Asynchronous motor parameter calibration method, device and equipment and storage medium

Abstract

The invention discloses an asynchronous motor parameter calibration method, device and equipment and a computer readable storage medium. According to the method, magnetic field orientation control is carried out according to a preset rotor time constant; monitoring the actual output torque of the asynchronous motor under each current combination, wherein different current combinations comprise the same M-axis current and different T-axis current; if it is determined that the T-axis current and the actual output torque are in a direct proportion relation based on the monitoring result, determining a rotor time constant calibration value according to a preset rotor time constant; respectively substituting the current combinations and preset equivalent inductance into a torque formula to obtain theoretical output torque corresponding to each group of current combinations; if the difference value between the theoretical output torque corresponding to each current combination and the actual output torque is smaller than the difference threshold value, the equivalent inductance calibration value is determined according to the preset equivalent inductance, through the method, the theoretical output torque and the actual output torque are made to be consistent, multiple other parameters do not need to be calibrated, and the test amount is reduced.

Description

Technical Field

[0001] This application relates to the field of motor control, specifically to an asynchronous motor parameter calibration device, equipment, and computer-readable storage medium. Background Technology

[0002] With the rapid development of the new energy equipment field, asynchronous motors are widely used due to their simple structure and high reliability, and their torque output accuracy has become a core requirement for improving equipment performance.

[0003] To improve the accuracy of motor output torque and achieve precise control of the motor, it is necessary to accurately calibrate the key parameters of the motor. In related technologies, the parameter calibration of asynchronous motors often adopts estimation methods such as no-load test or locked-rotor test. It is necessary to test multiple parameters such as stator resistance, rotor resistance, and leakage inductance. Moreover, the test conditions differ greatly from the actual operating conditions, resulting in inaccurate calibration parameters, which require repeated corrections. Summary of the Invention

[0004] This application provides a method, apparatus, device, and computer-readable storage medium for calibrating asynchronous motor parameters, which can solve the technical problems of large number of calibration parameters and inaccurate results in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for calibrating asynchronous motor parameters, the method comprising: Magnetic field orientation control is performed based on a preset rotor time constant; Monitor the actual output torque of the asynchronous motor under each current combination, wherein each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. If the monitoring results determine that the T-axis current and the actual output torque are directly proportional, then the rotor time constant calibration value is determined according to the preset rotor time constant. Substituting the current combination and the preset equivalent inductance into the torque formula respectively, the theoretical output torque corresponding to each current combination is obtained. If the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, then the equivalent inductance calibration value is determined according to the preset equivalent inductance.

[0006] In conjunction with the first aspect, in one implementation, if it is determined from monitoring results that the T-axis current and the actual output torque are directly proportional, then determining the rotor time constant calibration value according to the preset rotor time constant includes: If the ratio of each actual output torque to the stator T-axis current is within the preset ratio range, then it is determined that the stator T-axis current is directly proportional to the actual output torque, and the preset rotor time constant is determined as the rotor time constant calibration value.

[0007] In conjunction with the first aspect, in one embodiment, after determining whether the T-axis current and the actual output torque are proportional based on the T-axis current included in all current combinations and the corresponding actual output torque, and in conjunction with a preset rotor time constant, the method further includes: If the monitoring results determine that the T-axis current and the actual output torque are not proportional, then the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

[0008] In conjunction with the first aspect, in one embodiment, after determining the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than a difference threshold, the method further includes: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

[0009] In conjunction with the first aspect, in one embodiment, after determining the equivalent inductance calibration value based on the preset equivalent inductance, the method further includes: A table relating the rotor time constant calibration value, the equivalent inductance calibration value, and the stator M-axis current is constructed. When controlling the power supply motor, the corresponding equivalent rotor time constant calibration value and inductance calibration value are obtained from the table based on the set M-axis current, which is used to control the target output torque.

[0010] Secondly, embodiments of this application provide an asynchronous motor parameter calibration device, the asynchronous motor parameter calibration device comprising: The orientation module is used for magnetic field orientation control based on a preset rotor time constant; The monitoring module is used to monitor the actual output torque of the asynchronous motor under each current combination. Each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. The first calibration module is used to determine the rotor time constant calibration value according to the preset rotor time constant if it is determined from the monitoring results that the T-axis current and the actual output torque are directly proportional. The calculation module is used to substitute the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination. The second calibration module is used to determine the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold.

[0011] In conjunction with the second aspect, in one implementation, the monitoring module is specifically used for: If the monitoring results determine that the T-axis current and the actual output torque are not proportional, then the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

[0012] In conjunction with the second aspect, in one implementation, the second calibration module is specifically used for: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

[0013] Thirdly, embodiments of this application provide an asynchronous motor parameter calibration device, which includes a processor, a memory, and an asynchronous motor parameter calibration program stored in the memory and executable by the processor. When the asynchronous motor parameter calibration program is executed by the processor, it implements the steps of the asynchronous motor parameter calibration method as described in the first aspect.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing an asynchronous motor parameter calibration program, wherein when the asynchronous motor parameter calibration program is executed by a processor, it implements the steps of the asynchronous motor parameter calibration method as described in the first aspect.

[0015] The beneficial effects of the technical solutions provided in this application include: Field-oriented control is performed based on a preset rotor time constant. The actual output torque of the asynchronous motor is monitored under each current combination. Each current combination includes the stator's M-axis current and T-axis current, with different current combinations having the same M-axis current but different T-axis currents. If the monitoring results indicate a direct proportional relationship between the T-axis current and the actual output torque, it means that the stator's M-axis is aligned with the rotor's magnetic field direction, decoupling the stator's M-axis current from the T-axis current. In this case, the output torque of the asynchronous motor is determined only by the stator's T-axis current, and the rotor time constant calibration value is determined based on the preset rotor time constant. The current combination and the preset equivalent inductance are substituted into the torque formula to obtain the theoretical output torque corresponding to each current combination. If the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, the equivalent inductance calibration value is determined based on the preset equivalent inductance. This reduces the number of parameters to be calibrated for motor control, and the obtained output torque can be directly used in actual operating conditions without subsequent repeated corrections. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating an embodiment of the asynchronous motor parameter calibration method of this application; Figure 2 For parameter relationship table; Figure 3 A functional module schematic diagram of an embodiment of the asynchronous motor parameter calibration device of this application; Figure 4 This is a schematic diagram of the hardware structure of the asynchronous motor parameter calibration device involved in the embodiments of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0019] Number of pole pairs in an asynchronous motor: The number of magnetic pole pairs on the rotor is an inherent structural parameter of the motor.

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] In a first aspect, embodiments of this application provide a method for calibrating the parameters of an asynchronous motor.

[0022] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the asynchronous motor parameter calibration method of this application. Figure 1 As shown, the asynchronous motor parameter calibration methods include: Step S10: Perform magnetic field orientation control according to the preset rotor time constant; In one embodiment, an initial rotor time constant value is first preset based on historical experience. The slip speed is calculated based on this preset value, and the slip speed is used to perform field-oriented control. Specifically, in motor control, a coordinate system transformation is usually required. That is, the stator three-phase current is first converted into two-phase stationary current (αβ coordinate system), and then the current in the αβ coordinate system is converted into the current in the MT rotating coordinate system through synchronous rotation transformation. In this step, the preset rotor time constant value is used as a preliminary parameter so that the control system can adjust the phase of the MT rotating coordinate system accordingly.

[0023] Step S20: Monitor the actual output torque of the asynchronous motor under each current combination. Each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. In one embodiment, for example, three sets of current combinations are provided, the first set being the stator's M-axis current. i M1 =20A, stator T-axis current i T1 =5A, Second group: Stator M-axis current i M2 =20A, stator T-axis current i T2 =7A, Group 3: Stator M-axis current i M3 =20A, stator T-axis current i T3 =10A, these three sets of current combinations are applied to the stator of the asynchronous motor in sequence, and the actual output torque corresponding to each set is monitored by a torque sensor. Through this process, the corresponding data of the same M-axis current, different T-axis current and actual output torque can be obtained.

[0024] Step S30: If it is determined from the monitoring results that the T-axis current and the actual output torque are in a positive proportional relationship, then the rotor time constant calibration value is determined according to the preset rotor time constant. In one embodiment, specifically, the output torque of the asynchronous motor is generated by the electromagnetic interaction between the stator current and the rotor magnetic field. Accurate magnetic field orientation is a prerequisite for the linear relationship of this interaction; that is, the M-axis of the MT rotating coordinate system must be strictly aligned with the direction of the rotor magnetic field. The rotor time constant is a key parameter for calculating the slip speed, which directly determines the rotation phase of the MT rotating coordinate system. If the preset rotor time constant is inaccurate, the calculated slip speed will deviate from the actual value, causing the M-axis and rotor magnetic field to be in different directions, resulting in an orientation offset. In this case, the stator's M-axis current and T-axis current will couple, thereby generating additional torque, ultimately causing the output torque to be disproportionate to the stator's T-axis current. Conversely, if the magnetic field orientation is accurate, the output torque will be proportional to the stator's T-axis current. If the preset rotor time constant is accurate, the calculated slip speed is consistent with the actual value, and the M-axis can be precisely aligned with the direction of the rotor magnetic field. At this time, the stator's M-axis current and T-axis current are decoupled. The stator's M-axis current is only responsible for maintaining the stability of the rotor flux linkage, and the stator's T-axis current generates torque only through its interaction with the stable flux linkage. Therefore, when it is determined that the ratios of different T-axis currents to the corresponding actual output torques are all positively proportional, it can be deduced that the M-axis and rotor flux linkage directions are accurately aligned, the slip speed is calculated accurately, and the preset rotor time constant meets the requirements. Thus, this preset value is determined as the rotor time constant calibration value. Finally, the rotor time constant calibration value is obtained through the positive proportional relationship between the output torque and the stator's T-axis current.

[0025] Furthermore, if the ratio of each actual output torque to the stator T-axis current is within a preset ratio range, then it is determined that the stator T-axis current is directly proportional to the actual output torque, and the preset rotor time constant is determined as the rotor time constant calibration value.

[0026] In one embodiment, the preset ratio range is [1.2, 2]. The basis for determining that the T-axis current and the actual output torque are proportional is that the ratio of each actual output torque to the stator's T-axis current is all within the range of [1.2, 2].

[0027] Furthermore, if the monitoring results determine that the T-axis current and the actual output torque are not proportional, the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

[0028] In one embodiment, if the ratio of the actual output torque to the stator T-axis current is not within the preset ratio range, it indicates that the currently set rotor time constant is inaccurate. After updating the rotor time constant, step S10 is re-executed according to the new rotor time constant.

[0029] Step S40: Substitute the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination. In one embodiment, an equivalent inductance value is preset based on historical experience, and each current combination and the preset equivalent inductance are substituted into the torque formula:

[0030] in, For output torque, This represents the number of pole pairs of the motor. For equivalent inductance, For the M-axis current of the stator, The T-axis current of the stator is used to obtain the theoretical output torque corresponding to each current combination.

[0031] Step S50: If the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, then the equivalent inductance calibration value is determined according to the preset equivalent inductance.

[0032] In one embodiment, assuming the difference threshold is 0.8, the calculated theoretical output torque is subtracted from the corresponding actual measured output torque in turn. If the difference is less than the set 0.8, it is determined that the set equivalent inductance value is accurate and the value is used as the calibration value of the equivalent inductance.

[0033] Furthermore, after determining the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, the method further includes: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

[0034] In one embodiment, assuming the difference threshold is 0.8, the calculated theoretical output torque is subtracted from the corresponding actual measured output torque in turn. If the difference is greater than or equal to the set 0.8, the equivalent inductance is reset and the calculation of the theoretical output torque is re-executed until the difference is less than the preset difference threshold.

[0035] Furthermore, after determining the equivalent inductance calibration value based on the preset equivalent inductance, the method further includes: A table relating the rotor time constant calibration value, the equivalent inductance calibration value, and the stator M-axis current is constructed. When controlling the power supply motor, the corresponding equivalent rotor time constant calibration value and inductance calibration value are obtained from the table based on the set M-axis current, which is used to control the target output torque.

[0036] In one embodiment, it is assumed that the rotor time constant and equivalent inductance were calibrated under different stator M-axis currents, yielding the following results: when the stator M-axis current is 10A, the rotor time constant calibration value is 0.045, and the equivalent inductance calibration value is 0.028; when the stator M-axis current is 20A, the rotor time constant calibration value is 0.05, and the equivalent inductance calibration value is 0.03; when the stator M-axis current is 30A, the rotor time constant calibration value is 0.055, and the equivalent inductance calibration value is 0.032. All data are organized into a relational table, referring to... Figure 2 , Figure 2 The table shows the parameter relationships. When the motor is actually controlled, if the stator's M-axis current is set to 20A, the corresponding rotor time constant calibration value is 0.05, and the equivalent inductance calibration value is 0.03. Based on these two parameters, the stator's T-axis current can be adjusted to achieve the target output torque control.

[0037] In this embodiment, field-oriented control is performed based on a preset rotor time constant. The actual output torque of the asynchronous motor under each current combination is monitored. Each current combination includes the stator's M-axis current and T-axis current, and different current combinations include the same M-axis current but different T-axis currents. If the monitoring results indicate that the T-axis current and the actual output torque are directly proportional, it means that the stator's M-axis is aligned with the rotor's magnetic field direction, thus decoupling the stator's M-axis current from the T-axis current. In this case, the output torque of the asynchronous motor is determined only by the stator's T-axis current, and the rotor time constant calibration value is determined based on the preset rotor time constant. The current combination and the preset equivalent inductance are substituted into the torque formula to obtain the theoretical output torque corresponding to each current combination. If the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, the equivalent inductance calibration value is determined based on the preset equivalent inductance. This reduces the number of parameters to be calibrated for motor control, and the obtained output torque can be directly used in actual working conditions without repeated subsequent corrections.

[0038] Secondly, embodiments of this application also provide an asynchronous motor parameter calibration device.

[0039] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the asynchronous motor parameter calibration device of this application. Figure 3 As shown, the asynchronous motor parameter calibration device includes: Orientation module 10 is used for magnetic field orientation control based on a preset rotor time constant; The monitoring module 20 is used to monitor the actual output torque of the asynchronous motor under each current combination. Each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. The first calibration module 30 is used to determine the rotor time constant calibration value according to the preset rotor time constant if it is determined from the monitoring results that the T-axis current and the actual output torque are in a positive proportional relationship. The calculation module 40 is used to substitute the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination. The second calibration module 50 is used to determine the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold.

[0040] Furthermore, in one embodiment, the first calibration module 30 is used for: If the ratio of each actual output torque to the stator T-axis current is within the preset ratio range, then it is determined that the stator T-axis current is directly proportional to the actual output torque, and the preset rotor time constant is determined as the rotor time constant calibration value.

[0041] Furthermore, in one embodiment, the monitoring module 20 is used for: If the monitoring results determine that the T-axis current and the actual output torque are not proportional, then the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

[0042] Furthermore, in one embodiment, the asynchronous motor parameter calibration device further includes an update module, used for: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

[0043] Furthermore, in one embodiment, the asynchronous motor parameter calibration device further includes a construction module for: A table relating the rotor time constant calibration value, the equivalent inductance calibration value, and the stator M-axis current is constructed. When controlling the power supply motor, the corresponding equivalent rotor time constant calibration value and inductance calibration value are obtained from the table based on the set M-axis current, which is used to control the target output torque.

[0044] The functions of each module in the above-mentioned asynchronous motor parameter calibration device correspond to the steps in the above-mentioned asynchronous motor parameter calibration method embodiment, and their functions and implementation processes will not be described in detail here.

[0045] Thirdly, embodiments of this application provide an asynchronous motor parameter calibration device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0046] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the asynchronous motor parameter calibration device involved in the embodiments of this application. In the embodiments of this application, the asynchronous motor parameter calibration device may include a processor, a memory, a communication interface, and a communication bus.

[0047] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0048] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the asynchronous motor parameter calibration device, as well as interfaces used for interconnecting the asynchronous motor parameter calibration device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0049] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0050] The processor can be a general-purpose processor, which can call the asynchronous motor parameter calibration program stored in the memory and execute the asynchronous motor parameter calibration method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the asynchronous motor parameter calibration program is called can be referred to in the various embodiments of the asynchronous motor parameter calibration method of this application, and will not be repeated here.

[0051] Those skilled in the art will understand that Figure 4 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0053] The present application provides a computer-readable storage medium storing an asynchronous motor parameter calibration program, wherein when the asynchronous motor parameter calibration program is executed by a processor, it implements the steps of the asynchronous motor parameter calibration method described above.

[0054] The method implemented when the asynchronous motor parameter calibration program is executed can be referred to in various embodiments of the asynchronous motor parameter calibration method of this application, and will not be repeated here.

[0055] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0056] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0057] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0058] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0059] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0061] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for calibrating parameters of an asynchronous motor, characterized in that, The asynchronous motor parameter calibration method includes: Magnetic field orientation control is performed based on a preset rotor time constant; Monitor the actual output torque of the asynchronous motor under each current combination, wherein each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. If the monitoring results determine that the T-axis current and the actual output torque are directly proportional, then the rotor time constant calibration value is determined according to the preset rotor time constant. Substituting the current combination and the preset equivalent inductance into the torque formula respectively, the theoretical output torque corresponding to each current combination is obtained. If the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, then the equivalent inductance calibration value is determined according to the preset equivalent inductance.

2. The asynchronous motor parameter calibration method as described in claim 1, characterized in that, If the monitoring results determine that the T-axis current and the actual output torque are directly proportional, then the rotor time constant calibration value is determined according to the preset rotor time constant, including: If the ratio of each actual output torque to the stator T-axis current is within the preset ratio range, then it is determined that the stator T-axis current is directly proportional to the actual output torque, and the preset rotor time constant is determined as the rotor time constant calibration value.

3. The asynchronous motor parameter calibration method as described in claim 1, characterized in that, After determining whether the T-axis current and the actual output torque are proportional based on the T-axis current included in all current combinations and the corresponding actual output torque, combined with a preset rotor time constant, the method further includes: If the monitoring results determine that the T-axis current and the actual output torque are not proportional, then the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

4. The asynchronous motor parameter calibration method as described in claim 1, characterized in that, After determining the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold, the method further includes: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

5. The asynchronous motor parameter calibration method as described in claim 1, characterized in that, After determining the equivalent inductance calibration value based on the preset equivalent inductance, the method further includes: A table relating the rotor time constant calibration value, the equivalent inductance calibration value, and the stator M-axis current is constructed. When controlling the power supply motor, the corresponding equivalent rotor time constant calibration value and inductance calibration value are obtained from the table based on the set M-axis current, which is used to control the target output torque.

6. An asynchronous motor parameter calibration device, characterized in that, The asynchronous motor parameter calibration device includes: The orientation module is used for magnetic field orientation control based on a preset rotor time constant; The monitoring module is used to monitor the actual output torque of the asynchronous motor under each current combination. Each current combination includes the M-axis current and T-axis current of the stator of the asynchronous motor, and different current combinations include the same M-axis current and different T-axis currents. The first calibration module is used to determine the rotor time constant calibration value according to the preset rotor time constant if it is determined from the monitoring results that the T-axis current and the actual output torque are directly proportional. The calculation module is used to substitute the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination. The second calibration module is used to determine the equivalent inductance calibration value based on the preset equivalent inductance if the difference between the theoretical output torque and the actual output torque corresponding to each current combination is less than the difference threshold.

7. The asynchronous motor parameter calibration device as described in claim 6, characterized in that, The monitoring module is specifically used for: If the monitoring results determine that the T-axis current and the actual output torque are not proportional, then the preset rotor time constant is updated, and the magnetic field orientation control based on the preset rotor time constant is returned to be executed.

8. The asynchronous motor parameter calibration device as described in claim 6, characterized in that, The second calibration module is specifically used for: If the difference between the theoretical output torque and the actual output torque corresponding to a current combination is greater than or equal to the difference threshold, then update the value of the equivalent inductance and return to the step of substituting the current combination and the preset equivalent inductance into the torque formula to obtain the theoretical output torque corresponding to each current combination.

9. An asynchronous motor parameter calibration device, characterized in that, The asynchronous motor parameter calibration device includes a processor, a memory, and an asynchronous motor parameter calibration program stored in the memory and executable by the processor, wherein when the asynchronous motor parameter calibration program is executed by the processor, it implements the steps of the asynchronous motor parameter calibration method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an asynchronous motor parameter calibration program, wherein when the asynchronous motor parameter calibration program is executed by a processor, it implements the steps of the asynchronous motor parameter calibration method as described in any one of claims 1 to 5.

Images