Motor control method, device, power system, vehicle and storage medium

Abstract

The present application relates to a motor control method. The motor is powered by a battery, and heat loss generated by the motor is transferred to the battery via a heat transfer component to heat the battery. The motor control method comprises a first operating mode, in which: the d-axis current i d of the motor is controlled so that the heat loss generated by the motor provides a predetermined heating power P heat for the battery. Wherein the d-axis current i d is determined based on at least the thermal loss equivalent phase resistance R sum of the motor, the operating mode of the motor and the predetermined heating power P heat . The present application also relates to a control device, a power system, a vehicle and a computer readable storage medium. The present application provides a motor control scheme capable of providing a predetermined heating power for the battery, which is simple in structure, low in cost, small in size, high in reliability and independent of the chip supply system.

Description

Technical Field

[0001] This invention relates to the field of electric motors, and more specifically to electric motor control methods, control devices, power systems, vehicles, and computer-readable storage media. Background Technology

[0002] With the continuous development of electric vehicle technology, electric vehicles are being used in increasingly diverse scenarios, which places increasingly higher demands on the environmental control technology of battery packs in electric vehicles. For example, in scenarios where the ambient temperature is lower than the battery pack's operating temperature, the battery pack needs to be heated to ensure its normal operation.

[0003] In existing technologies, battery packs are typically equipped with additional heat pump heating devices or electric heating devices (such as positive temperature coefficient PTC elements or high-voltage electric heaters, HVHs). Heat pump heating devices are often quite large. Furthermore, heat pumps have low heating efficiency in low ambient temperatures and may even fail to function properly in extremely cold environments. Electric heating devices, on the other hand, often require additional hardware (e.g., chips) and wiring harnesses, resulting in high costs. When chip supply issues become prominent, electric heating devices, such as high-voltage electric heaters (HVHs), can further increase supply chain-related risks.

[0004] Therefore, a motor control scheme that can solve the battery pack heating problem is desirable. Summary of the Invention

[0005] According to one aspect of the present invention, a motor control method is provided. The motor is powered by a battery, and heat loss generated by the motor is transferred to the battery via a heat transfer component to heat the battery. The motor control method includes a first operating mode, in which the d-axis current i of the motor is controlled. d This allows the heat loss generated by the motor to provide a predetermined heating power P to the battery. heat .

[0006] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, the d-axis current i d At least based on the equivalent phase resistance R of the motor's thermal losses sum The operating mode of the motor and the predetermined heating power P heat To determine.

[0007] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, the operating mode of the motor includes a static mode and a dynamic mode.

[0008] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, in the first operating mode: when the operating mode of the motor is the static mode, based on the equivalent phase resistance R of the heat loss... sum and the predetermined heating power P heat The d-axis current i is determined by the following formula. d :

[0009]

[0010] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, in the first operating mode: when the operating mode of the motor is the dynamic mode, based on the equivalent phase resistance R of the heat loss... sum The predetermined heating power P heat The electromagnetic torque T of the motor e The d-axis current i is determined by the mechanical rotational speed Ω using the following formula. d :

[0011]

[0012] Wherein, the q-axis current i of the motor q The electromagnetic torque T e And the mechanical rotation speed Ω is a function of it.

[0013] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, the equivalent phase resistance R of the motor for heat loss is... sum At least including the equivalent phase resistance R of the stator of the motor s The equivalent phase resistance R of the electronic components of the motor inv .

[0014] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, the d-axis current i of the motor... d The determination is also based at least on the d-axis current pattern of the motor.

[0015] As an alternative or supplement to the above scheme, in a motor control method according to an embodiment of the present invention, the d-axis current mode includes at least a positive DC mode, a negative DC mode, a sine wave mode, and a square wave mode.

[0016] As an alternative or supplement to the above solution, in a motor control method according to an embodiment of the present invention, the motor control method further includes a second operating mode, in which the d-axis current i of the motor is controlled. d However, heating the battery is not taken into consideration.

[0017] According to another aspect of the present invention, a control device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the aforementioned control method.

[0018] According to another aspect of the present invention, a power system is provided. The power system includes a battery, a heat transfer component, a motor, and the aforementioned control device.

[0019] According to another aspect of the present invention, a vehicle comprising the aforementioned power system is provided.

[0020] According to another aspect of the present invention, a computer-readable storage medium having a computer program stored thereon is provided. When the computer program is executed by a processor, it implements the steps in the aforementioned control method.

[0021] The motor control scheme provided by this invention can transfer the heat loss generated by the motor to the battery that powers the motor using only heat transfer components, thereby heating the battery and enabling it to receive a predetermined heating power. This motor control scheme utilizes heat transfer components arranged between the battery and the motor, eliminating the need for additional heat pump heating equipment, electric heating equipment (e.g., positive temperature coefficient PTC elements, high-voltage electric heaters HVH), or high-voltage wiring for these additional devices. This motor control scheme is simple in construction, low in cost, small in size, highly reliable, and independent of the chip supply system. Attached Figure Description

[0022] The above and other objects and advantages of the present invention will become more fully clear from the following detailed description taken in conjunction with the accompanying drawings.

[0023] Figure 1 A block diagram of a power system 1000 according to an embodiment of the present invention is shown.

[0024] Figure 2 A schematic diagram of a motor control method 2000 according to an embodiment of the present invention is shown.

[0025] Figure 3 A block diagram of a control device 3000 according to an embodiment of the present invention is shown. Detailed Implementation

[0026] The following will provide a more detailed description of the motor control method, control device, power system, vehicle, and storage medium involved in this invention, with reference to the accompanying drawings. It should be noted that the following specific descriptions are merely exemplary and not restrictive; they are intended to provide a basic understanding of the invention and not to limit the scope of protection sought by the invention.

[0027] In the context of this invention, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe the order of objects in terms of time, space, size, etc. Furthermore, unless otherwise specifically indicated, the terms "comprising," "possessing," and similar expressions herein are intended to indicate non-exclusive inclusion. Moreover, the terms "vehicle," "automobile," or other similar terms herein include general motor vehicles, such as passenger cars (including SUVs, buses, trucks, etc.), various commercial vehicles, ships, aircraft, etc., and include hybrid electric vehicles, electric vehicles, plug-in hybrid electric vehicles, etc. A hybrid electric vehicle is a vehicle having two or more power sources, such as a gasoline-powered and an electric vehicle.

[0028] In the following, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029] Figure 1 A power system 1000 according to an embodiment of the present invention is shown. The power system includes a battery 110, a motor 120, a heat transfer component 130, and a control device 140.

[0030] The motor 120 is powered by the battery 110 (e.g., via high-voltage line 150), and the heat loss generated by the motor 120 can be transferred to the battery 110 via the heat transfer component 130 to heat the battery 110.

[0031] The control device 140 has a first operating mode (e.g., heating mode). In the first operating mode, the control device 140 is capable of controlling the d-axis current i of the motor 120. d This allows the heat loss generated by the motor 120 to provide a predetermined heating power P to the battery 110. heat Among them, the d-axis current i d At least based on the equivalent phase resistance R of the motor's thermal losses sum The operating mode of the motor and the predetermined heating power P heat To determine. Optionally, the motor d-axis current i d The determination is also based on the d-axis current mode of the motor.

[0032] Therefore, the control device 140 can provide the specified heating power to the battery 110 using only the heat transfer component 130, without the need for additional heat pump equipment, electric heating equipment, etc. The control device 140 can be integrated into the existing control device of the motor 120 without the need for additional hardware. In addition, the control device 140 does not require additional wiring, especially no additional high-voltage circuitry.

[0033] Optionally, the control device 140 also has a second operating mode (e.g., normal mode). In the second operating mode, the control device 140 controls the d-axis current i of the motor 120. d Without considering heating the battery. For example, control device 140 can use a maximum torque-to-current ratio control method to control the d-axis current i of motor 120. d This allows the motor to achieve higher efficiency without considering the battery heating requirement. Therefore, the control device 140 provides a flexible motor control scheme: when heating the battery 110 is required, the first operating mode can be used to increase the heat loss of the motor 120 to heat the battery 110; when heating the 110 is not required, the second operating mode can be used to make the motor operate efficiently.

[0034] exist Figure 1 In the illustrated embodiment, motor 120 may be a permanent magnet synchronous motor, but the present invention is not limited thereto. Motor 120 may be any motor capable of being powered by a battery and controlled by the d-axis current i. d An electric motor capable of providing a specified amount of heat to the battery via a heat transfer component. The motor 120 can be a salient-pole motor, a non-salient-pole motor, or any motor of suitable construction.

[0035] The heat transfer component 130 may be a heat exchange pipe connecting the battery 110 and the motor 120, through which coolant flows. The coolant may be water or any other suitable liquid with cooling function.

[0036] Motor operating modes include static mode, dynamic mode, etc. When the motor is in static mode, the output torque is zero, and the motor does not need to output mechanical energy. When the motor is in dynamic mode, the output torque is not zero, and the motor outputs mechanical energy to the outside.

[0037] The d-axis current mode of a motor refers to the d-axis current i d The types include positive DC mode, negative DC mode, sine wave mode, square wave mode, etc.

[0038] Predetermined heating power P heat It can be calculated based on actual heating needs, determined based on empirical values, or manually entered, etc.

[0039] In the context of this invention, the term "equivalent phase resistance of the motor for thermal loss" is used. sum This is intended to represent the equivalent phase resistance value of heat loss generated in the motor, and the heat loss being transferred to the battery by heat transfer components for heating. Figure 1In the illustrated embodiment, components in the motor that generate heat loss include the motor's power electronics (e.g., an inverter that converts DC power supplied by the battery into AC power required by the motor) and the motor's stator windings. Therefore, the equivalent phase resistance R for heat loss... sum Including the stator equivalent phase resistance R of the motor s The equivalent phase resistance R of the electronic components of the motor inv However, the present invention is not limited thereto; the equivalent phase resistance R of heat loss... sum It may also include any suitable resistor that can generate heat loss and that can be transferred to the battery.

[0040] The following will combine Figure 1 The illustrated embodiment specifically describes the d-axis current i when the motor is in static operating mode. d Control.

[0041] exist Figure 1 In the embodiment shown, when the motor operates in static mode, the motor q-axis current i q It is likely to be approximately zero. In the first operating mode, in order to ensure that the heat loss generated by motor 120 is P heat The d-axis current i of motor 120 can be controlled according to the following formula. d :

[0042]

[0043] The heat loss P generated by the motor 120 is absorbed by the heat transfer component 130. heat The power P is transferred to battery 110, thus providing power to battery 110. heat Heating is performed. Optionally, the heat transfer component 130 can also cool the motor 120 by transferring the heat generated by the motor 120 to the battery 110.

[0044] Furthermore, when the d-axis current mode of the motor is positive DC mode, in order for the heat loss generated by the motor 120 to provide heating power P to the battery 110 via the heat transfer component 130, heat The d-axis current i of motor 120 can be... d Control is as follows:

[0045]

[0046] The heat loss of the motor includes the stator equivalent phase resistance R. s The resulting heat loss and the equivalent phase resistance R of electronic devices inv The resulting heat loss is due to both.

[0047] Similarly, if the d-axis current mode of the motor is negative DC mode, then in order for the heat loss generated by the motor 120 to provide heating power P to the battery 110 via the heat transfer component 130, heat The d-axis current i of motor 120 can be... d Control is as follows:

[0048]

[0049] The heat loss of the motor includes the stator equivalent phase resistance R. s The resulting heat loss and the equivalent phase resistance R of electronic devices inv The resulting heat loss is due to both.

[0050] Furthermore, if the d-axis current mode of the motor is a sinusoidal wave mode, then in order for the heat loss generated by the motor 120 to provide heating power P to the battery 110 via the heat transfer component 130, heat The d-axis current i of motor 120 can be... d Control is as follows:

[0051]

[0052] The heat loss of the motor includes the stator equivalent phase resistance R. s The resulting heat loss and the equivalent phase resistance R of electronic devices inv The resulting heat loss is due to both.

[0053] Furthermore, if the motor's d-axis current mode is a square wave mode, that is, the d-axis current i d It can be represented as:

[0054]

[0055] At this time, in order for the heat loss generated by the motor 120 to provide heating power P to the battery 110 via the heat transfer component 130, heat The d-axis current i of motor 120 can be... d coefficient I in m Control is as follows:

[0056]

[0057] The heat loss of the motor includes the stator equivalent phase resistance R. s The resulting heat loss and the equivalent phase resistance R of electronic devices inv The resulting heat loss is due to both.

[0058] It can be seen that when the motor operates in static mode, due to heat loss, the equivalent phase resistance R sum These are generally fixed parameters for the motor, therefore, they can be adjusted according to the heating power P.heat The change in the d-axis current i d As shown in Table 1, the heating power P can be... heat With d-axis current i d The relationships are presented in a one-dimensional table.

[0059] Table 1 Relationship between heating power and d-axis current in static mode

[0060]

[0061] The following will combine Figure 1 The illustrated embodiment specifically describes the d-axis current i when the motor is in dynamic mode. d Control.

[0062] exist Figure 1 In the embodiment shown, when the motor operates in dynamic mode, the motor q-axis current i q Not zero. In the first operating mode, in order to ensure that the heat loss generated by motor 120 is P heat The d-axis current i of motor 120 can be controlled according to the following formula. d :

[0063]

[0064] Among them, i s T is the effective value of the phase current of the motor. e Let Ω be the electromagnetic torque of the motor, and Ω be the mechanical speed of the motor. The q-axis current is i. q The electromagnetic torque T of the motor e The q-axis current i is a function of the mechanical rotational speed Ω. q The electromagnetic torque T can be determined based on the actual operating conditions. e The mechanical speed Ω is determined, for example, by looking up a table.

[0065] It can be seen that the effective value of the phase current i s With q-axis current i q Determine the d-axis current i d Because the effective value of the phase current i s It can be based on the equivalent phase resistance R of heat loss sum and the predetermined heating power P heat Determine the q-axis current i q It can be based on electromagnetic torque T e The d-axis current is determined by the mechanical rotational speed Ω, therefore, it can be based on the equivalent phase resistance R of thermal losses. sum Predetermined heating power P heat Electromagnetic torque T e It is determined by the mechanical speed Ω.

[0066] Due to heat loss, the equivalent phase resistance R sum These are generally fixed parameters of the motor, therefore, they can be adjusted according to the electromagnetic torque T. e Mechanical speed Ω and heating power P heat The change in the d-axis current i d Control of the electromagnetic torque T. Optionally, for a given heating power, the electromagnetic torque T can be controlled. e Mechanical speed Ω and d-axis current i d The relationship is presented in a two-dimensional table. Table 2 shows the mechanical speed Ω and electromagnetic torque T for a given heating power of 3kW. e The d-axis current i d .

[0067]

[0068] It should be understood that the powertrain system according to the foregoing embodiments of the present invention can be integrated into a vehicle. The battery in the powertrain system can be a battery used in electric vehicles, such as a lithium iron phosphate battery, a ternary lithium battery, a nickel-metal hydride battery, or any suitable battery applicable to electric vehicles. The motor in the powertrain system can be an electric motor used in electric vehicles, which converts the electrical energy provided by the battery into the mechanical energy required by the vehicle. The control device can be a dedicated controller for the motor, or it can be integrated into other electronic control units (ECUs) or domain control units (DCUs) of the vehicle.

[0069] Figure 2 A motor control method 2000 according to an embodiment of the present invention is illustrated. The motor control method 2000 is used to control the d-axis current i of a motor (e.g., a permanent magnet synchronous motor). d The motor is powered by a battery, and the heat transfer components can transfer the heat generated by the motor to the battery to heat it.

[0070] Motor control method 2000 includes a first operating mode M210 (e.g., heating mode). In the first operating mode M210: the d-axis current i of the motor is controlled. d This allows the heat loss generated by the motor to provide a predetermined heating power P to the battery. heat Among them, the d-axis current i d This can be based at least on the equivalent phase resistance R of the motor's heat loss. sum The operating mode of the motor and the predetermined heating power P heatThe motor control method 2000, in its first operating mode M210, can provide the specified heating power to the battery using only heat transfer components, without the need for additional heat pump equipment, electric heating equipment, etc. This significantly reduces the equipment cost and floor space required for battery heating, and eliminates the need for additional circuitry for battery heating, especially high-voltage circuitry.

[0071] The motor control method 2000 may also include a second operating mode M220 (e.g., normal mode). In the second operating mode M220: the d-axis current i of the motor is controlled. d Without considering battery heating. As an example, motor control method 2000 can utilize a control scheme with maximum torque-to-current ratio to control the d-axis current i of the motor in the second operating mode M220. d This allows the motor to achieve high efficiency without considering battery heating requirements. It should be noted that the motor control method 2000 can also employ any other suitable current control scheme without considering battery heating in the second operating mode M220. Therefore, the motor control method 2000 includes two operating modes to control the d-axis current i of the motor. d When the battery needs to be heated, motor control method 2000 controls the d-axis current i in the first operating mode M210. d To provide the specified heating power to the battery; and when the battery does not need heating, the motor control method 2000 controls the d-axis current i in other ways under the second operating mode M220. d This, for example, enables the motor to have higher efficiency relative to the first operating mode M210.

[0072] In the first operating mode M210 of the motor control method 2000, for the d-axis current i of the motor d The determination can also be based on the d-axis current mode of the motor. Similar to the previous embodiments, the d-axis current mode includes positive DC mode, negative DC mode, sine wave mode, square wave mode, etc.

[0073] exist Figure 2 In the illustrated embodiment, the motor can be a permanent magnet synchronous motor, but the invention is not limited thereto. The motor can be any motor capable of being powered by a battery and controlled by the d-axis current i. dA motor that provides a specified amount of heat to the battery via a heat transfer component. The motor can be a salient-pole motor, a non-salient-pole motor, or any motor with a suitable structure. The heat transfer component can be a heat exchange pipe connecting the battery and the motor, through which coolant flows. The coolant can be water or any other suitable liquid with cooling properties. The motor operates in two modes: a static mode and a dynamic mode. In static mode, the motor outputs zero torque, and therefore does not require the motor to output mechanical energy. In dynamic mode, the motor outputs non-zero torque, and therefore outputs mechanical energy to the outside. The equivalent phase resistance R for heat loss is also considered. sum Including the equivalent phase resistance R of the motor stator s The equivalent phase resistance R of electronic devices inv The predetermined heating power P heat It can be calculated based on actual heating needs, determined based on empirical values, received from the battery, received from other controllers (e.g., other electronic control units (ECUs) or domain control units (DCUs) in the vehicle), or manually input, etc.

[0074] In the first operating mode M210 of the motor control method 2000, when the motor's operating mode is static (i.e., the motor does not need to output mechanical energy), the equivalent phase resistance R of the heat loss can be used as a basis. sum and the predetermined heating power P heat The d-axis current i is determined by the following formula. d :

[0075]

[0076] The d-axis current i is determined according to the above formula. d To control the motor, enabling the motor to generate power P heat The heat loss can be transferred to the battery via heat transfer components, providing the battery with power P. heat Heating power.

[0077] In the first operating mode M210 of the motor control method 2000, when the motor's operating mode is dynamic (i.e., when the motor outputs mechanical energy), in order to ensure that the heat loss generated by the motor is P heat The d-axis current i of the motor can be controlled according to the following formula. d :

[0078]

[0079] In other words, it can be based on the equivalent phase resistance R of heat loss. sum Predetermined heating power P heat Electromagnetic torque T eThe d-axis current i is determined by the mechanical rotation speed Ω. d .

[0080] It should be noted that the above descriptions do not account for energy losses during heat transfer. However, those skilled in the art will readily recognize that actual heat transfer will involve certain energy losses depending on the specific operating conditions, which will be considered when calculating the d-axis current i. d They will be compensated accordingly.

[0081] The motor control method according to the foregoing embodiments of the present invention can be implemented by a computer program. The computer program can take the form of instructions stored on a computer storage medium. By way of example, such a computer storage medium can include random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), or optical disk storage device, magnetic disk storage device, or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of machine-executable instructions or data structures and accessible by a processor.

[0082] Figure 3 A block diagram of a control device 3000 according to an embodiment of the present invention is shown. The control device 3000 includes a memory 310 and a processor 320. Although not shown in... Figure 3 As shown, the control device 3000 also includes a computer program stored on the memory 310 and executable on the processor 320, thereby implementing the various steps in the motor control method of the foregoing embodiments. The memory 310 can be a random access memory (RAM), a read-only memory (ROM), an electrically programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), an optical disc storage device, a magnetic disk storage device, or any other medium capable of carrying or storing desired program code in the form of machine-executable instructions or data structures and accessible by the processor 320. The processor 320 can be any suitable dedicated or general-purpose processor, such as a field-programmable array (FPGA), an application-specific integrated circuit (ASIC), or a digital signal processing circuit (DSP). In vehicle applications, the control device 3000 can be used independently for motor control or integrated with other processing devices such as electronic control units (ECUs) and domain control units (DCUs).

[0083] It should be understood that some block diagrams shown in the accompanying drawings of this invention are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0084] It should also be understood that, in some alternative embodiments, the functions / steps included in the foregoing method may not occur in the order shown in the flowchart. For example, two functions / steps shown sequentially may be executed substantially simultaneously or even in reverse order. This depends specifically on the functions / steps involved.

[0085] In summary, the motor control scheme according to one aspect of the present invention can provide a specified heating power to the battery using only heat transfer components by controlling the d-axis current of the motor. This motor control scheme eliminates the need for additional heat pump equipment or electric heating equipment (e.g., positive temperature coefficient PTC elements, high-voltage electric heaters HVH) for the battery, and also eliminates the need for high-voltage wiring for these additional devices. The control operation in the motor control scheme according to one aspect of the present invention can be implemented using the motor's existing controller, without requiring additional hardware to control the heating equipment. This makes the scheme simple to construct, easy to implement, and independent of the chip supply chain.

[0086] Furthermore, the motor control scheme according to one aspect of the present invention can provide a variety of motor d-axis current control modes for selection, allowing users to flexibly control the motor d-axis current according to actual operating conditions and needs. For example, when the ambient temperature is lower than the battery's operating temperature, the control of the d-axis current can be switched to a heating mode (i.e., the first operating mode described above), so that the motor provides a specified heating power to the battery. In this case, the motor makes a trade-off between high efficiency and heating the battery. When the ambient temperature is within the battery's operating temperature range, the control of the d-axis current can be switched to a normal mode (i.e., the second operating mode described above), so that the motor maintains high energy efficiency.

[0087] While only some embodiments of the invention have been described above, those skilled in the art will understand that the invention can be implemented in many other forms without departing from its spirit and scope. Although only certain features of the invention have been illustrated and described above, many modifications and alterations will occur to those skilled in the art. Moreover, it should be understood that components of the various embodiments disclosed above can be combined or interchanged with each other. Therefore, it will be understood that the appended claims are intended to cover all such modifications and alterations that fall within the true spirit of the invention.

Claims

1. A motor control method, characterized in that, The motor is powered by a battery, and the heat loss generated by the motor is transferred to the battery via a heat transfer component to heat the battery. The motor control method includes a first operating mode, in which: Controlling the d-axis current of the motor i d This allows the heat loss generated by the motor to provide a predetermined heating power to the battery. P heat , The motor's operating modes include a static mode and a dynamic mode. In the static mode, the motor outputs zero torque and no mechanical energy. In the dynamic mode, the motor outputs non-zero torque and outputs mechanical energy to the outside, based on the equivalent phase resistance of the motor's heat loss. R sum Predetermined heating power P heat The electromagnetic torque of the motor T e The d-axis current is determined by the mechanical rotational speed Ω using the following formula. i d : ， Wherein, the q-axis current of the motor i q It is the electromagnetic torque T e And the mechanical rotation speed Ω is a function of it.

2. The motor control method according to claim 1, wherein, In the first working mode: When the motor's operating mode is the static mode, based on the equivalent phase resistance of the heat loss... R sum and the predetermined heating power P heat The d-axis current is determined using the following formula. i d : 。 3. The motor control method according to claim 1, wherein, The equivalent phase resistance of the heat loss of the motor R sum At least including the equivalent phase resistance of the stator of the motor R s and the equivalent phase resistance of the power electronic devices of the motor R inv .

4. The motor control method according to claim 1, wherein, The d-axis current of the motor i d The determination is also based at least on the d-axis current pattern of the motor.

5. The motor control method according to claim 4, wherein, The d-axis current modes include at least positive DC mode, negative DC mode, sine wave mode, and square wave mode.

6. The motor control method according to claim 1, wherein, The motor control method further includes a second operating mode, in which: Controlling the d-axis current of the motor i d However, heating the battery is not considered.

7. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the control method according to any one of claims 1 to 6.

8. A power system, characterized in that, It includes a battery, a heat transfer component, a motor, and a control device as described in claim 7.

9. A vehicle, characterized in that, It has the power system as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 1 to 6.

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