阅读说明：本技术 一种电动执行器堵转故障控制方法、装置以及电动执行器 (Electric actuator locked-rotor fault control method and device and electric actuator ) 是由 吴冰 何洲统 张贤权 周开封 王伟 于 2021-09-02 设计创作，主要内容包括：本发明提供了一种电动执行器堵转故障控制方法,包括：获取阀门实际转动角度信息；判断所述阀门实际转动角度α1和阀门转动指令角度α2之间的差值的绝对值是否大于预设差值β；其中,当判断所述阀门实际转动角度α1和阀门转动指令角度α2的差值的绝对值大于所述预设差值β时,判断所述电动执行器为堵转,并记录阀门转动方向；当判断所述阀门实际转动角度α1和阀门转动指令角度α2的差值的绝对值小于等于所述预设差值β时,判断所述电动执行器正常。本发明实施例用于提高电动执行器检测是否处于堵转的准确度。(The invention provides a locked-rotor fault control method for an electric actuator, which comprises the following steps: acquiring actual rotation angle information of the valve; judging whether the absolute value of the difference between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is larger than a preset difference beta or not; when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be larger than the preset difference value beta, the electric actuator is judged to be locked, and the valve rotation direction is recorded; and when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be less than or equal to the preset difference value beta, judging that the electric actuator is normal. The embodiment of the invention is used for improving the accuracy of the electric actuator for detecting whether the electric actuator is in locked rotor state.)

1. A locked-rotor fault control method for an electric actuator is characterized by comprising the following steps:

acquiring actual rotation angle information of the valve;

judging whether the absolute value of the difference between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is larger than a preset difference beta or not;

when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be larger than the preset difference value beta, the electric actuator is judged to be locked, and the valve rotation direction is recorded; and when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be less than or equal to the preset difference value beta, judging that the electric actuator is normal.

2. The electric actuator lock-up fault control method according to claim 1, wherein when it is determined that the electric actuator is locked up, the electric actuator enters an electrical protection mode, and the electrical protection mode includes:

controlling the valve to rotate back to a first mechanical stop position or a second mechanical stop position;

when the valve is positively rotated and locked, the valve is controlled to rotate to the first mechanical stop position; and when the valve is reversely locked and rotated, controlling the valve to rotate to the second mechanical stop position.

3. The electric actuator lock-up fault control method of claim 2, wherein the electrical protection mode further comprises:

and when the valve rotates to the first mechanical stop position or the second mechanical stop position, the electric actuator is stopped.

4. The electric actuator lock-up failure control method according to claim 3, characterized by further comprising:

when the electric actuator is stopped, the locked-rotor information and the valve rotation direction information are kept;

when the electric actuator is started, identifying whether the locked rotor information and the valve rotation information exist or not;

and when the locked rotor information and the valve rotation information are acquired, the electric actuator enters a self-cleaning mode.

5. The electric actuator lock-up failure control method according to claim 1, further comprising:

and when the electric actuator is judged to be locked, the electric actuator enters a self-cleaning mode.

6. The electric actuator lock-up fault control method of any one of claims 4 or 5, wherein the self-cleaning mode comprises:

acquiring the valve rotation information;

analyzing the valve rotation information to obtain whether the rotation blocking direction of the valve is positive rotation or negative rotation;

when the valve rotation blocking direction is positive rotation, a motor for controlling the valve to rotate is used for rotating the valve to a first mechanical stop position and then rotating the valve to a second mechanical stop position according to a first torque T1;

when the rotation blocking direction of the valve is reverse, a motor for controlling the rotation of the valve rotates the valve to a second mechanical stop position firstly and then rotates the valve to a first mechanical stop position according to a first torque T1.

7. The electric actuator lock-up fault control method of claim 6, wherein entering a forced cleaning mode when the valve fails to rotate to the first mechanical stop position or the second mechanical stop position, the forced cleaning mode comprising:

when the valve cannot rotate to the first mechanical stop position, at the clamping position, the valve moves to the second mechanical stop position by a first angle alpha 3 and rotates to the first mechanical stop position according to a second torque T2 of the motor;

when the valve cannot rotate to the second mechanical stop position, the valve moves to the first mechanical stop position by a second angle alpha 4 at a clamped position and rotates to the first mechanical stop position according to a second torque T2 of the motor;

wherein the second torque T2 is greater than the first torque T1.

8. The electric actuator lock-up fault control method of claim 7, wherein the electric actuator is forcibly stopped when rotation to the first mechanical stop position or the second mechanical stop position is still not possible by the forced cleaning mode.

9. An electric actuator locked rotor fault detection device, characterized by comprising:

the acquisition module is used for acquiring actual rotation angle information of the valve, rotation information of the valve and locked rotor information;

the angle monitoring module is used for detecting the rotation angle of the valve;

and the control module is used for controlling the valve to realize an electric protection mode and/or a self-cleaning mode.

10. An electric actuator, characterized by a packaged IC and a memory electrically connected to the packaged IC, the memory storing a computer program, the computer program being read and executed by the packaged IC, the electric actuator implementing the electric actuator lock-up fault control method according to any one of claims 1 to 8.

Technical Field

The invention relates to the field of exhaust gas circulation systems of commercial vehicles, in particular to an electric actuator locked-rotor fault control method, an electric actuator locked-rotor fault control device and an electric actuator.

Background

Under the prospect that environmental protection and energy-conservation were paid attention to increasingly, commercial car can install exhaust gas circulation system in engine department, when suddenly violently refueling, fuel in the engine can incomplete combustion to can be mingled with certain combustible substance in the waste gas, the valve through electric actuator control exhaust gas circulation system department is opened this moment, makes partial waste gas get into the engine and burns again, has reduced carminative pollution promptly, makes exhaust gas cyclic utilization again, has played energy-conserving effect.

Because the impurity of solid can remain at the in-process of waste gas burning, in long-term use, or lead to electric actuator to take place the locked rotor, and continue to use electric actuator under the locked rotor, can lead to the motor overheated, in exhaust gas circulation pipeline, can lead to potential safety hazards such as waste gas explosion even, it is especially important to discover whether electric actuator has the problem of locked rotor, but current locked rotor judgement method judges electric actuator and takes place to deflect when the valve can't move or valve turned angle appears the error, thereby can take place the erroneous judgement and lead to electric actuator to shut down frequently.

Disclosure of Invention

Therefore, the embodiment of the invention provides a locked-rotor fault control method for an electric actuator, which is used for improving the accuracy of whether the electric actuator detects locked rotor.

In order to solve the above problems, the present invention provides a locked-rotor fault control method for an electric actuator, comprising: acquiring actual rotation angle information of the valve; judging whether the absolute value of the difference between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is larger than a preset difference beta or not; when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be larger than the preset difference value beta, the electric actuator is judged to be locked, and the valve rotation direction is recorded; and when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the valve rotation instruction angle alpha 2 is judged to be less than or equal to the preset difference value beta, judging that the electric actuator is normal.

Compared with the prior art, the technical scheme has the following technical effects: the method comprises the steps of judging that the absolute value of the difference value between the actual valve rotation angle alpha 1 and the actual valve rotation command angle alpha 2 is compared with a preset difference value beta by detecting the actual valve rotation angle information, judging that the electric actuator is locked when the absolute value of the difference value between the actual valve rotation angle alpha 1 and the actual valve rotation command angle alpha 2 is larger than the preset difference value beta, otherwise judging that the electric actuator is normal, and judging that the electric actuator is locked when the deflection error is larger than the preset difference value beta, so that the accuracy of detecting whether the electric actuator is locked is improved.

In one example of the present invention, when it is determined that the electric actuator is locked, the electric actuator enters an electric protection mode, and the electric protection mode includes: controlling the valve to rotate back to a first mechanical stop position or a second mechanical stop position; when the valve is positively rotated and locked, the valve is controlled to rotate to the first mechanical stop position; and when the valve is reversely locked and rotated, controlling the valve to rotate to the second mechanical stop position.

Compared with the prior art, the technical scheme has the following technical effects: because can lead to the motor overheated when continuing to use electric actuator when electric actuator is in under the state of locked rotor, in exhaust gas circulation pipeline, can lead to potential safety hazards such as exhaust gas explosion even, consequently through setting up the electrical protection mode, when electric actuator judges to be in the state of locked rotor, control flap resets, and resets according to the direction control valve of valve locked rotor toward the direction that returns mutually to avoid electric actuator to use under the condition of locked rotor.

In an example of the present invention, the electrical protection mode further includes: and when the valve rotates to the first mechanical stop position or the second mechanical stop position, the electric actuator is stopped.

Compared with the prior art, the technical scheme has the following technical effects: when the valve rotates to the first mechanical stop position or the second mechanical stop position, the electric actuator is stopped, so that the electric actuator is prevented from being used under the condition of locked rotation.

In one example of the present invention, the method further comprises: when the electric actuator is stopped, the locked-rotor information and the valve rotation direction information are kept; when the electric actuator is started, identifying whether the locked rotor information and the valve rotation information exist or not; and when the locked rotor information and the valve rotation information are acquired, the electric actuator enters a self-cleaning mode.

Compared with the prior art, the technical scheme has the following technical effects: the locked rotor information and the valve rotation direction information of the electric actuator are stored, when the electric actuator is opened again, the electric actuator can be adjusted according to the locked rotor information and the valve rotation direction information, and enters a self-cleaning mode, so that a series of hidden dangers caused when the electric actuator is opened secondarily under the locked rotor fault are prevented.

In one example of the present invention, the method further comprises: and when the electric actuator is judged to be locked, the electric actuator enters a self-cleaning mode.

Compared with the prior art, the technical scheme has the following technical effects: when the electric actuator is judged to be in the locked-rotor state, the valve is possibly locked-rotor due to small residues, and therefore the problem that the electric actuator is frequently in the stopped state due to small faults can be solved by processing in the self-cleaning mode.

In one example of the present invention, the self-cleaning mode includes: acquiring the valve rotation information; analyzing the valve rotation information to obtain whether the rotation blocking direction of the valve is positive rotation or negative rotation; when the valve rotation blocking direction is positive rotation, a motor for controlling the valve to rotate is used for rotating the valve to a first mechanical stop position and then rotating the valve to a second mechanical stop position according to a first torque T1; when the rotation blocking direction of the valve is reverse, a motor for controlling the rotation of the valve rotates the valve to a second mechanical stop position firstly and then rotates the valve to a first mechanical stop position according to a first torque T1.

Compared with the prior art, the technical scheme has the following technical effects: the rotation direction of the valve during locked rotation is obtained by acquiring and analyzing the rotation information of the valve, the valve is moved to the first mechanical stop position or the second mechanical stop position in the direction through the rotation direction, and the valve is moved between the first mechanical stop position and the second mechanical stop position according to the first torque T1, so that a blockage at the locked rotation position of the valve is scraped off, and the locked rotation state of the electric actuator is relieved.

In one example of the present invention, when the valve cannot be rotated to the first mechanical stop position or the second mechanical stop position, a forced cleaning mode is entered, the forced cleaning mode including: when the valve cannot rotate to the first mechanical stop position, at the clamping position, the valve moves to the second mechanical stop position by a first angle alpha 3 and rotates to the first mechanical stop position according to a second torque T2 of the motor; when the valve cannot rotate to the second mechanical stop position, the valve moves to the first mechanical stop position by a second angle alpha 4 at a clamped position and rotates to the first mechanical stop position according to a second torque T2 of the motor; wherein the second torque T2 is greater than the first torque T1.

Compared with the prior art, the technical scheme has the following technical effects: when the blockage at the locked position of the valve is fixed firmly, the valve plate cannot move to the first mechanical stop position or the second mechanical stop position, so that the valve plate is moved by the first angle alpha 3 or the second angle alpha 4 in the opposite direction at the locked position by setting the forced cleaning mode, and the valve plate is controlled to rotate by the second torque T2 with the torque larger than the first torque T1, so that the blockage at the locked position of the valve is scraped off, and the electric actuator is recovered to the normal state.

In one example of the present invention, the electric actuator is forcibly stopped when it is still unable to rotate to the first mechanical stop position or the second mechanical stop position by the forced cleaning mode.

Compared with the prior art, the technical scheme has the following technical effects: after the electric actuator can not be recovered to a normal state through the forced cleaning mode, the problem of the locked rotor position can not be automatically repaired through the electric actuator, the electric actuator is continuously used, and the locked rotor fault still exists in the electric actuator, so that the electric actuator is controlled to be forcibly stopped in order to prevent the electric actuator from being in the locked rotor fault state, and the damage caused by the locked rotor fault is avoided.

In another aspect, an embodiment of the present invention provides a device for detecting a stalling fault of an electric actuator, including: the acquisition module is used for acquiring actual rotation angle information of the valve, rotation information of the valve and locked rotor information; the angle monitoring module is used for detecting the rotation angle of the valve; and the control module is used for controlling the valve to realize an electric protection mode and/or a self-cleaning mode.

In another aspect, an embodiment of the present invention provides a further electric actuator, a package IC, and a memory electrically connected to the package IC, where the memory stores a computer program, and when the computer program is read and executed by the package IC, the electric actuator implements the electric actuator stalling fault control method according to any one of claims 1 to 8.

After the technical scheme of the invention is adopted, the following technical effects can be achieved:

(1) the absolute value of the difference between the actual valve rotation angle alpha 1 and the actual valve rotation instruction angle alpha 2 is judged to be compared with a preset difference beta by detecting the actual valve rotation angle information, so that the accuracy of whether the electric actuator detects that the electric actuator is in locked rotor state is improved;

(2) when the electric actuator is in locked rotor, the electric actuator is protected by setting an electric protection mode, so that the electric actuator is prevented from being used under the condition of locked rotor;

(3) by setting a self-cleaning mode and a forced cleaning mode, the electric actuator has certain prevention of solving the problem of locked rotor by self, so that the electric actuator can relieve the locked rotor fault caused by a blockage;

(4) after the electric actuator can not be recovered to a normal state through the forced cleaning mode, the problem of the locked-rotor position can not be automatically repaired through the electric actuator, and the electric actuator is controlled to be forcibly stopped, so that the damage caused by the locked-rotor fault is avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a flowchart of a method for controlling a stalling fault of an electric actuator according to an embodiment of the present invention.

Fig. 2 is a detailed flowchart of the electric actuator lock-up fault control method shown in fig. 1.

Fig. 3 is a block diagram schematically illustrating the structure of a stalling fault detection device for an electric actuator according to a second embodiment of the invention;

fig. 4 is a block diagram showing the components of an electric actuator according to a third embodiment of the present invention;

fig. 5 is a schematic structural diagram of a readable storage medium according to a fourth embodiment of the present invention.

Description of reference numerals:

100 is an electric actuator locked-rotor fault detection device; 110 is an acquisition module; 120 is an angle monitoring module; 130 is a control module; 200 is an electric actuator; 210 is a memory; 211 is a computer program; 230 is a processor; 300 is a readable storage medium; 310 are computer-executable instructions.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

[ first embodiment ] A method for manufacturing a semiconductor device

Referring to fig. 1, it is a flowchart of a method for controlling a stalling fault of an electric actuator according to a first embodiment of the present invention. The electric actuator locked-rotor fault control method specifically comprises the following steps:

step S10, acquiring actual rotation angle information of the valve;

it should be noted that, here, the obtaining of the actual rotation angle information of the valve may be to check the actual rotation angle information of the valve every time the valve rotates, or may be to periodically obtain the actual rotation angle information of the valve.

Step S20, determining whether an absolute value of a difference between the actual valve rotation angle α 1 and the valve rotation command angle α 2 is greater than a preset difference β;

it should be noted that, here, the actual rotation angle α 1 of the valve is an actual rotation angle of the valve under the control of the rotating shaft, and the valve rotation command angle α 2 is a rotation command angle converted by the controller control motor and the gear ratio between the motor output shaft and the valve.

Specifically, referring to fig. 2, when the absolute value of the difference between the actual valve rotation angle α 1 and the valve rotation command angle α 2 is greater than the preset difference β, it is determined that the electric actuator 200 is locked, and the valve rotation direction is recorded; when the absolute value of the difference between the actual valve rotation angle α 1 and the valve rotation command angle α 2 is determined to be less than or equal to the preset difference β, the electric actuator 200 is determined to be normal.

For example, because an error is formed between the actual valve rotation angle α 1 and the actual valve rotation command angle α 2 due to gear wear or the like, by detecting the actual valve rotation angle information, it is determined that the absolute value of the difference between the actual valve rotation angle α 1 and the actual valve rotation command angle α 2 is compared with the preset difference β, and when the absolute value of the difference between the actual valve rotation angle α 1 and the actual valve rotation command angle α 2 is greater than the preset difference β, it is determined that the electric actuator 200 is locked, otherwise, it is determined that the electric actuator 200 is normal, and only when the deflection error is greater than the preset difference β, it is determined that the electric actuator 200 is locked, thereby improving the accuracy of detecting whether the electric actuator 200 is locked.

Specifically, the value range of the preset difference β is [2, 5], and preferably, the preset difference β is 3. For example, when | α 1- α 2| >3, it is determined that the electric actuator 200 is locked, and the valve rotation direction is recorded; and when the | alpha 1-alpha 2| is less than or equal to 3, judging that the electric actuator 200 is normal.

Specifically, when it is determined that the electric actuator 200 is in a locked-rotor fault, the electric actuator 200 enters an electrical protection mode, where the electrical protection mode specifically includes: controlling the valve to rotate back to a first mechanical stop position or a second mechanical stop position; when the valve is positively rotated and locked, the valve is controlled to rotate to the first mechanical stop position; and when the valve is reversely locked and rotated, controlling the valve to rotate to the second mechanical stop position.

For example, when the electric actuator 200 is in the locked state, the electric actuator 200 may be continuously used, which may cause overheating of the motor and even cause potential safety hazards such as exhaust gas explosion in the exhaust gas circulation pipeline, so that by setting the electric protection mode, when the electric actuator 200 determines that the electric actuator is in the locked state, the control valve is reset, and the control valve is reset in the direction of returning according to the direction of locking of the valve, thereby preventing the electric actuator 200 from being used under the locked state.

Preferably, the first mechanical stop position may be an initial position of forward rotation of the valve, and the second mechanical stop position may be an initial position of reverse rotation of the valve, but the first mechanical stop position and the second mechanical stop position may also be positions at certain angles in the opposite direction where the rotation blockage occurs, and the positions are not limited herein.

Further, the electrical protection mode further includes: after the valve is rotated to the first mechanical stop position or the second mechanical stop position, the electric actuator 200 is stopped. For example, after the valve is rotated to the first mechanical stop position or the second mechanical stop position, the electric actuator 200 is stopped, so as to prevent the electric actuator 200 from being used in the case of rotation blockage.

Further, when the electric actuator 200 is in the electrical protection mode, an electrical protection mode signal is sent to the general controller, and only when the system clears the electrical protection fault, the electrical protection mode is skipped.

Specifically, when the electric actuator 200 is stopped, the locked-rotor information and the valve rotation direction information are maintained; when the electric actuator 200 is started, identifying whether the locked rotor information and the valve rotation information exist; when the locked-rotor information and the valve rotation information are acquired, the electric actuator 200 enters a self-cleaning mode.

For example, by storing the locked-rotor information and the valve rotation direction information of the electric actuator 200, when the electric actuator 200 is turned on again, the electric actuator can be adjusted according to the locked-rotor information and the valve rotation direction information, and enter the self-cleaning mode, thereby preventing a series of hidden troubles caused by the secondary turning-on of the electric actuator 200 under the locked-rotor fault.

Preferably, the self-cleaning mode may also be entered when the electric actuator 200 is first determined to be a locked-rotor fault. For example, when it is determined that the electric actuator 200 is in a locked state, there may be a problem that the valve is locked due to a small residue, and thus the electric actuator 200 is frequently in a stopped state due to a small fault can be avoided by performing the self-cleaning mode.

Specifically, the self-cleaning mode specifically includes: acquiring the valve rotation information; analyzing the valve rotation information to obtain whether the rotation blocking direction of the valve is positive rotation or negative rotation; when the valve rotation blocking direction is positive rotation, a motor for controlling the valve to rotate is used for rotating the valve to a first mechanical stop position and then rotating the valve to a second mechanical stop position according to a first torque T1; when the rotation blocking direction of the valve is reverse, a motor for controlling the rotation of the valve rotates the valve to a second mechanical stop position firstly and then rotates the valve to a first mechanical stop position according to a first torque T1.

For example, the rotation direction of the valve during the locked rotation is obtained by acquiring and analyzing the valve rotation information, and the valve is moved to the first mechanical stop position or the second mechanical stop position according to the rotation direction, and is moved between the first mechanical stop position and the second mechanical stop position according to the first torque T1, so that the blockage at the locked rotation of the valve is scraped off, and the electric actuator releases the 200 locked rotation state.

Specifically, the first torque T1 is slightly greater than the torque of the motor during normal rotation, but does not reach the maximum torque of the motor rotation, and the motor and the valve may be damaged due to the maximum torque, so that the motor is heated or the valve tightness is reduced, but the motor is difficult to eliminate the locked-rotor fault during normal torque operation, so the first torque T1 is slightly greater than the torque of the motor during normal rotation.

Preferably, in the self-cleaning mode, when the electric actuator 200 can control the valve to move back and forth between the first mechanical stop position and the second mechanical stop position, a plurality of reciprocating movements can be performed until the electric actuator 200 eliminates the stalling fault.

Preferably, the self-cleaning mode further comprises: the switching frequency of the forward and reverse rotation of the motor is accelerated, so that the valve swings back and forth in a small angle, and vibration is caused. For example, the locked-rotor fault may also be that a hard object such as a burr exists in the gear and causes a column to be clamped between the gears, so that the valve swings back and forth in a small angle by accelerating the switching frequency of the forward and reverse rotation of the motor, vibration is caused, the hard object such as the burr exists in the gear falls off, and the problem of locked-rotor of the electric actuator 200 is solved.

Preferably, when the valve cannot be rotated to the first mechanical stop position or the second mechanical stop position, a forced cleaning mode is entered, the forced cleaning mode including: when the valve cannot rotate to the first mechanical stop position, at the clamping position, the valve moves to the second mechanical stop position by a first angle alpha 3 and rotates to the first mechanical stop position according to a second torque T2 of the motor; when the valve cannot rotate to the second mechanical stop position, the valve moves to the first mechanical stop position by a second angle alpha 4 at a clamped position and rotates to the first mechanical stop position according to a second torque T2 of the motor; wherein the second torque T2 is greater than the first torque T1.

For example, when the blockage at the locked position of the valve is fixed firmly, the valve plate cannot move to the first mechanical stop position or the second mechanical stop position in the self-cleaning mode, so that the valve plate is moved in the opposite direction by the first angle α 3 or the second angle α 4 by setting the forced cleaning mode, and the valve plate is controlled to rotate by the second torque T2 with the torque greater than the first torque T1, so as to scrape the blockage at the locked position of the valve, and the electric actuator returns to the normal state.

Preferably, the first angle α 3 is equal to the second angle α 4, and the first angle α 3 is equal to the second angle α 4 by 5 °; the second torque T2 may be the maximum output shaft of the motor.

Preferably, the electric actuator 200 is forcibly stopped when the rotation to the first mechanical stop position or the second mechanical stop position is still impossible by the forced cleaning mode. For example, when the electric actuator 200 cannot be restored to the normal state even in the forced cleaning mode, the problem of the locked position cannot be repaired by the electric actuator 200, and the electric actuator 200 still has a locked position failure due to the continued use of the electric actuator 200, so that the electric actuator 200 is controlled to be stopped forcibly in order to prevent the electric actuator 200 from being in the locked position failure state, thereby avoiding the damage caused by the locked position failure.

Preferably, after the electric actuator 200 is forcibly stopped, the electric actuator 200 issues an alarm to prompt the user to perform maintenance or replacement.

[ second embodiment ]

Referring to fig. 3, an embodiment of the present invention further provides an electric actuator lock-up fault detection apparatus 100. The electric actuator lock-up failure detection device 100 includes, for example: the obtaining module 110 is configured to obtain actual rotation angle information of a valve, rotation information of the valve, and locked rotor information; an angle monitoring module 120 for detecting the rotation angle of the valve; and the control module 130 is used for controlling the valve to realize an electric protection mode and/or a self-cleaning mode.

In a specific embodiment, the obtaining module 110, the angle monitoring module 120, and the control module 130 of the electric actuator lock-up fault detection apparatus 100 cooperate to implement the electric actuator lock-up fault control method described in the first embodiment, which is not described herein again.

[ third embodiment ]

The embodiment of the present invention further provides an electric actuator 200, which includes a readable storage medium storing a computer program and a package IC electrically connected to the readable storage medium, where when the computer program is read by the package IC and executed, the electric actuator implements the electric actuator locked-rotor fault control method described in any of the above embodiments.

The packaged IC in this embodiment may be, for example: a processor chip electrically connected to the computer readable storage medium to read and execute the computer program. The packaged IC may also be a packaged circuit board, which is packaged with a processor chip that can read and execute the computer program; of course, the circuit board may also encapsulate a computer-readable storage medium.

The processor chip may further be provided with the electric actuator lock-rotor fault detection apparatus 100 according to the second embodiment, and the processor chip may implement the electric actuator control method according to the first embodiment through the electric actuator lock-rotor fault detection apparatus 100, which is not described herein again.

[ fourth example ] A

Referring to fig. 4, which is a schematic structural diagram of an electric actuator 200 according to a fourth embodiment of the present invention, the electric actuator 200 includes, for example, a processor 230 and a memory 210 electrically connected to the processor 230, the memory 210 stores a computer program 211, and the processor 230 loads the computer program 211 to implement the electric actuator stalling fault control method according to the first embodiment.

[ fifth embodiment ]

Referring to fig. 5, the present embodiment further provides a readable storage medium 300, where the readable storage medium 300 stores computer-executable instructions 310, and when the computer-executable instructions 310 are read and executed by a processor, the readable storage medium 300 is controlled by an electric actuator to implement the electric actuator stalling fault control method according to the first embodiment.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: 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.

[ sixth embodiment ]

The embodiment of the invention also provides a commercial vehicle, which comprises the electric actuator 200 in the third embodiment and/or the electric actuator 200 in the fourth embodiment. The commercial vehicle, such as a bus or truck, is more efficient in the treatment of exhaust gases.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.