CN105024595A - Fault monitoring method and device for brushless DC motor - Google Patents
Fault monitoring method and device for brushless DC motor Download PDFInfo
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- CN105024595A CN105024595A CN201510434976.4A CN201510434976A CN105024595A CN 105024595 A CN105024595 A CN 105024595A CN 201510434976 A CN201510434976 A CN 201510434976A CN 105024595 A CN105024595 A CN 105024595A
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Abstract
The invention discloses a fault monitoring method and device for a brushless DC motor. The method includes acquiring sensing information required by motor control; performing fault diagnosis on a position sensor, a driving circuit power tube and a winding through comparing the obtained sensing information and preset fault information and generating a diagnosis result; and sending a motor adjustment instruction determined according to the diagnosis result to a brushless DC motor control module and sending the diagnosis result to an upper computer. According to the invention, a problem that related faults cannot be monitored continuously once the brushless DC motor is started is solved; multiple fault online real-time monitoring of the brushless DC motor is realized and fault identifying results can be sent and stored for facilitating motor tolerance control and rear-stage quick maintenance by motor maintainers.
Description
Technical field
The embodiment of the present invention relates to fault diagnosis technology, particularly relates to a kind of brshless DC motor failure monitoring method and device.
Background technology
Along with the development of the many power technologies of civil aircraft, and the research application of high magnetic energy and rare earth permanent-magnetic material, the appearance of high power semi-conductor driving element, high-power brushless direct current machine in fuel system, to fly the application controlled in actuating system will be more and more general.Brshless DC motor is as a kind of electromechanical equipment, and long-time running has the hidden danger broken down, and by developing the health monitoring technology of brshless DC motor, can provide technical support for the quick troubleshooting maintenance of the faults-tolerant control of brshless DC motor, aircraft system.
In the domestic and international civil aircraft high-power brushless direct current machine status monitoring of active service, generally before brshless DC motor electrifying startup, by the drive circuit to brshless DC motor, control circuit and motor body carry out simple Autonomous test, comprise DSP (Digital Signal Processing, digital signal processor) Autonomous test, A/D (Analog/Digital, analog/digital) transducer Autonomous test, CAP (CarrierlessAmplitude Phase, no-load Amplitude Phase Modulation) mouth Autonomous test, Hall element Autonomous test, the Autonomous test of drive circuit and power tube Autonomous test and brshless DC motor, by all kinds of Autonomous test, Timeliness coverage fault before brshless DC motor runs.
After brshless DC motor starts; although failure monitoring to a certain extent can be realized; but; described failure monitoring is only confined to be provided with several simple failure detector circuit in the circuit of motor for the protection of the control of motor and drive circuit; as the overcurrent protection of direct voltage overvoltage protection, under-voltage protection and electric current, cannot monitor in real time power tube fault, Hall element fault, winding failure etc. online.According to statistics civil aircraft high-power brushless direct current machine occur two simultaneously and above probability of malfunction very little, generally occur with single fault form, if but not in time Fault Identification is out taked suitable faults-tolerant control or redundancy management, secondary failure can be caused, so carry out failure monitoring to brshless DC motor timely and effectively have very important meaning.
Summary of the invention
The invention provides a kind of brshless DC motor failure monitoring method and device, to realize the various faults on line real-time monitoring of brshless DC motor, and can send or storage failure recognition result, so that motor fault-tolerant controls and later stage electrical machmary maintenance personnel realize Quick overhaul.
First aspect, embodiments provides a kind of brshless DC motor failure monitoring method, comprising:
Perception information needed for Real-time Obtaining Electric Machine Control;
The perception information obtained by comparison and the fault message preset, carried out failure diagnosis to position transducer, drive circuit power pipe and winding, generate diagnostic result;
Send the motor determined according to described diagnostic result and adjust instruction to brshless DC motor control module, and send described diagnostic result to host computer.
Second aspect, the embodiment of the present invention additionally provides a kind of brshless DC motor failure monitoring device, comprising:
Data obtaining module, for the perception information needed for Real-time Obtaining Electric Machine Control;
Position transducer fault diagnosis module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to position transducer, generates diagnostic result;
Drive circuit power pipe fault diagnosis module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to drive circuit power pipe, generates diagnostic result;
Winding failure diagnostic module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to winding, generates diagnostic result;
Status send module, adjusts instruction to brshless DC motor control module for sending the motor determined according to described diagnostic result, and sends described diagnostic result to host computer.
The present invention is by the perception information needed for Real-time Obtaining Electric Machine Control, the perception information obtained by comparison and the fault message preset, to position transducer, drive circuit power pipe and winding carry out failure diagnosis, generate diagnostic result, send the motor determined according to described diagnostic result and adjust instruction to brshless DC motor control module, and send described diagnostic result to host computer, solution brshless DC motor brings into operation and just cannot carry out the problem of monitoring continuously to relevant fault, realize the various faults on line real-time monitoring of brshless DC motor, and can send or storage failure recognition result, so that motor fault-tolerant controls and later stage electrical machmary maintenance personnel realize Quick overhaul.
Accompanying drawing explanation
Fig. 1 is the flow chart of the brshless DC motor failure monitoring method in the embodiment of the present invention one;
Fig. 2 a is the flow chart of the brshless DC motor failure monitoring method in the embodiment of the present invention two;
Fig. 2 b is the work-based logic figure of the brshless DC motor failure monitoring device in the embodiment of the present invention two;
Fig. 3 a is brshless DC motor hall position sensor and rotor relation schematic diagram;
Fig. 3 b is the realization flow figure of the Brushless DC Motor Position sensor fault method for supervising in the embodiment of the present invention two;
Fig. 4 is the realization flow figure of the brushless direct current motor drive circuit power tube failure monitoring method in the embodiment of the present invention two;
Fig. 5 is the realization flow figure of the brshless DC motor winding failure method for supervising in the embodiment of the present invention two;
Fig. 6 is the structural representation of the brshless DC motor failure monitoring device in the embodiment of the present invention three;
Fig. 7 be brshless DC motor failure monitoring device in the embodiment of the present invention three realize schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not entire infrastructure.
Embodiment one
The flow chart of the brshless DC motor failure monitoring method that Fig. 1 provides for the embodiment of the present invention one, the present embodiment is applicable to after brshless DC motor starts, the situation of on line real-time monitoring electrical fault, the method can be performed by brshless DC motor failure monitoring device, described device makes full use of the computing resource of brushless DC motor control circuit microprocessor, be arranged at the form of fault diagnosis module in the microprocessor of described control circuit, specifically comprise the steps:
S101, perception information needed for Real-time Obtaining Electric Machine Control.
Wherein, described perception information comprises the output signal of bus current, winding current and position transducer and the relation of electric machine operation state.In the described perception information of acquisition, signals collecting source is formed by bus and three-phase Hall current sensor and hall position sensor, except three-phase Hall current sensor, make full use of the necessary signal perception device of Electric Machine Control, reduce the access of additional hardware.
S102, the perception information obtained by comparison and the fault message preset, carry out failure diagnosis to position transducer, drive circuit power pipe and winding, generates diagnostic result.
Wherein, it is unchanged that the fault message preset comprises the output signal of position transducer at least four continuous print electric machine operation states, and bus current value equals zero, and winding current values equals zero.After the described perception information of acquisition, obtained perception information correspondence is distributed to each fault diagnosis module.
Illustrate: the information of the output signal of the transducer got and machine operation relation is sent to position transducer fault diagnosis module.Described position transducer fault diagnosis module receives described output signal and machine operation relation information, judges that the output signal at least four continuous print electric machine operation states has unchanged, to determine whether hall position sensor breaks down.
The bus current got is sent to drive circuit power pipe fault diagnosis module.Described drive circuit power pipe fault diagnosis module receives described bus current, judges whether described bus current value equals zero, to determine whether drive circuit power pipe breaks down.
The output signal of the winding current got and position transducer is sent to winding failure diagnostic module.Described winding failure diagnostic module receives the output signal of described winding current and position transducer, judges whether non-conduction phase winding current value equals zero, to determine whether winding breaks down.
S103, send the motor adjustment instruction determined according to described diagnostic result to brshless DC motor control module, and send described diagnostic result to host computer.
The health and fitness information generating the brshless DC motor of same form according to the diagnostic result of each diagnostic module is sent to host computer.When needing the measure taking to tackle fault, the diagnostic result according to each fault diagnosis module generates brshless DC motor combustion adjustment instruction and is sent to brshless DC motor control module.
The technical scheme of the present embodiment, by the perception information needed for Real-time Obtaining Electric Machine Control, and by the comparison perception information obtained and the fault message preset, to position transducer, drive circuit power pipe and winding carry out failure diagnosis, generate diagnostic result, send the motor determined according to described diagnostic result and adjust instruction to brshless DC motor control module, and send described diagnostic result to host computer, solve brshless DC motor to bring into operation and just cannot carry out the problem of monitoring continuously to relevant fault, reach the various faults on line real-time monitoring of brshless DC motor, and can send or storage failure recognition result, so that motor fault-tolerant controls and later stage electrical machmary maintenance personnel realize the effect of Quick overhaul.
Further, adjust instruction to brshless DC motor control module in transmission according to the motor that described diagnostic result is determined, and before sending described diagnostic result to host computer, also comprise:
After the control circuit energising of brshless DC motor, carry out power-on self-test survey according to received control command.It is after brushless DC motor control circuit energising that described power-on self-test is surveyed, before brshless DC motor startup optimization, to the Autonomous test of microprocessor Autonomous test, A/D converter Autonomous test, CAP mouth Autonomous test, Hall element Autonomous test, drive circuit and power tube Autonomous test and brshless DC motor body.Illustrate, the detection of microprocessor is tested, first, the default result of test program is stored in microprocessor internal, if tests microprocessor program Output rusults comes to the same thing with default, then illustrate that microprocessor work is normal, otherwise the work of brshless DC motor control module is forbidden in host computer transmission instruction.
Survey by rear at described power-on self-test, start direct voltage and detect and direct current detection, wherein, described direct voltage detects the overvoltage of bus and under-voltagely to detect, and the overcurrent of described direct current detection to bus detects.After described power-on self-test has been surveyed, if by detecting, startup optimization direct voltage is detected and direct current detection module, position transducer fault diagnosis module, drive circuit power pipe fault diagnosis module, winding failure diagnostic module.Wherein, described direct voltage detection and direct current detection module detect bus overcurrent, overvoltage and under-voltage condition.
Embodiment two
Fig. 2 a is the flow chart of the brshless DC motor failure monitoring method in the embodiment of the present invention two.On the basis of technique scheme, each fault diagnosis module is further detailed.
Shown in Fig. 2 a and Fig. 2 b, described brshless DC motor failure monitoring method, specifically comprises the steps:
S201, failure monitoring device are energized.
Sense command that what comprehensive control module that S202, described failure monitoring device comprise received that host computer sends power on also is sent to self-detection module.Wherein, comprehensive control module for receiving external command, and, obtain all perception informations and be distributed to each fault diagnosis module, and make co-ordination between each fault diagnosis module, formation healthy conclusion after to host computer send health and fitness information.Described comprehensive control module is also for when needing the measure taking to tackle fault, and the diagnostic result according to each fault diagnosis module generates brshless DC motor combustion adjustment instruction and is sent to brshless DC motor control module.
Power-on self-test survey is carried out in the sense command that powers on described in S203, described self-detection module foundation.
S204, survey result according to the power-on self-test of described self-detection module and determine whether to break down, if so, then perform S206, if not, then perform S205.
S205, described upper electro-detection are passed through, and perform S208.
S206, to comprehensive control module send fault message.
S207, described upper electro-detection are not passed through, and perform S215.
S208, after electro-detection is passed through on described, perform direct voltage and detect.The busbar voltage receiving comprehensive control module transmission carries out overvoltage and under-voltage detection.Overvoltage detected or under-voltage time, perform S214.If overvoltage or under-voltage do not detected, then return the direct voltage performing this step and detect.
S209, after electro-detection is passed through on described, perform direct current detection.The bus current receiving comprehensive control module transmission carries out over-current detection.When overcurrent being detected, perform S214.If overcurrent do not detected, then return the direct current detection performing this step.
S210, position transducer fault detect.According to the output signal of the position transducer that comprehensive control module sends, carry out position transducer fault detect.Fig. 3 a is brshless DC motor hall position sensor and rotor relation schematic diagram, as seen from the figure, the square wave position signalling that three hall position sensors export three road phase, 120 degree of electrical degrees in brshless DC motor operation process, width is 180 degree, brushless direct current motor controller is thought when rising edge or the trailing edge of each square-wave signal being detected and is entered a new operating state (electric machine operation state).According to the output characteristic of three hall position sensors, by monitoring three road output levels of continuous four operating states, if determine a certain road not detect that level changes in continuous four operating states, Ze Gai road hall position sensor generation signal no-output fault, occurs to from fault and fault most about 390 degree of electrical degree times of long delay detected.Shown in Fig. 3 b, position transducer failure diagnosis specifically comprises:
Comprehensive control module obtains the output signal of position transducer from brshless DC motor control module.When receiving control command, described comprehensive control module starts the counter that a numerical value is i (i=0), and described counter often increases a unit and represents brshless DC motor continuous print and change an operating state.Control described counter and add 1, namely the value of described counter is i=i+1, obtain output signal (level signal) N (i)=H1, M (i)=H2 and L (the i)=H3 of position transducer corresponding to current motor operating state.If i<4, then counter is added 1, again obtain the output signal of position transducer corresponding to current motor operating state.If still meet i<4, then circulation carries out the operation that above-mentioned counter adds 1, until the value of described counter is more than or equal to 4.In continuous print four electric machine operation states that detection obtains, whether the output signal N (j) of described position transducer, M (j) and L (j) (j=1,2,3 or 4) change.If N (j) does not change, then determine that no-output fault occurs corresponding position transducer H1.If M (j) does not change, then determine that no-output fault occurs corresponding position transducer H2.If L (j) does not change, then determine that no-output fault occurs corresponding position transducer H3.Described position transducer fault detection module generates fault message according to above-mentioned testing result and performs S213.No matter N (j), whether M (j) and L (j) changes, first state information in one of four states is deleted, namely delete N (1), M (1) and L (1), makes N (j-1)=N (j), M (j-1)=M (j) and L (j-1)=L (j), wherein, j=2,3 or 4.Now, by counter assignment i=3, gather the information of next electric machine operation state as a supplement, form again four new continuous print electric machine operation state information and carry out next round and compare.
S211, power tube fault diagnosis.When the non-generating power pipe fault diagnosis module out code of comprehensive control module, according to output signal and the bus current of position transducer, carry out the fault detect of drive circuit power pipe.Fig. 4 is the realization flow figure of the brushless direct current motor drive circuit power tube failure monitoring method in the embodiment of the present invention two.Shown in Figure 4, described drive circuit power pipe failure diagnosis specifically comprises: by the health and fitness information of comprehensive control module determination position transducer and winding, when position transducer and winding all do not break down, carry out drive circuit power pipe failure diagnosis.Otherwise, stop the operation of drive circuit power pipe fault diagnosis module, and the status report of the drive circuit power pipe fault diagnosis module of generation be sent to comprehensive control module.When position transducer and winding all do not break down, judge whether the bus current value obtained equals zero, if not, then perform the operation determining position transducer whether fault, if so, then arranging a numerical value is the counter of n, and initial value is 1, i.e. n=1, is expressed as I (n)=0 by the bus current value of current state.VT (i) and the VT (j) of two power tubes being connected into drive circuit is determined according to the output signal of position transducer, wherein, VT (i) and VT (j) represents the label of power tube respectively, i=1,2,3,4,5 or 6, j=1,2,3,4,5 or 6.Counter adds 1, i.e. n=n+1, records bus current I (n) of next operating state.Two power tubes VT (j) and the VT (k) of drive circuit is determined to be connected into according to the output signal of position transducer, wherein, j=1,2,3,4,5 or 6, k=1,2,3,4,5 or 6.Judge whether I (n) equals zero, if not, then the information that power tube VT (i) breaks down is sent to comprehensive control module.If so, further, judge whether the numerical value of n meets n >=6.If n >=6, then generating power pipe fault message perform S214.If n < 6, then according to the corresponding relation of the conducting state of electric machine operation state and power tube, circulation performs when I (n)=0, obtain two power tubes being connected into drive circuit, perform n=n+1, the bus current value recording next electric machine operation state I (n) and two power tubes being connected into drive circuit, judge the whether null operation of I (n).Wherein, by the conducting state of the corresponding relation determination power tube of the operating state of brshless DC motor and the output signal of Hall element.Illustrate: see Fig. 3 a, the output signal of the Hall element corresponding with the operating state 1 ~ 6 of brshless DC motor operating state brshless DC motor is respectively: 100,110,010,011,001 and 101, it can thus be appreciated that the turn-on sequence of described power tube is VT (1) and VT (6), VT (3) and VT (6), VT (2) and VT (3), VT (2) and VT (5), VT (4) and VT (5) and VT (1) and VT (4).
S212, stator winding faults are diagnosed.When comprehensive control module does not generate the out code of stator winding faults diagnostic module, by output signal and the winding current of position transducer, carry out stator winding faults diagnosis.Fig. 5 is the realization flow figure of the brshless DC motor winding failure method for supervising in the embodiment of the present invention two.Shown in Figure 5, described brshless DC motor winding failure method for supervising specifically comprises: by comprehensive control module determination position transducer whether fault, when position transducer does not break down, carry out stator winding faults diagnosis.Otherwise winding failure diagnostic module is out of service, and send winding failure diagnostic module state information out of service to comprehensive control module.When position transducer fault-free, determine conducting phase winding and non-conduction phase winding by the output signal of position transducer, and capture the winding current of non-conduction phase winding.Judge whether described winding current values is greater than zero, if so, then circulation execution determines conducting phase winding and non-conduction phase winding according to the output signal of position transducer, judges whether non-conduction phase winding electric current is greater than the operation of zero.If not, then determine that non-conduction phase stator winding breaks down, generate fault message and perform S214.
S213, closedown power tube fault diagnosis module and stator winding faults diagnostic module.Shown in Fig. 2 b, when confirming the state of position transducer for breaking down, described comprehensive control module generates the instruction of closing power tube fault diagnosis module and stator winding faults diagnostic module, and is sent to power tube fault diagnosis module and stator winding faults diagnostic module respectively.
S214, to comprehensive control module send fault message.
Shown in Fig. 2 b, described comprehensive control module is receiving the fault message of self-detection module, DC voltage/current detection module, position transducer fault diagnosis module, drive circuit power pipe fault diagnosis module and winding failure diagnostic module transmission.Host computer is sent to after processing according to described fault message.The state information of power tube fault diagnosis module and stator winding faults diagnostic module is sent to host computer.
S215, take measures or generate halt instruction.
When needs are taken measures, generate halt instruction according to described fault message, and be sent to brshless DC motor control module.
The technical scheme of the present embodiment, the instruction receiving host computer after energising assigns instruction to self-detection module, receives and detects test result to host computer transmission.If by Autonomous test, send enabled instruction to each diagnostic module immediately.Acquire and process each road perception information from brshless DC motor control module, and described perception information is distributed to each diagnostic module.Co-ordination between position transducer fault diagnosis module, drive circuit power pipe fault diagnosis module, winding failure diagnostic module needs comprehensive control module to process, need to close the operation of latter two module once position transducer breaks down, avoid wrong diagnosis.The information of all diagnostic modules all generates and sends to host computer by comprehensive control module, when needs are taken measures, instruction is sent to brshless DC motor control module by described comprehensive control module, change conventional brushless DC motor and only possess simple fault-detecting ability, consider the coupling between each fault mode and incidence relation, make co-ordination between each fault diagnosis module, avoid the health status Misdiagnosis causing other objects due to certain single fault, greatly strengthen the health monitoring ability of brshless DC motor, the faults-tolerant control of brshless DC motor and maintenance and repair ability are significantly promoted.
Embodiment three
Fig. 6 is the structural representation of the brshless DC motor failure monitoring device in the embodiment of the present invention three.Shown in Figure 6, described brshless DC motor failure monitoring device, comprising:
Data obtaining module 601, for the perception information needed for Real-time Obtaining Electric Machine Control;
Position transducer fault diagnosis module 602, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to position transducer, generates diagnostic result;
Drive circuit power pipe fault diagnosis module 603, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to drive circuit power pipe, generates diagnostic result;
Winding failure diagnostic module 604, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to winding, generates diagnostic result;
Status send module 605, adjusts instruction to brshless DC motor control module for sending the motor determined according to described diagnostic result, and sends described diagnostic result to host computer.
The technical scheme of the present embodiment, by the perception information needed for data obtaining module 601 Real-time Obtaining Electric Machine Control, respectively by position transducer fault diagnosis module 602, drive circuit power pipe fault diagnosis module 603 and winding failure diagnostic module 604, the perception information that comparison obtains and the fault message preset, to position transducer, drive circuit power pipe and winding carry out failure diagnosis, generate diagnostic result, and by status send module 605, send the motor determined according to described diagnostic result and adjust instruction to brshless DC motor control module, and send described diagnostic result to host computer, solve brshless DC motor to bring into operation and just cannot carry out the problem of monitoring continuously to relevant fault, reach the various faults on line real-time monitoring of brshless DC motor, and can send or storage failure recognition result, so that motor fault-tolerant controls and later stage electrical machmary maintenance personnel realize the effect of Quick overhaul.
Further, described perception information comprises: the output signal of bus current, winding current and position transducer and the relation of electric machine operation state;
And described default fault message comprises: the output signal of position transducer at least four continuous print electric machine operation states is unchanged, and bus current value equals zero, and winding current values equals zero.
Shown in Figure 7, the specific implementation of brshless DC motor failure monitoring device is:
Further, described position transducer fault diagnosis module 602 specifically for:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine in four up-to-date continuous print electric machine operation states, whether described output signal changes;
If described output signal does not change, then determine described position transducer generation signal no-output fault.
Further, when described position transducer and the equal fault-free of described winding, carry out described drive circuit power pipe failure diagnosis, described drive circuit power pipe fault diagnosis module 603 specifically for:
According to the output signal of obtained bus current value and described position transducer, determine the first bus current value corresponding with current motor operating state and access label VT (i) of two power tubes and the VT (j) of drive circuit, wherein, 0<i≤6,0<j≤6;
When described first bus current equals zero, determine the second bus current value corresponding with next electric machine operation state and access label VT (j) of two power tubes and the VT (k) of drive circuit, wherein, 0<j≤6,
0<k≦6；
When described second bus current is non-vanishing, determine that power tube VT (i) breaks down;
When the bus current corresponding with motor all working state is zero, determine power tube fault, but the power tube that None-identified goes out to break down.
Further, during described position transducer fault-free, carry out described winding failure diagnosis, described winding failure diagnostic module 604 specifically for:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine the conducting phase winding of brshless DC motor and non-conduction phase winding;
According to obtained winding current values, determine the current value of non-conduction phase winding;
When the current value of described non-conduction phase winding equals zero, determine winding open fault occurs.
Further, described device also comprises:
Self-detection module, for adjusting instruction to brshless DC motor control module in transmission according to the motor that described diagnostic result is determined, and before sending described diagnostic result to host computer, after the control circuit energising of brshless DC motor, carry out power-on self-test survey according to received control command, described brshless DC motor control module exports the pwm signal of control circuit to according to motor adjustment instruction adjustment;
DC voltage and current detection module, for surveying by rear at described power-on self-test, starting direct voltage and detecting and direct current detection, wherein, described direct voltage detects the overvoltage of bus and under-voltagely to detect, and the overcurrent of described direct current detection to bus detects.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.
Claims (12)
1. a brshless DC motor failure monitoring method, is characterized in that, comprising:
Perception information needed for Real-time Obtaining Electric Machine Control;
The perception information obtained by comparison and the fault message preset, carried out failure diagnosis to position transducer, drive circuit power pipe and winding, generate diagnostic result;
Send the motor determined according to described diagnostic result and adjust instruction to brshless DC motor control module, and send described diagnostic result to host computer.
2. method according to claim 1, is characterized in that, described perception information comprises: the output signal of bus current, winding current and position transducer and the relation of electric machine operation state;
And described default fault message comprises: the output signal of position transducer at least four continuous print electric machine operation states is unchanged, and bus current value equals zero, and winding current values equals zero.
3. method according to claim 2, is characterized in that, the perception information obtained by comparison and the fault message preset, and carries out failure diagnosis, generate diagnostic result, comprising position transducer:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine in four up-to-date continuous print electric machine operation states, whether described output signal changes;
If described output signal does not change, then determine described position transducer generation signal no-output fault.
4. method according to claim 2, is characterized in that, when described position transducer and the equal fault-free of described winding, carries out described drive circuit power pipe failure diagnosis,
The perception information obtained by comparison and the fault message preset, carried out failure diagnosis to drive circuit power pipe, generate diagnostic result, comprising:
According to the output signal of obtained bus current value and described position transducer, determine the first bus current value corresponding with current motor operating state and access label VT (i) of two power tubes and the VT (j) of drive circuit, wherein, 0<i≤6,0<j≤6;
When described first bus current equals zero, determine the second bus current value corresponding with next electric machine operation state and access label VT (j) of two power tubes and the VT (k) of drive circuit, wherein, 0<j≤6,0<k≤6;
When described second bus current is non-vanishing, determine that power tube VT (i) breaks down;
When the bus current corresponding with motor all working state is zero, determine power tube fault.
5. method according to claim 2, is characterized in that, when described position transducer fault-free, carries out described winding failure diagnosis,
The perception information obtained by comparison and the fault message preset, carried out failure diagnosis to winding, generate diagnostic result, comprising:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine the conducting phase winding of brshless DC motor and non-conduction phase winding;
According to obtained winding current values, determine the current value of non-conduction phase winding;
When the current value of described non-conduction phase winding equals zero, determine winding open fault occurs.
6. the method according to any one of claim 1-5, is characterized in that, adjusts instruction to brshless DC motor control module, and before sending described diagnostic result to host computer, also comprise in transmission according to the motor that described diagnostic result is determined:
After the control circuit energising of brshless DC motor, carry out power-on self-test survey according to received control command;
Survey by rear at described power-on self-test, start direct voltage and detect and direct current detection, wherein, described direct voltage detects the overvoltage of bus and under-voltagely to detect, and the overcurrent of described direct current detection to bus detects.
7. a brshless DC motor failure monitoring device, is characterized in that, comprising:
Data obtaining module, for the perception information needed for Real-time Obtaining Electric Machine Control;
Position transducer fault diagnosis module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to position transducer, generates diagnostic result;
Drive circuit power pipe fault diagnosis module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to drive circuit power pipe, generates diagnostic result;
Winding failure diagnostic module, for the perception information obtained by comparison and the fault message preset, is carried out failure diagnosis to winding, generates diagnostic result;
Status send module, adjusts instruction to brshless DC motor control module for sending the motor determined according to described diagnostic result, and sends described diagnostic result to host computer.
8. device according to claim 7, is characterized in that, described perception information comprises: the output signal of bus current, winding current and position transducer and the relation of electric machine operation state;
And described default fault message comprises: the output signal of position transducer at least four continuous print electric machine operation states is unchanged, and bus current value equals zero, and winding current values equals zero.
9. device according to claim 8, is characterized in that, described position transducer fault diagnosis module specifically for:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine in four up-to-date continuous print electric machine operation states, whether described output signal changes;
If described output signal does not change, then determine described position transducer generation signal no-output fault.
10. device according to claim 8, is characterized in that, when described position transducer and the equal fault-free of described winding, carries out described drive circuit power pipe failure diagnosis, described drive circuit power pipe fault diagnosis module specifically for:
According to the output signal of obtained bus current value and described position transducer, determine the first bus current value corresponding with current motor operating state and access label VT (i) of two power tubes and the VT (j) of drive circuit, wherein, 0<i≤6,0<j≤6;
When described first bus current equals zero, determine the second bus current value corresponding with next electric machine operation state and access label VT (j) of two power tubes and the VT (k) of drive circuit, wherein, 0<j≤6,0<k≤6;
When described second bus current is non-vanishing, determine that power tube VT (i) breaks down;
When the bus current corresponding with motor all working state is zero, determine power tube fault, but the power tube that None-identified goes out to break down.
11. devices according to claim 8, is characterized in that, during described position transducer fault-free, carry out described winding failure diagnosis, described winding failure diagnostic module specifically for:
According to the output signal of obtained position transducer and the relation of electric machine operation state, determine the conducting phase winding of brshless DC motor and non-conduction phase winding;
According to obtained winding current values, determine the current value of non-conduction phase winding;
When the current value of described non-conduction phase winding equals zero, determine winding open fault occurs.
12. devices according to any one of claim 7-11, it is characterized in that, described device also comprises:
Self-detection module, for adjusting instruction to brshless DC motor control module in transmission according to the motor that described diagnostic result is determined, and before sending described diagnostic result to host computer, after the control circuit energising of brshless DC motor, carry out power-on self-test survey according to received control command;
DC voltage and current detection module, for surveying by rear at described power-on self-test, starting direct voltage and detecting and direct current detection, wherein, described direct voltage detects the overvoltage of bus and under-voltagely to detect, and the overcurrent of described direct current detection to bus detects.
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