CN115979117A

CN115979117A - Abnormality detection method, apparatus, device and storage medium

Info

Publication number: CN115979117A
Application number: CN202211620100.5A
Authority: CN
Inventors: 于猛; 朱晨旭; 余舒; 符茂磊; 吴炳霖; 佘锋; 陈勇
Original assignee: Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-04-18

Abstract

The application provides an abnormality detection method, an abnormality detection device, an abnormality detection apparatus, and a storage medium. The method comprises the steps of firstly obtaining a first rotating angle of the brushless direct current motor through a position sensor, simultaneously obtaining a second rotating angle of the brushless direct current motor through a Hall sensor, then issuing a checking instruction according to the first rotating angle and the second rotating angle, further responding to the checking instruction, checking a fourth rotating angle according to a third rotating angle, and detecting whether the Hall sensor is abnormal or not. Whether the Hall sensor is abnormal or not can be found in time, the reliability of mechanical integrity verification work of the automatic clutch can be guaranteed, the risk of damage to a power assembly is avoided, and safe driving of a vehicle is guaranteed.

Description

Abnormality detection method, apparatus, device and storage medium

Technical Field

The present application relates to the field of automotive transmission technologies, and in particular, to an anomaly detection method, apparatus, device, and storage medium.

Background

With the wide use of new energy automobiles, the safety awareness of automobile safety technology and power protection is no longer limited to the safety of passengers, the safety of batteries and the like, and the safety protection of a vehicle power assembly is more concerned.

It is important that the mechanical integrity of an automatic clutch before operation is intact when performing the engagement and disengagement actions. If the mechanical integrity of the automatic clutch is abnormal before the automatic clutch performs the engagement or disengagement action, the risk of damaging a power assembly exists in the driving process, and driving accidents can be caused, so that the safety of lives and property is damaged.

In order to prevent the above problems, the mechanical integrity of the automatic clutch before operation can be verified, and a hall sensor can be used for calculating the rotation angle of the motor in the verification process. However, due to the influence of a complex working environment, abnormality such as large test precision deviation or faults may occur, and if the abnormality of the hall sensor is not found in time, the reliability of mechanical integrity verification of the automatic clutch is certainly influenced, and further, the risk of damage to a power assembly is still brought, and the potential safety hazard of vehicle driving is caused.

Disclosure of Invention

The application provides an anomaly detection method, an anomaly detection device, anomaly detection equipment and a storage medium, which are used for detecting whether a Hall sensor used for verifying the mechanical integrity of an automatic clutch before working is abnormal or not so as to ensure the reliability of verifying the mechanical integrity of the automatic clutch and avoid the risk of damage to a power assembly.

In a first aspect, the present application provides an anomaly detection method applied to an automatic clutch, wherein the automatic clutch and a bearing of a brushless dc motor perform engagement and disengagement actions; the method comprises the following steps:

acquiring a first rotation angle of the brushless direct current motor through a position sensor, and acquiring a second rotation angle of the brushless direct current motor through a Hall sensor;

issuing a checking instruction according to the first rotation angle and the second rotation angle;

responding the checking instruction, and checking a fourth rotation angle according to a third rotation angle so as to detect whether the Hall sensor is abnormal or not;

the third rotation angle and the fourth rotation angle are rotation angles of the brushless direct current motor respectively acquired by the position sensor and the hall sensor after the brushless direct current motor generates a locked-rotor signal.

In one possible design, the acquiring, by the position sensor, the first rotation angle of the brushless dc motor includes:

and acquiring the moving distance of the automatic clutch through the position sensor, and acquiring the first rotating angle according to the moving distance.

In one possible design, the obtaining, by the hall sensor, the second rotation angle of the brushless dc motor includes:

and obtaining the second rotation angle through the Hall signal read by the Hall sensor.

In a possible design, the issuing a verification instruction according to the first rotation angle and the second rotation angle includes:

acquiring an angle difference between the first rotation angle and the second rotation angle;

judging whether the angle difference meets a check condition, and if so, issuing a check instruction;

the calibration condition is used for representing that the angle differences within the preset time length are all larger than or equal to the calibration difference.

In one possible design, the verifying the fourth rotation angle according to the third rotation angle in response to the verification instruction to detect whether the hall sensor is abnormal includes:

respectively judging whether the third rotation angle and the fourth rotation angle are changed;

and if the third rotation angle is not changed but the fourth rotation angle is changed, or the third rotation angle and the fourth rotation angle are both changed, determining that the Hall sensor is abnormal.

In one possible design, after the determining that the hall sensor is abnormal, the method further includes:

controlling the automatic clutch to keep a disengagement state and not to perform engagement action;

and generating a first abnormity prompting signal so as to warn that the Hall sensor is abnormal through the first abnormity prompting signal.

In a possible design, if the third rotation angle changes but the fourth rotation angle does not change, or both the third rotation angle and the fourth rotation angle change; the method further comprises the following steps:

determining that there is an abnormality in the position sensor;

and generating a second abnormity prompting signal so as to warn that the position sensor is abnormal through the second abnormity prompting signal.

In a second aspect, the present application provides an abnormality detection apparatus comprising:

the acquisition module is used for acquiring a first rotating angle of the brushless direct current motor through a position sensor and acquiring a second rotating angle of the brushless direct current motor through a Hall sensor;

the first processing module is used for issuing a checking instruction according to the first rotating angle and the second rotating angle;

the second processing module is used for responding to the checking instruction and determining whether the Hall sensor is abnormal according to the third rotating angle and the fourth rotating angle;

In one possible design, the obtaining module is specifically configured to:

In one possible design, the first processing module is specifically configured to:

In one possible design, the second processing module is specifically configured to:

In one possible design, the second processing module is further configured to:

controlling the automatic clutch to be in a disengagement position and not to perform engagement action;

In a possible design, if the third rotation angle changes but the fourth rotation angle does not change, or both the third rotation angle and the fourth rotation angle change; the second processing module is further configured to:

determining that there is an abnormality in the position sensor;

In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement any one of the possible anomaly detection methods as provided by the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing any one of the possible anomaly detection methods as provided in the first aspect when executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising computer executable instructions for implementing any one of the possible anomaly detection methods provided in the first aspect when executed by a processor.

The application provides an abnormality detection method, an abnormality detection device, an abnormality detection apparatus, and a storage medium, wherein the abnormality detection method is applied to an automatic clutch that performs engagement and disengagement operations with a bearing of a brushless DC motor. The method comprises the steps of firstly obtaining a first rotating angle of the brushless direct current motor through a position sensor, obtaining a second rotating angle of the brushless direct current motor through a Hall sensor, then issuing a verification instruction according to the first rotating angle and the second rotating angle, responding to the verification instruction, and verifying a fourth rotating angle according to a third rotating angle so as to detect whether the Hall sensor is abnormal or not, find out whether the Hall sensor is abnormal or not in time, further ensure the reliability of the verification work of the mechanical integrity of the automatic clutch, avoid the damage risk of a power assembly and guarantee the safe driving of a vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings without inventive labor.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of an anomaly detection method according to an embodiment of the present application;

fig. 3 is a schematic flowchart of another anomaly detection method according to an embodiment of the present application;

fig. 4 is a schematic flowchart of another anomaly detection method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an anomaly detection device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is important that the mechanical integrity of an automatic clutch before operation is intact when performing the engagement and disengagement actions. If the mechanical integrity of the automatic clutch is abnormal before the automatic clutch performs the engagement or disengagement action, the risk of damaging a power assembly exists during driving, and further driving accidents can be caused, so that the safety of lives and property is damaged. To eliminate the risk of powertrain damage, the mechanical integrity of the automatic clutch before operation may be verified. The hall sensor can be used to calculate the motor rotation angle during this verification process. However, due to the influence of a complex working environment, the hall sensor may have a large deviation or an abnormal test precision. If the abnormality of the Hall sensor is not found in time, the reliability of the mechanical integrity verification of the automatic clutch is influenced, and further the risk of damage of a power assembly is still brought, so that the potential safety hazard of vehicle running is caused.

In view of the foregoing problems in the prior art, the present application provides an anomaly detection method, apparatus, device, and storage medium. The invention concept of the anomaly detection method provided by the application is that: in the process of utilizing the rotation angle of the brushless direct current motor calculated by the Hall sensor to carry out mechanical integrity of the automatic clutch, namely whether the working state is complete or not, the rotation angle of the brushless direct current motor at the same time is obtained through the position sensor, when the rotation angle of the brushless direct current motor obtained at the same time is obtained through the position sensor and the position sensor, a verification instruction is issued, then the rotation angle obtained after a stalling signal of the brushless direct current motor occurs is responded to the verification instruction, and the rotation angle obtained after the stalling signal of the brushless direct current motor occurs is verified, so that whether the Hall sensor is abnormal or not is detected. Therefore, the reliability of mechanical integrity verification of the automatic clutch is guaranteed, the risk of damage to a power assembly is avoided, and safe driving of a vehicle is guaranteed.

An exemplary application scenario of the embodiments of the present application is described below.

Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present application, and as shown in fig. 1, an automatic clutch is provided on a vehicle 100, for example, a new energy electric vehicle, and through engaging and disengaging actions between the automatic clutch and bearings of a motor rotating at a high speed, a plurality of motors, for example, two motors, provided in the vehicle 100 may operate simultaneously or only one motor may operate separately, so as to meet requirements of a driver on the dynamic performance and the economic performance of the vehicle 100.

While the mechanical integrity of the automatic clutch before engagement or disengagement, i.e., whether the operating conditions are intact, directly affects whether there is a risk of powertrain damage to the vehicle 100, if there is an anomaly in the mechanical integrity of the automatic clutch before engagement or disengagement is performed, there is a risk of powertrain damage when the automatic clutch performs the engagement or disengagement.

Therefore, the mechanical integrity of the automatic clutch before operation can be verified. In the verification process, the hall sensor may be required to calculate the rotation angle of the brushless dc motor, but due to the influence of the complex working environment, the hall sensor is likely to have abnormalities such as large deviation of the test precision or faults. If the abnormality of the hall sensor is not found in time, the reliability of verifying whether the mechanical integrity of the automatic clutch is intact by using the hall sensor is influenced.

In view of this, the electronic device 200 is configured to execute the abnormality detection method provided in the embodiment of the present application, and is configured to perform abnormality detection in verifying whether the mechanical integrity of the automatic clutch is intact on the hall sensor, so as to effectively verify the rotation angle of the brushless dc motor obtained by the hall sensor in the mechanical integrity verification process, determine whether the hall sensor is abnormal, ensure the reliability of the mechanical integrity verification of the automatic clutch, avoid the risk of damage to the powertrain, and ensure safe driving of the vehicle.

It should be noted that the Electronic device 200 may be a computer, a server cluster, a Micro Control Unit (MCU), an Electronic Control Unit (ECU), an onboard controller, and the like, and the type of the Electronic device is not limited in the embodiment of the present application. The electronic apparatus 200 in fig. 1 is illustrated by an ECU.

The application scenario is only illustrative, the anomaly detection method, the anomaly detection device, the anomaly detection equipment and the anomaly detection storage medium provided by the embodiment of the application include but are not limited to the application scenario, and the automatic clutch can be arranged in equipment such as an unmanned aerial vehicle and an airplane.

Fig. 2 is a schematic flowchart of an anomaly detection method according to an embodiment of the present disclosure. As shown in fig. 2, an abnormality detection method provided in an embodiment of the present application includes:

s101a: and acquiring a first rotation angle of the brushless direct current motor through the position sensor.

S101b: and acquiring a second rotation angle of the brushless direct current motor through the Hall sensor.

During the verification of the mechanical integrity of the automatic clutch, the automatic clutch is moved away from the disengaged position to the engaged position and returned to the disengaged position after the engagement has been completed. If the entire travel from the disengaged position to the engaged position and back to the disengaged position is intact, it indicates that the mechanical integrity of the automatic clutch is intact.

And in the stroke, the Hall sensor is used for acquiring the rotation angle of the brushless direct current motor so as to determine the disengagement position or the engagement position of the automatic clutch.

Based on this, the position sensor and the hall sensor synchronously acquire the rotation angle of the brushless dc motor during the process in which the automatic clutch advances from the disengagement position to the engagement position to perform the engagement action and returns to the disengagement position. For convenience of description, the rotation angle of the brushless dc motor obtained by the position sensor is a first rotation angle, and the rotation angle of the brushless dc motor obtained by the hall sensor is a second rotation angle.

In one possible design, acquiring a first rotation angle of the brushless dc motor by the position sensor includes:

the moving distance of the automatic clutch is obtained through the position sensor, and the first rotating angle is obtained according to the moving distance.

The angle of rotation of the brushless dc motor during the passage of the automatic clutch from the disengaged position to the engaged position is from 0 to 3600 °, while the travel of the fork during this passage is the length of the entire fork shaft, for example 10 cm. Therefore, the moving distance of the automatic clutch, namely the stroke of the shifting fork, can be obtained through the position sensor, and the corresponding rotation angle of the brushless direct current motor is converted through the stroke, namely the moving distance is converted into the corresponding angle, so that the first rotation angle is obtained.

In one possible design, obtaining the second rotation angle of the brushless dc motor by the hall sensor includes:

and obtaining a second rotation angle through the Hall signal read by the Hall sensor.

The angle of rotation of the brushless dc motor during the process of the automatic clutch from the disengaged position to the engaged position is from 0 to 3600 °, and the hall signal of the hall sensor occurs 100 times during this process. Based on the second rotation angle, the number of times of the Hall signal occurrence can be read through the Hall sensor, and the number of times of the Hall signal occurrence is converted into the rotation angle of the brushless direct current motor, so that the second rotation angle is obtained.

It is understood that the number of the first rotation angle and the second rotation angle obtained is not one, but is obtained several times throughout the process of the automatic clutch from the disengaged position to the engaged position and back to the disengaged position, and in this process, the rotation angle of the brushless dc motor obtained by the position sensor is collectively referred to as the first rotation angle, and the rotation angle of the brushless dc motor obtained by the hall sensor is collectively referred to as the second rotation angle. The acquisition time of the first rotation angle and the second rotation angle can be acquired in real time or acquired according to a preset time period. It should be noted that, in the case where the mechanical integrity of the automatic clutch is intact, the brushless dc motor is locked during the disengagement and engagement actions of the automatic clutch.

It should be noted that the time for acquiring in real time necessarily includes the time when the brushless dc motor is locked, and if the time for acquiring is a preset time period set manually, the preset time period must include the time when the brushless dc motor is locked.

In actual conditions, the rotation angle of the brushless direct current motor can be manually calibrated when the automatic clutch is in a disengaging position and an engaging position. For example, the disengaged and engaged positions of the automatic clutch may be calibrated using a rotation angle of the brushless dc motor of less than 50 ° and greater than 3500 °. That is, the automatic clutch is considered to be in the disengaged position when the rotation angle of the brushless dc motor is less than 50 °; and when the rotation angle of the brushless direct current motor is more than 3500 degrees, the automatic clutch is considered to be in the engagement position. In the process of verifying whether the mechanical integrity of the automatic clutch is intact, the rotation angle of the brushless direct current motor is obtained through the Hall sensor, and the verification process is completed based on the obtained rotation angle.

S102: and issuing a verification instruction according to the first rotation angle and the second rotation angle.

After the first rotation angle and the second rotation angle are respectively obtained, a verification instruction is issued based on the first rotation angle and the second rotation angle.

The purpose of the check instruction is to check the rotation angle of the brushless direct current motor acquired by the hall sensor by using the rotation angle of the brushless direct current motor acquired by the position sensor so as to judge whether the hall sensor is abnormal. Therefore, a verification condition for verification can be set, if the first rotation angle and the second rotation angle meet the verification condition, the verification time is reached, and a verification instruction can be issued for verification.

S103: and responding to the checking instruction to check the fourth rotation angle according to the third rotation angle so as to detect whether the Hall sensor is abnormal.

The third rotation angle and the fourth rotation angle are rotation angles of the brushless direct current motor respectively obtained by the position sensor and the Hall sensor after the brushless direct current motor generates a locked rotor signal.

And issuing a verification instruction when the verification time is reached, responding to the verification instruction to verify the fourth rotation angle according to the third rotation angle, and judging whether the Hall sensor is abnormal or not according to a verification result.

The third rotation angle is the rotation angle of the brushless direct current motor obtained by the position sensor after the brushless direct current motor generates a locked-rotor signal, and the fourth rotation angle is the rotation angle of the brushless direct current motor obtained by the hall sensor after the brushless direct current motor generates the locked-rotor signal.

The principle of checking the fourth rotation angle with the third rotation angle in response to the checking instruction is to determine the reliability of the two according to whether the two are changed. For example, if the data collected by the position sensor does not change when the data collected by the hall sensor changes, the data collected by the position sensor is considered to be credible, and the hall sensor is abnormal. And if the data collected by the position sensor changes when the data collected by the Hall sensor changes, the data collected by the position sensor and the data collected by the Hall sensor are not credible, and the Hall sensor is still judged to be abnormal. Therefore, the principle of the verification is that the data acquired by the Hall sensor is not trusted, but the data acquired by the additional position sensor is used as reference, the data acquired by the Hall sensor is confirmed and checked, and whether the Hall sensor is abnormal or not is detected.

As can be seen from the description of the above embodiment, in the process of verifying whether the mechanical integrity of the automatic clutch is intact, the rotation angle of the brushless dc motor is obtained by the hall sensor, and the verification process is completed based on the obtained rotation angle. Therefore, the presence or absence of an abnormality of the hall sensor directly affects the reliability of the verification process. The abnormality detection method provided by the embodiment of the application is characterized in that the position sensor is arranged, the rotation angle of the brushless direct current motor obtained after the brushless direct current motor generates the locked rotor signal is obtained through the position sensor, the rotation angle of the brushless direct current motor obtained after the brushless direct current motor generates the locked rotor signal is verified through the Hall sensor, and whether the Hall sensor is abnormal or not can be detected, so that the reliability of mechanical integrity verification of the automatic clutch can be guaranteed, the risk of damage to a power assembly is avoided, and safe driving of a vehicle is guaranteed.

The abnormality detection method provided by the embodiment of the application is applied to an automatic clutch, and the automatic clutch and a bearing of a brushless direct current motor perform engagement action and disengagement action. The method comprises the steps of firstly obtaining a first rotating angle of the brushless direct current motor through a position sensor, simultaneously obtaining a second rotating angle of the brushless direct current motor through a Hall sensor, then issuing a checking instruction according to the first rotating angle and the second rotating angle, and further responding to the checking instruction to check a fourth rotating angle according to a third rotating angle so as to detect whether the Hall sensor is abnormal or not. Whether the Hall sensor is abnormal or not can be found in time, so that the reliability of the verification work of the mechanical integrity of the automatic clutch can be ensured, the risk of damage to a power assembly is avoided, and the safe driving of a vehicle is guaranteed.

Fig. 3 is a schematic flowchart of another anomaly detection method according to an embodiment of the present application. As shown in fig. 3, the abnormality detection method provided in the embodiment of the present application includes:

s201a: and acquiring a first rotation angle of the brushless direct current motor through the position sensor.

S201b: and acquiring a second rotation angle of the brushless direct current motor through the Hall sensor.

Possible implementation manners, principles and technical effects of step S201a and step S201b are similar to those of step S101a and step S101b, and the detailed contents may refer to the foregoing description and are not repeated herein.

S202: an angular difference between the first rotational angle and the second rotational angle is obtained.

The first rotating angle and the second rotating angle are the rotating angles of the brushless direct current motor respectively acquired by two different acquisition devices at the same moment, and the two different acquisition devices are respectively a position sensor and a Hall sensor. In this step, an angle difference between the first rotation angle and the second rotation angle is obtained, that is, a deviation between the first rotation angle and the second rotation angle is determined.

S203: and judging whether the angle difference meets the check condition.

And judging whether the acquired angle difference meets a preset check condition or not, wherein the check condition is used for quantifying the check time. If the verification condition is met, the verification time is reached, a verification instruction is issued, so that the data acquired by the hall sensor is verified by using the data acquired by the position sensor, namely step S204 is executed. Otherwise, if the check condition is not satisfied, it indicates that the check timing has not been reached, and step S201a and step S201b are continuously performed to obtain new first rotation angle and second rotation angle again.

Optionally, the verification condition may be set according to an actual working condition, for example, if an angle difference between the first rotation angle and the second rotation angle is obtained, the set verification condition may be that the angle differences within the preset time duration are all greater than or equal to a calibration difference value, for example, 300 °. In other words, if the difference between the first rotation angle and the second rotation angle within the preset time period, for example, 3s, is greater than or equal to 300 °, it indicates that the verification condition is satisfied, and the verification instruction may be issued for verification. The specific value of the calibration difference value and the value of the preset time duration can be set according to the actual working condition, and the embodiment of the application is not limited to this.

It can be understood that the above-mentioned verification conditions are only exemplary lists, and in an actual working condition, corresponding verification conditions may be set according to an actual situation, and the specific content of the verification conditions is not limited in the embodiment of the present application.

S204: and issuing a checking instruction.

And if the verification condition is met and the verification time is reached, issuing a verification instruction to respond to the verification instruction and verify the data acquired by the Hall sensor by using the data acquired by the position sensor, and determining whether the Hall sensor is abnormal according to the verification result.

S205: and responding to the checking instruction to check the fourth rotating angle according to the third rotating angle so as to detect whether the Hall sensor is abnormal.

The third rotation angle is the rotation angle of the brushless direct current motor obtained by the position sensor when the brushless direct current motor generates a locked rotor signal, and the fourth rotation angle is the rotation angle of the brushless direct current motor obtained by the hall sensor when the brushless direct current motor generates the locked rotor signal.

The principle of checking the fourth rotation angle by the third rotation angle in response to the check instruction is to determine the reliability of the two according to whether the two are changed. For example, if the data collected by the position sensor does not change when the data collected by the hall sensor changes, the data collected by the position sensor is considered to be credible, and the hall sensor is abnormal. And if the data collected by the position sensor changes when the data collected by the Hall sensor changes, the data collected by the position sensor and the data collected by the Hall sensor are not credible, and the Hall sensor is still judged to be abnormal. Therefore, the principle of the verification is that the data acquired by the Hall sensor is not trusted, but the data acquired by the additional position sensor is used as reference, the data acquired by the Hall sensor is confirmed and checked, and whether the Hall sensor is abnormal or not is detected.

In one possible design, a possible implementation of step S205 is shown in fig. 4. Fig. 4 is a schematic flowchart of another anomaly detection method according to an embodiment of the present application. As shown in fig. 4, the embodiment of the present application includes:

s301: and respectively judging whether the third rotation angle and the fourth rotation angle are changed.

S302: and if the third rotation angle is not changed but the fourth rotation angle is changed, determining that the Hall sensor is abnormal.

S303: and if the third rotation angle and the fourth rotation angle are changed, determining that the Hall sensor is abnormal.

And judging whether the rotation angle of the brushless direct current motor obtained by the position sensor changes or not after the brushless direct current motor generates locked rotor, namely, a locked rotor signal, and the rotation angle of the brushless direct current motor obtained by the Hall sensor changes or not. That is, it is determined whether the third rotation angle and the fourth rotation angle are changed, respectively.

If both of them are changed, or only the fourth rotation angle is changed and the third rotation angle is not changed, it is determined that the hall sensor is abnormal, that is, step S302 or step S303 is executed.

Through the above description, after it is determined that the hall sensor is abnormal, in order to protect the powertrain, the following steps S206 and S207 may be further performed to control the automatic clutch not to perform the engagement action, and report the early warning that the hall sensor is abnormal to the control unit, so that the control unit may issue a response command according to the current situation of the vehicle, thereby ensuring safe driving of the vehicle.

S206: and controlling the automatic clutch to keep a disengaged state and not to perform an engagement action.

S207: generating a first abnormity prompting signal to warn that the Hall sensor is abnormal through the first abnormity prompting signal

After the Hall sensor is determined to have abnormality, the automatic clutch is controlled to keep a disengagement state, and the engagement action and the disengagement action are not executed. In other words, the hall sensor is abnormal, and if the automatic clutch also performs the engaging action and the disengaging action, the risk of damaging the power assembly can be brought, and the automatic clutch is controlled to maintain the disengaging state and not perform the engaging action and the disengaging action any more for the purpose of protecting the east-west assembly.

On the other hand, a first abnormality prompt signal may be generated, for example, the first abnormality prompt signal may be reported to a control unit such as a vehicle-mounted controller, so as to perform early warning on the abnormality of the hall sensor, and the control unit that receives the first abnormality prompt signal may issue a response instruction in response to the early warning, so as to further ensure safe driving of the vehicle.

Optionally, in step S205, if the third rotation angle is changed but the fourth rotation angle is not changed, or both the third rotation angle and the fourth rotation angle are changed, it may also be considered that the data collected by the position sensor is not reliable, that is, it is determined that the position sensor is abnormal. Similarly, to protect the powertrain, the automatic clutch is controlled to remain disengaged and to cease the engaging and disengaging actions. On the other hand, a second abnormal prompt signal can be generated, and the position sensor is warned of abnormality through the second abnormal prompt signal, so that operations such as maintenance and replacement of the position sensor can be performed according to warning, and normal operation of the fault detection method provided by the embodiment of the application is guaranteed.

The abnormality detection method provided by the embodiment of the application is applied to an automatic clutch, and the automatic clutch and a bearing of a brushless direct current motor are engaged and disengaged. After the first rotating angle and the second rotating angle of the brushless direct current motor are obtained through the position sensor and the Hall sensor respectively, whether the angle difference between the first rotating angle and the second rotating angle meets a checking condition or not is judged, if yes, a checking instruction is issued, and then the checking instruction is responded to check the fourth rotating angle according to the third rotating angle so as to detect whether the Hall sensor is abnormal or not. And after the Hall sensor is determined to be abnormal, the automatic clutch is controlled to keep a disengagement state and not to execute engagement action any more, and a first abnormal prompt signal is generated to warn that the Hall sensor is abnormal. The abnormality of the Hall sensor is found in time, the reliability of mechanical integrity verification of the automatic clutch is guaranteed, the risk of damage to a power assembly is effectively avoided, the abnormality of the Hall sensor is early warned, and safe driving of a vehicle is further guaranteed.

Fig. 5 is a schematic structural diagram of an abnormality detection apparatus according to an embodiment of the present application. As shown in fig. 5, an abnormality detection apparatus 400 according to an embodiment of the present application includes:

the acquiring module 401 is configured to acquire a first rotation angle of the brushless dc motor through the position sensor, and acquire a second rotation angle of the brushless dc motor through the hall sensor;

the first processing module 402 is configured to issue a verification instruction according to the first rotation angle and the second rotation angle;

the second processing module 403 is configured to determine, in response to the check instruction, whether the hall sensor is abnormal according to the third rotation angle and the fourth rotation angle;

In one possible design, the obtaining module 401 is specifically configured to:

In a possible design, the obtaining module 401 is further specifically configured to:

In one possible design, the first processing module 402 is specifically configured to:

acquiring an angle difference between the first rotating angle and the second rotating angle;

judging whether the angle difference meets a check condition, if so, issuing a check instruction;

In one possible design, the second processing module 403 is specifically configured to:

In one possible design, the second processing module 403 is further configured to:

controlling the automatic clutch to be in a disengagement position and not performing engagement action;

In one possible design, if the third rotation angle changes but the fourth rotation angle does not change, or both the third rotation angle and the fourth rotation angle change; a second processing module 403, further configured to:

determining that there is an abnormality in the position sensor;

and generating a second abnormity prompting signal so as to warn that the position sensor has abnormity through the second abnormity prompting signal.

The anomaly detection device provided in the embodiment of the application can execute the corresponding steps of the anomaly detection method in the above method embodiment, and the implementation principle and the technical effect are similar, and are not described in detail herein.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 500 may include: a processor 501, and a memory 502 communicatively coupled to the processor 501.

The memory 502 is used for storing programs. In particular, the program may include program code comprising computer-executable instructions.

Memory 502 may comprise high-speed RAM memory, and may also include NoN-volatile memory (NON-volatile memory), such as at least one disk memory.

Processor 501 is configured to execute computer-executable instructions stored in memory 502 to implement an anomaly detection method.

The processor 501 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the embodiments of the present Application.

Alternatively, the memory 502 may be separate or integrated with the processor 501. When the memory 502 is a device separate from the processor 501, the electronic device 500 may further include:

a bus 503 for connecting the processor 501 and the memory 502. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. Buses may be classified as address buses, data buses, control buses, etc., but do not represent only one bus or type of bus.

Alternatively, in a specific implementation, if the memory 502 and the processor 501 are integrated into a chip, the memory 502 and the processor 501 may complete communication through an internal interface.

The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, specifically, the computer-readable storage medium stores therein computer-executable instructions, and the computer-executable instructions are used in the anomaly detection method in the foregoing embodiment.

The present application also provides a computer program product comprising computer executable instructions which, when executed by a processor, implement the anomaly detection method in the above embodiments.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An abnormality detection method is characterized in that the abnormality detection method is applied to an automatic clutch, and engagement action and disengagement action are carried out between the automatic clutch and a bearing of a brushless direct current motor; the method comprises the following steps:

responding to the checking instruction, and checking a fourth rotating angle according to a third rotating angle so as to detect whether the Hall sensor is abnormal;

the third rotation angle and the fourth rotation angle are rotation angles of the brushless direct current motor respectively acquired by the position sensor and the hall sensor after the brushless direct current motor generates a locked rotor signal.

2. The abnormality detection method according to claim 1, wherein said acquiring a first rotation angle of said brushless dc motor by a position sensor includes:

3. The abnormality detection method according to claim 1, wherein said acquiring a second rotation angle of said brushless dc motor by a hall sensor includes:

4. The abnormality detection method according to claim 1, wherein said issuing a verification instruction according to said first rotation angle and said second rotation angle includes:

5. The abnormality detection method according to any one of claims 1 to 4, wherein said verifying a fourth rotation angle from a third rotation angle in response to said verification instruction to detect the presence or absence of an abnormality of said Hall sensor comprises:

respectively judging whether the third rotation angle and the fourth rotation angle are changed or not;

6. The abnormality detection method according to claim 5, further comprising, after said determination that there is an abnormality in said hall sensor:

controlling the automatic clutch to keep a disengaged state and not to perform engagement action any more;

7. The abnormality detection method according to claim 5, characterized in that, if the third rotation angle is changed but the fourth rotation angle is not changed, or both the third rotation angle and the fourth rotation angle are changed; the method further comprises the following steps:

determining that there is an abnormality in the position sensor;

8. An abnormality detection device characterized by comprising:

the first processing module is used for issuing a verification instruction according to the first rotation angle and the second rotation angle;

9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the anomaly detection method of any one of claims 1-7.

10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, implement the anomaly detection method of any one of claims 1 to 7.