first A-phase current value is detected by the current sensor The current output by the A-phase output terminal of the motor, the first B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor, and the first C-phase current value is the C-phase output terminal of the motor detected by the current sensor The output current; the second current signal output by the current sensor includes the second phase A current value, the second phase B current value and the second phase C current value; wherein, the second phase A current value is the motor detected by the current sensor The current output by the A-phase output terminal, the second B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value is the output current of the C-phase output terminal of the motor detected by the current sensor Current; referring to Figure 10, when the wiring status between the three-phase output terminal of the
  • the second connection state determination module 340 includes: a first connection state detection unit 341 configured to respond to the first A-phase current value as a positive number, the first Both the B-phase current value and the first C-phase current value are negative numbers, and it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal; in response to the first A-phase current value and the first C-phase current value being both negative numbers, the first If the current value of phase B is positive, it is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the output terminal of phase B of the motor is electrically connected with the current signal acquisition terminal of phase A of the current sensor, and the output terminal of phase A of the motor It is electrically connected to the B-phase current signal acquisition terminal of the current sensor; in response to the negative numbers of the first A-phase current value and the first B-phase current value, and the first C-phase current value is a positive number, determine the three-phase output terminal of the motor and The wiring status of the
  • the wiring status of the phase output terminal and the current sensor is normal; in response to the fact that the first A-phase current value and the first C-phase current value are both positive numbers, and the first B-phase current value is a negative number, it is determined that the three-phase output terminal of the motor is connected to the current sensor
  • the wiring status of the motor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor; in response to the first A-phase The current value and the first B-phase current value are positive numbers, and the first C-phase output current is a negative number.
  • the second connection state determination module 340 further includes: a third connection state detection unit 343, configured to respond to the second phase A current value of 0, the second The B-phase current value is a positive number and the second C-phase current value is a negative number. It is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal; in response to the second A-phase current value being a positive number and the second B-phase current value 0, the second C-phase current value is a negative number, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected with the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected.
  • a third connection state detection unit 343 configured to respond to the second phase A current value of 0, the second The B-phase current value is a positive number and the second C-phase current value is a negative number. It is determined that the connection status between the three-phase output terminal of the motor
  • the phase output end is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being a negative number, the second B-phase current value being positive, and the second C-phase current value being 0, determine the motor's
  • the wiring status of the three-phase output terminal and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor.
  • the phase output end is electrically connected to the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor;
  • the fourth wiring state detection unit 344 is set as the reference voltage on the ⁇ axis
  • the phase output end is electrically connected to the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor;
  • the phase current values are all negative numbers, and the second C-phase current value is 0. It is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor.
  • the A-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being 0, the second B-phase current value being a positive number, and the second C-phase current value being a negative number, Make sure that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the phase B output terminal of the motor is electrically connected with the phase C current signal acquisition terminal of the current sensor, and the phase C output terminal of the motor is connected with the phase B current signal acquisition terminal of the current sensor terminal electrical connections.
  • the first information acquisition module 310 includes: an ⁇ -axis reference voltage U ⁇ control unit 311, which is configured to start with the voltage value of the ⁇ -axis reference voltage U ⁇ equal to 0, and provide the ⁇ -axis reference to the pulse width modulation circuit in multiple times Voltage U ⁇ ; the first information acquisition unit 312 is configured to obtain the first position information and current of the rotor in the motor until the voltage value of the ⁇ -axis reference voltage U ⁇ provided by the ⁇ -axis reference voltage U ⁇ control unit 311 is a preset voltage value The first current signal output by the sensor; wherein, the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit later is greater than the voltage value of the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit before by a first preset value.
  • the second information acquisition module 320 includes: a ⁇ -axis reference voltage U ⁇ control unit 321, which is set to start with the voltage value of the ⁇ -axis reference voltage U ⁇ equal to 0, divide into multiple times to the pulse width modulation circuit time ⁇ -axis reference Voltage U ⁇ ; the second information acquisition unit 322 is configured to obtain the second position information and current of the rotor in the motor until the voltage value of the ⁇ -axis reference voltage U ⁇ provided by the ⁇ -axis reference voltage U ⁇ control unit 321 is a preset voltage value The second current signal output by the sensor; wherein, the voltage value of the ⁇ -axis reference voltage U ⁇ provided to the pulse width modulation circuit later is greater than the voltage value of the ⁇ -axis reference voltage U ⁇ previously provided to the pulse width modulation circuit by a second preset value.
  • connection detection device 300 of the electric drive system further includes a display module 350 configured to display the connection state between the three-phase inverter and the three-phase input terminal of the motor, and display the connection status between the three-phase output terminal of the motor and the three-phase input terminal of the motor.
  • the wiring status of the current sensor is not limited to a display module 350 configured to display the connection state between the three-phase inverter and the three-phase input terminal of the motor, and display the connection status between the three-phase output terminal of the motor and the three-phase input terminal of the motor. The wiring status of the current sensor.
  • the embodiment of the present application also provides a motor control system, including: an electric drive system and a controller, wherein the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor that are electrically connected in sequence, and the controller can be used for Execute the connection detection method of the electric drive system provided in any embodiment of the present application.
  • a motor control system including: an electric drive system and a controller, wherein the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor that are electrically connected in sequence, and the controller can be used for Execute the connection detection method of the electric drive system provided in any embodiment of the present application.

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Abstract

A wiring test method and apparatus for an electric driving system, and an electric motor control system. The method comprises: providing an α-axis reference voltage Uα to a pulse width modulation circuit (210), providing a direct-current bus voltage Udc to a three-phase inverter (220), and acquiring first position information of a rotor in an electric motor (230) and a first current signal that is output by a current sensor (240) (S110); providing a β-axis reference voltage Uβ to the pulse width modulation circuit (210), providing the direct-current bus voltage Udc to the three-phase inverter (220), and acquiring second position information of the rotor in the electric motor (230) and a second current signal that is output by the current sensor (240) (S120); determining a wiring state between the three-phase inverter (220) and a three-phase input end of the electric motor (230) according to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first position information and second position information of the rotor in the electric motor (230) (S130); and determining a wiring state between a three-phase output end of the electric motor (230) and the current sensor (240) according to at least one of the α-axis reference voltage Uα and the first current signal that is output by the current sensor (240), or according to at least one of the β-axis reference voltage Uβ and the second current signal that is output by the current sensor (240) (S140).

Description

电驱动系统的接线检测方法、装置以及电机控制系统Wiring detection method and device for electric drive system, and motor control system
本申请要求在2021年07月13日提交中国专利局、申请号为202110788305.3的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with application number 202110788305.3 submitted to the China Patent Office on July 13, 2021, and the entire content of the above application is incorporated in this application by reference.
技术领域technical field
本申请实施例涉及永磁同步电机相序检测技术领域，例如涉及一种电驱动系统的接线检测方法、装置以及电机控制系统。The embodiments of the present application relate to the technical field of phase sequence detection of permanent magnet synchronous motors, for example, to a connection detection method and device of an electric drive system, and a motor control system.
背景技术Background technique
永磁同步电动机具有结构简单、体积小、效率高、功率因数高、转矩控制性能好等优点，已广泛应用于新能源汽车中。相关技术中的永磁同步电机采用转子磁场定向矢量控制方式进行驱动，其控制系统的结构示意图如图1所示，向控制系统输入转矩Te时，通过转矩-电流转换模块110根据转矩Te输出旋转坐标系下的电流(即q轴电流Iq和d轴电流Id)至电流控制器120，电流控制器120分别根据Iq和Id输出Uq和Ud至坐标变换模块130，通过坐标变换模块130将旋转坐标系下的电压(即q轴电压Uq和d轴电压Ud)转换成静止坐标系下的电压(即α轴电压Uα和β轴电压Uβ)并输出至脉宽调制电路140，脉宽调制电路140调节Uα和Uβ的脉宽，并通过三相逆变器150根据调节脉宽的Uα和Uβ输出三相电压信号至电机160的输入端，电流传感器170采集电机输出的三相电流，并通过换算模块180将三相电流(Ia、Ib、Ic)转换成旋转坐标系下的电流信号(即q轴电流Iq-ref、d轴电流Id-ref)，该电流信号作为反馈信号传输至电流控制器120中，电流控制器120根据反馈的电流信号(q轴电流Iq-ref、d轴电流Id-ref)和输入电流信号(即根据输入转矩Te输出的q轴电流Iq和d轴电流Id)调节输出信号，使得反馈的电流信号与输入电流信号相等，从而使电机正常工作。其中，三相逆变器的动力线有U、V、W三相接线，永磁同步电机的输入线、输出线均有A、B、C三相接线，电流传感器的输入接线有A、B、C三相接线，并且三相逆变器的动力线(U、V、W)与永磁同步电机的输入线(A、B、C)必须按一定的相序进行连接，且永磁同步电机的输出线(A、B、C)与电流传感器的输入线(A、B、C)必须按一定的相序进行连接，电机才能正常运转。通常情况下，三相逆变器的U相动力线与电机的A相输入线电连接，V相动力线与电机的B相输入线电连接，W相动力线与电机的C相输入线电连接；电流传感器的A相输入线与电机的A相输出线电连接，B相输入线 与电机的B相输出线电连接，C相输入线与电机的C相输出线电连接。Permanent magnet synchronous motors have the advantages of simple structure, small size, high efficiency, high power factor, and good torque control performance, and have been widely used in new energy vehicles. The permanent magnet synchronous motor in the related art is driven by the rotor field-oriented vector control method, and the structural diagram of its control system is shown in Figure 1. When the torque Te is input to the control system, the torque-current conversion module 110 is used according to the torque Te outputs the current under the rotating coordinate system (i.e., the q-axis current Iq and the d-axis current Id) to the current controller 120, and the current controller 120 outputs Uq and Ud to the coordinate transformation module 130 according to Iq and Id respectively, and through the coordinate transformation module 130 The voltage in the rotating coordinate system (ie, the q-axis voltage Uq and the d-axis voltage Ud) is converted into the voltage in the stationary coordinate system (ie, the α-axis voltage Uα and the β-axis voltage Uβ) and output to the pulse width modulation circuit 140, the pulse width The modulation circuit 140 adjusts the pulse width of Uα and Uβ, and outputs a three-phase voltage signal to the input terminal of the motor 160 through the three-phase inverter 150 according to Uα and Uβ of the adjusted pulse width, and the current sensor 170 collects the three-phase current output by the motor, And through the conversion module 180, the three-phase current (Ia, Ib, Ic) is converted into a current signal in the rotating coordinate system (ie, the q-axis current Iq-ref, the d-axis current Id-ref), and the current signal is transmitted as a feedback signal to In the current controller 120, the current controller 120 is based on the feedback current signal (q-axis current Iq-ref, d-axis current Id-ref) and the input current signal (that is, the q-axis current Iq and d-axis current Iq output according to the input torque Te Current Id) adjusts the output signal, so that the feedback current signal is equal to the input current signal, so that the motor can work normally. Among them, the power line of the three-phase inverter has three-phase wiring of U, V, and W, the input line and output line of the permanent magnet synchronous motor have three-phase wiring of A, B, and C, and the input wiring of the current sensor has A, B , C three-phase wiring, and the power lines (U, V, W) of the three-phase inverter and the input lines (A, B, C) of the permanent magnet synchronous motor must be connected in a certain phase sequence, and the permanent magnet synchronous The output wires (A, B, C) of the motor and the input wires (A, B, C) of the current sensor must be connected according to a certain phase sequence, so that the motor can run normally. Normally, the U-phase power line of the three-phase inverter is electrically connected to the A-phase input line of the motor, the V-phase power line is electrically connected to the B-phase input line of the motor, and the W-phase power line is electrically connected to the C-phase input line of the motor. Connection; the A-phase input wire of the current sensor is electrically connected to the A-phase output wire of the motor, the B-phase input wire is electrically connected to the B-phase output wire of the motor, and the C-phase input wire is electrically connected to the C-phase output wire of the motor.
在纯电动车用的电机的电驱动系统中，由于各类原因，经常会出现三相逆变器的动力线与电机的输入线相序接错的情况，导致电机倒转或颤动，进而引起车辆逆行或不能正常运行，此时必须检查并重新连接动力线；而当电流传感器的输入线与电机的输出线相序接错时，由于控制系统的转子磁场定向矢量控制，容易出现硬件过流而损坏控制电路中的器件，导致车辆不能正常运行。In the electric drive system of the motor used in pure electric vehicles, due to various reasons, it often occurs that the power line of the three-phase inverter and the input line of the motor are connected in the wrong phase sequence, causing the motor to reverse or vibrate, which in turn causes the vehicle Retrograde or not running normally, you must check and reconnect the power line at this time; and when the input line of the current sensor and the output line of the motor are connected in the wrong phase sequence, due to the rotor field-oriented vector control of the control system, the hardware is prone to overcurrent and damage The device in the control circuit causes the vehicle to not operate normally.
发明内容Contents of the invention
本申请提供一种电驱动系统的接线检测方法、装置以及电机控制系统。The present application provides a wiring detection method and device of an electric drive system, and a motor control system.
第一方面，本申请实施例提供了一种电驱动系统的接线检测方法，所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器，包括：In the first aspect, an embodiment of the present application provides a wiring detection method for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor that are electrically connected in sequence, including:
向所述脉宽调制电路提供α轴参考电压Uα以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号；Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the first position information of the rotor in the motor and the first current output by the current sensor Signal;
向所述脉宽调制电路提供β轴参考电压Uβ以及向所述三相逆变器提供所述直流母线电压Udc，并获取所述电机中转子的第二位置信息和所述电流传感器输出的第二电流信号；Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the second position information of the rotor in the motor and the first position information output by the current sensor Two current signals;
根据所述α轴参考电压Uα、所述β轴参考电压Uβ以及所述电机中转子的所述第一位置信息和所述第二位置信息，确定所述三相逆变器与所述电机的三相输入端之间的接线状态；According to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first position information and the second position information of the rotor in the motor, determine the relationship between the three-phase inverter and the motor Wiring status between three-phase input terminals;
根据所述α轴参考电压Uα和所述电流传感器输出的第一电流信号、或根据所述β轴参考电压Uβ和所述电流传感器输出的第二电流信号中的至少一类，确定所述电机的三相输出端与所述电流传感器的接线状态。Determine the motor according to at least one of the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current signal output by the current sensor The wiring status of the three-phase output terminal and the current sensor.
第二方面，本申请实施例还提供了一种电驱动系统的接线检测装置，所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器，包括：In the second aspect, the embodiment of the present application also provides a wiring detection device for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor electrically connected in sequence, including:
第一信息获取模块，设置为向所述脉宽调制电路提供α轴参考电压Uα以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号；The first information acquisition module is configured to provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information and the first position information of the rotor in the motor. The first current signal output by the current sensor;
第二信息获取模块，设置为向所述脉宽调制电路提供β轴参考电压Uβ以及向所述三相逆变器提供所述直流母线电压Udc，并获取所述电机中转子的第二位 置信息和所述电流传感器输出的第二电流信号；The second information acquisition module is configured to provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the second position information of the rotor in the motor and the second current signal output by the current sensor;
第一接线状态确定模块，设置为根据所述α轴参考电压Uα、所述β轴参考电压Uβ以及所述电机中转子的所述第一位置信息和所述第二位置信息，确定所述三相逆变器与所述电机的三相输入端之间的接线状态；The first connection state determination module is configured to determine the three The wiring state between the phase inverter and the three-phase input terminal of the motor;
第二接线状态确定模块，设置为根据所述α轴参考电压Uα和所述电流传感器输出的第一电流信号、或根据所述β轴参考电压Uβ和所述电流传感器输出的第二电流信号中的至少一类，确定所述电机的三相输出端与所述电流传感器的接线状态。The second connection state determination module is configured to be based on the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current signal output by the current sensor At least one type of the three-phase output terminal of the motor and the connection state of the current sensor are determined.
第三方面，本申请实施例还提供了一种电机控制系统，包括电驱动系统和控制器；所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器；所述控制器设置为执行上述的电驱动系统的接线检测方法。In the third aspect, the embodiment of the present application also provides a motor control system, including an electric drive system and a controller; the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor electrically connected in sequence ; The controller is configured to execute the above-mentioned wiring detection method of the electric drive system.
附图说明Description of drawings
图1是相关技术中的永磁同步电机控制系统的结构示意图；Fig. 1 is a structural schematic diagram of a permanent magnet synchronous motor control system in the related art;
图2是本申请实施例提供的一种电驱动系统的结构示意图；Fig. 2 is a schematic structural diagram of an electric drive system provided by an embodiment of the present application;
图3是本申请实施例提供的一种电驱动系统的接线检测方法的流程图；FIG. 3 is a flow chart of a wiring detection method for an electric drive system provided in an embodiment of the present application;
图4是本申请实施例提供的另一种电驱动系统的接线检测方法的流程图；Fig. 4 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application;
图5是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图；Fig. 5 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application;
图6是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图；Fig. 6 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application;
图7是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图；Fig. 7 is a flow chart of another wiring detection method for an electric drive system provided by an embodiment of the present application;
图8是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图；Fig. 8 is a flow chart of another wiring detection method for an electric drive system provided by an embodiment of the present application;
图9是本申请实施例提供的一种电驱动系统的接线检测装置的结构示意图；Fig. 9 is a schematic structural diagram of a wiring detection device for an electric drive system provided in an embodiment of the present application;
图10是本申请实施例提供的另一种电驱动系统的接线检测装置的结构示意图。Fig. 10 is a schematic structural diagram of another connection detection device for an electric drive system provided by an embodiment of the present application.
具体实施方式detailed description
下面结合附图和实施例对本申请进行说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。The application will be described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures.
本申请实施例提供一种电驱动系统的接线检测方法，该方法可检测三相逆变器与电机的接线情况，以及电机与电流传感器的接线情况，该方法可由本申请实施例提供的电驱动系统的接线检测装置执行，该电驱动系统的接线检测装 置由软件和/或硬件实现，该电驱动系统的接线检测装置可集成于本申请实施例提供的电机控制系统中。The embodiment of the present application provides a wiring detection method for an electric drive system, which can detect the connection between the three-phase inverter and the motor, as well as the connection between the motor and the current sensor. The connection detection device of the system is implemented. The connection detection device of the electric drive system is implemented by software and/or hardware. The connection detection device of the electric drive system can be integrated into the motor control system provided in the embodiment of the present application.
图2是本申请实施例提供的一种电驱动系统的结构示意图，如图2所示，该电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器。图3为本申请实施例提供的一种电驱动系统的接线检测方法的流程图，如图3所示，该电驱动系统的接线检测方法包括：Fig. 2 is a schematic structural diagram of an electric drive system provided by an embodiment of the present application. As shown in Fig. 2 , the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor electrically connected in sequence. Fig. 3 is a flow chart of a wiring detection method of an electric drive system provided in an embodiment of the present application. As shown in Fig. 3, the wiring detection method of the electric drive system includes:
S110、向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第一位置信息和电流传感器输出的第一电流信号。S110. Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information of the rotor in the motor and the first current signal output by the current sensor.
S120、向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第二位置信息和电流传感器输出的第二电流信号。S120. Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the second position information of the rotor in the motor and the second current signal output by the current sensor.
例如，如图3所示，采用开环控制方法对电驱动系统的接线进行检测，直接向电驱动系统提供静止坐标系(即由α轴、β轴构成的坐标系)下的参考电压。当三相逆变器220的动力线与电机230的输入线相序连接正确时，分别向电机230输入α轴参考电压Uα和β轴参考电压Uβ时，电机230的转子在两个参考电压下的旋转角度差为固定值；当电机230的输出线与电流传感器240的输入线相序连接正确时，电流传感器240的三相输出电流与Uα或Uβ具有对应关系，因此可通过向电驱动系统分别输入α轴参考电压Uα和β轴参考电压Uβ，通过检测在两个参考电压下电机230的转子的位置关系检测三相逆变器220动力线与电机230输入线的相序连接情况，以及通过检测在α轴参考电压Uα和/或β轴参考电压Uβ下电流传感器240的输出电流的情况检测电机230输出线与电流传感器240输入线的相序连接情况。For example, as shown in Figure 3, the open-loop control method is used to detect the wiring of the electric drive system, and directly provide the reference voltage in the static coordinate system (that is, the coordinate system composed of α-axis and β-axis) to the electric drive system. When the phase sequence of the power line of the three-phase inverter 220 and the input line of the motor 230 are connected correctly, when the α-axis reference voltage Uα and the β-axis reference voltage Uβ are respectively input to the motor 230, the rotor of the motor 230 will operate under the two reference voltages. The rotation angle difference is a fixed value; when the phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 is correct, the three-phase output current of the current sensor 240 has a corresponding relationship with Uα or Uβ, so it can be passed to the electric drive system Respectively input the α-axis reference voltage Uα and the β-axis reference voltage Uβ, and detect the phase sequence connection between the power line of the three-phase inverter 220 and the input line of the motor 230 by detecting the positional relationship of the rotor of the motor 230 under the two reference voltages, and The phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 is detected by detecting the output current of the current sensor 240 under the α-axis reference voltage Uα and/or the β-axis reference voltage Uβ.
示例性的，向脉宽调制电路210提供α轴参考电压Uα，脉宽调制电路210对α轴参考电压Uα进行脉宽调制并将脉宽调制后的信号传输至三相逆变器220，向三相逆变器220提供直流母线电压Udc，三相逆变器220开启并根据脉宽调制后的信号输出交流信号至电机230，电机230输出的三相电流信号通过电流传感器240采集并输出，此时获取在α轴参考电压Uα下电机230中转子的第一位置信息和电流传感器240输出的第一电流信号。在第一位置信息和第一电流信号获取完成之后，使电机状态回到初始位置，再向脉宽调制电路210提供β轴参考电压Uβ，脉宽调制电路210对β轴参考电压Uβ进行脉宽调制并将脉宽调制后的信号传输至三相逆变器220，向三相逆变器220提供直流母线电压Udc，三 相逆变器220开启并根据脉宽调制后的信号输出交流信号至电机230，电机230输出的三相电流信号通过电流传感器240采集并输出，此时获取在β轴参考电压Uβ下电机230中转子的第二位置信息和电流传感器240输出的第二电流信号。Exemplarily, the α-axis reference voltage Uα is provided to the pulse width modulation circuit 210, and the pulse width modulation circuit 210 performs pulse width modulation on the α-axis reference voltage Uα and transmits the pulse-width-modulated signal to the three-phase inverter 220 for The three-phase inverter 220 provides the DC bus voltage Udc, the three-phase inverter 220 is turned on and outputs an AC signal to the motor 230 according to the pulse width modulated signal, and the three-phase current signal output by the motor 230 is collected and output by the current sensor 240, At this time, the first position information of the rotor in the motor 230 under the α-axis reference voltage Uα and the first current signal output by the current sensor 240 are acquired. After the acquisition of the first position information and the first current signal is completed, the state of the motor is returned to the initial position, and then the β-axis reference voltage Uβ is provided to the pulse width modulation circuit 210, and the pulse width modulation circuit 210 controls the pulse width of the β-axis reference voltage Uβ modulate and transmit the pulse width modulated signal to the three-phase inverter 220, and provide the DC bus voltage Udc to the three-phase inverter 220, and the three-phase inverter 220 is turned on and outputs an AC signal according to the pulse width modulated signal to The motor 230, the three-phase current signal output by the motor 230 is collected and output by the current sensor 240, at this time, the second position information of the rotor in the motor 230 under the β-axis reference voltage Uβ and the second current signal output by the current sensor 240 are obtained.
S130、根据α轴参考电压Uα、β轴参考电压Uβ以及电机中转子的第一位置信息和第二位置信息，确定三相逆变器与电机的三相输入端之间的接线状态。S130. Determine the connection state between the three-phase inverter and the three-phase input end of the motor according to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first and second position information of the rotor in the motor.
例如，若在已知α轴参考电压Uα、β轴参考电压Uβ下，电机230中转子的第一位置信息和第二位置信息的关系满足与已知α轴参考电压Uα、β轴参考电压Uβ对应的关系，则确定三相逆变器与电机的三相输入端之间的接线相序正确，若第一位置信息和第二位置信息的关系不满足与已知α轴参考电压Uα、β轴参考电压Uβ对应的关系，则确定三相逆变器与电机的三相输入端之间的接线相序错误。For example, if the α-axis reference voltage Uα and β-axis reference voltage Uβ are known, the relationship between the first position information and the second position information of the rotor in the motor 230 satisfies the relationship with the known α-axis reference voltage Uα and β-axis reference voltage Uβ If the relationship between the three-phase inverter and the three-phase input terminal of the motor is correct, if the relationship between the first position information and the second position information does not satisfy the known α-axis reference voltage Uα, β According to the relationship corresponding to the axis reference voltage Uβ, it is determined that the phase sequence of the wiring between the three-phase inverter and the three-phase input end of the motor is wrong.
S140、根据α轴参考电压Uα和电流传感器输出的第一电流信号、或根据β轴参考电压Uβ和电流传感器输出的第二电流信号中的至少一类，确定电机的三相输出端与电流传感器的接线状态。S140. According to at least one of the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current signal output by the current sensor, determine the relationship between the three-phase output terminal of the motor and the current sensor connection status.
例如，若在已知α轴参考电压Uα下，电流传感器输出的第一电流信号的值为α轴参考电压Uα下所对应的值，则确定电机的三相输出端与电流传感器的接线相序正确；或，若在已知β轴参考电压Uβ下，电流传感器输出的第二电流信号为β轴参考电压Uβ下所对应的值，则确定电机的三相输出端与电流传感器的接线相序正确，若不满足上述任一条件，则确定电机的三相输出端与电流传感器的接线相序错误。For example, if the value of the first current signal output by the current sensor is the value corresponding to the α-axis reference voltage Uα under the known α-axis reference voltage Uα, then determine the phase sequence of the three-phase output terminal of the motor and the current sensor Correct; or, if the second current signal output by the current sensor is the value corresponding to the β-axis reference voltage Uβ under the known β-axis reference voltage Uβ, then determine the phase sequence of the three-phase output terminal of the motor and the current sensor Correct, if any of the above conditions are not met, then it is determined that the phase sequence of the wiring between the three-phase output terminal of the motor and the current sensor is wrong.
本申请实施例提供的电驱动系统的接线检测方法，首先向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc，并在此参考电压下获取电机中转子的第一位置信息和电流传感器输出的第一电流信号，在电机状态为初始状态后再次向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc，并在此参考电压下获取电机中转子的第二位置信息和电流传感器输出的第二电流信号，根据α轴参考电压Uα、β轴参考电压Uβ以及电机中转子的第一位置信息和第二位置信息，可以检测三相逆变器与电机的三相输入端之间的接线状态，并且根据α轴参考电压Uα和电流传感器输出的第一电流信号、或根据β轴参考电压Uβ和电流传感器输出的第二电流信号中的至少一类，可以检测电机的三相输出端与电流传感器的接线状态。该接线检测方法通过分别提供的α轴参考电压Uα和β轴参考电压Uβ能够对三相逆变器与电机 的接线状态和电机与电流传感器的接线状态同时进行检测，有效简单，易于实现，能够有效避免因接线错误而导致电机无法正常工作或损坏系统器件的状况。The wiring detection method of the electric drive system provided by the embodiment of the present application firstly provides the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtains the rotor in the motor under this reference voltage The first position information and the first current signal output by the current sensor provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter again after the motor state is in the initial state, and refer to Under voltage, the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained, and according to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first and second position information of the rotor in the motor, it can be detected The wiring state between the three-phase inverter and the three-phase input terminal of the motor, and according to the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current output by the current sensor At least one type of the signal can detect the wiring status of the three-phase output terminal of the motor and the current sensor. The connection detection method can simultaneously detect the connection state of the three-phase inverter and the motor and the connection state of the motor and the current sensor through the respectively provided α-axis reference voltage Uα and β-axis reference voltage Uβ, which is effective and simple, easy to implement, and capable of Effectively avoid the situation that the motor cannot work normally or damage the system components due to wrong wiring.
在一实施例中，第一位置信息包括电机转子的第一电角度，第二位置信息包括电机转子的第二电角度；图4是本申请实施例提供的另一种电驱动系统的接线检测方法的流程图，如图4所示，该接线检测方法包括：In an embodiment, the first position information includes the first electrical angle of the motor rotor, and the second position information includes the second electrical angle of the motor rotor; FIG. 4 is another wiring detection of the electric drive system provided by the embodiment of the present application The flowchart of the method, as shown in Figure 4, the wiring detection method includes:
S210、向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第一位置信息和电流传感器输出的第一电流信号。S210. Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information of the rotor in the motor and the first current signal output by the current sensor.
S220、向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第二位置信息和电流传感器输出的第二电流信号。S220. Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the second position information of the rotor in the motor and the second current signal output by the current sensor.
S230、在α轴参考电压Uα和β轴参考电压Uβ均为正值，或者α轴参考电压Uα和β轴参考电压Uβ均为负值时，判断第二电角度与第一电角度之间的相位差值是否为π/2。若第二电角度与第一电角度之间的相位差值为π/2，则执行S240；若第二电角度与第一电角度之间的相位差值不为π/2，则执行S250。S230. When the α-axis reference voltage Uα and the β-axis reference voltage Uβ are both positive values, or the α-axis reference voltage Uα and the β-axis reference voltage Uβ are both negative values, determine the distance between the second electrical angle and the first electrical angle Whether the phase difference value is π/2. If the phase difference between the second electrical angle and the first electrical angle is π/2, execute S240; if the phase difference between the second electrical angle and the first electrical angle is not π/2, execute S250 .
S240、确定三相逆变器与电机的三相输入端之间的接线状态正常。S240. Determine that the connection state between the three-phase inverter and the three-phase input end of the motor is normal.
S250、确定三相逆变器与电机的三相输入端之间的接线状态异常。S250. Determine that the connection state between the three-phase inverter and the three-phase input end of the motor is abnormal.
其中，
Figure PCTCN2022104205-appb-000001
m为与电机在α轴的电磁系数相关的系数，n为与电机在β轴的电磁系数相关的系数。 in,
Figure PCTCN2022104205-appb-000001
m is a coefficient related to the electromagnetic coefficient of the motor on the α axis, and n is a coefficient related to the electromagnetic coefficient of the motor on the β axis.
例如，由于α轴与β轴互相垂直且沿逆时针方向β轴正方向超前α轴正方向π/2，因此在三相逆变器的三相动力线(U、V、W)与电机的三相输入接线(A、B、C)相序连接正确时，若向脉宽调制电路提供的α轴参考电压Uα和β轴参考电压Uβ均为正值且对电机转子产生的转矩相等，例如
Figure PCTCN2022104205-appb-000002
Figure PCTCN2022104205-appb-000003
或α轴参考电压Uα和β轴参考电压Uβ均为负值且对电机转子产生的转矩相等，例如
Figure PCTCN2022104205-appb-000004
此时电机转子在β轴参考电压Uβ下旋转的第二电角度与在α轴参考电压Uα下旋转的第一电角度的相位差为π/2，因此，可通过判断第二电角度与第一电角度的相位差是否是π/2确定三相逆变器的三相动力线与电机的输入线连接是否准确，若第二电角度与第一电角度的相位差是π/2，则确定三相逆变器与电机的三相输入端之间的接线状态正常，若第二电角度与第一电角度的相位差不是π/2，则确定三相逆变器与电机的三相输入端之间的接线状态异常，即三相逆变器的三相动力线U、V、W与电机的输入线A、B、C没有对应连接，可重新连接三相逆变器与电机之间的 接线。 For example, since the α-axis and the β-axis are perpendicular to each other and the positive direction of the β-axis is ahead of the positive direction of the α-axis by π/2 in the counterclockwise direction, the three-phase power lines (U, V, W) of the three-phase inverter and the motor When the phase sequence of the three-phase input wiring (A, B, C) is connected correctly, if the α-axis reference voltage Uα and β-axis reference voltage Uβ provided to the pulse width modulation circuit are both positive and the torque generated by the motor rotor is equal, For example
Figure PCTCN2022104205-appb-000002
Figure PCTCN2022104205-appb-000003
Or the α-axis reference voltage Uα and the β-axis reference voltage Uβ are both negative and the torque generated by the motor rotor is equal, for example
Figure PCTCN2022104205-appb-000004
At this time, the phase difference between the second electrical angle that the motor rotor rotates under the β-axis reference voltage Uβ and the first electrical angle that rotates under the α-axis reference voltage Uα is π/2. Therefore, it can be determined by judging the second electrical angle and the first electrical angle Whether the phase difference of an electrical angle is π/2 determines whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate. If the phase difference between the second electrical angle and the first electrical angle is π/2, then Make sure that the wiring status between the three-phase inverter and the three-phase input terminal of the motor is normal. If the phase difference between the second electrical angle and the first electrical angle is not π/2, then confirm that the three-phase inverter and the three-phase input of the motor The wiring status between the input terminals is abnormal, that is, the three-phase power lines U, V, W of the three-phase inverter are not connected to the input lines A, B, and C of the motor, and the connection between the three-phase inverter and the motor can be reconnected. between the wiring.
在一实施例中，图5是本申请实施例提供的另一种电驱动系统的接线检测方法的流程图，如图5所示，该接线检测方法包括：In an embodiment, FIG. 5 is a flowchart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 5 , the wiring detection method includes:
S310、向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第一位置信息和电流传感器输出的第一电流信号。S310. Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information of the rotor in the motor and the first current signal output by the current sensor.
S320、向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第二位置信息和电流传感器输出的第二电流信号。S320. Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the second position information of the rotor in the motor and the second current signal output by the current sensor.
S330、在α轴参考电压Uα为正值且β轴参考电压Uβ为负值，或者α轴参考电压Uα为负值且β轴参考电压Uβ为正值时，判断第二电角度与第一电角度之间的相位差值是否为-π/2。若第二电角度与第一电角度之间的相位差值为-π/2，则执行S340；若第二电角度与第一电角度之间的相位差值不为-π/2，则执行S350。S330. When the α-axis reference voltage Uα is positive and the β-axis reference voltage Uβ is negative, or the α-axis reference voltage Uα is negative and the β-axis reference voltage Uβ is positive, determine whether the second electrical angle is equal to the first electrical angle. Whether the phase difference value between angles is -π/2. If the phase difference between the second electrical angle and the first electrical angle is -π/2, execute S340; if the phase difference between the second electrical angle and the first electrical angle is not -π/2, then Execute S350.
S340、确定三相逆变器与电机的三相输入端之间的接线状态正常。S340. Determine that the connection state between the three-phase inverter and the three-phase input end of the motor is normal.
S350、确定三相逆变器与电机的三相输入端之间的接线状态异常。S350. Determine that the connection state between the three-phase inverter and the three-phase input end of the motor is abnormal.
其中，
Figure PCTCN2022104205-appb-000005
m为与电机在α轴的电磁系数相关的系数，n为与电机在β轴的电磁系数相关的系数。 in,
Figure PCTCN2022104205-appb-000005
m is a coefficient related to the electromagnetic coefficient of the motor on the α axis, and n is a coefficient related to the electromagnetic coefficient of the motor on the β axis.
例如，由于α轴与β轴互相垂直且沿逆时针方向β轴正方向超前α轴正方向π/2，即α轴正方向超前β轴负方向π/2，α轴负方向超前β轴正方向π/2，因此在三相逆变器的三相动力线(U、V、W)与电机的三相输入接线(A、B、C)相序连接正确时，若向脉宽调制电路提供的α轴参考电压Uα为正值、β轴参考电压Uβ为负值且对电机转子产生的转矩相等，例如
Figure PCTCN2022104205-appb-000006
Figure PCTCN2022104205-appb-000007
或α轴参考电压Uα为负值、β轴参考电压Uβ为正值且对电机转子产生的转矩相等，例如
Figure PCTCN2022104205-appb-000008
此时电机转子在β轴参考电压Uβ下旋转的第二电角度与在α轴参考电压Uα下旋转的第一电角度的相位差为-π/2，因此，可通过判断第二电角度与第一电角度的相位差是否是-π/2确定三相逆变器的三相动力线与电机的输入线连接是否准确，若第二电角度与第一电角度的相位差是-π/2，则确定三相逆变器与电机的三相输入端之间的接线状态正常，若第二电角度与第一电角度的相位差不是-π/2，则确定三相逆变器与电机的三相输入端之间的接线状态异常，即三相逆变器的三相动力线U、V、W与电机的输入线A、B、C没有对应连接，可重新连接三相逆变器与电机之间 的接线。 For example, since the α-axis and the β-axis are perpendicular to each other and the positive direction of the β-axis is ahead of the positive direction of the α-axis by π/2 in the counterclockwise direction, that is, the positive direction of the α-axis is ahead of the negative direction of the β-axis by π/2, and the negative direction of the α-axis is ahead of the positive direction of the β-axis. direction π/2, so when the phase sequence of the three-phase power lines (U, V, W) of the three-phase inverter and the three-phase input wiring (A, B, C) of the motor are connected correctly, if the pulse width modulation circuit The α-axis reference voltage Uα provided is positive, the β-axis reference voltage Uβ is negative, and the torque generated by the motor rotor is equal, for example
Figure PCTCN2022104205-appb-000006
Figure PCTCN2022104205-appb-000007
Or the α-axis reference voltage Uα is a negative value, the β-axis reference voltage Uβ is a positive value and the torque generated by the motor rotor is equal, for example
Figure PCTCN2022104205-appb-000008
At this time, the phase difference between the second electrical angle that the motor rotor rotates under the β-axis reference voltage Uβ and the first electrical angle that rotates under the α-axis reference voltage Uα is -π/2. Therefore, by judging the second electrical angle and Whether the phase difference of the first electrical angle is -π/2 determines whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate, if the phase difference between the second electrical angle and the first electrical angle is -π/2 2. It is determined that the wiring status between the three-phase inverter and the three-phase input terminal of the motor is normal. If the phase difference between the second electrical angle and the first electrical angle is not -π/2, then it is determined that the three-phase inverter and the three-phase input end of the motor are in normal condition. The wiring status between the three-phase input terminals of the motor is abnormal, that is, the three-phase power lines U, V, W of the three-phase inverter are not connected to the input lines A, B, and C of the motor, and the three-phase inverter can be reconnected. Wiring between the controller and the motor.
本申请实施例提供的电驱动系统的接线检测方法，针对α轴参考电压Uα和β轴参考电压Uβ为正数或负数的不同情况时所对应的电机转子的位置信息，提供了不同的检测方法，提高了该接线检测方法的智能化程度，适用于多种情况下的接线检测。The wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the position information of the motor rotor corresponding to the different situations in which the α-axis reference voltage Uα and the β-axis reference voltage Uβ are positive or negative. , which improves the intelligence of the wiring detection method, and is suitable for wiring detection in various situations.
在一实施例中，电流传感器输出的第一电流信号包括第一A相电流值Ia1、第一B相电流值Ib1和第一C相电流值Ic1；其中，第一A相电流值Ia1为电流传感器检测到的电机的A相输出端输出的电流，第一B相电流值Ib1为电流传感器检测到的电机的B相输出端输出的电流，第一C相电流值Ic1为电流传感器检测到的电机的C相输出端输出的电流；电流传感器输出的第二电流信号包括第二A相电流值Ia2、第二B相电流值Ib2和第二C相电流Ic2；其中，第二A相电流值Ia2为电流传感器检测到的电机的A相输出端输出的电流，第二B相电流值Ib2为电流传感器检测到的电机的B相输出端输出的电流，第二C相电流值Ic2为电流传感器检测到的电机的C相输出端输出的电流。In one embodiment, the first current signal output by the current sensor includes the first A-phase current value Ia1, the first B-phase current value Ib1, and the first C-phase current value Ic1; wherein, the first A-phase current value Ia1 is the current The current output by the A-phase output terminal of the motor detected by the sensor, the first B-phase current value Ib1 is the current output by the B-phase output terminal of the motor detected by the current sensor, and the first C-phase current value Ic1 is the current output detected by the current sensor The current output by the C-phase output terminal of the motor; the second current signal output by the current sensor includes the second A-phase current value Ia2, the second B-phase current value Ib2 and the second C-phase current Ic2; wherein, the second A-phase current value Ia2 is the current output by the A-phase output terminal of the motor detected by the current sensor, the second B-phase current value Ib2 is the current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value Ic2 is the current output by the current sensor The detected current output by the C-phase output terminal of the motor.
参考图2，在电机的三相输出端与电流传感器的接线状态正常时，电机的A相输出端与电流传感器的A相电流采集端电连接，电机的B相输出端与电流传感器的B相电流采集端电连接，电机的C相输出端与电流传感器的C相电流采集端电连接。Referring to Figure 2, when the wiring status between the three-phase output terminal of the motor and the current sensor is normal, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor is connected to the B-phase output terminal of the current sensor. The current collection terminal is electrically connected, and the C-phase output terminal of the motor is electrically connected with the C-phase current collection terminal of the current sensor.
在一实施例中，图6是本申请实施例提供的另一种电驱动系统的接线检测方法的流程图，如图6所示，该接线检测方法包括：In an embodiment, FIG. 6 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 6 , the wiring detection method includes:
S410、向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第一位置信息和电流传感器输出的第一电流信号。S410. Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information of the rotor in the motor and the first current signal output by the current sensor.
S420、在α轴参考电压Uα为正值时，判断是否第一A相电流值为正数，第一B相电流值和第一C相电流值均为负数。若满足第一A相电流值为正数、第一B相电流值和第一C相电流值均为负数，则执行S430；若未满足第一A相电流值为正数，第一B相电流值和第一C相电流值均为负数，则执行S440。S420. When the α-axis reference voltage Uα is a positive value, determine whether the first phase A current value is a positive number, and whether the first phase B current value and the first phase C current value are both negative numbers. If it is satisfied that the first A-phase current value is a positive number, the first B-phase current value and the first C-phase current value are all negative numbers, then execute S430; if the first A-phase current value is not satisfied, the first B-phase current value If both the current value and the first C-phase current value are negative numbers, execute S440.
S430、确定电机的三相输出端与电流传感器的接线状态正常。S430. Determine that the connection status between the three-phase output terminal of the motor and the current sensor is normal.
例如，若电机的三相输出线与电流传感器的接线状态正常，即电机的A相输出端与电流传感器的A相电流采集端电连接，电机的B相输出端与电流传感器的B相电流采集端电连接，电机的C相输出端与电流传感器的C相电流采集端电连接，则当输入的α轴参考电压Uα为正值时，电机的第一A相电流值Ia1 为正数，第一B相电流值Ib1和第一C相电流值Ic1均为负数。因此，当输入的α轴参考电压Uα为正值时，可通过判断电机的三相输出电流是否满足上述关系确定电机与电流传感器之间的接线状态，若判断结果为第一A相电流值Ia1为正数，第一B相电流值Ib1和第一C相电流值Ic1均为负数，则确定电机的三相输出端与电流传感器的接线状态正常，若判断结果与上述结果不符，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间的接线错误情况。For example, if the wiring status of the three-phase output line of the motor and the current sensor is normal, that is, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor is connected to the B-phase current collection terminal of the current sensor. Terminals are electrically connected, and the C-phase output terminal of the motor is electrically connected to the C-phase current collection terminal of the current sensor. When the input α-axis reference voltage Uα is positive, the first A-phase current value Ia1 of the motor is a positive number, and the first A-phase current value Ia1 of the motor is a positive number. Both the first B-phase current value Ib1 and the first C-phase current value Ic1 are negative numbers. Therefore, when the input α-axis reference voltage Uα is positive, the connection state between the motor and the current sensor can be determined by judging whether the three-phase output current of the motor satisfies the above relationship. If the judgment result is the first A-phase current value Ia1 If it is a positive number, the first B-phase current value Ib1 and the first C-phase current value Ic1 are both negative numbers, then it is determined that the connection between the three-phase output terminal of the motor and the current sensor is normal. If the judgment result does not match the above results, it is determined that the motor If the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, it can continue to judge the wiring error between the motor and the current sensor.
S440、判断是否第一A相电流值和第一C相电流值均为负数，第一B相电流值为正数；若满足第一A相电流值和第一C相电流值均为负数、第一B相电流值为正数，则执行S450；若未满足第一A相电流值和第一C相电流值均为负数、第一B相电流值为正数，则执行S460。S440. Determine whether the first A-phase current value and the first C-phase current value are both negative numbers, and the first B-phase current value is a positive number; if both the first A-phase current value and the first C-phase current value are negative numbers, If the first B-phase current value is positive, execute S450; if the first A-phase current value and the first C-phase current value are both negative and the first B-phase current value is positive, execute S460.
S450、确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接。S450. Determine that the wiring state between the three-phase output terminal of the motor and the current sensor is abnormal, and the phase B output terminal of the motor is electrically connected to the phase A current signal acquisition terminal of the current sensor, and the phase A output terminal of the motor is connected to the phase B current of the current sensor The signal acquisition end is electrically connected.
例如，若输入的α轴参考电压Uα为正值时，电流传感器的输出电流不是第一A相电流值为正数，第一B相电流值和第一C相电流值均为负数，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间具体哪两个接线接错，示例性的，可继续判断是否第一A相电流值和第一C相电流值均为负数，第一B相电流值为正数，若是，则可确定电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接，可直接重新连接电机与电流传感器之间的A相接线和B相接线。For example, if the input α-axis reference voltage Uα is a positive value, the output current of the current sensor is not a positive number for the first A-phase current value, and a negative number for both the first B-phase current value and the first C-phase current value, then determine The wiring status between the three-phase output terminal of the motor and the current sensor is abnormal. You can continue to judge which two wirings between the motor and the current sensor are incorrectly connected. For example, you can continue to judge whether the current value of the first A phase is the same as the first C phase. The current values are all negative, and the first B-phase current value is positive. If so, it can be determined that the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is connected to the current sensor. The B-phase current signal acquisition terminal is electrically connected, and can directly reconnect the A-phase wiring and the B-phase wiring between the motor and the current sensor.
S460、判断是否第一A相电流值和第一B相电流值均为负数，第一C相电流值为正数；若满足第一A相电流值和第一B相电流值均为负数、第一C相电流值为正数，则执行S470。S460. Determine whether the first A-phase current value and the first B-phase current value are both negative numbers, and the first C-phase current value is a positive number; if both the first A-phase current value and the first B-phase current value are negative numbers, If the first C-phase current value is a positive number, execute S470.
S470、确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接。S470. Determine that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is connected to the C-phase current of the current sensor. The signal acquisition end is electrically connected.
例如，若确定电机的三相输出端与电流传感器的接线状态异常情况下，电流传感器的输出电流不是第一A相电流值和第一C相电流值均为负数，第一B相电流值为正数，则可确定电流传感器的输出电流为：第一A相电流值和第一B相电流值均为负数，第一C相电流值为正数，此时可确定电机的C相输出端 与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的A相接线和C相接线。For example, if it is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, the output current of the current sensor is not negative for both the first A-phase current value and the first C-phase current value, and the first B-phase current value is If it is a positive number, the output current of the current sensor can be determined as: the first A-phase current value and the first B-phase current value are both negative numbers, and the first C-phase current value is a positive number. At this time, the C-phase output terminal of the motor can be determined If it is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase wiring and C-phase wiring between the motor and the current sensor .
在一实施例中，类似于上述实施例的处理方式，在电机的三相输出端与电流传感器的接线状态正常时，若输入的α轴参考电压Uα为负值，则电流传感器的输出电流应为第一A相电流值为负数，第一B相电流值和第一C相电流值均为正数，因此，当输入的α轴参考电压Uα为负值时，可通过判断电机的三相输出电流是否满足上述关系确定电机与电流传感器之间的接线状态，若判断结果为第一A相电流值为负数，第一B相电流值和第一C相电流值均为正数，则确定电机的三相输出端与电流传感器的接线状态正常，若判断结果与上述结果不符，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间的接线错误情况。In one embodiment, similar to the processing method of the above-mentioned embodiment, when the connection between the three-phase output terminal of the motor and the current sensor is normal, if the input α-axis reference voltage Uα is negative, the output current of the current sensor should be The first A-phase current value is a negative number, and the first B-phase current value and the first C-phase current value are both positive numbers. Therefore, when the input α-axis reference voltage Uα is a negative value, it can be determined by judging the three-phase Whether the output current satisfies the above relationship determines the wiring status between the motor and the current sensor. If the judgment result is that the first A-phase current value is negative, and the first B-phase current value and the first C-phase current value are both positive, then determine The wiring status of the three-phase output terminal of the motor and the current sensor is normal. If the judgment result is inconsistent with the above results, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and it can continue to judge the wiring error between the motor and the current sensor Condition.
本申请实施例提供的电驱动系统的接线检测方法，针对α轴参考电压Uα为正数或负数的不同情况时所对应的电流传感器输出的第一电流信号，提供了不同的检测方法，提高了该接线检测方法的智能化程度，适用于多种情况下的接线检测。The wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the first current signal output by the current sensor corresponding to the different situations in which the α-axis reference voltage Uα is positive or negative, and improves the The intelligent degree of the wiring detection method is suitable for wiring detection in various situations.
示例性的，若第一A相电流值和第一C相电流值均为正数，第一B相电流值为负数，则确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接，则可直接重新连接电机与电流传感器之间的A相接线和B相接线。若第一A相电流值和第一B相电流值为正数，第一C相输出电流为负数，则确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的A相接线和C相接线。Exemplarily, if both the first A-phase current value and the first C-phase current value are positive numbers, and the first B-phase current value is a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor The phase B output terminal of the current sensor is electrically connected to the phase A current signal acquisition terminal of the current sensor, and the phase A output terminal of the motor is electrically connected to the phase B current signal acquisition terminal of the current sensor, then the A phase between the motor and the current sensor can be directly reconnected. Phase wiring and phase B wiring. If the first A-phase current value and the first B-phase current value are positive numbers, and the first C-phase output current is a negative number, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is abnormal. If it is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase wiring and C-phase wiring between the motor and the current sensor .
在一实施例中，图7是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图，如图7所示，该接线检测方法包括：In an embodiment, FIG. 7 is a flow chart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 7 , the wiring detection method includes:
S510、向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc，并获取电机中转子的第二位置信息和电流传感器输出的第二电流信号。S510. Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the second position information of the rotor in the motor and the second current signal output by the current sensor.
S520、在β轴参考电压Uβ为正值时，判断是否第二A相电流值为0，第二B相电流值为正数且第二C相电流值为负数；若满足第二A相电流值为0、第 二B相电流值为正数且第二C相电流值为负数，则执行S530；若未满足第二A相电流值为0、第二B相电流值为正数且第二C相电流值为负数，则执行S540。S520. When the β-axis reference voltage Uβ is a positive value, judge whether the second A-phase current value is 0, the second B-phase current value is a positive number, and the second C-phase current value is a negative number; if the second A-phase current value is satisfied value is 0, the second B-phase current value is a positive number, and the second C-phase current value is a negative number, then execute S530; if the second A-phase current value is 0, the second B-phase current value is a positive number, and the second If the current value of phase C is negative, execute S540.
S530、确定电机的三相输出端与电流传感器的接线状态正常。S530. Determine that the connection status between the three-phase output terminal of the motor and the current sensor is normal.
例如，若电机的三相输出线与电流传感器的接线状态正常，即电机的A相输出端与电流传感器的A相电流采集端电连接，电机的B相输出端与电流传感器的B相电流采集端电连接，电机的C相输出端与电流传感器的C相电流采集端电连接，则当输入的β轴参考电压Uβ为正值时，电机的第二A相电流值Ia2为0，第二B相电流值Ib2为正数且第二C相电流值Ic2为负数。因此，当输入的β轴参考电压Uβ为正值时，可通过判断电机的三相输出电流是否满足上述关系确定电机与电流传感器之间的接线状态，即若判断结果为第二A相电流值Ia2为0，第二B相电流值Ib2为正数且第二C相电流值Ic2为负数，则确定电机的三相输出端与电流传感器的接线状态正常，若判断结果与上述结果不符，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间的接线错误情况。For example, if the wiring status of the three-phase output line of the motor and the current sensor is normal, that is, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor is connected to the B-phase current collection terminal of the current sensor. Terminals are electrically connected, the C-phase output terminal of the motor is electrically connected with the C-phase current collection terminal of the current sensor, then when the input β-axis reference voltage Uβ is positive, the second A-phase current value Ia2 of the motor is 0, and the second The B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is a negative number. Therefore, when the input β-axis reference voltage Uβ is positive, the connection state between the motor and the current sensor can be determined by judging whether the three-phase output current of the motor satisfies the above relationship, that is, if the judgment result is the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is a negative number, then it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal, if the judgment result is inconsistent with the above result, then It is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the wiring error between the motor and the current sensor can be further judged.
S540、判断是否第二A相电流值为正数，第二B相电流值为0，第二C相电流值为负数；若满足第二A相电流值为正数、第二B相电流值为0、第二C相电流值为负数，则执行S550；若不满足第二A相电流值为正数、第二B相电流值为0、第二C相电流值为负数，则执行S560。S540. Judging whether the current value of the second phase A is positive, the current value of the second phase B is 0, and the current value of the second phase C is negative; if the current value of the second phase A is positive, the current value of the second phase B is is 0, the second phase C current value is a negative number, then execute S550; if the second A phase current value is not satisfied, the second B phase current value is 0, and the second C phase current value is a negative number, then execute S560 .
S550、确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接。S550. Determine that the wiring state between the three-phase output terminal of the motor and the current sensor is abnormal, and the phase B output terminal of the motor is electrically connected to the phase A current signal acquisition terminal of the current sensor, and the phase A output terminal of the motor is connected to the phase B current of the current sensor The signal acquisition end is electrically connected.
例如，若输入的β轴参考电压Uβ为正值时，电流传感器的输出电流不是第二A相电流值Ia2为0，第二B相电流值Ib2为正数且第二C相电流值Ic2为负数，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间具体哪两个接线接错，示例性的，可继续判断是否第二A相电流值Ia2为正数，第二B相电流值Ib2为0，第二C相电流值Ic2为负数，若是，则可确定电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接，可直接重新连接电机与电流传感器之间的A相接线和B相接线。For example, if the input β-axis reference voltage Uβ is a positive value, the output current of the current sensor is not the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number and the second C-phase current value Ic2 is Negative number, then it is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and it can continue to judge which two wirings between the motor and the current sensor are wrongly connected. For example, it can continue to judge whether the second A-phase current value Ia2 is a positive number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is a negative number, if so, it can be determined that the B-phase output terminal of the motor is electrically connected with the A-phase current signal acquisition terminal of the current sensor, and the motor’s The A-phase output terminal is electrically connected to the B-phase current signal acquisition terminal of the current sensor, and can directly reconnect the A-phase wiring and the B-phase wiring between the motor and the current sensor.
S560、判断是否第二A相电流值为负数，第二B相电流值为正数，第二C相电流值为0；若满足第二A相电流值为负数、第二B相电流值为正数、第二C相电流值为0，则执行S570；若不满足第二A相电流值为负数、第二B相电 流值为正数、第二C相电流值为0，则执行S580。S560. Determine whether the current value of the second phase A is negative, the current value of the second phase B is positive, and the current value of the second phase C is 0; if the current value of the second phase A is negative, the current value of the second phase B is If the current value of the second phase C is positive and the current value of the second phase C is 0, execute S570; if the current value of the second phase A is negative, the current value of the second phase B is positive, and the current value of the second phase C is 0, execute S580 .
S570、确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接。S570. Determine that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is connected to the C-phase current of the current sensor. The signal acquisition end is electrically connected.
例如，若确定电机的三相输出端与电流传感器的接线状态异常情况下，电流传感器的输出电流不是第二A相电流值Ia2为正数，第二B相电流值Ib2为0，第二C相电流值Ic2为负数，则可继续判断电流传感器的输出电流是否为：第二A相电流值Ia2为负数，第二B相电流值Ib2为正数，第二C相电流值Ic2为0，若是，则可确定电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的A相接线和C相接线。For example, if it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, the output current of the current sensor is not the second A-phase current value Ia2 is a positive number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ib2 is not positive. If the phase current value Ic2 is a negative number, then it can continue to judge whether the output current of the current sensor is: the second A-phase current value Ia2 is a negative number, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is 0, If so, it can be determined that the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the motor and the current signal. Phase A wiring and phase C wiring between sensors.
S580、判断是否第二A相电流值为0，第二B相电流值为负数，第二C相电流值为正数；若满足第二A相电流值为0、第二B相电流值为负数、第二C相电流值为正数，则执行S590。S580. Determine whether the current value of the second phase A is 0, the current value of the second phase B is negative, and the current value of the second phase C is positive; if the current value of the second phase A is 0, the current value of the second phase B is If the number is negative and the second C-phase current value is positive, execute S590.
S590、确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器C相电流信号采集端电连接，以及电机的C相输出端与电流传感器的B相电流信号采集端电连接。S590. Determine that the wiring state between the three-phase output terminal of the motor and the current sensor is abnormal, and the phase B output terminal of the motor is electrically connected to the phase C current signal acquisition terminal of the current sensor, and the phase C output terminal of the motor is connected to the phase B current of the current sensor The signal acquisition end is electrically connected.
例如，若确定电机的三相输出端与电流传感器的接线状态异常情况下，电流传感器的输出电流均不满足上述情况，则可确定电流传感器的输出电流为第二A相电流值Ia2为0，第二B相电流值Ib2为负数，第二C相电流值Ic2为正数，此时可确定电机的B相输出端与电流传感器C相电流信号采集端电连接，以及电机的C相输出端与电流传感器的B相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的B相接线和C相接线。For example, if it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the output current of the current sensor does not meet the above conditions, then it can be determined that the output current of the current sensor is that the second A-phase current value Ia2 is 0, The second B-phase current value Ib2 is a negative number, and the second C-phase current value Ic2 is a positive number. At this time, it can be determined that the B-phase output terminal of the motor is electrically connected with the C-phase current signal acquisition terminal of the current sensor, and the C-phase output terminal of the motor If it is electrically connected to the B-phase current signal acquisition terminal of the current sensor, then directly reconnect the B-phase wiring and the C-phase wiring between the motor and the current sensor.
在一实施例中，类似于上述实施例的处理方式，在电机的三相输出端与电流传感器的接线状态正常时，若输入的β轴参考电压Uβ为负值，则电流传感器的输出电流应为第二A相电流值Ia2为0，第二B相电流值Ib2为负数且第二C相电流值Ic2为正数，因此，当输入的β轴参考电压Uβ为负值时，可通过判断电机的三相输出电流是否满足上述关系确定电机与电流传感器之间的接线状态，若判断结果为第第二A相电流值Ia2为0，第二B相电流值Ib2为负数且第二C相电流值Ic2为正数，则确定电机的三相输出端与电流传感器的接线状态正常，若判断结果与上述结果不符，则确定电机的三相输出端与电流传感器的接线状态异常，可继续判断电机与电流传感器之间的接线错误情况。In one embodiment, similar to the processing method of the above-mentioned embodiment, when the connection between the three-phase output terminal of the motor and the current sensor is normal, if the input β-axis reference voltage Uβ is negative, the output current of the current sensor should be The second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a negative number, and the second C-phase current value Ic2 is a positive number. Therefore, when the input β-axis reference voltage Uβ is a negative value, it can be judged Whether the three-phase output current of the motor satisfies the above relationship determines the wiring status between the motor and the current sensor. If the judgment result is that the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is negative and the second C-phase current value is negative If the current value Ic2 is a positive number, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is normal. If the judgment result does not match the above results, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and the judgment can be continued Incorrect wiring condition between the motor and the current sensor.
示例性的，若第二A相电流值Ia2为负数，第二B相电流值Ib2为0，第二C相电流值Ic2为正数，则确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接，则可直接重新连接电机与电流传感器之间的A相接线和B相接线。若第二A相电流值Ia2为正数，第二B相电流值Ib2为负数，第二C相电流值Ic2为0，则确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的A相接线和C相接线。若第二A相电流值Ia2为0，第二B相电流值Ib2为正数且第二C相电流值Ic2为负数，则确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器C相电流信号采集端电连接，以及电机的C相输出端与电流传感器的B相电流信号采集端电连接，则直接重新连接电机与电流传感器之间的B相接线和C相接线。Exemplarily, if the second A-phase current value Ia2 is a negative number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is a positive number, then determine the connection state between the three-phase output terminal of the motor and the current sensor Abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor, then the motor and the current sensor can be directly reconnected between phase A wiring and phase B wiring. If the second A-phase current value Ia2 is a positive number, the second B-phase current value Ib2 is a negative number, and the second C-phase current value Ic2 is 0, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor The C-phase output terminal of the current sensor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, then directly reconnect the A-phase between the motor and the current sensor Wiring and C phase wiring. If the second A-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is a negative number, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is abnormal, and the motor The B-phase output terminal of the current sensor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, and the C-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor, then directly reconnect the B-phase between the motor and the current sensor Wiring and C phase wiring.
本申请实施例提供的电驱动系统的接线检测方法，针对β轴参考电压Uβ为正数或负数的不同情况时所对应的电流传感器输出的第二电流信号，提供了不同的检测方法，提高了该接线检测方法的智能化程度，适用于多种情况下的接线检测。The wiring detection method of the electric drive system provided in the embodiment of the present application provides different detection methods for the second current signal output by the current sensor corresponding to different situations in which the β-axis reference voltage Uβ is positive or negative, and improves the The intelligent degree of the wiring detection method is suitable for wiring detection in various situations.
需要说明的是，为了提高接线检测结果的准确性，可对输入α轴参考电压Uα时获取的第一电流信号和输入β轴参考电压Uβ时获取的第二电流信号同时检测，综合根据α轴参考电压Uα和第一电流信号获取的检测结果以及根据β轴参考电压Uβ和第二电流信号获取的检测结果，确定电机与电流传感器之间的接线状态。It should be noted that, in order to improve the accuracy of the wiring detection results, the first current signal obtained when the α-axis reference voltage Uα is input and the second current signal obtained when the β-axis reference voltage Uβ is input can be detected simultaneously. The detection result obtained from the reference voltage Uα and the first current signal and the detection result obtained from the β-axis reference voltage Uβ and the second current signal determine the connection state between the motor and the current sensor.
在一实施例中，图8是本申请实施例提供的又一种电驱动系统的接线检测方法的流程图，如图8所示，该接线检测方法包括：In an embodiment, FIG. 8 is a flowchart of another wiring detection method for an electric drive system provided in an embodiment of the present application. As shown in FIG. 8 , the wiring detection method includes:
S610、以α轴参考电压Uα的电压值等于0开始，分多次向脉宽调制电路提供α轴参考电压Uα，直至α轴参考电压Uα的电压值为预设电压值时，获取电机中转子的第一位置信息和电流传感器输出的第一电流信号；其中，后一次向脉宽调制电路提供的α轴参考电压Uα比前一次向脉宽调制电路提供的α轴参考电压Uα的电压值大第一预设值。S610. Start with the voltage value of the α-axis reference voltage Uα being equal to 0, and provide the α-axis reference voltage Uα to the pulse width modulation circuit for multiple times until the voltage value of the α-axis reference voltage Uα is a preset voltage value, and obtain the middle rotor of the motor The first position information of the current sensor and the first current signal output by the current sensor; wherein, the α-axis reference voltage Uα provided to the pulse width modulation circuit in the latter time is greater than the voltage value of the α-axis reference voltage Uα provided to the pulse width modulation circuit in the previous time The first default value.
例如，为了避免直接向电驱动系统输入预设电压值的参考电压导致空载的电机失控，可控制提供至电驱动系统的α轴参考电压Uα从0开始逐渐变化。示 例性的，以α轴参考电压Uα的电压值等于0开始，分多次向脉宽调制电路提供α轴参考电压Uα，直至α轴参考电压Uα的电压值为预设电压值，若向脉宽调制电路提供的α轴参考电压Uα为正值，则预设电压值可以为
Figure PCTCN2022104205-appb-000009
若向脉宽调制电路提供的α轴参考电压Uα为负值，则预设电压值可以为
Figure PCTCN2022104205-appb-000010
在α轴参考电压Uα的值为预设电压值时，获取电机中转子的第一位置信息和电流传感器输出的第一电流信号。其中，后一次向脉宽调制电路提供的α轴参考电压Uα比前一次向脉宽调制电路提供的α轴参考电压Uα的电压值大第一预设值(例如可以为0.1V)。 For example, in order to prevent the no-load motor from being out of control by directly inputting a reference voltage with a preset voltage value to the electric drive system, the α-axis reference voltage Uα provided to the electric drive system can be controlled to gradually change from 0. Exemplarily, starting with the voltage value of the α-axis reference voltage Uα being equal to 0, the α-axis reference voltage Uα is provided to the pulse width modulation circuit several times until the voltage value of the α-axis reference voltage Uα is a preset voltage value. The α-axis reference voltage Uα provided by the wide modulation circuit is positive, and the preset voltage value can be
Figure PCTCN2022104205-appb-000009
If the α-axis reference voltage Uα provided to the pulse width modulation circuit is negative, the preset voltage value can be
Figure PCTCN2022104205-appb-000010
When the value of the α-axis reference voltage Uα is a preset voltage value, the first position information of the rotor in the motor and the first current signal output by the current sensor are obtained. Wherein, the α-axis reference voltage Uα provided to the pulse width modulation circuit later is greater than the voltage value of the α-axis reference voltage Uα provided to the pulse width modulation circuit previously by a first preset value (for example, 0.1V).
S620、以β轴参考电压Uβ的电压值等于0开始，分多次向脉宽调制电路时间β轴参考电压Uβ，直至β轴参考电压Uβ的电压值为预设电压值时，获取电机中转子的第二位置信息和电流传感器输出的第二电流信号；其中，后一次向脉宽调制电路提供的β轴参考电压Uβ比前一次向脉宽调制电路提供的β轴参考电压Uβ的电压值大第二预设值。S620. Starting with the voltage value of the β-axis reference voltage Uβ being equal to 0, send the β-axis reference voltage Uβ to the pulse width modulation circuit for multiple times, until the voltage value of the β-axis reference voltage Uβ is a preset voltage value, and obtain the middle rotor of the motor The second position information of the current sensor and the second current signal output by the current sensor; wherein, the β-axis reference voltage Uβ provided to the pulse width modulation circuit in the latter time is greater than the voltage value of the β-axis reference voltage Uβ provided to the pulse width modulation circuit in the previous time Second default value.
同样的，为了避免直接向电驱动系统输入预设电压值的参考电压导致空载的电机失控，可控制提供至电驱动系统的β轴参考电压Uβ从0开始逐渐变化。示例性的，以β轴参考电压Uβ的电压值等于0开始，分多次向脉宽调制电路提供β轴参考电压Uβ，直至β轴参考电压Uβ的电压值为预设电压值，若向脉宽调制电路提供的β轴参考电压Uβ为正值，则预设电压值可以为
Figure PCTCN2022104205-appb-000011
若向脉宽调制电路提供的β轴参考电压Uβ为负值，则预设电压值可以为
Figure PCTCN2022104205-appb-000012
在β轴参考电压Uβ的值为预设电压值时，获取电机中转子的第二位置信息和电流传感器输出的第二电流信号。其中，后一次向脉宽调制电路提供的β轴参考电压Uβ比前一次向脉宽调制电路提供的β轴参考电压Uβ的电压值大第二预设值(例如可以与第一预设值相同，为0.1V)。 Similarly, in order to prevent the unloaded motor from being out of control by directly inputting a reference voltage with a preset voltage value to the electric drive system, the β-axis reference voltage Uβ provided to the electric drive system can be controlled to gradually change from 0. Exemplarily, starting with the voltage value of the β-axis reference voltage Uβ being equal to 0, the β-axis reference voltage Uβ is provided to the pulse width modulation circuit several times until the voltage value of the β-axis reference voltage Uβ is a preset voltage value. The β-axis reference voltage Uβ provided by the wide modulation circuit is positive, and the preset voltage value can be
Figure PCTCN2022104205-appb-000011
If the β-axis reference voltage Uβ provided to the pulse width modulation circuit is a negative value, the preset voltage value can be
Figure PCTCN2022104205-appb-000012
When the value of the β-axis reference voltage Uβ is a preset voltage value, the second position information of the rotor in the motor and the second current signal output by the current sensor are acquired. Wherein, the β-axis reference voltage Uβ provided to the pulse width modulation circuit in the latter time is greater than the voltage value of the β-axis reference voltage Uβ provided to the pulse width modulation circuit in the previous time by a second preset value (for example, it may be the same as the first preset value , is 0.1V).
S630、根据α轴参考电压Uα、β轴参考电压Uβ以及电机中转子的第一位置信息和第二位置信息，确定三相逆变器与电机的三相输入端之间的接线状态。S630. Determine the connection state between the three-phase inverter and the three-phase input terminal of the motor according to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first and second position information of the rotor in the motor.
S640、根据α轴参考电压Uα和电流传感器输出的第一电流信号、或根据β轴参考电压Uβ和电流传感器输出的第二电流信号中的至少一类，确定电机的三相输出端与电流传感器的接线状态。S640, according to the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to at least one of the β-axis reference voltage Uβ and the second current signal output by the current sensor, determine the three-phase output terminal of the motor and the current sensor connection status.
S650、显示三相逆变器与电机的三相输入端之间的接线状态，以及显示电机的三相输出端与电流传感器的接线状态。S650. Display the wiring status between the three-phase inverter and the three-phase input terminal of the motor, and display the wiring status between the three-phase output terminal of the motor and the current sensor.
例如，为了更直观的使操作人员了解三相逆变器与电机之间的接线状态以及电机与电流传感器之间的接线状态，可将三相逆变器与电机的接线检测结果 和电机与电流传感器的接线检测结果进行显示。示例性的，若三相逆变器与电机之间的接线状态正常，则显示接线正常的提示，若三相逆变器与电机之间的接线状态异常，则显示接线异常请操作人员检查并重新接线的提示；若电机与电流传感器接线正常，则显示接线正常的提示，若电机与电流传感器接线异常，则显示电机与电流传感器具体接错的接线，例如显示电机与电流传感器的A相线与C相线接错，能够有效地提示操作人员电驱动系统的接线状态。For example, in order to let the operator understand the connection state between the three-phase inverter and the motor and the connection state between the motor and the current sensor more intuitively, the detection results of the connection between the three-phase inverter and the motor and the connection between the motor and the current The wiring detection result of the sensor is displayed. For example, if the wiring status between the three-phase inverter and the motor is normal, a prompt indicating that the wiring is normal will be displayed; if the wiring status between the three-phase inverter and the motor is abnormal, it will be displayed that the wiring is abnormal. Prompt for re-wiring; if the wiring between the motor and the current sensor is normal, it will display the prompt of normal wiring; if the wiring between the motor and the current sensor is abnormal, it will display the specific wrong connection between the motor and the current sensor, for example, display the A-phase line of the motor and the current sensor If it is wrongly connected with the C-phase line, it can effectively remind the operator of the wiring status of the electric drive system.
基于同样的发明构思，本申请实施例还提供了一种电驱动系统的接线检测装置，该电驱动系统的接线检测装置可检测电驱动系统的接线状态，该电驱动系统的接线检测装置可用于执行本申请实施例提供的电驱动系统的接线检测方法，该电驱动系统的接线检测装置可由软件和/或硬件实现。Based on the same inventive concept, the embodiment of the present application also provides a wiring detection device for an electric drive system, the wiring detection device for the electric drive system can detect the wiring status of the electric drive system, and the wiring detection device for the electric drive system can be used for To execute the connection detection method of the electric drive system provided in the embodiment of the present application, the connection detection device of the electric drive system may be implemented by software and/or hardware.
在一实施例中，图9是本申请实施例提供的一种电驱动系统的接线检测装置的结构示意图，如图9所示，电驱动系统包括依次电连接的脉宽调制电路210、三相逆变器220、电机230和电流传感器240，该接线检测装置包括：第一信息获取模块310，设置为在向脉宽调制电路提供α轴参考电压Uα以及向三相逆变器提供直流母线电压Udc时，获取电机中转子的第一位置信息和电流传感器输出的第一电流信号；第二信息获取模块320，设置为在向脉宽调制电路提供β轴参考电压Uβ以及向三相逆变器提供直流母线电压Udc时，获取电机中转子的第二位置信息和电流传感器输出的第二电流信号；第一接线状态确定模块330，设置为根据α轴参考电压Uα、β轴参考电压Uβ以及电机中转子的第一位置信息和第二位置信息，确定三相逆变器与电机的三相输入端之间的接线状态；第二接线状态确定模块340，设置为根据α轴参考电压Uα和电流传感器输出的第一电流信号、或根据β轴参考电压Uβ和电流传感器输出的第二电流信号中的至少一类，确定电机的三相输出端与电流传感器的接线状态。In an embodiment, FIG. 9 is a schematic structural diagram of a wiring detection device for an electric drive system provided in an embodiment of the present application. As shown in FIG. 9 , the electric drive system includes a pulse width modulation circuit 210, a three-phase Inverter 220, motor 230 and current sensor 240, the wiring detection device includes: a first information acquisition module 310, configured to provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage to the three-phase inverter During Udc, the first position information of the rotor in the motor and the first current signal output by the current sensor are obtained; the second information acquisition module 320 is configured to provide the β-axis reference voltage Uβ to the pulse width modulation circuit and to the three-phase inverter When the DC bus voltage Udc is provided, the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained; the first connection status determination module 330 is set to be based on the α-axis reference voltage Uα, the β-axis reference voltage Uβ and the motor The first position information and the second position information of the middle rotor determine the connection state between the three-phase inverter and the three-phase input terminal of the motor; the second connection state determination module 340 is set to be based on the α-axis reference voltage Uα and the current The first current signal output by the sensor, or according to at least one of the β-axis reference voltage Uβ and the second current signal output by the current sensor, determines the connection state between the three-phase output terminal of the motor and the current sensor.
本申请实施例提供的电驱动系统的接线检测装置，通过第一信息获取模块在向电驱动系统提供α轴参考电压Uα时获取电机中转子的第一位置信息和电流传感器输出的第一电流信号，通过第二信息获取模块在向电驱动系统提供β轴参考电压Uβ时获取电机中转子的第二位置信息和电流传感器输出的第二电流信号，并通过第一接线状态确定模块根据获取的信息检测三相逆变器与电机的三相输入端之间的接线状态，通过第二接线状态确定模块根据获取的信息检测电机的三相输出端与电流传感器的接线状态，该接线检测装置能够对三相逆变器与电机的接线状态和电机与电流传感器的接线状态同时进行检测，有效简单，易于实现，能够有效避免因接线错误而导致电机无法正常工作或损坏系统器件 的状况。The connection detection device of the electric drive system provided in the embodiment of the present application obtains the first position information of the rotor in the motor and the first current signal output by the current sensor when the α-axis reference voltage Uα is provided to the electric drive system through the first information acquisition module , when the β-axis reference voltage Uβ is provided to the electric drive system through the second information acquisition module, the second position information of the rotor in the motor and the second current signal output by the current sensor are obtained, and the first connection status determination module is used to determine the information according to the acquired information Detect the connection state between the three-phase inverter and the three-phase input terminal of the motor, and detect the connection state between the three-phase output terminal of the motor and the current sensor through the second connection state determination module according to the obtained information, and the connection detection device can The wiring status of the three-phase inverter and the motor and the wiring status of the motor and the current sensor are detected at the same time, which is effective, simple and easy to implement, and can effectively avoid the situation that the motor cannot work normally or damage the system components due to wiring errors.
在一实施例中，第一位置信息包括电机转子的第一电角度，第二位置信息包括电机转子的第二电角度；图10是本申请实施例提供的另一种电驱动系统的接线检测装置的结构示意图，如图10所示，第一接线状态确定模块330包括第一判断单元331，设置为响应于α轴参考电压Uα和β轴参考电压Uβ均为正值、或者α轴参考电压Uα和β轴参考电压Uβ均为负值，判断第二电角度与第一电角度之间的相位差值是否为π/2；响应于所述第二电角度与所述第一电角度之间的相位差值为π/2，确定三相逆变器与电机的三相输入端之间的接线状态正常；响应于所述第二电角度与所述第一电角度之间的相位差值不为π/2，确定三相逆变器与电机的三相输入端之间的接线状态异常；第二判断单元332，设置为响应于α轴参考电压Uα为正值且β轴参考电压Uβ为负值、或者α轴参考电压Uα为负值且β轴参考电压Uβ为正值，判断第二电角度与第一电角度之间的相位差值是否为-π/2；若响应于第二电角度与第一电角度之间的相位差值为-π/2，确定三相逆变器与电机的三相输入端之间的接线状态正常；若响应于第二电角度与第一电角度之间的相位差值不为-π/2，确定三相逆变器与电机的三相输入端之间的接线状态异常；其中，
Figure PCTCN2022104205-appb-000013
m为与电机在α轴的电磁系数相关的系数，n为与电机在β轴的电磁系数相关的系数。 In an embodiment, the first position information includes the first electrical angle of the motor rotor, and the second position information includes the second electrical angle of the motor rotor; FIG. 10 is another wiring detection of the electric drive system provided by the embodiment of the present application The structural diagram of the device, as shown in FIG. 10 , the first connection state determination module 330 includes a first judging unit 331, which is configured to respond to both the α-axis reference voltage Uα and the β-axis reference voltage Uβ being positive values, or the α-axis reference voltage Both Uα and β-axis reference voltage Uβ are negative values, and it is judged whether the phase difference between the second electrical angle and the first electrical angle is π/2; in response to the difference between the second electrical angle and the first electrical angle The phase difference between them is π/2, and it is determined that the connection state between the three-phase inverter and the three-phase input terminal of the motor is normal; in response to the phase difference between the second electrical angle and the first electrical angle If the value is not π/2, it is determined that the connection state between the three-phase inverter and the three-phase input terminal of the motor is abnormal; the second judging unit 332 is set to respond to the positive value of the α-axis reference voltage Uα and the β-axis reference voltage Uβ is a negative value, or the α-axis reference voltage Uα is negative and the β-axis reference voltage Uβ is positive, judge whether the phase difference between the second electrical angle and the first electrical angle is -π/2; if the response The phase difference between the second electrical angle and the first electrical angle is -π/2, and it is determined that the connection state between the three-phase inverter and the three-phase input terminal of the motor is normal; if the response to the second electrical angle and the first electrical angle If the phase difference between an electrical angle is not -π/2, it is determined that the wiring status between the three-phase inverter and the three-phase input terminal of the motor is abnormal; among them,
Figure PCTCN2022104205-appb-000013
m is a coefficient related to the electromagnetic coefficient of the motor on the α axis, and n is a coefficient related to the electromagnetic coefficient of the motor on the β axis.
在一实施例中，电流传感器输出的第一电流信号包括第一A相电流值、第一B相电流值和第一C相电流值；其中，第一A相电流值为电流传感器检测到的电机的A相输出端输出的电流，第一B相电流值为电流传感器检测到的电机的B相输出端输出的电流，第一C相电流值为电流传感器检测到的电机的C相输出端输出的电流；电流传感器输出的第二电流信号包括第二A相电流值、第二B相电流值和第二C相电流值；其中，第二A相电流值为电流传感器检测到的电机的A相输出端输出的电流，第二B相电流值为电流传感器检测到的电机的B相输出端输出的电流，第二C相电流值为电流传感器检测到的电机的C相输出端输出的电流；参考图10，在电机的三相输出端与电流传感器的接线状态正常时，电机的A相输出端与电流传感器的A相电流采集端电连接，电机的B相输出端与电流传感器的B相电流采集端电连接，电机的C相输出端与电流传感器的C相电流采集端电连接。In one embodiment, the first current signal output by the current sensor includes the first A-phase current value, the first B-phase current value and the first C-phase current value; wherein, the first A-phase current value is detected by the current sensor The current output by the A-phase output terminal of the motor, the first B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor, and the first C-phase current value is the C-phase output terminal of the motor detected by the current sensor The output current; the second current signal output by the current sensor includes the second phase A current value, the second phase B current value and the second phase C current value; wherein, the second phase A current value is the motor detected by the current sensor The current output by the A-phase output terminal, the second B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value is the output current of the C-phase output terminal of the motor detected by the current sensor Current; referring to Figure 10, when the wiring status between the three-phase output terminal of the motor and the current sensor is normal, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor is connected to the current sensor’s The B-phase current collection terminal is electrically connected, and the C-phase output terminal of the motor is electrically connected with the C-phase current collection terminal of the current sensor.
在一实施例中，第二接线状态确定模块340包括：第一接线状态检测单元341，设置为在α轴参考电压Uα为正值时，响应于第一A相电流值为正数、第一B相电流值和第一C相电流值均为负数，确定电机的三相输出端与电流传感 器的接线状态正常；响应于第一A相电流值和第一C相电流值均为负数、第一B相电流值为正数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接；响应于第一A相电流值和第一B相电流值均为负数、第一C相电流值为正数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接；第二接线状态检测单元342，设置为在α轴参考电压Uα为负值时，响应于第一A相电流值为负数、第一B相电流值和第一C相电流值均为正数，确定电机的三相输出端与电流传感器的接线状态正常；响应于第一A相电流值和第一C相电流值均为正数、第一B相电流值为负数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接；响应于第一A相电流值和第一B相电流值为正数、第一C相输出电流为负数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接。In an embodiment, the second connection state determination module 340 includes: a first connection state detection unit 341 configured to respond to the first A-phase current value as a positive number, the first Both the B-phase current value and the first C-phase current value are negative numbers, and it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal; in response to the first A-phase current value and the first C-phase current value being both negative numbers, the first If the current value of phase B is positive, it is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the output terminal of phase B of the motor is electrically connected with the current signal acquisition terminal of phase A of the current sensor, and the output terminal of phase A of the motor It is electrically connected to the B-phase current signal acquisition terminal of the current sensor; in response to the negative numbers of the first A-phase current value and the first B-phase current value, and the first C-phase current value is a positive number, determine the three-phase output terminal of the motor and The wiring status of the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor; the second wiring status The detection unit 342 is configured to determine the motor's three current values in response to a negative value of the first A-phase current value and a positive number of both the first B-phase current value and the first C-phase current value when the α-axis reference voltage Uα is a negative value. The wiring status of the phase output terminal and the current sensor is normal; in response to the fact that the first A-phase current value and the first C-phase current value are both positive numbers, and the first B-phase current value is a negative number, it is determined that the three-phase output terminal of the motor is connected to the current sensor The wiring status of the motor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the B-phase current signal acquisition terminal of the current sensor; in response to the first A-phase The current value and the first B-phase current value are positive numbers, and the first C-phase output current is a negative number. It is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor and the current sensor A-phase current The signal acquisition end is electrically connected, and the A-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor.
在一实施例中，第二接线状态确定模块340还包括：第三接线状态检测单元343，设置为在β轴参考电压Uβ为正值时，响应于第二A相电流值为0、第二B相电流值为正数且第二C相电流值为负数，确定电机的三相输出端与电流传感器的接线状态正常；响应于第二A相电流值为正数、第二B相电流值为0、第二C相电流值为负数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接；响应于第二A相电流值为负数、第二B相电流值均为正数、第二C相电流值为0，确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接；响应于第二A相电流值为0、第二B相电流值为负数、第二C相电流值为正数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器C相电流信号采集端电连接，以及电机的C相输出端与电流传感器的B相电流信号采集端电连接；第四接线状态检测单元344，设置为在β轴参考电压Uβ为负值时，响应于第二A相电流值为0、第二B相电流 值为负数且第二C相电流值为正数，确定电机的三相输出端与电流传感器的接线状态正常；响应于第二A相电流值为负数、第二B相电流值为0、第二C相电流值为正数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的B相电流信号采集端电连接；响应于第二A相电流值为正数、第二B相电流值均为负数、第二C相电流值为0，确定电机的三相输出端与电流传感器的接线状态异常，且电机的C相输出端与电流传感器A相电流信号采集端电连接，以及电机的A相输出端与电流传感器的C相电流信号采集端电连接；响应于第二A相电流值为0、第二B相电流值为正数、第二C相电流值为负数，确定电机的三相输出端与电流传感器的接线状态异常，且电机的B相输出端与电流传感器C相电流信号采集端电连接，以及电机的C相输出端与电流传感器的B相电流信号采集端电连接。In an embodiment, the second connection state determination module 340 further includes: a third connection state detection unit 343, configured to respond to the second phase A current value of 0, the second The B-phase current value is a positive number and the second C-phase current value is a negative number. It is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal; in response to the second A-phase current value being a positive number and the second B-phase current value 0, the second C-phase current value is a negative number, it is determined that the wiring status of the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected with the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected. The phase output end is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being a negative number, the second B-phase current value being positive, and the second C-phase current value being 0, determine the motor's The wiring status of the three-phase output terminal and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor. ; In response to the second A-phase current value being 0, the second B-phase current value being a negative number, and the second C-phase current value being a positive number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase current value of the motor is abnormal. The phase output end is electrically connected to the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor; the fourth wiring state detection unit 344 is set as the reference voltage on the β axis When Uβ is a negative value, in response to the second A-phase current value being 0, the second B-phase current value being a negative number, and the second C-phase current value being a positive number, it is determined that the connection status between the three-phase output terminal of the motor and the current sensor is normal ; In response to the second A-phase current value being a negative number, the second B-phase current value being 0, and the second C-phase current value being a positive number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase current value of the motor is abnormal. The phase output end is electrically connected to the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor; The phase current values are all negative numbers, and the second C-phase current value is 0. It is determined that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor. And the A-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being 0, the second B-phase current value being a positive number, and the second C-phase current value being a negative number, Make sure that the wiring status between the three-phase output terminal of the motor and the current sensor is abnormal, and the phase B output terminal of the motor is electrically connected with the phase C current signal acquisition terminal of the current sensor, and the phase C output terminal of the motor is connected with the phase B current signal acquisition terminal of the current sensor terminal electrical connections.
在一实施例中，第一信息获取模块310包括：α轴参考电压Uα控制单元311，设置为以α轴参考电压Uα的电压值等于0开始，分多次向脉宽调制电路提供α轴参考电压Uα；第一信息获取单元312，设置为在直至α轴参考电压Uα控制单元311提供的α轴参考电压Uα的电压值为预设电压值时，获取电机中转子的第一位置信息和电流传感器输出的第一电流信号；其中，后一次向脉宽调制电路提供的α轴参考电压Uα比前一次向脉宽调制电路提供的α轴参考电压Uα的电压值大第一预设值。In one embodiment, the first information acquisition module 310 includes: an α-axis reference voltage Uα control unit 311, which is configured to start with the voltage value of the α-axis reference voltage Uα equal to 0, and provide the α-axis reference to the pulse width modulation circuit in multiple times Voltage Uα; the first information acquisition unit 312 is configured to obtain the first position information and current of the rotor in the motor until the voltage value of the α-axis reference voltage Uα provided by the α-axis reference voltage Uα control unit 311 is a preset voltage value The first current signal output by the sensor; wherein, the α-axis reference voltage Uα provided to the pulse width modulation circuit later is greater than the voltage value of the α-axis reference voltage Uα provided to the pulse width modulation circuit before by a first preset value.
在一实施例中，第二信息获取模块320包括：β轴参考电压Uβ控制单元321，设置为以β轴参考电压Uβ的电压值等于0开始，分多次向脉宽调制电路时间β轴参考电压Uβ；第二信息获取单元322，设置为在直至β轴参考电压Uβ控制单元321提供的β轴参考电压Uβ的电压值为预设电压值时，获取电机中转子的第二位置信息和电流传感器输出的第二电流信号；其中，后一次向脉宽调制电路提供的β轴参考电压Uβ比前一次向脉宽调制电路提供的β轴参考电压Uβ的电压值大第二预设值。In one embodiment, the second information acquisition module 320 includes: a β-axis reference voltage Uβ control unit 321, which is set to start with the voltage value of the β-axis reference voltage Uβ equal to 0, divide into multiple times to the pulse width modulation circuit time β-axis reference Voltage Uβ; the second information acquisition unit 322 is configured to obtain the second position information and current of the rotor in the motor until the voltage value of the β-axis reference voltage Uβ provided by the β-axis reference voltage Uβ control unit 321 is a preset voltage value The second current signal output by the sensor; wherein, the voltage value of the β-axis reference voltage Uβ provided to the pulse width modulation circuit later is greater than the voltage value of the β-axis reference voltage Uβ previously provided to the pulse width modulation circuit by a second preset value.
在一实施例中，电驱动系统的接线检测装置300还包括显示模块350，设置为显示三相逆变器与电机的三相输入端之间的接线状态，以及显示电机的三相输出端与电流传感器的接线状态。In one embodiment, the connection detection device 300 of the electric drive system further includes a display module 350 configured to display the connection state between the three-phase inverter and the three-phase input terminal of the motor, and display the connection status between the three-phase output terminal of the motor and the three-phase input terminal of the motor. The wiring status of the current sensor.
本申请实施例还提供一种电机控制系统，包括：电驱动系统和控制器，其中电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器，控制器可用于执行本申请任一实施例提供的电驱动系统的接线检测方法。The embodiment of the present application also provides a motor control system, including: an electric drive system and a controller, wherein the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor that are electrically connected in sequence, and the controller can be used for Execute the connection detection method of the electric drive system provided in any embodiment of the present application.
上述仅为本申请的一些实施例。本领域技术人员会理解，本申请不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了说明，但是本申请不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。The above are only some examples of the present application. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described through the above embodiments, the present application is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present application consists of The scope of the appended claims determines.

Claims (10)

  1. 一种电驱动系统的接线检测方法，所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器，包括：A wiring detection method for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor electrically connected in sequence, including:
    向所述脉宽调制电路提供α轴参考电压Uα以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号；Provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the first position information of the rotor in the motor and the first current output by the current sensor Signal;
    向所述脉宽调制电路提供β轴参考电压Uβ以及向所述三相逆变器提供所述直流母线电压Udc，并获取所述电机中转子的第二位置信息和所述电流传感器输出的第二电流信号；Provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and obtain the second position information of the rotor in the motor and the first position information output by the current sensor Two current signals;
    根据所述α轴参考电压Uα、所述β轴参考电压Uβ以及所述电机中转子的所述第一位置信息和所述第二位置信息，确定所述三相逆变器与所述电机的三相输入端之间的接线状态；According to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first position information and the second position information of the rotor in the motor, determine the relationship between the three-phase inverter and the motor Wiring status between three-phase input terminals;
    根据所述α轴参考电压Uα和所述电流传感器输出的第一电流信号、或根据所述β轴参考电压Uβ和所述电流传感器输出的第二电流信号中的至少一类，确定所述电机的三相输出端与所述电流传感器的接线状态。Determine the motor according to at least one of the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current signal output by the current sensor The wiring status of the three-phase output terminal and the current sensor.
  2. 根据权利要求1所述的方法，其中，所述第一位置信息包括所述电机转子的第一电角度，所述第二位置信息包括所述电机转子的第二电角度；The method according to claim 1, wherein the first position information includes a first electrical angle of the motor rotor, and the second position information includes a second electrical angle of the motor rotor;
    根据所述α轴参考电压Uα、所述β轴参考电压Uβ以及所述电机中转子的所述第一位置信息和所述第二位置信息，确定所述三相逆变器与所述电机的三相输入端之间的接线状态，包括：According to the α-axis reference voltage Uα, the β-axis reference voltage Uβ, and the first position information and the second position information of the rotor in the motor, determine the relationship between the three-phase inverter and the motor Wiring status between three-phase input terminals, including:
    响应于所述α轴参考电压Uα和所述β轴参考电压Uβ均为正值、或者所述α轴参考电压Uα和所述β轴参考电压Uβ均为负值，判断所述第二电角度与所述第一电角度之间的相位差值是否为π/2；响应于所述第二电角度与所述第一电角度之间的相位差值为π/2，确定所述三相逆变器与所述电机的三相输入端之间的接线状态正常；响应于所述第二电角度与所述第一电角度之间的相位差值不为π/2，确定所述三相逆变器与所述电机的三相输入端之间的接线状态异常；The second electrical angle is determined in response to both the α-axis reference voltage Uα and the β-axis reference voltage Uβ having positive values, or both the α-axis reference voltage Uα and the β-axis reference voltage Uβ having negative values. Whether the phase difference between the first electrical angle and the first electrical angle is π/2; in response to the phase difference between the second electrical angle and the first electrical angle being π/2, determine the three-phase The wiring state between the inverter and the three-phase input terminal of the motor is normal; in response to the phase difference between the second electrical angle and the first electrical angle not being π/2, it is determined that the three-phase The connection state between the phase inverter and the three-phase input terminal of the motor is abnormal;
    或者，响应于所述α轴参考电压Uα为正值且所述β轴参考电压Uβ为负值、或者所述α轴参考电压Uα为负值且所述β轴参考电压Uβ为正值，判断所述第二电角度与所述第一电角度之间的相位差值是否为-π/2；响应于所述第二电角度与所述第一电角度之间的相位差值为-π/2，确定所述三相逆变器与所述电机的三相输入端之间的接线状态正常；响应于所述第二电角度与所述第一电角度之间的相位差值不为-π/2，确定所述三相逆变器与所述电机的三相输入端之间的接线状态异常；Or, in response to the α-axis reference voltage Uα being positive and the β-axis reference voltage Uβ being negative, or the α-axis reference voltage Uα being negative and the β-axis reference voltage Uβ being positive, it is determined that Whether the phase difference between the second electrical angle and the first electrical angle is -π/2; in response to the phase difference between the second electrical angle and the first electrical angle being -π /2, determining that the connection state between the three-phase inverter and the three-phase input end of the motor is normal; in response to the phase difference between the second electrical angle and the first electrical angle not being -π/2, determining that the connection state between the three-phase inverter and the three-phase input terminal of the motor is abnormal;
    其中，
    Figure PCTCN2022104205-appb-100001
    m为与电机在α轴的电磁系数相关的系数，n为与电机在β轴的电磁系数相关的系数。     in,
    Figure PCTCN2022104205-appb-100001
    m is a coefficient related to the electromagnetic coefficient of the motor on the α axis, and n is a coefficient related to the electromagnetic coefficient of the motor on the β axis.
  3. 根据权利要求1所述的方法，其中，所述电流传感器输出的第一电流信号包括第一A相电流值、第一B相电流值和第一C相电流值；其中，所述第一A相电流值为所述电流传感器检测到的所述电机的A相输出端输出的电流，所述第一B相电流值为所述电流传感器检测到的所述电机的B相输出端输出的电流，所述第一C相电流值为所述电流传感器检测到的所述电机的C相输出端输出的电流；The method according to claim 1, wherein the first current signal output by the current sensor includes a first A-phase current value, a first B-phase current value, and a first C-phase current value; wherein the first A The phase current value is the current output by the A-phase output terminal of the motor detected by the current sensor, and the first B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor , the first C-phase current value is the current output by the C-phase output terminal of the motor detected by the current sensor;
    所述电流传感器输出的第二电流信号包括第二A相电流值、第二B相电流值和第二C相电流值；其中，所述第二A相电流值为所述电流传感器检测到的所述电机的A相输出端输出的电流，所述第二B相电流值为所述电流传感器检测到的所述电机的B相输出端输出的电流，所述第二C相电流值为所述电流传感器检测到的所述电机的C相输出端输出的电流；The second current signal output by the current sensor includes a second A-phase current value, a second B-phase current value, and a second C-phase current value; wherein, the second A-phase current value is detected by the current sensor The current output by the A-phase output terminal of the motor, the second B-phase current value is the current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value is set The current output by the C-phase output terminal of the motor detected by the current sensor;
    在所述电机的三相输出端与所述电流传感器的接线状态正常时，所述电机的A相输出端与所述电流传感器的A相电流采集端电连接，所述电机的B相输出端与所述电流传感器的B相电流采集端电连接，所述电机的C相输出端与所述电流传感器的C相电流采集端电连接。When the wiring state between the three-phase output terminal of the motor and the current sensor is normal, the A-phase output terminal of the motor is electrically connected to the A-phase current collection terminal of the current sensor, and the B-phase output terminal of the motor It is electrically connected to the B-phase current collection terminal of the current sensor, and the C-phase output terminal of the motor is electrically connected to the C-phase current collection terminal of the current sensor.
  4. 根据权利要求3所述的方法，其中，根据所述α轴参考电压Uα和所述电流传感器输出的第一电流信号，确定所述电机的三相输出端与所述电流传感器的接线状态，包括：The method according to claim 3, wherein, according to the α-axis reference voltage Uα and the first current signal output by the current sensor, determining the connection state between the three-phase output terminal of the motor and the current sensor includes: :
    在所述α轴参考电压Uα为正值时，响应于所述第一A相电流值为正数、所述第一B相电流值和所述第一C相电流值均为负数，确定所述电机的三相输出端与所述电流传感器的接线状态正常；响应于所述第一A相电流值和所述第一C相电流值均为负数、所述第一B相电流值为正数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的B相电流信号采集端电连接；响应于所述第一A相电流值和第一B相电流值均为负数、所述第一C相电流值为正数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的C相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的C相电流信号采集端电连接；When the α-axis reference voltage Uα is a positive value, in response to the first A-phase current value being a positive number, and the first B-phase current value and the first C-phase current value being both negative numbers, determine the The connection state between the three-phase output terminal of the motor and the current sensor is normal; in response to the fact that both the first A-phase current value and the first C-phase current value are negative numbers, and the first B-phase current value is positive It is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase output terminal of the motor is electrically connected. The phase output end is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the fact that the first A-phase current value and the first B-phase current value are both negative numbers, and the first C-phase current value is a positive number , it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the A-phase of the motor The output end is electrically connected to the C-phase current signal acquisition end of the current sensor;
    或者，在所述α轴参考电压Uα为负值时，响应于所述第一A相电流值为负数、所述第一B相电流值和所述第一C相电流值均为正数，确定所述电机的三相输出端与所述电流传感器的接线状态正常；响应于所述第一A相电流值和所述第一C相电流值均为正数、所述第一B相电流值为负数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的B相电流信号采集端电连接；响应于所述第一A相电流值和所述第一B相电流值为正数、所述第一C相输出电流为负数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的C相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的C相电流信号采集端电连接。Or, when the α-axis reference voltage Uα is a negative value, in response to the first A-phase current value being a negative number, and the first B-phase current value and the first C-phase current value being positive numbers, It is determined that the connection state between the three-phase output terminal of the motor and the current sensor is normal; in response to the first A-phase current value and the first C-phase current value being positive numbers, the first B-phase current If the value is a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the motor The A-phase output end of the current sensor is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the first A-phase current value and the first B-phase current value are positive numbers, the first C-phase output If the current is a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the motor The A-phase output end of the current sensor is electrically connected to the C-phase current signal acquisition end of the current sensor.
  5. 根据权利要求3所述的方法，其中，根据所述β轴参考电压Uβ和所述电流传感器输出的第二电流信号，确定所述电机的三相输出端与所述电流传感器的接线状态，包括：The method according to claim 3, wherein, according to the β-axis reference voltage Uβ and the second current signal output by the current sensor, determining the connection state between the three-phase output terminal of the motor and the current sensor includes :
    在所述β轴参考电压Uβ为正值时，响应于所述第二A相电流值为0、所述第二B相电流值为正数且所述第二C相电流值为负数，确定所述电机的三相输出端与所述电流传感器的接线状态正常；响应于所述第二A相电流值为正数、所述第二B相电流值为0、所述第二C相电流值为负数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的B相电流信号采集端电连接；响应于所述第二A相电流值为负数、所述第二B相电流值均为正数、所述第二C相电流值为0，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的C相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的C相电流信号采集端电连接；响应于所述第二A相电流值为0、所述第二B相电流值为负数、所述第二C相电流值为正数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器C相电流信号采集端电连接，以及所述电机的C相输出端与所述电流传感器的B相电流信号采集端电连接；When the β-axis reference voltage Uβ is a positive value, in response to the second A-phase current value being 0, the second B-phase current value being a positive number, and the second C-phase current value being a negative number, determine The connection state between the three-phase output terminal of the motor and the current sensor is normal; in response to the second A-phase current value being a positive number, the second B-phase current value being 0, and the second C-phase current value being If the value is a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the motor The A-phase output end of the current sensor is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being a negative number, the second B-phase current value is a positive number, and the second The C-phase current value is 0, and it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and The A-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being 0, the second B-phase current value being a negative number, and the first The second C-phase current value is a positive number, and it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor. , and the C-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor;
    或者，在所述β轴参考电压Uβ为负值时，响应于所述第二A相电流值为0、所述第二B相电流值为负数且所述第二C相电流值为正数，确定所述电机的三相输出端与所述电流传感器的接线状态正常；响应于所述第二A相电流值为负 数、所述第二B相电流值为0、所述第二C相电流值为正数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的B相电流信号采集端电连接；响应于所述第二A相电流值为正数、所述第二B相电流值均为负数、所述第二C相电流值为0，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的C相输出端与所述电流传感器A相电流信号采集端电连接，以及所述电机的A相输出端与所述电流传感器的C相电流信号采集端电连接；响应于所述第二A相电流值为0、所述第二B相电流值为正数、所述第二C相电流值为负数，确定所述电机的三相输出端与所述电流传感器的接线状态异常，且所述电机的B相输出端与所述电流传感器C相电流信号采集端电连接，以及所述电机的C相输出端与所述电流传感器的B相电流信号采集端电连接。Or, when the β-axis reference voltage Uβ is a negative value, in response to the second A-phase current value being 0, the second B-phase current value being a negative number, and the second C-phase current value being a positive number , to determine that the connection state between the three-phase output terminal of the motor and the current sensor is normal; The current value is a positive number, and it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor, and the The A-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being a positive number, the second B-phase current value being a negative number, and the The second C-phase current value is 0, and it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the C-phase output terminal of the motor is electrically connected to the A-phase current signal acquisition terminal of the current sensor. , and the A-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor; in response to the second A-phase current value being 0, the second B-phase current value being a positive number, The second C-phase current value is a negative number, and it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and the B-phase output terminal of the motor and the C-phase current signal acquisition terminal of the current sensor Electrically connected, and the C-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor.
  6. 根据权利要求1所述的方法，其中，向所述脉宽调制电路提供α轴参考电压Uα以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号，包括：The method according to claim 1, wherein the α-axis reference voltage Uα is provided to the pulse width modulation circuit and the DC bus voltage Udc is provided to the three-phase inverter, and the first position of the rotor in the motor is acquired information and the first current signal output by the current sensor, including:
    向所述三相逆变器提供直流母线电压Udc；providing a DC bus voltage Udc to the three-phase inverter;
    以α轴参考电压Uα的电压值等于0开始，分多次向所述脉宽调制电路提供所述α轴参考电压Uα，直至所述α轴参考电压Uα的电压值为预设电压值时，获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号；其中，后一次向所述脉宽调制电路提供的所述α轴参考电压Uα比前一次向所述脉宽调制电路提供的所述α轴参考电压Uα的电压值大第一预设值。Starting with the voltage value of the α-axis reference voltage Uα being equal to 0, the α-axis reference voltage Uα is provided to the pulse width modulation circuit multiple times until the voltage value of the α-axis reference voltage Uα is a preset voltage value, Acquiring the first position information of the rotor in the motor and the first current signal output by the current sensor; wherein, the α-axis reference voltage Uα provided to the pulse width modulation circuit in the latter time is higher than that supplied to the pulse width modulation circuit in the previous time. The voltage value of the α-axis reference voltage Uα provided by the width modulation circuit is greater than a first preset value.
  7. 根据权利要求1所述的方法，其中，向所述脉宽调制电路提供β轴参考电压Uβ以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第二位置信息和所述电流传感器输出的第二电流信号，包括：The method according to claim 1, wherein the β-axis reference voltage Uβ is provided to the pulse width modulation circuit and the DC bus voltage Udc is provided to the three-phase inverter, and the second position of the rotor in the motor is acquired information and a second current signal output by the current sensor, comprising:
    向所述三相逆变器提供直流母线电压Udc；providing a DC bus voltage Udc to the three-phase inverter;
    以β轴参考电压Uβ的电压值等于0开始，分多次向所述脉宽调制电路提供所述β轴参考电压Uβ，直至所述β轴参考电压Uβ的电压值为预设电压值时，获取所述电机中转子的第二位置信息和所述电流传感器输出的第二电流信号；其中，后一次向所述脉宽调制电路提供的所述β轴参考电压Uβ比前一次向所述脉宽调制电路提供的所述β轴参考电压Uβ的电压值大第二预设值。Starting with the voltage value of the β-axis reference voltage Uβ being equal to 0, the β-axis reference voltage Uβ is provided to the pulse width modulation circuit multiple times until the voltage value of the β-axis reference voltage Uβ is a preset voltage value, Acquiring the second position information of the rotor in the motor and the second current signal output by the current sensor; wherein, the β-axis reference voltage Uβ provided to the pulse width modulation circuit in the latter time is higher than that supplied to the pulse width modulation circuit in the previous time. The voltage value of the β-axis reference voltage Uβ provided by the width modulation circuit is greater than a second preset value.
  8. 根据权利要求1所述的方法，还包括：The method according to claim 1, further comprising:
    显示所述三相逆变器与所述电机的三相输入端之间的接线状态，以及显示 所述电机的三相输出端与所述电流传感器的接线状态。Displaying the wiring status between the three-phase inverter and the three-phase input terminal of the motor, and displaying the wiring status between the three-phase output terminal of the motor and the current sensor.
  9. 一种电驱动系统的接线检测装置，所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器，包括：A wiring detection device for an electric drive system, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor electrically connected in sequence, including:
    第一信息获取模块，设置为向所述脉宽调制电路提供α轴参考电压Uα以及向所述三相逆变器提供直流母线电压Udc，并获取所述电机中转子的第一位置信息和所述电流传感器输出的第一电流信号；The first information acquisition module is configured to provide the α-axis reference voltage Uα to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the first position information and the first position information of the rotor in the motor. The first current signal output by the current sensor;
    第二信息获取模块，设置为向所述脉宽调制电路提供β轴参考电压Uβ以及向所述三相逆变器提供所述直流母线电压Udc，并获取所述电机中转子的第二位置信息和所述电流传感器输出的第二电流信号；The second information acquisition module is configured to provide the β-axis reference voltage Uβ to the pulse width modulation circuit and the DC bus voltage Udc to the three-phase inverter, and acquire the second position information of the rotor in the motor and the second current signal output by the current sensor;
    第一接线状态确定模块，设置为根据所述α轴参考电压Uα、所述β轴参考电压Uβ以及所述电机中转子的所述第一位置信息和所述第二位置信息，确定所述三相逆变器与所述电机的三相输入端之间的接线状态；The first connection state determination module is configured to determine the three The wiring state between the phase inverter and the three-phase input terminal of the motor;
    第二接线状态确定模块，设置为根据所述α轴参考电压Uα和所述电流传感器输出的第一电流信号、或根据所述β轴参考电压Uβ和所述电流传感器输出的第二电流信号中的至少一类，确定所述电机的三相输出端与所述电流传感器的接线状态。The second connection state determination module is configured to be based on the α-axis reference voltage Uα and the first current signal output by the current sensor, or according to the β-axis reference voltage Uβ and the second current signal output by the current sensor At least one type of the three-phase output terminal of the motor and the connection state of the current sensor are determined.
  10. 一种电机控制系统，包括电驱动系统和控制器；A motor control system, including an electric drive system and a controller;
    所述电驱动系统包括依次电连接的脉宽调制电路、三相逆变器、电机和电流传感器；The electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor electrically connected in sequence;
    所述控制器设置为执行权利要求1～8中任一项所述的电驱动系统的接线检测方法。The controller is configured to execute the connection detection method of the electric drive system according to any one of claims 1-8.
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