Motor control method, device, equipment and medium

Abstract

The invention provides a motor control method and device, equipment and a medium, and the method comprises the steps: obtaining at least two groups of sampling signals of a motor, verifying the validity of the sampling signals, determining the rotation angle of the motor based on effective signals if at least one group of sampling signals is effective signals, and collecting the electrical parameters of the motor if the sampling signals are invalid, calculating a rotation angle of the motor according to the electrical parameters, calculating the rotation angle and a preset motor zero angle to obtain a current angular position of the motor, and further controlling the motor based on the current angular position; the method does not independently depend on sensor signals for recognition, and for various conditions that the sensor signals are valid or invalid, the angular position of the motor can be calculated by adopting an angular position calculation mode corresponding to the sensor signals, so that the calculation flexibility of the angular position of the motor is improved, and the fault tolerance and adaptability of motor control are enhanced.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a motor control method, device, equipment and medium. Background Art

[0002] In recent years, with the rapid development of artificial intelligence and information technology, intelligence and electrification have become the primary development direction of the automotive industry. On the one hand, the increasing integration of the whole vehicle reduces the weight of the vehicle body and optimizes the space of the whole vehicle. On the other hand, it also indirectly improves the electrical efficiency. As the main actuator drive component in the whole vehicle, the motor is widely used in power systems, chassis and steering systems, body and other systems. In the motor sensor control mode, the motor angular position signal is used as the motor current or speed control input. The presence or absence of the signal and the quality of the signal will directly affect the motor control performance and ultimately affect the whole vehicle control.

[0003] Traditional motor angular position detection methods usually rely on sensors installed on the motor, such as encoders, resolvers or Hall effect sensors, and are highly dependent on sensor signals to identify the motor's rotation angle. If the sensor fails or is interfered with by external factors (such as electromagnetic interference, physical damage, etc.), it will no longer be able to provide reliable angular position information, which will directly lead to the loss of angular position information, thereby affecting the control of the motor and ultimately affecting the normal operation of the entire vehicle system. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present application provides a motor control method, device, equipment and medium to solve the above-mentioned technical problems.

[0005] The present application provides a motor control method, which includes: acquiring at least two groups of sampling signals of a motor and verifying the validity of the sampling signals; if there is at least one group of sampling signals that is a valid signal, determining the rotation angle of the motor based on the valid signal; if all the sampling signals are invalid, collecting the electrical parameters of the motor, and calculating the rotation angle of the motor based on the electrical parameters; calculating the rotation angle and the motor zero angle to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

[0006] In one embodiment of the present application, the validity of the sampling signal is verified, including: obtaining corresponding current sampling angles based on two groups of sampling signals, and calculating the first angle difference between the two current sampling angles; when the first angle difference is within a preset first angle difference range, determining that the two groups of sampling signals are valid signals; when the first angle difference exceeds the preset first angle difference range, comparing each current sampling angle with the previous sampling angle recorded by its corresponding sensor at the previous moment to determine their respective angle change values; if only one angle change value is within the preset change range, determining that the sampling signal corresponding to the angle change value is a valid signal; if both angle change values ​​exceed the preset change range, determining that both groups of sampling signals are invalid.

[0007] In one embodiment of the present application, the rotation angle of the motor is determined based on the effective signal, including: calculating the compensation angle of the motor based on the current angular velocity of the motor and the preset motor delay time; adding the compensation angle and the effective angle of the motor to obtain the rotation angle of the motor; wherein the effective angle of the motor is calculated, including, when two groups of sampling signals are valid signals, calculating the mean of the sampling angles corresponding to the two groups of sampling signals to obtain the sampling average angle, and determining the average angle as the effective angle of the motor; when only one sampling signal is a valid signal, determining the sampling angle corresponding to the valid signal as the measurement angle, and obtaining the induction angle based on the electrical parameters and electromagnetic characteristic parameters of the motor, and performing a secondary verification on the measurement angle based on the induction angle, and if the verification passes, the measurement angle is determined as the effective angle of the motor.

[0008] In one embodiment of the present application, the measurement angle is verified twice based on the sensing angle, including: calculating a second angle difference between the measurement angle and the sensing angle, and if the second angle difference is within a preset second angle difference range, the verification is successful.

[0009] In one embodiment of the present application, before calculating the rotation angle of the motor based on the electrical parameters, it also includes: identifying the operating condition of the motor based on the current speed and current current value of the motor; including, if the current speed is less than or equal to a preset speed threshold, and the current current value is greater than or equal to a preset current threshold, then determining that the motor is in a stalled condition; if the current speed is greater than the preset speed threshold, or the current current value is less than the preset current threshold, then determining that the motor is in a non-stalled condition.

[0010] In one embodiment of the present application, the rotation angle of the motor is calculated based on the electrical parameters, including: when the motor is in a stalled condition, by applying a modulation signal to the stator winding of the motor and analyzing the response signal generated thereby, a relationship model between the response signal and the rotor position is established, so as to solve the rotor position information based on the relationship model and determine the rotation angle of the motor; when the motor is in a non-stalled condition, the induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, and by setting a state observer model, the rotor position information is deduced based on the feedback mechanism and the reconstructed back electromotive force signal to obtain the derived angle of the motor, and the induction angle and the derived angle are calculated based on a preset weight ratio to obtain the rotation angle of the motor.

[0011] In one embodiment of the present application, an induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, including: acquiring the electrical parameters, electrical model, and electromagnetic characteristic parameters of the motor, the electrical parameters including voltage, current, resistance, and inductance; constructing a flux equation based on the electrical parameters and the electrical model, so as to calculate the rotor flux of the motor based on the flux equation and the electromagnetic characteristic parameters; determining the rotor change angle of the motor according to the rotor flux, and determining the rotor change angle as the induction angle of the motor.

[0012] The present application provides a motor control method device, which includes: a data acquisition module, used to obtain at least two groups of sampling signals of the motor and verify the validity of the sampling signals; a rotation angle calculation module, used to determine the rotation angle of the motor based on the valid signals when at least one group of sampling signals is a valid signal; when all sampling signals fail, the electrical parameters of the motor are collected, and the rotation angle of the motor is calculated based on the electrical parameters; a motor control module, used to calculate the rotation angle and the motor zero angle to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

[0013] The present application provides an electronic device, characterized in that it includes a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the motor control method as described above.

[0014] The present application provides a computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is used to enable a computer to execute the motor control method as described above.

[0015] Beneficial effects of the present application: The motor control method proposed in the present application obtains at least two groups of sampling signals of the motor and verifies their validity. If there is at least one group of sampling signals that is a valid signal, the rotation angle of the motor is determined based on the valid signal. If all the sampling signals are invalid, the electrical parameters of the motor are collected, and the rotation angle of the motor is calculated according to the electrical parameters. The rotation angle and the preset motor zero angle are calculated to obtain the current angular position of the motor; the method does not rely solely on sensor signals for identification. In the face of various situations where the sensor signal is valid or invalid, the corresponding angular position calculation method can be adopted to calculate the angular position of the motor, which improves the flexibility of the motor angular position calculation, reduces the dependence on external sensors, and enhances the fault tolerance and adaptability of motor signal processing.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 is a schematic diagram of an implementation environment of a motor control method shown in an exemplary embodiment of the present application;

[0019] Figure 2 is a flow chart of a motor control method shown in an exemplary embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the overall steps of a motor control method shown in an exemplary embodiment of the present application;

[0021] Figure 4 is a block diagram of a motor control method device shown in an exemplary embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0024] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0025] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0026] First of all, it should be explained that the dual-channel sensory control system usually refers to the use of two independent sensors (such as encoders, resolvers, etc.) to measure the two key parameters of the motor (such as position and speed) respectively.

[0027] Single-channel sensor control: Only one sensor is used to obtain the motor status information. This may be an integrated position / speed sensor or an indirect inference from electrical parameters such as current and voltage.

[0028] High-frequency voltage injection sensorless control: High-frequency voltage injection technology is a method that can estimate the rotor position without the need for additional physical sensors. It applies a high-frequency AC voltage signal to the stator winding and then analyzes the resulting response (mainly the change in current) to extract information about the rotor position.

[0029] Flux method: A method based on the mathematical model of the motor to estimate the internal state variables of the motor, such as rotor position, speed, and flux itself. For permanent magnet synchronous motors (PMSM), the stator current and voltage can be measured directly, and these electrical parameters combined with the known parameters of the motor (such as resistance, inductance, etc.) can be used to calculate the position of the rotor flux.

[0030] Sliding Mode Observer (SMO): A nonlinear control system design method widely used in state estimation and fault diagnosis. In motor control applications, SMO is used to estimate the motor state variables (such as speed and position) online.

[0031] Dual-die dual-channel sensor: A specifically designed sensor that is typically used in applications that require high accuracy, redundancy, and reliability. The sensor has two independent "dies" (chips) and two independent data output channels.

[0032] It should be noted that in the implementation process of the method proposed in the present application, at least two groups of different sampling signals are involved, and the two groups of sampling signals can be obtained by respectively collecting at the same time based on two independent sensors, or can be collected by two different sensing units integrated on the same sensor. In addition, considering that the dual-die dual-channel sensor outputs two angle signals, compared with the physical redundancy of the two sensors, there is no need for hardware adaptation of the hardware circuits of the two sensors, which is conducive to reducing development costs. Therefore, the motor control method proposed in the present application can be implemented based on the two sensor signals collected by the dual-die dual-channel sensor. Therefore, most of the embodiments of the present application are based on the example of "dual-die dual-channel sensor simultaneously collecting and outputting two position signals", but in the actual application process, multiple sampling signals can also be collected based on different sensor devices to determine the angular position of the motor. The present application does not impose any specific restrictions on it.

[0033] Figure 1 It is a schematic diagram of an implementation environment of a motor control method shown in an exemplary embodiment of the present application.

[0034] like Figure 1 As shown, the implementation environment of the motor control method includes a data acquisition module 101 and a computer module 102. The data acquisition module is installed near the motor or integrated inside the motor, and is used to obtain at least two sets of sampling signals of the motor, and the sampling signals come from different sensors of the motor (such as position sensors, speed sensors, etc.), and the obtained sampling signals are preliminarily processed and their validity is verified. In addition, when all sampling signals fail, it is responsible for collecting the electrical parameters of the motor, such as current, voltage, etc.

[0035] The computer device 102 can be an independent computing unit located near the device, or it can be a part of a larger control system integrated into it, and is used to receive valid sampling signals or electrical parameters from the data acquisition module. The rotation angle of the motor is determined based on the valid signals in the received sampling signals; when all the sampling signals fail, the rotation angle of the motor is calculated based on the collected electrical parameters. Then, the calculated rotation angle is compared with the preset motor zero angle to determine the current angular position of the motor, and the motor is controlled and adjusted accordingly according to the current angular position of the motor to ensure that it operates in the expected manner.

[0036] Figure 2 is a flow chart of a motor control method shown in an exemplary embodiment of the present application.

[0037] like Figure 2 As shown, in an exemplary embodiment, the motor control method includes at least steps S210 to S230, which are described in detail as follows:

[0038] Step S210, obtaining at least two groups of sampling signals of the motor, and verifying the validity of the sampling signals.

[0039] In one embodiment of the present application, before obtaining the sampling signal of the motor, the zero angle of the motor is also calibrated, and the steps include: first ensuring safety and installing a dual-die dual-channel angle sensor, then rotating the motor rotor to the vicinity of a fixed reference point, and simultaneously reading two position signals and performing a crosscheck. If the two signals are consistent, the average value is taken as the angle measurement result; if the difference is too large, a single valid signal is determined through real-time difference verification, and the zero angle is set accordingly.

[0040] In a specific embodiment of the present application, the sampling signal is collected based on a dual-die dual-channel angle sensor as an example. In order to accurately calibrate the zero angle of the motor, it is first necessary to ensure that all safety measures are in place and the dual-die dual-channel angle sensor is properly installed on the motor shaft to ensure that each sensor can independently output a position signal. Next, the motor is controlled to rotate manually or programmatically so that the rotor approaches a preset fixed reference point, which is a clearly marked position on the machine or a logical position defined in the control system.

[0041] After the motor rotor reaches the vicinity of the reference point, the data acquisition system is turned on to read two position signals from two independent sensors (i.e., dual die) at the same time, and a rational cross-check is performed on the two signals obtained during the calibration process to verify whether the data provided by the two sensors are consistent, thereby ensuring the accuracy of the data for subsequent processing. If the difference between the two signals is within the allowable range, both are considered valid, and their average value is taken as the current angle measurement result; if the difference between the two signals is found to be too large and exceeds the set threshold, the exception handling process is entered.

[0042] For abnormal situations, calculate the difference between the current sampling value of any channel and its previous sampling value, and judge which channel's data is more stable and reliable according to the change trend and size of the real-time difference. Select the channel with reasonable changes and good continuity as the effective single-channel signal source, and set its corresponding angle value as the zero position angle.

[0043] In addition, in actual application, after completing the above steps, you can also verify the effect of zero angle calibration through actual running tests to observe the performance of the motor under different working conditions, especially the accuracy and stability of the position control system. If the performance after calibration does not meet expectations, you may need to re-perform the calibration process or further investigate other potential problems, such as improper sensor installation, external interference, etc.

[0044] It can be understood that the method proposed based on this embodiment not only improves the robustness and reliability of the calibration process, but also enhances the system's ability to resist noise and faults by introducing a dual-channel redundancy mechanism, ensuring that the position control system can operate stably for a long time.

[0045] In one embodiment of the present application, the validity of the sampling signal is verified, including: obtaining corresponding current sampling angles based on two groups of sampling signals, and calculating the first angle difference between the two current sampling angles; when the first angle difference is within a preset first angle difference range, determining that the two groups of sampling signals are valid signals; when the first angle difference exceeds the preset first angle difference range, comparing each current sampling angle with the previous sampling angle recorded by its corresponding sensor at the previous moment to determine their respective angle change values; if only one angle change value is within the preset change range, determining that the sampling signal corresponding to the angle change value is a valid signal; if both angle change values ​​exceed the preset change range, determining that both groups of sampling signals are invalid.

[0046] In a specific embodiment of the present application, take "the current sampling angle of channel A is 30 degrees, the current sampling angle of channel B is 31 degrees; the preset first angle difference range is ±2 degrees; the previous sampling angles recorded at the last moment are 29 degrees for channel A and 30 degrees for channel B; the preset angle change range is ±5 degrees" as an example. First, the first angle difference between the two current sampling angles is calculated to be 1 degree. Since the first angle difference (1 degree) is within the preset range (±2 degrees), it is determined that both sets of sampling signals are valid signals, that is, the sampling signals of channel A and channel B are both considered valid and used for subsequent control input.

[0047] In another specific embodiment of the present application, take "the current sampling angle of channel A is 45 degrees, and the current sampling angle of channel B is 56 degrees; the preset first angle difference range is ±2 degrees, and the pre-sampling angles recorded at the last moment are 44 degrees for channel A and 50 degrees for channel B, and the preset angle change range is ±5 degrees" as an example. By calculation, it is found that the first angle difference between the two current sampling angles is 10 degrees, which exceeds the preset range, and the angle change value of each channel is further calculated. Among them, the change value of channel A is 1 degree; the change value of channel B is 6, and the change value of channel A of 1 degree is within the range of plus or minus 5 degrees, while the change value of channel B is greater than the preset upper limit of 5 degrees. Therefore, it is determined that the sampling signal of channel A is a valid signal, while the signal of channel B is invalid.

[0048] In another embodiment of the present application, take "the current sampling angle of channel A is 85 degrees, and the current sampling angle of channel B is 95 degrees; the preset first angle difference range is ±2 degrees; the pre-sampling angles recorded at the last moment are 80 degrees for channel A and 88 degrees for channel B; the preset angle change range is ±5 degrees" as an example. The first angle difference between the two current sampling angles is calculated to be 10 degrees, which exceeds the preset range, and then the angle change value of each channel is calculated separately, the change value of channel A is 5 degrees; the change value of channel B is 7 degrees. The change value of channel A is equal to the preset upper limit of 5 degrees, but the change value of channel B exceeds the preset range. Therefore, it is determined that both sets of sampling signals are invalid.

[0049] In addition, considering that the two signals collected by different sensors at the same time should be the same or similar, when the difference between the sampling signals of the two channels is too large, even if the difference between the signals of each channel and the signals at the previous moment is within the preset range, it will be regarded as an invalid signal.

[0050] In another specific embodiment of the present application, take "the current sampling angle of channel A is 60 degrees, and the current sampling angle of channel B is 70 degrees; the preset first angle difference range is ±2 degrees; the pre-sampling angles recorded at the last moment are 58 degrees for channel A and 65 degrees for channel B; the preset angle change range is ±5 degrees" as an example. Calculated, the first angle difference between the two current sampling angles is 10 degrees, which exceeds the preset range, and then further calculations are made for the angle changes of each channel. Among them, the change value of channel A is 2 degrees; the change value of channel B is 5 degrees. Although the two change values ​​are within the preset range, the difference between them is too large, indicating that there may be an abnormality, so it is determined that both sets of sampling signals are invalid.

[0051] Step S220: if at least one set of sampling signals is a valid signal, the rotation angle of the motor is determined based on the valid signal; if all the sampling signals are invalid, the electrical parameters of the motor are collected, and the rotation angle of the motor is calculated based on the electrical parameters.

[0052] In one embodiment of the present application, the rotation angle of the motor is determined based on the effective signal, including: calculating the compensation angle of the motor based on the current angular velocity of the motor and the preset motor delay time; adding the compensation angle and the effective angle of the motor to obtain the rotation angle of the motor; wherein the effective angle of the motor is calculated, including, when two groups of sampling signals are valid signals, calculating the mean of the sampling angles corresponding to the two groups of sampling signals to obtain the sampling average angle, and determining the average angle as the effective angle of the motor; when only one sampling signal is a valid signal, determining the sampling angle corresponding to the valid signal as the measurement angle, and obtaining the induction angle based on the electrical parameters and electromagnetic characteristic parameters of the motor, and performing a secondary verification on the measurement angle based on the induction angle, and if the verification passes, the measurement angle is determined as the effective angle of the motor.

[0053] The second verification of the measurement angle based on the sensing angle includes: calculating a second angle difference between the measurement angle and the sensing angle, and if the second angle difference is within a preset second angle difference range, the verification is passed.

[0054] In a specific embodiment of the present application, "both sampling signals are valid signals" is taken as an example. In order to determine the rotation angle of the motor based on the valid signal and improve the control accuracy in combination with the compensation angle, a dual-die dual-channel sensor is used to collect the position information of the motor rotor. Each sensor channel (channel A and channel B) independently collects position data and converts this information into two signals to transmit to the controller. The controller first crosschecks the two sets of signals to ensure the validity of the data. When both sets of sampling signals are within the verification range, they are considered to be valid.

[0055] Next, in order to compensate for the position detection blind spot in the motor control cycle caused by the time delay of the angular position sensor's own signal analysis and transmission to the processor, the system introduces an angle compensation mechanism. Specifically, the controller obtains the current motor's angular velocity ω and pre-sets a reasonable signal delay time τ based on the system characteristics. Then, the angle calculation formula is used to calculate the angle that needs to be compensated due to the delay. The angle calculation formula is as follows:

[0056] θ=ω*τ Formula (1)

[0057] Among them, θ is the compensation angle, ω is the current speed of the motor, and τ is the preset delay time.

[0058] Then, for each pair of valid sampling signals, the corresponding sampling angle θ is calculated respectively. A and θ B , and then calculate the average value to get the sampling average angle θ avg And this sampled average angle is determined as the effective angle of the motor. Finally, the calculated compensation angle is added to the effective angle to obtain the final motor rotation angle.

[0059] In another embodiment of the present application, "one of the sampled signals is a valid signal" is taken as an example. In the case where only a single sampled signal is valid in the processing of motor control, the system first verifies the validity of at least two groups of sampled signals from the motor, assuming that one group fails and the other group is confirmed to be valid. For this only valid sampled signal, the corresponding sampling angle is calculated and defined as the measurement angle. Next, the relevant electrical parameters of the motor (such as voltage, current, resistance, inductance, etc.) and electromagnetic characteristic parameters (such as the magnetic field strength of the permanent magnet or the magnetic permeability of the rotor) are collected. This information is used to construct the flux equation and calculate the rotor flux, and then determine the rotor change angle of the motor according to the change of the flux, that is, the induction angle. In order to ensure the accuracy of the measurement angle, the second angle difference between the measurement angle and the induction angle is calculated, and it is checked whether this difference is within the preset second angle difference range (such as ±3°). If the measurement angle passes the secondary verification, it is confirmed as the valid angle of the motor. Then, based on the current angular velocity of the motor and the preset motor delay time, the compensation angle is further calculated. Finally, the rotation angle of the motor is obtained by adding the compensation angle to the effective angle.

[0060] It can be understood that the method proposed in this embodiment not only utilizes the existing valid sampling data, but also combines the electrical and electromagnetic characteristics of the motor to ensure reliable motor control even in the case of partial sensor failure. In addition, by introducing a secondary verification mechanism, the system's tolerance to abnormal data is enhanced, and the robustness of the system is improved.

[0061] In one embodiment of the present application, an induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, including: acquiring the electrical parameters, electrical model, and electromagnetic characteristic parameters of the motor, the electrical parameters including voltage, current, resistance, and inductance; constructing a flux equation based on the electrical parameters and the electrical model to calculate the rotor flux of the motor based on the flux equation and the electromagnetic characteristic parameters; determining the rotor change angle of the motor according to the rotor flux, and determining the rotor change angle as the induction angle of the motor.

[0062] In a specific embodiment of the present application, in order to concretize the method of "obtaining the induction angle based on the electrical parameters and electromagnetic characteristic parameters of the motor", we first collect the necessary electrical parameters from the motor, including but not limited to voltage V, current I, resistance R, and inductance L, which are obtained by real-time measurement of sensors installed on the motor. At the same time, the electromagnetic characteristic parameters of the motor are collected or measured, such as the magnetic field strength of the permanent magnet or the magnetic permeability of the rotor, etc., which are usually provided by the motor manufacturer or measured under laboratory conditions.

[0063] Next, according to the motor type (such as a three-phase asynchronous motor), the corresponding electrical model is established, which can be expressed as follows:

[0064]

[0065] Among them, E b is the back electromotive force generated by the rotor rotating and cutting the stator magnetic field, V is the voltage, R is the resistance, I is the current, and L is the inductance.

[0066] Then, based on the electrical model shown in formula (2), the flux equation is constructed as follows:

[0067] λ=L·I+ψ r Formula (3)

[0068] Among them, ψ r Indicates that the rotor flux is generated by the permanent magnets or excitation windings in the rotor.

[0069] Then, by combining the electrical parameters of the motor under actual operating conditions, the flux equation is analyzed to solve the rotor flux ψ r Using the flux equation (3) constructed above and substituting the actual measured electrical parameter values ​​(voltage, current, etc.), the rotor flux ψ is calculated. r .

[0070] It should be noted that numerical analysis methods, such as the finite difference method or the Runge-Kutta method, may be required to solve the flux equation in nonlinear problems or complex situations. Once the rotor flux ψ is obtained r, the position of the rotor relative to the stator can be inferred based on the change in its direction, because the direction of the rotor flux changes with the position of the rotor. By monitoring the change in the direction of the flux, the angular offset of the rotor relative to the starting position, the so-called rotor change angle, is determined.

[0071] Finally, the determined rotor change angle is identified as the induction angle of the motor, which means that the control system can now adjust the control of the motor according to this induction angle to ensure that the motor operates as expected. This method not only relies on accurate data acquisition and effective mathematical modeling, but also takes into account the complex electromagnetic interactions inside the motor. In practical applications, all steps need to take into account the influence of external factors (such as temperature changes and load fluctuations) and take corresponding compensation measures to ensure control accuracy. In addition, this method is applicable to many types of motors, but the specific electrical models and electromagnetic characteristic parameters may be different. Therefore, it is necessary to make appropriate adjustments according to the actual situation when applying it, and this application does not impose any specific restrictions on it.

[0072] In one embodiment of the present application, a relationship model between the response signal and the rotor position is established by applying a modulated signal to the stator winding of the motor and analyzing the response signal generated thereby, so as to solve the rotor position information and determine the rotation angle of the motor based on the relationship model, including: selecting and generating a high-frequency voltage signal whose frequency is significantly higher than the basic operating frequency of the motor; superimposing the high-frequency voltage signal on the conventional control voltage of the stator winding for injection; real-time monitoring of the high-frequency current response in the stator winding caused by the high-frequency voltage signal; separating the current component caused by the high-frequency voltage from the total current signal; analyzing the separated high-frequency current component to extract characteristic information related to the rotor position; establishing a mathematical model describing the relationship between the high-frequency current response and the rotor position; solving the rotor position angle according to the mathematical model; and performing necessary compensation and correction on the estimated rotor position to improve the accuracy.

[0073] In a specific embodiment of the present application, the rotor position of the sensorless motor is estimated by injecting a high-frequency voltage signal (which may be a sine wave, square wave or other periodic signal) with a frequency significantly higher than the basic operating frequency of the motor into the stator winding of the motor, and monitoring the resulting high-frequency current response in real time. A high-speed sampling device (such as an ADC) is used to capture these current changes, and the current component caused by the high-frequency voltage is separated from the total current signal by a filter or digital signal processing technology (such as a bandpass filter or a fast Fourier transform FFT). Next, these separated high-frequency current components are analyzed to extract characteristic information related to the rotor position. Based on the electromagnetic theory of the motor and the characteristics of the selected high-frequency signal, a mathematical model describing the relationship between the high-frequency current response and the rotor position is established. Common modeling methods include a phase-locked loop (PLL), a least squares method, etc. The rotor position angle is calculated according to this mathematical model, and the estimated position is compensated and corrected as necessary to improve the accuracy. In order to verify the rationality of the estimation result, if there are other available position reference sources (such as physical position sensors), the estimated position can be compared with the actual measured value to evaluate the accuracy. In addition, the parameters of the injected signal (such as amplitude, frequency) or the estimation algorithm can be dynamically adjusted according to the comparison results to ensure the best performance of the system. This method provides a way to obtain rotor position information without additional hardware, which is particularly suitable for application scenarios that require simplified structure or reduced cost. It relies on precise signal processing technology and appropriate mathematical modeling to stably and reliably estimate the rotor position under different working conditions.

[0074] In one embodiment of the present application, a state observer model is set up, and the rotor position information is derived based on a feedback mechanism and a reconstructed back-electromotive force signal to obtain a derived angle of the motor, including: designing a sliding mode observer model, which is based on the dynamic equation of the motor and uses the winding voltage and phase current as input to estimate the rotor position and other state variables; adjusting the observer gain matrix so that the output current value of the observer converges quickly and accurately to the actual current value; calculating the error between the observer output and the actual measurement, and continuously adjusting the state estimate of the observer through a feedback mechanism until the two tend to be consistent; extracting the reconstructed back-electromotive force signal from the internal state of the observer, and deriving the rotor position information based on its amplitude and phase characteristics, and then deriving the derived angle of the motor based on the position information.

[0075] In one embodiment of the present application, in order to estimate the rotor position of a permanent magnet synchronous motor (PMSM), a sliding mode observer (SMO) is designed. The observer is based on the dynamic equation of the motor and uses the stator current i d ,i q and the rotor position angle θ rAs a state variable, nonlinear terms such as sign function or saturation function are introduced to ensure that the system can maintain stable motion on the sliding surface and respond quickly to disturbances. The appropriate observer gain matrix L is determined through theoretical analysis or experiments, so that the observer output current can converge to the actual current value quickly and accurately, and the parameters of the gain matrix are dynamically adjusted according to the real-time performance of the system to optimize the convergence speed and accuracy of the observer.

[0076] During operation, the observer output i is monitored in real time. dest ,i qest Compared with the actual measurement d ,i q The error between the observer and the actual value is calculated and the error information is used to update the observer's state estimate, which is adjusted continuously through the feedback mechanism until the two are consistent. Once the observer output is stable and matches the actual value well, the reconstructed back EMF signal e is extracted from the observer's internal state. d , e q , and the rotor position angle θ is derived based on its amplitude and phase characteristics r Taking into account the non-ideal factors in the actual system (such as temperature change, parameter drift, etc.), necessary compensation and correction are performed on the estimated rotor position to improve the accuracy.

[0077] In addition, in order to verify the performance of the observer and optimize it, if there are other available position reference sources (such as physical position sensors), the estimated position is compared with the actual measurement value to evaluate the accuracy, and the observer parameters are dynamically adjusted or the estimation algorithm is improved based on the comparison results to ensure optimal performance.

[0078] Figure 3 It is a schematic diagram of the overall steps of a motor control method shown in an exemplary embodiment of the present application.

[0079] In one embodiment of the present application, Figure 3As shown, after the motor is started, the motor is first calibrated for its position angle, and then the two groups of sampling signals collected by the dual-die position sensor are crosschecked to determine whether the sampling signals are valid signals. When the difference between the two groups of sampling signals is within the preset difference range, it is determined that both sampling signals are valid signals, and the motor is controlled in a sensed manner after the dual-die dual-channel signal angle fusion processing; when the difference between the two groups of sampling signals exceeds the preset difference range, it is determined that at least one group of sampling signals is invalid, so the motor is controlled in a single-channel sensed manner. Specifically, the gradient difference of the single-channel angle is checked separately. If the gradient difference of one of the sampling values ​​is within the preset difference range, it is determined to be a valid signal, and an induction angle is obtained based on the magnetic flux method, and it is checked whether the difference between the induction angle and the angle represented by the valid signal is within the corresponding preset difference (second difference) range. If so, the angular position of the motor is determined based on the valid signal to perform single-channel inductive control on the motor. If the gradient difference of the two sampling values ​​exceeds the preset difference range, it is determined that both sampling signals are invalid, and the motor is then controlled without sensor. The sensorless control includes two conditions: stalled rotor condition and non-stalled rotor condition. When the motor is in a stalled rotor condition, the motor is subjected to sensorless control by high-frequency voltage injection; when the motor is in a non-stalled rotor condition, it is subjected to a comprehensive sensorless control using the flux linkage method and the sliding film observer.

[0080] In one embodiment of the present application, the rotation angle of the motor is calculated based on electrical parameters, including: based on the current speed and current current value of the motor, the working condition of the motor is identified; if the current speed is less than or equal to the preset speed threshold, and the current current value is greater than or equal to the preset current threshold, the motor is determined to be in a stalled condition; if the current speed is greater than the preset speed threshold, or the current current value is less than the preset current threshold, the motor is determined to be in a non-stalled condition. When the motor is in a stalled condition, a relationship model between the response signal and the rotor position is established by applying a modulation signal to the stator winding of the motor and analyzing the response signal generated thereby, so as to solve the rotor position information based on the relationship model and determine the rotation angle of the motor; when the motor is in a non-stalled condition, the induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, and the rotor position information is derived based on the feedback mechanism and the reconstructed back electromotive force signal by setting a state observer model to obtain the derived angle of the motor, and the induction angle and the derived angle are calculated based on the preset weight ratio to obtain the rotation angle of the motor.

[0081] It should be noted that the discussion of whether the motor is in a stalled or non-stalled condition in this embodiment is based on the assumption that the motor itself is in good working condition. If the motor has any fault, whether it is a mechanical fault or an electrical fault, the fault state is not within the scope of consideration of this embodiment.

[0082] In a specific embodiment of the present application, the speed n and current I of the motor are monitored in real time; a preset speed threshold n is set th and preset current threshold I th ; When n>n th or I th , then it is determined that the motor is in a non-locked rotor condition. At this time, a high-frequency modulation signal (such as a sine wave or a square wave) is generated, whose frequency is significantly higher than the basic operating frequency of the motor, and the signal is superimposed on the conventional control voltage of the stator winding for injection. The high-frequency current response caused by the high-frequency modulation signal is monitored in real time by a high-speed sampling device (such as an ADC), and a filter or digital signal processing technology (such as a bandpass filter or a fast Fourier transform FFT) is used to separate the high-frequency component from the total current signal. Next, these high-frequency current components are analyzed, characteristic information related to the rotor position is extracted, and a mathematical model describing the relationship between the high-frequency current response and the rotor position is established based on the electromagnetic theory of the motor. According to this model, the rotor position angle is calculated, and the estimation result is compensated and corrected as necessary to improve the accuracy. Finally, the rotor position information obtained in the above steps is combined to calculate and determine the rotation angle of the motor.

[0083] In another specific embodiment of the present application, when the real-time monitoring of the motor shows that the speed n>n th or current I th , it is determined to be a non-locked rotor condition. At this time, first, according to the electrical parameters (such as voltage, current) and electromagnetic characteristic parameters (such as resistance, inductance, flux, etc.) of the motor, the Park transform or Clarke transform is used to convert the signal in the three-phase stationary coordinate system to the two-phase rotating coordinate system (dq coordinate system), so as to calculate the induction angle, which reflects the position of the rotor relative to the stator. Then, a sliding mode observer model is designed, based on the dynamic equations of the motor, using the winding voltage and phase current as input to estimate the rotor position and other state variables. The observer gain matrix is ​​adjusted to make the observer output converge quickly to the actual value, and the feedback mechanism is used to continuously adjust the observer state estimate until the two are consistent. Once the observer output is stable and matches the actual value well, the reconstructed back electromotive force signal e is extracted from the internal state of the observer. d ,e q , and the rotor position information, i.e. the derived angle, is derived according to its amplitude and phase characteristics. Finally, the induced angle and the derived angle are fused and calculated according to the preset weight ratio to obtain the final motor rotation angle.

[0084] Step S230, calculating the rotation angle and the motor zero angle to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

[0085] ​​In one embodiment of the present application, in order to achieve precise position control, it is necessary to accurately obtain the current angular position of the motor. To this end, this embodiment proposes a method to determine the current angular position of the motor by calculating the rotation angle and the preset motor zero angle, and to accurately control the motor based on this. The following is a specific process description:

[0086] When the system is started or initialized, a one-time zero angle calibration process is performed first. This step can be completed by manual setting or automatic detection to ensure that the zero angle θ of the motor can be correctly determined each time it is started. zero The motor zero angle is the angle of the motor in its initial state or at a specific reference point. It is usually a preset calibration value during installation or calibration to ensure consistency and accuracy during system initialization.

[0087] Next, during the operation of the motor, the rotation angle θ of the rotor relative to the stator is monitored and estimated in real time. rot The way to determine the rotation angle can be achieved through a variety of methods, such as high-frequency voltage injection method, sliding mode observer, etc. These methods can provide high-precision rotor position information. Once the rotation angle and the preset zero angle are obtained, the current angular position of the motor can be calculated by the following formula:

[0088] θ current =θ rot +θ zero Formula (4)

[0089] Among them, θ current is the current angle of the motor, θ rot is the rotation angle of the motor, θ zero is the zero angle of the motor.

[0090] Based on the calculated current angular position θ current , adjust the control instructions of the motor (such as speed, torque, etc.) to achieve the expected motion trajectory or operation mode. Use a closed-loop control system (such as a PID controller) to dynamically adjust the behavior of the motor based on the difference between the set target position and the actual measured current angular position to ensure that the system responds quickly and stably. In addition, continuously monitor the operating status of the motor, including but not limited to parameters such as current, voltage, and temperature, to ensure the healthy operation of the system. If an abnormal situation is detected (such as overload, overheating, etc.), take protective measures in time, such as deceleration or shutdown, to prevent potential faults from occurring.

[0091] It can be understood that the method proposed in this embodiment of calculating the rotation angle and the motor zero angle to determine the current angular position of the motor, and based on this, accurately controlling the motor, combines the advantages of real-time monitoring and preset calibration, and is suitable for various application scenarios that require high-precision position control.

[0092] Finally, it should be emphasized that the motor control method proposed in this application can effectively identify and exclude abnormal or invalid sampling signals by performing a Crosscheck on the two sets of sampled signals collected, thereby improving the accuracy of the control system's judgment of the motor's angular position. When at least one set of sampled signals is detected to be invalid, the system can switch to a single-channel sensory control mode to ensure that the motor can continue to work safely and stably even when some sensors fail. Based on different working conditions (blocked and non-blocked), corresponding sensorless control strategies (high-frequency voltage injection or flux linkage method combined with sliding film observer) are adopted to enable the motor to maintain optimal performance under various conditions. In addition, through precise angle fusion processing and induction angle calculation, a more refined control of the motor's angular position is achieved, which helps to improve the efficiency of the motor and speed up the response speed of the system. In summary, the motor control method proposed in this application not only enhances the adaptability and robustness of the motor control system in complex environments, but also provides a more efficient and reliable solution for industrial applications.

[0093] Figure 4 is a block diagram of a motor control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The device may also be applicable to other exemplary implementation environments and specifically configured in other devices, and this embodiment does not limit the implementation environment to which the device is applicable.

[0094] like Figure 4 As shown, the exemplary motor control method device includes:

[0095] Among them, the data acquisition module 410 is used to obtain at least two groups of sampling signals of the motor and verify the validity of the sampling signals; the rotation angle calculation module 420 is used to determine the rotation angle of the motor based on the valid signals when there is at least one group of sampling signals as valid signals; when all sampling signals fail, the electrical parameters of the motor are collected, and the rotation angle of the motor is calculated based on the electrical parameters; the motor control module 430 is used to calculate the rotation angle and the motor zero angle to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

[0096] It should be noted that the motor control method device provided in the above embodiment and the motor control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the motor control method device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0097] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the motor control method provided in the above-mentioned embodiments.

[0098] Figure 5 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 5 The computer system 500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0099] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method described in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0100] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0101] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0102] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0103] The flowchart and block diagram in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0104] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0105] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor of a computer, the computer executes the motor control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0106] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the motor control method provided in each of the above embodiments.

[0107] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A motor control method, characterized in that: The method comprises: Acquire at least two groups of sampling signals of the motor, and verify the validity of the sampling signals; If at least one set of sampling signals is a valid signal, the rotation angle of the motor is determined based on the valid signal; if all sampling signals are invalid, the electrical parameters of the motor are collected, and the rotation angle of the motor is calculated based on the electrical parameters; The rotation angle and the motor zero angle are calculated to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

2. The motor control method according to claim 1, characterized in that: Verifying the validity of the sampling signal includes: Obtaining corresponding current sampling angles based on the two groups of sampling signals, and calculating a first angle difference between the two current sampling angles; When the first angle difference is within a preset first angle difference range, determining that both sets of sampling signals are valid signals; When the first angle difference exceeds a preset first angle difference range, each current sampling angle is compared with a previous sampling angle recorded by its corresponding sensor at the previous moment to determine respective angle change values; If only one angle change value is within the preset change range, the sampling signal corresponding to the angle change value is determined to be a valid signal; If the two angle change values ​​are both beyond the preset change range, it is determined that the two sets of sampling signals are invalid.

3. The motor control method according to claim 1, characterized in that: Determining the rotation angle of the motor based on the effective signal includes: Based on the current angular velocity of the motor and the preset motor delay time, the compensation angle of the motor is calculated; The compensation angle and the effective angle of the motor are added and calculated to obtain the rotation angle of the motor; Among them, the effective angle of the motor is calculated, including, When both sets of sampling signals are valid signals, the average of the sampling angles corresponding to the two sets of sampling signals is calculated to obtain an average sampling angle, and the average angle is determined as the effective angle of the motor; When only one sampling signal is a valid signal, the sampling angle corresponding to the valid signal is determined as the measurement angle, and the induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor. The measurement angle is then verified for a second time based on the induction angle. If the verification passes, the measurement angle is determined as the effective angle of the motor.

4. The motor control method according to claim 3, characterized in that: Performing a secondary verification on the measurement angle based on the sensing angle includes: A second angle difference between the measurement angle and the sensing angle is calculated, and if the second angle difference is within a preset second angle difference range, the verification is successful.

5. The motor control method according to claim 1, characterized in that: Before calculating the rotation angle of the motor based on the electrical parameters, the method further includes: Based on the current speed and current value of the motor, the working condition of the motor is identified; including: If the current speed is less than or equal to the preset speed threshold, and the current current value is greater than or equal to the preset current threshold, it is determined that the motor is in a stalled condition; If the current rotation speed is greater than the preset rotation speed threshold, or the current current value is less than the preset current threshold, it is determined that the motor is in a non-stalled rotor condition.

6. The motor control method according to claim 5, characterized in that: Calculating the rotation angle of the motor based on the electrical parameters includes: When the motor is in a stalled condition, a relationship model between the response signal and the rotor position is established by applying a modulation signal to the stator winding of the motor and analyzing the response signal generated thereby, so as to calculate the rotor position information based on the relationship model and determine the rotation angle of the motor; When the motor is in a non-stalled rotor condition, the induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, and by setting a state observer model, the rotor position information is derived based on the feedback mechanism and the reconstructed back electromotive force signal to obtain the derived angle of the motor, and the induction angle and the derived angle are calculated based on a preset weight ratio to obtain the rotation angle of the motor.

7. The motor control method according to any one of claims 3 or 6, characterized in that: The induction angle is obtained based on the electrical parameters and electromagnetic characteristic parameters of the motor, including: Acquiring electrical parameters, electrical models, and electromagnetic characteristic parameters of the motor, wherein the electrical parameters include voltage, current, resistance, and inductance; Constructing a flux equation based on the electrical parameters and the electrical model, so as to calculate the rotor flux of the motor based on the flux equation and the electromagnetic characteristic parameters; A rotor change angle of the motor is determined according to the rotor flux, and the rotor change angle is determined as an induction angle of the motor.

8. A motor control method and device, characterized in that: The device comprises: A data acquisition module, used to obtain at least two groups of sampling signals of the motor and verify the validity of the sampling signals; A rotation angle calculation module, used for determining the rotation angle of the motor based on the valid signals when at least one set of sampling signals is a valid signal; when all sampling signals fail, collecting electrical parameters of the motor and calculating the rotation angle of the motor based on the electrical parameters; The motor control module is used to calculate the rotation angle and the motor zero angle to obtain the current angular position of the motor, so as to control the motor based on the current angular position, and the motor zero angle is a preset calibration value.

9. An electronic device, characterized in that: It comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the motor control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is used to enable a computer to execute the motor control method as described in any one of claims 1-7.

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