Method for checking out-of-step of synchronous motor

1. A computer-implemented method for controlling a synchronous motor, the method comprising:

transmitting one or more control signals to the synchronous motor;

determining at least a first electric degree and then a second electric degree, wherein the determination of each of the first and second electric degrees comprises:

obtaining, from an inner current control loop, data representing a first voltage and a first current on an α axis and a second voltage and a second current on a β axis in a α-β coordinate system,

determining an induced electromotive force based on the data representing first voltage, the first current, the second voltage, and the second current,

determining an instantaneous angular velocity of the synchronous motor based on the induced electromotive force and an induced electromotive force constant of the synchronous motor, and

determining each of the first and second electric degrees based on an integration of the instantaneous angular velocity;

comparing the first electric degree with the second electric degree to obtain a comparing result;

determining whether the comparing result satisfies a preset requirement;

responsive to the determination that the comparing result satisfies the preset requirement, determining that the synchronous motor is out of step;

determining a type of the out-of-step of the synchronous motor according to the comparing result, wherein the type of the out-of-step comprises a first type of out-of-step indicating that there is no rotating magnetic field and a second type of out-of-step indicating that a rotor of the synchronous motor rotates reversely; and

disabling a pulse width modulation (PWM) signal to the synchronous motor when the synchronous motor is determined to be out of step.

2. The method according to claim 1 , wherein the first electric degree is detected in a first program period, and the second electric degree is detected in a subsequent program period.

3. The method according to claim 1 , wherein comparing the first electric degree with the second electric degree comprises:

determining a difference value between the first electric degree and the second electric degree;

determining whether the difference value is less than a first preset degree; and

responsive to the determination that the difference value is less than the first preset degree, determining that the comparing result satisfies the preset requirement.

4. The method according to claim 1 , further comprising:

determining whether the difference value is less than a second preset degree;

responsive to the determination that the difference value is not less than the second preset degree, determining the type of the out-of-step of the synchronous motor is the first type of out-of-step; and

responsive to the determination that the difference value is less than the second preset degree, determining that the type of the out-of-step of the synchronous motor is the second type of out-of-step.

5. The method according to claim 3 , wherein the first preset degree is obtained from a formula θ=PωT and the second preset degree is zero, in which θ is the first preset degree, P is a number of electrode pairs of the synchronous motor, ω is a mechanical angular velocity and T is the preset interval.

6. The method according to claim 1 , wherein the type of the out-of-step of the synchronous motor further comprises a third type of out-of-step.

7. The method according to claim 6 , further comprising:

responsive to determining that the comparing result does not satisfy the preset requirement, detecting, with a sensor, three-phase currents of the synchronous motor in a same period;

calculating a maximum value of each of the three-phase currents to obtain three maximum values;

determining a ratio between a maximum value of the three maximum values and a minimum value of the three maximum values;

responsive to the determination that the ratio is greater than or equal to a preset threshold, determining that the synchronous motor is out of step, and that the type of out-of-step of the synchronous motor is the third type of out-of-step.

8. The method according to claim 6 , wherein the third type of out-of-step indicates that the rotor of the synchronous motor is locked.

9. The method according to claim 7 , wherein the three-phase currents of the synchronous motor are obtained by a Hall sensor.

10. The method according to claim 1 , further comprising:

determining whether the synchronous motor is in a closed loop control phase; and

responsive to the determination that the synchronous motor is in a closed loop control phrase, determining the at least first and second electric degrees of the synchronous motor.

11. A non-transitory computer readable storage medium comprising computer program codes that are executable, by a hardware processor to cause the hardware processor to perform a method for controlling a synchronous motor, wherein the method comprises:

transmitting one or more control signals to the synchronous motor;

determining at least a first electric degree and then a second electric degree, wherein the determination of each of the first and second electric degrees comprises:

obtaining, from an inner current control loop, data representing a first voltage and a first current on an α axis and a second voltage and a second current on a β axis in a α-β coordinate system,

determining an induced electromotive force based on the data representing first voltage, the first current, the second voltage, and the second current,

determining an instantaneous angular velocity of the synchronous motor based on the induced electromotive force and an induced electromotive force constant of the synchronous motor, and

determining each of the first and second electric degrees based on an integration of the instantaneous angular velocity;

comparing the first electric degree with the second electric degree to obtain a comparing result;

determining whether the comparing result satisfies a preset requirement;

responsive to the determination that the comparing result satisfy the preset requirement, determining that the synchronous motor is out of step;

determining a type of the out-of-step of the synchronous motor according to the comparing result, wherein the type of the out-of-step comprises a first type of out-of-step indicating that there is no rotating magnetic field and a second type of out-of-step indicating that a rotor of the synchronous motor rotates reversely; and

disabling a pulse width modulation (PWM) signal to the synchronous motor when the synchronous motor is determined to be out of step.

12. The non-transitory computer readable storage medium of claim 11 , wherein first electric degree is detected in a first program period, and the second electric degree is detected in a subsequent program period.

13. The non-transitory computer readable storage medium of claim 11 , wherein comparing the first electric degree with the second electric degree comprises:

determining a difference value between the first electric degree from the second electric degree;

determining whether the difference value is less than a first preset degree; and

responsive to the determination that the difference value is less than the first preset degree, determining that the comparing result satisfies the preset requirement.

14. The non-transitory computer readable storage medium of claim 11 , further comprising computer codes executable by the hardware processor to cause the hardware processor to further perform:

determining whether the synchronous motor is in a closed loop control phase; and

responsive to the determination that the synchronous motor is in a closed loop control phase, determining the at least first and second electric degrees of the synchronous motor.

15. A system for controlling a synchronous motor, comprising:

a memory that stores a set of instructions; and

a hardware processor configured to execute the set of instructions to perform:

transmitting one or more control signals to the synchronous motor;

determining at least a first electric degree and then a second electric degree, wherein the determination of each of the first and second electric degrees comprises:

obtaining, from an inner current control loop, data representing a first voltage and a first current on an α axis and a second voltage and a second current on a β axis in a α-β coordinate system,

determining an induced electromotive force based on the data representing first voltage, the first current, the second voltage, and the second current,

determining an instantaneous angular velocity of the synchronous motor based on the induced electromotive force and an induced electromotive force constant of the synchronous motor, and

determining each of the first and second electric degrees based on an integration of the instantaneous angular velocity;

comparing the first electric degree with the second electric degree to obtain a comparing result;

determining whether the comparing result satisfies a preset requirement;

responsive to the determination that the comparing result satisfies the preset requirement, determining that the synchronous motor is out of step;

determining a type of the out-of-step of the synchronous motor according to the comparing result, wherein the type of the out-of-step comprises a first type of out-of-step indicating that there is no rotating magnetic field and a second type of out-of-step indicating that a rotor of the synchronous motor rotates reversely; and

disabling a pulse width modulation (PWM) signal to the synchronous motor when the synchronous motor is determined to be out of step.

16. The method of claim 1 , wherein the PWM signal is transmitted to the synchronous motor via a power bridge circuit.