Method and device for determining the position of an electric machine rotor

Abstract

The application provides a motor rotor position determination method and device. The motor rotor position determination method provided by the application comprises the following steps: acquiring electromagnetic parameters of a motor, determining a magnetic chain of the motor according to the electromagnetic parameters, wherein the electromagnetic parameters comprise current, voltage, inductance and resistance; performing negative feedback correction on the magnetic chain to obtain a magnetic chain after correction of drift; and determining the position of the motor rotor according to the magnetic chain after correction of drift. The motor rotor position determination method provided by the application can accurately obtain the position of the motor rotor.

Description

Technical Field

[0001] This invention relates to the field of electric motors, and in particular to a method and apparatus for determining the position of an electric motor rotor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) utilize permanent magnets to provide a magnetic field. Due to their advantages such as high power density, high dynamic performance, and high precision, they are widely used in industry. During the operation of PMSMs, the rotor position needs to be constantly monitored for commutation and closed-loop control.

[0003] Currently, determining the rotor position using sensorless algorithms is one of the main methods. For example, the invention patent with publication number CN106571756A discloses a method and device for determining the rotor position of a permanent magnet motor without position sensors. In order to eliminate interference and errors caused by DC components, the flux change rate is subjected to low-pass filtering and high-pass filtering. In order to overcome the phase delay problem caused by low-pass filtering and high-pass filtering, first preset electromagnetic parameters and second preset electromagnetic parameters are introduced to compensate and calibrate the flux to reduce the result error.

[0004] However, on the one hand, low-pass and high-pass filtering of the flux change rate makes it impossible to measure the rotor position when the motor is running at low and high speeds. On the other hand, since the two preset electromagnetic parameters are empirical values ​​selected for different motors and different operating states, their effect on solving the phase problem is obviously limited and difficult to apply to different scenarios. Summary of the Invention

[0005] To address at least one of the problems mentioned in the background art, the present invention provides a method and apparatus for determining the position of a motor rotor, which can accurately obtain the position of the motor rotor.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a method for determining the position of a motor rotor, comprising the following steps:

[0008] Obtain the electromagnetic parameters of the motor, and determine the magnetic flux linkage of the motor based on the electromagnetic parameters. The electromagnetic parameters include current, voltage, inductance, and resistance.

[0009] Negative feedback correction is applied to the magnetic flux to obtain the magnetic flux after drift correction;

[0010] The position of the motor rotor is determined based on the magnetic flux linkage after drift correction.

[0011] As an optional implementation, negative feedback correction is applied to the flux linkage to obtain a flux linkage after drift correction, specifically including:

[0012] The magnetic flux of the motor is transformed into a two-phase magnetic flux, which are orthogonal to each other.

[0013] Alternately use one of the two phase flux linkages to perform negative feedback correction on the other to obtain the flux linkage after drift correction.

[0014] As an optional implementation, one of the two-phase flux linkages is alternately used to perform negative feedback correction on the other, specifically including:

[0015] according to Determine δ(1), and determine based on δ(1)

[0016] in, It is one of the two-phase flux linkages output in the nth loop during the negative feedback correction process. δ(1) is one of the two-phase flux linkages output in the (n+1)th cycle during the negative feedback correction process, and is an intermediate variable.

[0017] As an optional implementation method, according to Determining δ(1) specifically includes:

[0018] when When the absolute value of is less than the absolute value of λ0, then according to Determine δ(1);

[0019] when When the absolute value of is greater than the absolute value of λ0, δ(1) = 0;

[0020] Where λ0 is the flux linkage constant of the motor.

[0021] As an optional implementation method, according to Determining δ(1) specifically includes:

[0022] According to the formula Determine δ(1); where the sign before the formula depends on the vector. The formula takes a positive value if the vector is in the first or fourth quadrant, and a negative value if the vector is in the second or third quadrant.

[0023] As an optional implementation, it is determined according to δ(1). Specifically, it includes:

[0024] according to The difference between η(1) and δ(1) determines η(1); feedback control is performed using η(1) to obtain and utilize and Determining the difference

[0025] Where η(1) and As an intermediate variable, It is one of the two-phase flux linkages input in the (n+1)th cycle during the negative feedback correction process.

[0026] As an optional implementation method, the magnetic flux linkage of the motor is determined based on electromagnetic parameters, specifically including:

[0027] According to the formula

[0028]

[0029] Determine the flux linkage of the motor, where u a u b u c R is the three-phase voltage of the motor. a R b and R c i is the three-phase resistance of the motor. a i b and i c L represents the three-phase current of the motor. a L b and L c λ is the three-phase inductance of the motor. a , λ b , λ c This refers to the magnetic flux linkage of the motor.

[0030] As an optional implementation, feedback control is performed using η(1) to obtain Specifically, it includes:

[0031] according to Sure Where, k p and k i It is a constant greater than zero.

[0032] As an optional implementation method, the position of the motor rotor is determined based on the corrected magnetic flux linkage, specifically including:

[0033] according to Determine the position of the rotor, where θ is the rotor's rotation angle.

[0034] In a second aspect, the present invention also provides a device for determining the position of a motor rotor, including an electromagnetic parameter acquisition module, a magnetic flux acquisition module, an error elimination module, and a rotor position determination module;

[0035] The electromagnetic parameter acquisition module is used to acquire the electromagnetic parameters of the motor, including current, voltage, inductance, and resistance.

[0036] The flux linkage acquisition module is used to determine the flux linkage of the motor based on electromagnetic parameters;

[0037] The error elimination module is used to perform negative feedback correction on the magnetic flux to obtain the magnetic flux after drift correction.

[0038] The rotor position determination module is used to determine the position of the motor rotor based on the magnetic flux after drift correction.

[0039] Thirdly, the present invention also provides an electronic device, comprising:

[0040] Memory, used to store computer programs;

[0041] A processor is used to execute computer programs to implement any of the methods described above.

[0042] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method in any of the preceding claims.

[0043] The method for determining the position of a motor rotor provided by this invention includes the following steps: acquiring the electromagnetic parameters of the motor; determining the magnetic flux linkage of the motor based on the electromagnetic parameters, wherein the electromagnetic parameters include current, voltage, inductance, and resistance; performing negative feedback correction on the magnetic flux linkage to obtain a corrected magnetic flux linkage; and determining the position of the motor rotor based on the corrected magnetic flux linkage. The method for determining the position of the motor rotor provided by this invention obtains the correct magnetic flux linkage by performing negative feedback correction on the acquired magnetic flux linkage, and then calculates the electronic rotor position using the corrected magnetic flux linkage. This eliminates the need for filtering, allows for testing the motor rotor position at any time, and the use of negative feedback correction eliminates the need for pre-defined electromagnetic parameters obtained through experience, resulting in a more accurate determination of the motor rotor position. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating a method for determining the position of a motor rotor provided in an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a device for determining the position of a motor rotor provided in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the use of permanent magnet synchronous motors (PMSMs), the rotor position needs to be obtained continuously for commutation and closed-loop control. Currently, sensorless algorithms are one of the main methods for determining rotor position. For example, patent CN106571756A discloses a sensorless rotor position determination method and device for a permanent magnet motor. To eliminate interference and errors caused by DC components, low-pass and high-pass filtering is applied to the flux linkage rate. To overcome the phase delay problem caused by low-pass and high-pass filtering, first and second preset electromagnetic parameters are introduced to compensate and calibrate the flux linkage, thereby reducing the result error. However, on the one hand, low-pass and high-pass filtering of the flux linkage rate makes it impossible to measure the rotor position when the motor is running at low and high speeds. On the other hand, since the two preset electromagnetic parameters are empirical values ​​selected for different motors and different operating states, their effectiveness in solving the phase problem is obviously limited and difficult to apply to different scenarios.

[0050] In view of this, the present invention provides a method for determining the position of a motor rotor, comprising the following steps: acquiring the electromagnetic parameters of the motor; determining the magnetic flux linkage of the motor based on the electromagnetic parameters, wherein the electromagnetic parameters include current, voltage, inductance, and resistance; performing negative feedback correction on the magnetic flux linkage to obtain a corrected magnetic flux linkage; and determining the position of the motor rotor based on the corrected magnetic flux linkage. The method for determining the position of the motor rotor provided by the present invention obtains the correct magnetic flux linkage by performing negative feedback correction on the acquired magnetic flux linkage, and then calculates the electronic rotor position using the corrected magnetic flux linkage. This method eliminates the need for filtering, is adaptable to testing the motor rotor position at any time, and, by employing negative feedback correction, avoids the introduction of preset electromagnetic parameters obtained through experience, thus enabling more accurate determination of the motor rotor position.

[0051] Figure 1 This is a flowchart illustrating a method for determining the position of a motor rotor according to an embodiment of the present invention. Figure 1 As shown, the present invention provides a method for determining the position of a motor rotor, comprising the following steps:

[0052] S100: Obtain the electromagnetic parameters of the motor.

[0053] The motor can be a permanent magnet synchronous motor, a brushless DC motor, or a permanent magnet vernier motor, etc., and this embodiment does not impose specific restrictions on it.

[0054] S200. Determine the magnetic flux of the motor based on the electromagnetic parameters, which include current, voltage, inductance, and resistance.

[0055] Among them, parameters such as current, voltage, inductance, and resistance are generally provided by the motor manufacturer and can be obtained directly. In general, what can be obtained are the three-phase current, three-phase voltage, three-phase inductance, and three-phase resistance of the motor.

[0056] There are several methods for determining the flux linkage of a motor based on its electromagnetic parameters, such as direct integration, state observers, and sliding mode observers. Specifically, the flux linkage of a motor can be determined using the following formula:

[0057]

[0058] Among them, u a u b u c R is the three-phase voltage of the motor. a R b and R c i is the three-phase resistance of the motor. a i b and i c L represents the three-phase current of the motor. a L b and L c λ is the three-phase inductance of the motor. a , λ b , λ c This refers to the magnetic flux linkage of the motor.

[0059] S300: Perform negative feedback correction on the magnetic flux to obtain the magnetic flux after drift correction.

[0060] During implementation, negative feedback correction is applied to the flux linkage to obtain the flux linkage after drift correction. Specifically, this may include: transforming the motor flux linkage into a two-phase flux linkage, with the two-phase flux linkages being orthogonal to each other; and alternately using one of the two-phase flux linkages to apply negative feedback correction to the other to obtain the flux linkage after drift correction.

[0061] Specifically, the magnetic flux λ can be expressed using the following formula. a , λ b , λ c Transformed into two orthogonal magnetic flux linkages:

[0062]

[0063] Where, λ α , λ βThis indicates a two-phase orthogonal magnetic flux linkage.

[0064] It should be noted that the motor stator generally has three-phase windings, which are 120 degrees apart. Therefore, the current, voltage, resistance, and inductance obtained from the stator electrodes are three-phase current, three-phase voltage, three-phase resistance, and three-phase inductance, respectively. The flux linkage calculated from these parameters using the integral method is also generally a three-phase flux linkage. However, using a three-phase flux linkage increases the computational difficulty in subsequent calculations. Therefore, the Clarke transformation can be used to convert the three-phase flux linkage into a two-phase orthogonal flux linkage.

[0065] It should be noted that, due to λ α and λ β They are perpendicular to each other, therefore, the formula can be used. and formula They can be converted to each other. In different phase intervals, due to λ α and λ β The slopes are different, λ α and λ β The sensitivities to error (drift) also differ. Therefore, this mutual conversion allows the error to be extracted, enabling the alternating use of one phase flux linkage to negatively feedback the other, thereby eliminating the error and obtaining the drift-corrected flux linkage. Here, λ0 is the motor flux linkage constant, which can be provided by the motor manufacturer.

[0066] In the above embodiments, the alternating use of one of the two-phase flux linkages to perform negative feedback correction on the other specifically includes, according to Determine δ(1), and determine based on δ(1)

[0067] in, It is one of the two-phase flux linkages output in the nth loop during the negative feedback correction process. δ(1) is one of the two-phase flux linkages output in the (n+1)th cycle during the negative feedback correction process, and n+1 is a positive integer.

[0068] Specifically, according to Determining δ(1) may include: when When the absolute value of is less than the absolute value of λ0, then according to Determine δ(1); when The absolute value of is greater than the absolute value of λ0, so we take δ(1) = 0.

[0069] In specific implementation, according to Determining δ(1) can include:

[0070] According to the formula Determine δ(1); where the sign before the formula depends on the vector. The formula takes a positive value if the vector is in the first or fourth quadrant, and a negative value if the vector is in the second or third quadrant.

[0071] In the above embodiments, δ(1) is determined Specifically, it can include:

[0072] according to The difference between η(1) and δ(1) determines η(1); feedback control is performed using η(1) to obtain and utilize and Determining the difference

[0073] Where η(1) and As an intermediate variable, It is one of the two-phase flux linkages input in the (n+1)th cycle during the negative feedback correction process.

[0074] Similarly, a similar method can be used to correct the flux linkage of the β phase, forming a double loop with the α and β phase flux linkages for mutual correction. Specifically, the correction of the β phase flux linkage can refer to the following method: comparison The magnitudes of the absolute values ​​of λ and λ0, if If the absolute value of λ is less than the absolute value of λ0, then the formula is used. Calculate the value of δ(2), if If the absolute value of λ is greater than the absolute value of λ0, then let δ(2) = 0; then use Subtract δ(2) to calculate the value of η(2), and use η(2) for feedback control to obtain Reuse minus get

[0075] in, It is one of the two-phase flux linkages output in the nth loop during the negative feedback correction process. It is one of the two-phase flux linkages output in the (n+1)th loop during the negative feedback correction process. δ(2) and η(2) are two phase flux linkages input in the (n+1)th cycle during the negative feedback correction process, and intermediate variables.

[0076] In the above embodiments, feedback control is performed using η(1) to obtain Specifically, it can include:

[0077] according to Sure Where, k p and k i It is a constant greater than zero.

[0078] The method for determining the position of the motor rotor provided in this embodiment corrects the acquired magnetic flux through negative feedback to obtain the correct magnetic flux, and then calculates the position of the electronic rotor through the corrected magnetic flux. It does not require filtering and can be adapted to test the position of the motor rotor at any time. Moreover, the method of negative feedback correction does not require the introduction of preset electromagnetic parameters obtained by experience, and can obtain the position of the motor rotor more accurately.

[0079] S400. Determine the position of the motor rotor based on the magnetic flux linkage after correction of drift.

[0080] In the above embodiments, there are various methods for determining the position of the motor rotor based on the corrected flux linkage. For example, methods such as arctangent function, phase-locked loop, and frequency-locked loop can be used. Specifically, the rotor position can be determined according to the following formula.

[0081]

[0082] Where θ is the rotor angle.

[0083] This invention provides a method for determining the position of a motor rotor, comprising the following steps: acquiring the electromagnetic parameters of the motor; determining the magnetic flux linkage of the motor based on the electromagnetic parameters, wherein the electromagnetic parameters include current, voltage, inductance, and resistance; performing negative feedback correction on the magnetic flux linkage to obtain a corrected magnetic flux linkage; and determining the position of the motor rotor based on the corrected magnetic flux linkage. The method for determining the motor rotor position provided by this invention obtains the correct magnetic flux linkage by performing negative feedback correction on the acquired magnetic flux linkage, and then calculates the electronic rotor position using the corrected magnetic flux linkage. This method eliminates the need for filtering, allows for testing the motor rotor position at any time, and avoids the introduction of preset electromagnetic parameters obtained through experience, thus enabling more accurate determination of the motor rotor position.

[0084] Figure 2 This is a schematic diagram of a device for determining the position of a motor rotor provided in an embodiment of the present invention. Figure 2 As shown, the present invention also provides a motor rotor position determination device 200, including an electromagnetic parameter acquisition module 201, a flux linkage acquisition module 202, an error elimination module 203, and a rotor position determination module 204; the electromagnetic parameter acquisition module 201 is used to acquire the electromagnetic parameters of the motor, including current, voltage, inductance, and resistance; the flux linkage acquisition module 202 is used to determine the flux linkage of the motor based on the electromagnetic parameters; the error elimination module 203 is used to perform negative feedback correction on the flux linkage to obtain the flux linkage after correction of drift; the rotor position determination module 204 is used to determine the position of the motor rotor based on the flux linkage after correction of drift.

[0085] In the above embodiments, the error elimination module 203 is used to transform the motor's magnetic flux into a two-phase magnetic flux, the two-phase magnetic flux being orthogonal to each other; and alternately using one of the two-phase magnetic fluxes to perform negative feedback correction on the other to obtain the magnetic flux after correction of drift.

[0086] Specifically, the method of alternately using one of the two-phase flux linkages to perform negative feedback correction on the other includes:

[0087] according to Determine δ(1), and determine based on δ(1) in, It is one of the two-phase flux linkages output in the nth loop during the negative feedback correction process. δ(1) is one of the two-phase flux linkages output in the (n+1)th cycle during the negative feedback correction process, and is an intermediate variable.

[0088] Specifically, according to Determining δ(1) may include: when When the absolute value of is less than the absolute value of λ0, then according to Determine δ(1); when The absolute value of is greater than the absolute value of λ0, δ(1) = 0; where, λ0 is one of the two-phase flux linkages output in the nth cycle during the negative feedback correction process, and λ0 is the flux linkage constant of the motor.

[0089] Specifically, according to Determining δ(1) can include:

[0090] According to the formula Determine δ(1); where the sign before the formula depends on the vector. The formula takes a positive value if the vector is in the first or fourth quadrant, and a negative value if the vector is in the second or third quadrant.

[0091] Specifically, determined according to δ(1) It may include: according to The difference between η(1) and δ(1) determines η(1); feedback control is performed using η(1) to obtain and utilize and Determining the difference Where η(1) and As an intermediate variable, It is one of the two-phase flux linkages input in the (n+1)th cycle during the negative feedback correction process.

[0092] In the above embodiments, the flux linkage acquisition module 202 is used to determine the flux linkage of the motor according to the following formula:

[0093]

[0094] Among them, u a u b u c R is the three-phase voltage of the motor. a R b and R c i is the three-phase resistance of the motor. a i b and i c L represents the three-phase current of the motor. a L b and L c λ is the three-phase inductance of the motor. a , λ b , λ c This refers to the magnetic flux linkage of the motor.

[0095] Specifically, feedback control is performed using η(1) to obtain It can include:

[0096] according to Sure Where, k p and k i It is a constant greater than zero.

[0097] In the above embodiment, the rotor position determination module 204 is used to determine the rotor position according to the following formula:

[0098]

[0099] Where θ is the rotor angle.

[0100] The present invention provides a device for determining the rotor position of a motor. This device acquires the electromagnetic parameters of the motor, determines the magnetic flux linkage based on these parameters (including current, voltage, inductance, and resistance), performs negative feedback correction on the magnetic flux linkage to obtain a corrected flux linkage, and determines the rotor position based on the corrected flux linkage. The device obtains the corrected flux linkage by performing negative feedback correction on the acquired flux linkage, and then calculates the rotor position using the corrected flux linkage. This eliminates the need for filtering, allows for testing the rotor position at any time, and the negative feedback correction method avoids the need for pre-defined electromagnetic parameters obtained through experience, resulting in a more accurate determination of the rotor position.

[0101] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 provided in this application embodiment may include:

[0102] Processor 301.

[0103] The memory 302 is used to store executable instructions of the electronic device 300.

[0104] The processor is configured to execute the above-described method for determining the rotor position of the motor by executing executable instructions. Its implementation principle and technical effect are similar, and will not be repeated here.

[0105] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution of the above-described method for determining the position of the motor rotor. Its implementation principle and technical effects are similar, and will not be repeated here.

[0106] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. The above combinations should also be included within the scope of computer-readable media.

[0107] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above-described method for determining the position of the motor rotor. Its implementation principle and technical effects are similar, and will not be repeated here.

[0108] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0109] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0110] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product enables a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the method of Embodiment 1 of this application.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the position of a motor rotor, characterized in that, Includes the following steps: The electromagnetic parameters of the motor are obtained, and the magnetic flux of the motor is determined based on the electromagnetic parameters, wherein the electromagnetic parameters include current, voltage, inductance, and resistance; The magnetic flux is corrected by negative feedback to obtain the magnetic flux after drift correction; The position of the motor rotor is determined based on the corrected drift flux linkage; The magnetic flux is subjected to negative feedback correction to obtain a magnetic flux after drift correction, specifically including: The magnetic flux of the motor is transformed into a two-phase magnetic flux, wherein the two-phase magnetic fluxes are orthogonal to each other; The two-phase flux linkages are alternately used to perform negative feedback correction on the other to obtain the flux linkage after the drift is corrected. The alternating use of one of the two-phase flux linkages to perform negative feedback correction on the other specifically includes: according to Determine δ(1), and determine based on δ(1) Among them, the The two-phase flux linkage output in the nth cycle of the negative feedback correction process is one of the two phase flux linkages. δ(1) is one of the two-phase flux linkages output in the (n+1)th cycle during the negative feedback correction process, and δ(1) is an intermediate variable; According to Determining δ(1) specifically includes: when When the absolute value of is less than the absolute value of λ0, then according to the above... Determine δ(1); When the The absolute value of is greater than the absolute value of λ0, and δ(1) = 0; Wherein, λ0 is the flux linkage constant of the motor.

2. The method for determining the position of the motor rotor according to claim 1, characterized in that, According to Determining δ(1) specifically includes: According to the formula Determine δ(1); The sign before the formula depends on the vector. The formula takes a positive value if the vector is in the first or fourth quadrant, and a negative value if the vector is in the second or third quadrant.

3. The method for determining the position of the motor rotor according to claim 1, characterized in that, The determination based on δ(1) Specifically, it includes: According to the above The difference between η(1) and δ(1) determines η(1); Feedback control is performed using the aforementioned η(1) to obtain and utilize and stated The difference determines the Wherein, η(1) and the As an intermediate variable, the It is one of the two-phase flux linkages input in the (n+1)th cycle during the negative feedback correction process.

4. The method for determining the position of the motor rotor according to claim 1, characterized in that, The step of determining the magnetic flux linkage of the motor based on the electromagnetic parameters specifically includes: According to the formula Determine the magnetic flux linkage of the motor, wherein the u a u b u c The three-phase voltage of the motor is R. a R b and R c The three-phase resistance of the motor, i a i b and i c The three-phase current of the motor is L. a L b and L c The λ is the three-phase inductance of the motor. a , λ b , λ c This refers to the magnetic flux linkage of the motor.

5. The method for determining the position of the motor rotor according to claim 3, characterized in that, The feedback control is performed using η(1) to obtain Specifically, it includes: according to Determine the Where, k p and k i It is a constant greater than zero.

6. The method for determining the position of the motor rotor according to claim 3, characterized in that, The step of determining the position of the motor rotor based on the corrected drift flux linkage specifically includes: according to Determine the position of the rotor, where θ is the rotation angle of the rotor.

7. A device for determining the position of a motor rotor, characterized in that, include: Electromagnetic parameter acquisition module, magnetic flux acquisition module, error elimination module, and rotor position determination module; The electromagnetic parameter acquisition module is used to acquire the electromagnetic parameters of the motor, including current, voltage, inductance, and resistance. The flux linkage acquisition module is used to determine the flux linkage of the motor based on the electromagnetic parameters; The error elimination module is used to perform negative feedback correction on the magnetic flux to obtain the magnetic flux after drift correction; The rotor position determination module is used to determine the position of the motor rotor based on the corrected drift flux linkage; The magnetic flux is subjected to negative feedback correction to obtain the magnetic flux after drift correction, specifically including: The magnetic flux of the motor is transformed into a two-phase magnetic flux, wherein the two-phase magnetic fluxes are orthogonal to each other; The two-phase flux linkages are alternately used to perform negative feedback correction on the other to obtain the flux linkage after the drift is corrected. The alternating use of one of the two-phase flux linkages to perform negative feedback correction on the other specifically includes: according to Determine δ(1), and determine based on δ(1) Among them, the The two-phase flux linkage output in the nth cycle of the negative feedback correction process is one of the two phase flux linkages. δ(1) is one of the two-phase flux linkages output in the (n+1)th cycle during the negative feedback correction process, and δ(1) is an intermediate variable; According to Determining δ(1) specifically includes: when When the absolute value of is less than the absolute value of λ0, then according to the above... Determine δ(1); When the The absolute value of is greater than the absolute value of λ0, and δ(1) = 0; Wherein, λ0 is the flux linkage constant of the motor.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which is executed by a processor to implement the method as described in any one of claims 1-6.

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