CN113009341B - Method and system for monitoring abnormal state of motor - Google Patents
Method and system for monitoring abnormal state of motor Download PDFInfo
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Abstract
本发明公开了一种电机异常状态的监测方法及系统，所述方法包括：在稳态工况列表中确定与电机当前工况匹配的匹配工况；在与稳定工况列表中的若干组合工况对应、且预先构建的若干工况异常判断模型中，确定与匹配工况对应的工况异常判断模型，作为匹配工况异常判断模型；基于匹配工况和所述匹配工况异常判断模型，得到电机状态监测结果。本发明的电机异常状态的监测方法，基于匹配工况和与匹配工况对应的匹配工况异常判断模型，得到电机状态监测结果，利用匹配工况异常判断模型可以对电机当前工况进行分析，自动直接获得电机状态监测结果，解决了现有技术中难以有效地判定电机是否处于异常状态的弊端，提高了监测电机异常状态的效率和准确性。
The present invention discloses a method and system for monitoring abnormal state of a motor, the method comprising: determining a matching working condition that matches the current working condition of the motor in a steady-state working condition list; determining a working condition abnormality judgment model corresponding to the matching working condition among several working condition abnormality judgment models corresponding to several combined working conditions in the stable working condition list and constructed in advance, as a matching working condition abnormality judgment model; obtaining a motor state monitoring result based on the matching working condition and the matching working condition abnormality judgment model. The method for monitoring abnormal state of a motor of the present invention obtains a motor state monitoring result based on a matching working condition and a matching working condition abnormality judgment model corresponding to the matching working condition, and the matching working condition abnormality judgment model can be used to analyze the current working condition of the motor, and the motor state monitoring result can be automatically and directly obtained, which solves the problem in the prior art that it is difficult to effectively determine whether the motor is in an abnormal state, and improves the efficiency and accuracy of monitoring the abnormal state of the motor.
Description
Technical Field
The invention relates to the technical field of motor diagnosis, in particular to a method and a system for monitoring abnormal states of a motor.
Background
The motor state monitoring and fault diagnosis technology is a technology for knowing and mastering the state of a motor in the use process, determining the whole or partial normal or abnormal state of the motor and finding out faults and reasons thereof. The prior art scheme is generally a state monitoring and diagnosing device based on an electrical characteristic analysis technology, and the state changes of bearing faults, misalignment faults, load faults, mechanical looseness, insulation and a series of electrical and mechanical faults are further detected by measuring current and voltage signals when a motor runs under load and analyzing characteristics such as frequency spectrum, harmonic waves and electrical parameters, so that the fault of the whole transmission system is judged.
However, the traditional technical scheme takes the current state of the equipment as the research key point, the future development trend of the equipment cannot be predicted, and the health state of the equipment cannot be systematically managed. How to effectively determine whether a motor is in an abnormal state is an important problem to be solved for monitoring the motor state and diagnosing motor faults based on motor data.
Therefore, a method and a system for monitoring abnormal states of a motor are needed.
Disclosure of Invention
The invention aims to provide a method and a system for monitoring abnormal states of a motor, which are used for solving the problems in the prior art, and can analyze the current working condition of the motor by utilizing a matched working condition abnormal judgment model to automatically and directly obtain a motor state monitoring result.
The invention provides a method for monitoring abnormal states of a motor, which comprises the following steps:
Determining a matching working condition matched with the current working condition of the motor in a steady-state working condition list, wherein the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions;
Determining a working condition abnormality judgment model corresponding to the matched working condition from a plurality of working condition abnormality judgment models which correspond to a plurality of combined working conditions in the stable working condition list and are constructed in advance, wherein the working condition abnormality judgment model is used as the matched working condition abnormality judgment model;
And obtaining a motor state monitoring result based on the matching working condition and the abnormal judging model of the matching working condition.
In the method for monitoring abnormal state of a motor, preferably, the determining, in the stable working condition list, a matching working condition matching with a current working condition of the motor includes:
Acquiring current working condition information of a motor, wherein the current working condition information of the motor comprises rotating speed and current;
obtaining a steady-state working condition list, wherein the same rotating speed working condition in the steady-state working condition list file corresponds to a plurality of different current working conditions;
Respectively matching the rotating speed and the current in the current working condition information of the motor with the stable rotating speed working condition and the current working condition in the steady-state working condition list;
And obtaining the matching working conditions matched with the current working conditions of the motor in the stable working condition list according to the matching results of the rotating speed and the current.
In the method for monitoring abnormal state of a motor, preferably, the obtaining, according to the matching result of the rotation speed and the current, a matching condition in the stable condition list, which matches the current condition of the motor, includes:
When the rotation speed and the current in the current working condition information of the motor are successfully matched, a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in a steady-state working condition list is output and is used as a matching result of the current working condition of the motor, a 13-dimensional characteristic parameter list is output, wherein the first list is temperature, and the last 12 list is time domain frequency domain characteristic.
In the method for monitoring abnormal states of a motor, preferably, the determining, in a plurality of working condition abnormal judgment models corresponding to a plurality of combined working conditions in the stable working condition list and constructed in advance, a working condition abnormal judgment model corresponding to the matched working condition is determined, and the determining, as the matched working condition abnormal judgment model, specifically includes:
a plurality of working condition abnormal judgment models are built in advance, wherein the number of the working condition abnormal judgment models is consistent with the number of combined working conditions in the stable working condition list, and the model serial numbers of the working condition abnormal judgment models are in one-to-one correspondence with the working condition serial numbers in the stable working condition list;
And determining a working condition abnormality judgment model corresponding to the matched working condition according to the working condition serial number corresponding to the combined working condition matched with the current working condition of the motor in the steady-state working condition list and the corresponding relation between the model serial number and the working condition serial number, and taking the working condition abnormality judgment model as the matched working condition abnormality judgment model.
In the method for monitoring abnormal states of the motor, the working condition abnormal judgment model is preferably constructed based on the working condition serial number and a 16-dimensional characteristic file, wherein the characteristic file comprises time information, rotating speed, stable state, temperature and 12 time domain frequency domain characteristics.
In the method for monitoring abnormal state of a motor, preferably, the method for monitoring abnormal state of a motor based on the matching working condition and the matching working condition abnormality judgment model includes:
Determining whether a motor state monitoring result is needed to be obtained by using a matching working condition abnormality judgment model according to the magnitude relation between the temperature in the 13-dimensional characteristic parameter list and a preset temperature threshold;
When the temperature is less than or equal to a preset temperature threshold value, determining that the motor state is normal;
And when the temperature is greater than a preset temperature threshold value, obtaining a motor state monitoring result by using the abnormal judgment model of the matched working condition.
In the method for monitoring abnormal state of a motor, preferably, when the temperature is greater than a preset temperature threshold, the method for monitoring abnormal state of a motor by using a matching working condition abnormal judgment model specifically includes:
Inputting a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in the steady-state working condition list and the 13-dimensional characteristic parameter list into the matched working condition abnormality judgment model to obtain the abnormal accumulated times output by the matched working condition abnormality judgment model;
if the abnormal accumulated times meet a preset abnormal condition, determining that the motor state is abnormal;
and if the abnormal accumulated times do not meet the preset abnormal conditions, determining that the motor state is normal.
In the method for monitoring abnormal states of a motor, preferably, the preset abnormal condition includes that the number of times of abnormal accumulation is greater than or equal to a preset threshold of times of abnormal accumulation, and the number of times of abnormal accumulation includes the number of times that the abnormal result is continuously output by the abnormal judgment model of the matching working condition.
The method for monitoring abnormal state of motor as described above, wherein preferably, the method for monitoring abnormal state of motor further comprises:
After the abnormal state of the motor is monitored, the method further comprises the step of prompting the abnormal state of the motor in a preset prompting mode.
The invention also provides a system for monitoring the abnormal state of the motor by adopting the method, which comprises the following steps:
The matching working condition determining module is used for determining a matching working condition matched with the current working condition of the motor in a steady-state working condition list, wherein the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions;
The system comprises a matching working condition abnormal judgment model determining module, a stabilizing working condition list and a stabilizing working condition list, wherein the matching working condition abnormal judgment model determining module is used for determining a working condition abnormal judgment model corresponding to the matching working condition in a plurality of working condition abnormal judgment models constructed in advance as a matching working condition abnormal judgment model, and the plurality of working condition abnormal judgment models correspond to a plurality of combined working conditions in the stabilizing working condition list;
and the abnormal state monitoring module is used for inputting the matching working condition into the matching working condition abnormal judgment model to obtain a motor state monitoring result.
The invention provides a motor abnormal state monitoring method and system, which are used for obtaining a motor state monitoring result based on a matching working condition and a matching working condition abnormal judgment model corresponding to the matching working condition, analyzing the matching working condition matched with the current working condition of a motor in a steady-state working condition list by utilizing the matching working condition abnormal judgment model, automatically and directly obtaining the motor state monitoring result, solving the defect that whether the motor is in an abnormal state or not is difficult to effectively judge in the prior art, and improving the efficiency and accuracy of monitoring the motor abnormal state.
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For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a flowchart of an embodiment of a method for monitoring abnormal states of a motor according to the present invention;
fig. 2 is a block diagram of an embodiment of a motor abnormal state monitoring system according to the present invention.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.
"First", "second", as used in this disclosure: and similar words are not to be interpreted in any order, quantity, or importance, but rather are used to distinguish between different sections. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
In this disclosure, when a particular element is described as being located between a first element and a second element, there may or may not be intervening elements between the particular element and the first element or the second element. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without intervening components, or may be directly connected to the other components without intervening components.
All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.
As shown in fig. 1, in the actual implementation process, the method for monitoring the abnormal state of the motor provided in this embodiment specifically includes the following steps:
S1, determining a matching working condition matched with the current working condition of the motor in a steady-state working condition list, wherein the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions.
In one embodiment of the method for monitoring abnormal state of a motor of the present invention, the step S1 may specifically include:
And S11, acquiring current working condition information of the motor, wherein the current working condition information of the motor comprises rotating speed and current.
Step S12, a steady-state working condition list is obtained, wherein the same rotating speed working condition in the steady-state working condition list file corresponds to a plurality of different current working conditions.
The steady-state working condition list is generated in the segmentation configuration stage.
And step S13, matching the rotating speed and the current in the current working condition information of the motor with the stable rotating speed working condition and the current working condition in the steady-state working condition list respectively.
And step S14, obtaining a matching working condition matched with the current working condition of the motor in the stable working condition list according to the matching result of the rotating speed and the current.
Specifically, when the rotation speed and the current in the current working condition information of the motor are successfully matched, a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in a steady-state working condition list is output and is used as a matching result of the current working condition of the motor, a 13-dimensional characteristic parameter list is output, wherein the first list is the temperature, and the last 12 list is the time domain and frequency domain characteristic.
And S2, determining a working condition abnormality judgment model corresponding to the matched working condition from a plurality of working condition abnormality judgment models which correspond to a plurality of combined working conditions in the stable working condition list and are constructed in advance, and taking the working condition abnormality judgment model as the matched working condition abnormality judgment model.
The working condition abnormality judgment model is constructed based on a working condition sequence number and a 16-dimensional characteristic file, wherein the characteristic file comprises time information, rotating speed, a stable state, temperature and 12 time domain frequency domain characteristics. In one embodiment of the method for monitoring abnormal state of a motor of the present invention, the step S2 may specifically include:
S21, a plurality of working condition abnormality judgment models are built in advance, wherein the number of the working condition abnormality judgment models is consistent with the number of combined working conditions in the stable working condition list, and the model serial numbers of the working condition abnormality judgment models are in one-to-one correspondence with the working condition serial numbers in the stable working condition list.
And S22, determining a working condition abnormality judgment model corresponding to the matched working condition according to the working condition serial number corresponding to the combined working condition matched with the current working condition of the motor in the steady-state working condition list and the corresponding relation between the model serial number and the working condition serial number, and taking the working condition abnormality judgment model as the matched working condition abnormality judgment model.
And step S3, obtaining a motor state monitoring result based on the matching working condition and the abnormal judging model of the matching working condition.
In one embodiment of the method for monitoring abnormal state of a motor of the present invention, the step S3 may specifically include:
step S31, determining whether a motor state monitoring result is needed to be obtained by using a matching working condition abnormality judgment model according to the magnitude relation between the temperature in the 13-dimensional characteristic parameter list and a preset temperature threshold;
step S32, when the temperature is less than or equal to a preset temperature threshold value, determining that the motor state is normal;
And S33, when the temperature is greater than a preset temperature threshold, obtaining a motor state monitoring result by using the abnormal judgment model of the matched working condition.
Further, in one embodiment of the method for monitoring abnormal state of a motor of the present invention, the step S33 may specifically include:
And step 331, inputting a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in the steady-state working condition list and the 13-dimensional characteristic parameter list into the matched working condition abnormality judgment model to obtain the abnormal accumulated times output by the matched working condition abnormality judgment model.
Step S332, if the number of times of the abnormal accumulation meets the preset abnormal condition, determining that the motor state is abnormal.
Step 333, if the number of times of abnormal accumulation does not meet the preset abnormal condition, determining that the motor state is normal.
The preset abnormal conditions include that the cumulative number of the abnormal conditions is greater than or equal to a preset cumulative number of the abnormal conditions threshold, so that the false alarm rate can be reduced. The preset number of times of abnormality accumulation threshold is exemplified by 3 to 7 times, for example, 5 times, and it should be noted that the preset number of times of abnormality accumulation threshold is not particularly limited in the present invention. The abnormal accumulated times comprise times of continuously outputting abnormal results by the abnormal judgment model of the matching working condition.
Further, the method for monitoring the abnormal state of the motor further comprises the following steps:
and S4, after the abnormal state of the motor is monitored, prompting the abnormal state of the motor in a preset prompting mode.
The preset prompting mode can be an alarm through an audible and visual alarm.
According to the motor abnormal state monitoring method provided by the embodiment of the invention, the motor state monitoring result is obtained based on the matching working condition and the matching working condition abnormal judgment model corresponding to the matching working condition, the matching working condition matched with the current working condition of the motor in the steady-state working condition list can be analyzed by utilizing the matching working condition abnormal judgment model, the motor state monitoring result is automatically and directly obtained, the defect that whether the motor is in an abnormal state or not is difficult to effectively judge in the prior art is overcome, and the efficiency and the accuracy for monitoring the motor abnormal state are improved.
Correspondingly, as shown in fig. 2, the invention further provides a system for monitoring abnormal states of the motor, which comprises:
The matching working condition determining module 1 is used for determining a matching working condition matched with the current working condition of the motor in a steady-state working condition list, wherein the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions;
The abnormal condition judgment model matching module 2 is used for determining an abnormal condition judgment model corresponding to the matched condition from a plurality of abnormal condition judgment models constructed in advance as an abnormal condition judgment model matching the working conditions, wherein the abnormal condition judgment models correspond to a plurality of combined working conditions in the stable working condition list;
And the abnormal state monitoring module 3 is used for inputting the matching working condition into the matching working condition abnormal judgment model to obtain a motor state monitoring result.
According to the monitoring system for the abnormal state of the motor, provided by the embodiment of the invention, the motor state monitoring result is obtained based on the matching working condition and the matching working condition abnormal judgment model corresponding to the matching working condition, the matching working condition matched with the current working condition of the motor in the steady-state working condition list can be analyzed by utilizing the matching working condition abnormal judgment model, the motor state monitoring result is automatically and directly obtained, the defect that whether the motor is in the abnormal state or not is difficult to effectively judge in the prior art is overcome, and the efficiency and the accuracy for monitoring the abnormal state of the motor are improved.
It should be understood that the above division of the components of the motor abnormal state monitoring system shown in fig. 2 is merely a division of logic functions, and may be fully or partially integrated into a physical entity or may be physically separated. And these components may all be implemented in software in the form of a call through a processing element; or can be realized in hardware; it is also possible that part of the components are implemented in the form of software called by the processing element and part of the components are implemented in the form of hardware. For example, some of the above modules may be individually set up processing elements, or may be integrated in a chip of the electronic device. The implementation of the other components is similar. In addition, all or part of the components can be integrated together or can be independently realized. In implementation, each step of the above method or each component above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (6)
1. A method for monitoring an abnormal state of a motor, comprising:
Determining a matching working condition matched with the current working condition of the motor in the steady-state working condition list, wherein the matching working condition comprises the following specific steps of: acquiring current working condition information of a motor, wherein the current working condition information of the motor comprises rotating speed and current; obtaining a steady-state working condition list, wherein the same rotating speed working condition in the steady-state working condition list file corresponds to a plurality of different current working conditions; respectively matching the rotating speed and the current in the current working condition information of the motor with the stable rotating speed working condition and the current working condition in the steady-state working condition list; obtaining a matching working condition matched with the current working condition of the motor in the stable working condition list according to the matching result of the rotating speed and the current; the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions;
Determining a working condition abnormality judgment model corresponding to the matching working condition from a plurality of working condition abnormality judgment models which correspond to a plurality of combined working conditions in the steady-state working condition list and are constructed in advance, wherein the working condition abnormality judgment model is used as the matching working condition abnormality judgment model; the working condition abnormality judging model is constructed based on a working condition sequence number and a 16-dimensional characteristic file, wherein the characteristic file comprises time information, rotating speed, a stable state, temperature and 12 time domain frequency domain characteristics;
based on the matching working condition and the abnormal matching working condition judging model, a motor state monitoring result is obtained, and the method specifically comprises the following steps:
Determining whether a motor state monitoring result is needed to be obtained by using a matching working condition abnormality judgment model according to the magnitude relation between the temperature in the 13-dimensional characteristic parameter list and a preset temperature threshold, wherein the first column in the 13-dimensional characteristic parameter list is temperature, and the last 12 columns are time domain frequency domain characteristics; when the temperature is less than or equal to a preset temperature threshold value, determining that the motor state is normal; when the temperature is greater than a preset temperature threshold value, a motor state monitoring result is obtained by using a matching working condition abnormality judgment model;
The motor state monitoring result obtaining by using the abnormal judging model of the matching working condition specifically comprises the following steps:
Inputting a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in the steady-state working condition list and the 13-dimensional characteristic parameter list into the matched working condition abnormality judgment model to obtain the abnormal accumulated times output by the matched working condition abnormality judgment model;
if the abnormal accumulated times meet a preset abnormal condition, determining that the motor state is abnormal;
and if the abnormal accumulated times do not meet the preset abnormal conditions, determining that the motor state is normal.
2. The method for monitoring abnormal state of motor according to claim 1, wherein the obtaining the matching condition of the stable condition list matching the current condition of the motor according to the matching result of the rotation speed and the current comprises:
When the rotation speed and the current in the current working condition information of the motor are successfully matched, the working condition serial number corresponding to the combined working condition matched with the current working condition of the motor in the steady-state working condition list is output and is used as a matching result of the current working condition of the motor, and the 13-dimensional characteristic parameter list is output.
3. The method for monitoring abnormal states of a motor according to claim 2, wherein the determining, as the matching condition abnormality determination model, a condition abnormality determination model corresponding to the matching condition among a plurality of condition abnormality determination models corresponding to a plurality of combined conditions in the stable condition list and constructed in advance, specifically includes:
a plurality of working condition abnormal judgment models are built in advance, wherein the number of the working condition abnormal judgment models is consistent with the number of combined working conditions in the stable working condition list, and the model serial numbers of the working condition abnormal judgment models are in one-to-one correspondence with the working condition serial numbers in the stable working condition list;
And determining a working condition abnormality judgment model corresponding to the matched working condition according to the working condition serial number corresponding to the combined working condition matched with the current working condition of the motor in the steady-state working condition list and the corresponding relation between the model serial number and the working condition serial number, and taking the working condition abnormality judgment model as the matched working condition abnormality judgment model.
4. The method for monitoring abnormal states of a motor according to claim 1, wherein the preset abnormal conditions include the number of times of abnormal accumulation being equal to or greater than a preset threshold of times of abnormal accumulation, the number of times of abnormal accumulation including the number of times that the abnormal result is continuously output by the abnormal judgment model of the matching condition.
5. The method for monitoring an abnormal state of a motor according to claim 1, further comprising:
After the abnormal state of the motor is monitored, the method further comprises the step of prompting the abnormal state of the motor in a preset prompting mode.
6. A motor abnormal state monitoring system employing the method of any one of claims 1-5, comprising:
The matching working condition determining module is used for determining a matching working condition matched with the current working condition of the motor in a steady-state working condition list, wherein the steady-state working condition list comprises combined working conditions of different stable rotating speed working conditions and different current working conditions;
The system comprises a matching working condition abnormal judgment model determining module, a stabilizing working condition list and a stabilizing working condition list, wherein the matching working condition abnormal judgment model determining module is used for determining a working condition abnormal judgment model corresponding to the matching working condition in a plurality of working condition abnormal judgment models constructed in advance as a matching working condition abnormal judgment model, and the plurality of working condition abnormal judgment models correspond to a plurality of combined working conditions in the stabilizing working condition list;
The abnormal state monitoring module is used for inputting the matching working condition into the matching working condition abnormal judgment model to obtain a motor state monitoring result, and specifically comprises the following steps:
Determining whether a motor state monitoring result is needed to be obtained by using a matching working condition abnormality judgment model according to the magnitude relation between the temperature in the 13-dimensional characteristic parameter list and a preset temperature threshold, wherein the first column in the 13-dimensional characteristic parameter list is temperature, and the last 12 columns are time domain frequency domain characteristics; when the temperature is less than or equal to a preset temperature threshold value, determining that the motor state is normal; when the temperature is greater than a preset temperature threshold value, a motor state monitoring result is obtained by using a matching working condition abnormality judgment model;
The motor state monitoring result obtaining by using the abnormal judging model of the matching working condition specifically comprises the following steps:
Inputting a working condition serial number corresponding to a combined working condition matched with the current working condition of the motor in the steady-state working condition list and the 13-dimensional characteristic parameter list into the matched working condition abnormality judgment model to obtain the abnormal accumulated times output by the matched working condition abnormality judgment model;
if the abnormal accumulated times meet a preset abnormal condition, determining that the motor state is abnormal;
and if the abnormal accumulated times do not meet the preset abnormal conditions, determining that the motor state is normal.
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