Motor voltage injection method, electronic device, and storage medium

Abstract

The application discloses a motor voltage injection method, an electronic device and a storage medium. The motor voltage injection method comprises the following steps: obtaining an initial voltage setting value and a magnetic pole position angle of a target motor; injecting a first voltage into a motor winding of the target motor based on the magnetic pole position angle and the initial voltage setting value; collecting a historical feedback current and a current-time feedback current; determining a predicted feedback current according to the current-time feedback current and the historical feedback current; determining whether there is an overcurrent risk based on the predicted feedback current; if there is, reducing the initial voltage setting value to obtain an adjusted voltage setting value; injecting a second voltage into the motor winding based on the magnetic pole position angle and the adjusted voltage setting value until it is determined that there is no overcurrent risk, and obtaining a target voltage setting value for performing saturation model identification. The application solves the technical problem of high overcurrent risk in the inductance identification process of the prior art.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor voltage injection method, electronic device and storage medium. Background Technology

[0002] In motor drive control systems, the nonlinear changes in motor parameters due to the inherent characteristics of the motor itself, under different operating conditions, significantly limit the optimal performance of the controller. To achieve precise vector control of the motor and enhance the controller's performance and robustness, accurate motor parameters are essential. In general motor drive control systems, methods for identifying motor inductance parameters before motor startup, whether static or dynamic, urgently need improvement in applicability and accuracy. Currently, both traditional and innovative saturation model identification methods require inducing a corresponding current in the motor windings. A common approach is to apply voltage across the motor windings, a method known as motor voltage injection.

[0003] Existing technology involves forcibly turning on a single phase arm switch of the inverter to apply the DC bus voltage across the windings. By controlling the arm's on / off time, the pulse voltage's on-time can be controlled, thus obtaining a pulse voltage of a certain width. However, for small inductive motors, when the DC bus voltage (typically 540V) is applied across the motor windings, even with a very small pulse voltage width, the winding current will rise rapidly, leading to the risk of overcurrent detection. Summary of the Invention

[0004] The main objective of this application is to provide a motor voltage injection method, electronic device, and storage medium, which aims to solve the technical problem of high overcurrent risk in the inductance identification process of the prior art.

[0005] To achieve the above objectives, this application provides a method for injecting motor voltage, comprising:

[0006] Obtain the initial voltage setting value and magnetic pole position angle of the target motor;

[0007] Based on the magnetic pole position angle and the initial voltage setting value, a first voltage is injected into the motor windings of the target motor;

[0008] Collect the historical feedback current at least one time before the current time and the current time feedback current generated in the motor winding based on the first voltage;

[0009] Based on the current feedback current and at least one of the historical feedback currents, determine the predicted feedback current at least one time after the current time;

[0010] Based on the predicted feedback current, determine whether there is an overcurrent risk;

[0011] If an overcurrent risk is identified, the initial voltage setting value is reduced to obtain an adjusted voltage setting value.

[0012] Based on the magnetic pole position angle and the adjusted voltage setting value, a second voltage is injected into the motor winding until it is determined that there is no risk of overcurrent, and a target voltage setting value is obtained. The target voltage setting value is used for saturation model identification.

[0013] Optionally, the step of determining the predicted feedback current at least one time after the current time based on the current feedback current and at least one of the historical feedback currents includes:

[0014] Based on the at least one historical feedback current and the current feedback current, predict the first and second feedback currents corresponding to the next two times after the current time.

[0015] Correspondingly, based on the predicted feedback current, determining whether there is an overcurrent risk includes:

[0016] Based on the feedback current at the first moment and the feedback current at the second moment, determine whether there is an overcurrent risk.

[0017] Optionally, the first time point is earlier than the second time point, and the step of determining whether there is an overcurrent risk based on the feedback current at the first time point and the feedback current at the second time point includes:

[0018] Obtain the preset overcurrent limit current and the preset overcurrent threshold;

[0019] If the feedback current at the first moment does not exceed the preset overcurrent limit current, and the feedback current at the second moment exceeds the preset overcurrent threshold, an overcurrent risk is determined to exist.

[0020] Optionally, the step of predicting the first and second time-period feedback currents corresponding to the next two time-periods after the current time based on the at least one historical feedback current and the current time-period feedback current includes:

[0021] If the current in the motor winding is determined to be a linear upward trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined based on the difference between the current feedback current and the historical feedback current.

[0022] If the current rising trend of the motor winding is determined to be a non-linear rising trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined based on the current change rate between the current feedback current at the current moment and the historical feedback current.

[0023] Optionally, the step of injecting a second voltage into the motor winding based on the magnetic pole position angle and the adjusted voltage setting value includes:

[0024] The magnetic pole position angle is updated by identifying the magnetic pole position;

[0025] Based on the updated magnetic pole position angle and the adjusted voltage setting, a second voltage is injected into the motor winding.

[0026] Optionally, before the step of obtaining the initial voltage setting value and magnetic pole position angle of the target motor, the method further includes:

[0027] The basic stator resistance is obtained by identifying the stator resistance, and the basic inductance value is obtained by identifying the inductance.

[0028] Based on the basic stator resistance and the preset threshold voltage, determine the target current identified by the preset saturation model;

[0029] Based on the target current, the basic inductance value, and a preset resistor-inductor series model, the voltage setting value of the target motor is determined, wherein the resistor-inductor series model is as follows:

[0030]

[0031] U set L is the voltage setting value for the target motor. tune I is the base inductance value. aim The target current identified by the preset saturation model, N s T is the preset number of sampling points when the current rises to the target current. s This represents the current sampling time interval.

[0032] Optionally, after the step of obtaining the target voltage setpoint, the method further includes:

[0033] The target voltage setting value is input into a preset saturation model to identify the nonlinear inductance characteristic curve of the target motor.

[0034] Optionally, the step of reducing the initial voltage setting value to obtain an adjusted voltage setting value when an overcurrent risk is determined includes:

[0035] If an overcurrent risk is identified, the initial voltage setting value is reduced to obtain a first voltage setting value.

[0036] If the first voltage setting value is determined to be less than or equal to the preset limit value, the first voltage setting value is increased to obtain the second voltage setting value;

[0037] The second voltage setting value is set as the adjusted voltage setting value;

[0038] If it is determined that the first voltage setting value is greater than the preset limit value, the first voltage setting value is determined as the adjusted voltage setting value.

[0039] This application also provides an electronic device, which is a physical device, comprising: a memory, a processor, and a program for the motor voltage injection method stored in the memory and executable on the processor. When the program for the motor voltage injection method is executed by the processor, it can implement the steps of the motor voltage injection method as described above.

[0040] This application also provides a storage medium, which is a computer-readable storage medium, storing a program for implementing a motor voltage injection method. When the program for the motor voltage injection method is executed by a processor, it implements the steps of the motor voltage injection method as described above.

[0041] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor voltage injection method described above.

[0042] This application provides a motor voltage injection method, electronic device, and storage medium. By acquiring the initial voltage setpoint and magnetic pole position angle of the target motor, and based on the magnetic pole position angle and the initial voltage setpoint, a first voltage is injected into the motor windings of the target motor, thereby exciting the current in the motor windings. Then, by collecting the historical feedback current at least one moment before the current moment and the current feedback current in the motor windings generated based on the first voltage, a predicted feedback current at least one moment after the current moment is determined based on the current feedback current and at least one of the historical feedback currents. Based on the predicted feedback current, it is determined whether there is an overcurrent risk, thus achieving the exciting of the current in the motor windings. The system performs real-time monitoring of the feedback current and overcurrent risk prediction. Then, when an overcurrent risk is determined to exist, the initial voltage setting value is reduced to obtain an adjusted voltage setting value. Based on the magnetic pole position angle and the adjusted voltage setting value, a second voltage is injected into the motor winding until an overcurrent risk is determined to be non-existent, resulting in a target voltage setting value. This target voltage setting value is used for saturation model identification, enabling timely avoidance of potential overcurrent risks. By sequentially reducing the voltage setting value based on the risk prediction results, the current increase trend gradually slows down, effectively reducing the overcurrent risk during inductor identification and overcoming the technical problem of high overcurrent risk in existing inductor identification processes. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

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

[0045] Figure 1 This is a schematic flowchart of an embodiment of the motor voltage injection method of this application;

[0046] Figure 2 This is a schematic diagram of the voltage and current external characteristic curves after adjusting the voltage setting value in the motor voltage injection method of this application;

[0047] Figure 3 This is a schematic flowchart of another embodiment of the motor voltage injection method of this application;

[0048] Figure 4 This is a schematic diagram of a possible implementation scenario for overcurrent risk prediction in the motor voltage injection method of this application;

[0049] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the motor voltage injection method in this application embodiment.

[0050] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] This application provides a method for injecting motor voltage. In the first embodiment of the method for injecting motor voltage, refer to... Figure 1 The motor voltage injection method includes:

[0053] Step S10: Obtain the initial voltage setting value and magnetic pole position angle of the target motor;

[0054] In this embodiment, it should be noted that this application is applicable to scenarios where synchronous motors use voltage injection for inductance identification, but is not limited to synchronous motors. It should be understood that the automatic voltage setting method described in this invention is also applicable to other similar situations where a voltage injection setting value needs to be determined. Whether it is a traditional motor inductance identification method or an innovative saturation model identification method, both require generating a corresponding current in the motor windings. A common method is to apply a voltage across the motor windings, i.e., the so-called voltage injection method. The voltage injection method requires at least determining the magnitude of the applied voltage and the reference angle during voltage injection. The magnitude of the applied voltage is determined and controlled by a voltage setting value, and the reference angle during voltage injection is determined and controlled by the magnetic pole position angle. The voltage setting value and the magnetic pole position angle can be obtained through a preset identification method, or directly by acquiring data pre-collected and stored in a preset location by the motor drive control system, or pre-calculated based on actual conditions or directly set to a preset specific value.

[0055] In this embodiment, the target motor can be a motor that has been pre-tuned and has stored the initial voltage setting value and magnetic pole position angle obtained from the tuning, or it can be a motor to be identified for saturated inductance. The specific motor can be determined according to the actual situation, and this embodiment does not limit it.

[0056] In this embodiment, the initial voltage setting value and magnetic pole position angle of the target motor can be obtained. The magnetic pole position angle can be used to determine the angle at which voltage is injected into the two ends of the motor winding of the target motor. The voltage setting value can include the voltage value applied to the two ends of the motor winding of the target motor, including the d-axis (direct axis) voltage setting value and the q-axis (quadrature axis) voltage setting value. The initial voltage setting value is the initially set voltage setting value.

[0057] In one feasible approach, the initial voltage setting and the magnetic pole position angle can also be obtained by directly acquiring data pre-collected and stored at a preset location by the motor drive control system. Specifically, the tuning process of the motor drive control system collects, calculates, and stores parameters such as the basic stator resistance, basic inductance, initial voltage setting, and / or magnetic pole position angle, so that the corresponding data can be directly retrieved from the stored location when needed later. The tuning process is usually performed when the motor drive control system is first powered on, or, during use, the motor drive control system may be replaced with different models of motors. After the motor is replaced, tuning can be performed, and the originally stored parameters can be updated according to the new parameters obtained from the tuning, so as to ensure the accuracy of the stored parameters and save the time and resources occupied by repeated tuning or identification each time a parameter is needed.

[0058] In one feasible approach, the magnetic pole position angle can be identified by pulse method, or by high-frequency injection, or by other identification methods with equivalent effect. This embodiment does not limit this approach.

[0059] Optionally, before the step of obtaining the voltage setting value and magnetic pole position angle of the target motor, the following may be included:

[0060] Step A10: Identify the basic stator resistance by identifying the stator resistance, and identify the basic inductance value by identifying the inductance.

[0061] In this embodiment, the stator resistance can be identified using a preset stator resistance identification method to obtain the basic stator resistance, and the inductance can be identified using a preset inductance identification method to obtain the basic inductance value. The stator resistance identification method includes the DC volt-ampere method, online resistance estimator, etc., and the inductance identification method includes the saturation model identification method, zero-state response method, pulse voltage method, etc.

[0062] Step A20: Determine the target current identified by the preset saturation model based on the basic stator resistance and the preset threshold voltage;

[0063] Step A30: Determine the voltage setting value of the target motor based on the target current, the basic inductance value, and the preset resistor-inductor series model, wherein the resistor-inductor series model is as follows:

[0064]

[0065] U set L is the voltage setting value for the target motor. tune I is the base inductance value. aim The target current identified by the preset saturation model, N s T is the preset number of sampling points when the current rises to the target current. s This represents the current sampling time interval.

[0066] In this embodiment, the threshold current at the voltage and current reversal point can be calculated based on the basic stator resistance and a preset threshold voltage. This threshold current is then determined as the target current identified by a preset saturation model. The target current and the basic inductance value are substituted into a preset resistor-inductor series model to output the target motor's voltage setting value. Here, the threshold voltage is the input voltage corresponding to the midpoint of the transition zone where the output current changes drastically with the input voltage in the transmission characteristic curve. The resistor-inductor series model is as follows:

[0067]

[0068] Among them, U set L is the voltage setting value for the target motor. tune I is the base inductance value. aim The target current identified by the preset saturation model, N s T is the preset number of sampling points when the current rises to the target current. s The current sampling time interval is defined as follows: the basic inductance value includes the d-axis basic inductance value and the q-axis basic inductance value. The number of sampling points is related to the sampling time interval, and the specific value can be set according to actual conditions and requirements. This embodiment does not impose any restrictions on this. For example, if the target current rises in 10 seconds, the sampling time interval is 1 second, and the number of sampling points is 10. The voltage setting value determined by the resistor-inductor series model is suitable for the motor characteristics, making the subsequent identification process more efficient.

[0069] Step S20: Based on the magnetic pole position angle and the initial voltage setting value, inject a first voltage into the motor windings of the target motor;

[0070] In this embodiment, the initial voltage setting value includes a d-axis initial voltage setting value and a q-axis initial voltage setting value. The first voltage may include a first d-axis voltage and a first q-axis voltage. The injection direction of the first voltage, i.e., the d-axis direction and the q-axis direction, can be determined based on the magnetic pole position angle. For example, the direction of the rotor magnetic pole position can be determined as the d-axis direction based on the magnetic pole position angle, and the direction perpendicular to the rotor magnetic pole position direction can be determined as the q-axis direction. Alternatively, the direction of the rotor magnetic pole position can be determined as the q-axis direction based on the magnetic pole position angle, and the direction perpendicular to the rotor magnetic pole position direction can be determined as the d-axis direction. Furthermore, the d-axis initial voltage setting value can be used as the value of the first d-axis voltage, and a first d-axis voltage of the magnitude of the d-axis initial voltage setting value can be injected in the d-axis direction. Similarly, the q-axis initial voltage setting value can be used as the value of the first q-axis voltage, and a first q-axis voltage of the magnitude of the q-axis initial voltage setting value can be injected in the q-axis direction.

[0071] Specifically, the d-axis and q-axis directions of the injected voltage can be determined based on the magnetic pole position angle. A first d-axis voltage corresponding to the d-axis voltage setting value is injected into the d-axis direction to generate a certain d-axis current in the d-axis direction of the motor winding of the target motor. A first q-axis voltage corresponding to the q-axis voltage setting value is injected into the q-axis direction to generate a certain q-axis current in the q-axis direction of the motor winding of the target motor.

[0072] Step S30: Collect the historical feedback current at least one time before the current time and the current feedback current generated in the motor winding based on the first voltage.

[0073] In this embodiment, based on the current response characteristics of the inductor, the larger the applied voltage, the faster the current rises and changes; conversely, the smaller the applied voltage, the slower the current rises and changes. Therefore, by collecting the feedback current generated in the motor winding in real time, it is possible to detect whether there is an overcurrent risk in a timely manner. When an overcurrent risk is detected, the voltage can be adjusted in a timely manner to regulate the rise rate of the feedback current and avoid the overcurrent risk.

[0074] In this embodiment, the current feedback current generated by the first voltage in the motor winding can be collected, and the historical feedback current collected at least one time before the current time can be obtained. The feedback current may include d-axis current and q-axis current.

[0075] Since the magnitude of the feedback current may be the same or different at different times, the historical feedback current collected at least one time before the current time can be obtained. This historical feedback current can be the feedback current generated in the motor winding based on the voltage injected at any historical time before the current time. In some embodiments, the historical feedback current of the time before the current time can be obtained, or the historical feedback current of the two times before the current time can be obtained. Which specific historical feedback currents to obtain can be determined according to the actual situation, and this specification does not limit this aspect in the embodiments.

[0076] In this embodiment, the feedback current collected at each moment can be stored in real time for direct retrieval when needed later. After obtaining the historical feedback current, operations such as current upward trend analysis and calculation can be performed by combining the historical feedback current with the feedback current at the current moment.

[0077] Step S40: Based on the current feedback current and at least one historical feedback current, determine the predicted feedback current at least one time after the current time;

[0078] In this embodiment, the trend of feedback current change can be predicted based on the current feedback current and at least one historical feedback current, thereby determining the predicted feedback current at least one time after the current time.

[0079] In this embodiment, the feedback current can increase linearly or non-linearly. If the current in the motor winding is determined to be increasing linearly, the magnitude of the feedback current at one or more future moments can be determined based on the difference between the feedback current at the current moment and the feedback current at any one or more moments prior to the current moment. If the current in the motor winding is determined to be increasing non-linearly, the magnitude of the feedback current at one or more future moments can be determined based on the rate of change of the feedback current at the current moment and the feedback current at any one or more moments prior to the current moment. The rate of change of the current can be the slope of the curve corresponding to the current upward trend.

[0080] Step S50: Based on the predicted feedback current, determine whether there is an overcurrent risk;

[0081] In this embodiment, the magnitude of the predicted feedback current can be used to determine whether there is an overcurrent risk when injecting the first voltage into the motor winding. The method for determining whether there is an overcurrent risk may include determining whether the magnitude of at least one of the predicted feedback currents exceeds a preset overcurrent threshold or falls within a preset risk current value range. It is understood that other possible methods can also be used to determine whether there is an overcurrent risk, such as whether the rate of change of the predicted feedback current exceeds a preset value. The specific method can be determined according to the actual situation, and this embodiment does not limit this approach.

[0082] In one feasible approach, after determining whether there is an overcurrent risk based on the predicted feedback current, a predicted overcurrent risk flag and a risk prediction report can be output to record and prompt the prediction results of the overcurrent risk prediction. The motor can also trigger the adjustment operation of the voltage setpoint by detecting the overcurrent risk flag, so that the overcurrent risk prediction process is independent of the voltage injection and adjustment process and does not interfere with each other.

[0083] Step S60: If an overcurrent risk is determined, the initial voltage setting value is reduced to obtain an adjusted voltage setting value;

[0084] In this embodiment, if it is determined that the first voltage injected into the motor winding may cause an overcurrent risk in the motor winding, the initial voltage setting value can be reduced to obtain an adjusted voltage setting value.

[0085] In this embodiment, if an overcurrent risk is determined, the initial voltage setting value can be reduced by half, one-third, or other multiples. Specifically, it can be set according to the actual situation or test results, and this embodiment does not limit this.

[0086] In some embodiments, the target voltage setting value can generally be obtained by making one or two reduction adjustments, and usually no more than three adjustments. Using the method in this embodiment can effectively reduce the overall inductor identification time, thereby improving identification efficiency. For example, refer to Figure 2 , Figure 2 To predict the voltage and current external characteristic curves corresponding to several different scenarios of adjusting the voltage setpoint after overcurrent risk, where U d,qset For voltage setting value, U d,q_adp1 The voltage setting value after the first adjustment, U d,q_adp2 U is the voltage setting value after the second adjustment. d,q_adp3The voltage setting value is after the third adjustment. The thicker line represents the voltage external characteristic curve, and the thinner line represents the current external characteristic curve. A current external characteristic curve below the dashed line indicates no overcurrent risk, while a current external characteristic curve below the dashed line indicates an overcurrent risk. Figure 2 (1) These are the voltage and current external characteristic curves for the case of no voltage adjustment. The case of no voltage adjustment refers to a situation where no overcurrent risk is predicted, and there is no need to adjust the voltage injected into the motor windings. Figure 2 As can be seen from (1), after injecting a voltage of the set voltage value into the motor winding, there is no risk of overcurrent, therefore, there is no need to adjust the voltage. Figure 2 (2) The voltage and current external characteristic curves corresponding to the single voltage adjustment scenario, wherein the single voltage adjustment scenario refers to the situation where, after predicting the overcurrent risk, the voltage injected into the motor winding is adjusted once to eliminate the overcurrent risk. Figure 2 As can be seen from (2), after injecting a voltage of the set voltage value into the motor winding, there is an overcurrent risk. Therefore, after adjusting the voltage set value for the first time and injecting a voltage of the set voltage value after the first adjustment into the motor winding, there is no overcurrent risk. That is, the overcurrent risk can be eliminated by adjusting the voltage injected into the motor winding once. Figure 2 (3) The voltage and current external characteristic curves corresponding to the voltage double adjustment scenario, wherein the voltage double adjustment scenario refers to the situation where, after predicting the overcurrent risk, the voltage injected into the motor winding is adjusted twice to eliminate the overcurrent risk. Figure 2 As can be seen from (3), after injecting a voltage of the set voltage value into the motor winding, there is an overcurrent risk. Therefore, after adjusting the voltage set value for the first time and injecting a voltage of the set voltage value after the first adjustment into the motor winding, there is still an overcurrent risk. Therefore, after adjusting the voltage set value after the first adjustment for the second time and injecting a voltage of the set voltage value after the second adjustment into the motor winding, there is no overcurrent risk. That is, the overcurrent risk can be eliminated by adjusting the voltage injected into the motor winding a second time. Figure 2 (4) The voltage and current external characteristic curves corresponding to the three-stage voltage adjustment scenario, wherein the three-stage voltage adjustment scenario refers to the situation where, after predicting the overcurrent risk, the voltage injected into the motor winding is adjusted three times to eliminate the overcurrent risk. Figure 2As shown in (4), after injecting a voltage of the set voltage value into the motor winding, there is an overcurrent risk. Therefore, the voltage set value is adjusted for the first time. After injecting a voltage of the first adjusted voltage set value into the motor winding, there is still an overcurrent risk. Therefore, the voltage set value is adjusted for the first time. After injecting a voltage of the second adjusted voltage set value into the motor winding, there is still an overcurrent risk. Therefore, the voltage set value is adjusted for the second time. After injecting a voltage of the third adjusted voltage set value into the motor winding, there is no overcurrent risk. That is, the overcurrent risk can be eliminated by adjusting the voltage injected into the motor winding three times. Of course, if there is still an overcurrent risk after injecting a voltage of the third adjusted voltage set value into the motor winding, a fourth, fifth, and more adjustments can be made until it is determined that there is no overcurrent risk after injecting an adjusted voltage value into the motor winding. As one of the obvious features, the adjusted voltage set value decreases sequentially compared to the initial voltage set value, and the current increase trend gradually slows down.

[0087] In this embodiment, if it is determined that there is no risk of overcurrent, the initial voltage setting value can be directly used as the target voltage setting value. Alternatively, the initial voltage setting value can be used as the target voltage setting value after further determining that the initial voltage setting value is greater than the preset limit value. The specific method can be determined according to the actual situation, and this embodiment does not limit this.

[0088] Optionally, the step of reducing the initial voltage setting value to obtain an adjusted voltage setting value when an overcurrent risk is determined may include:

[0089] Step S61: If an overcurrent risk is determined, the initial voltage setting value is reduced to obtain a first voltage setting value;

[0090] Step S62: If it is determined that the first voltage setting value is less than or equal to the preset limit value, the first voltage setting value is increased to obtain the second voltage setting value;

[0091] Step S63: Determine the second voltage setting value as the adjusted voltage setting value;

[0092] Step S64: If it is determined that the first voltage setting value is greater than the preset limit value, the first voltage setting value is determined as the adjusted voltage setting value.

[0093] In this embodiment, if an overcurrent risk is determined, the initial voltage setting value can be reduced to obtain a first voltage setting value. Further, the numerical relationship between the first voltage setting value and a preset limit value can be determined. If the first voltage setting value is less than or equal to the preset limit value, the first voltage setting value can be increased to obtain a second voltage setting value, which is then determined as the adjusted voltage setting value. If the first voltage setting value is greater than the preset limit value, the first voltage setting value can be determined as the adjusted voltage setting value.

[0094] In this embodiment, the preset limit value can be determined based on the voltage drop across the stator resistance of the motor, so that the adjusted voltage setting value is not lower than the voltage drop across the stator resistance, i.e., U set >R s *I aim , among which, U set The voltage setting value for the target motor, I aim The target current identified by the preset saturation model, R s The stator resistance is used to prevent the voltage after automatic adjustment from being too low, which could cause the current to fail to rise to the threshold current, or to prevent the recognition timeout due to the rise time being too slow. Of course, the above-mentioned preset limit value can also be a preset value determined in advance based on experimental test results, big data analysis, or experience. The specific value can be determined according to the actual situation, and the embodiments in this specification do not limit it in this way.

[0095] In this embodiment, the increase adjustment range of the first voltage setting value can be less than the decrease adjustment range of the initial voltage setting value. For example, if the decrease adjustment is to reduce the initial voltage setting value by half to obtain the first voltage setting value, then the increase adjustment is to increase the first voltage setting value by any multiple less than one, such as increasing it by one-half, one-third, etc.

[0096] Step S70: Based on the magnetic pole position angle and the adjusted voltage setting value, inject a second voltage into the motor winding until it is determined that there is no risk of overcurrent, and obtain the target voltage setting value, wherein the target voltage setting value is used for saturation model identification.

[0097] In this embodiment, a second voltage can be injected into the motor winding based on the magnetic pole position angle and the adjusted voltage setting value to slow down the rising trend of current in the motor winding, and the above steps S30-S50 are repeated until it is determined that there is no risk of overcurrent. The adjusted voltage setting value determined at this time can be used as the target voltage setting value, which is used for saturation model identification, or for finite element analysis, static identification, or online parameter identification, etc. The specific method can be determined according to the actual situation, and this embodiment does not limit it.

[0098] Since the acquisition of feedback current is performed in real time, the overcurrent risk prediction process is also carried out accordingly. Therefore, after injecting the second voltage into the motor winding, the historical feedback current at least one moment before the current moment and the current feedback current generated in the motor winding based on the second voltage can be acquired. Based on the current feedback current and at least one of the historical feedback currents, the predicted feedback current at least one moment after the current moment is determined. If an overcurrent risk is predicted again, the adjusted voltage setting value is reduced again to obtain a new adjusted voltage setting value. This process continues until it is determined that there is no overcurrent risk. The adjusted voltage setting value determined at this time can be used as the target voltage setting value.

[0099] In one implementation, after the target voltage setpoint is determined, the acquisition of feedback current and the prediction of overcurrent risk can still be carried out in real time. After a period of time, there may be a situation where the overcurrent risk is predicted again. At this time, the initial voltage setpoint can be the most recently determined target voltage setpoint. The initial voltage setpoint can be reduced to realize real-time monitoring and adjustment of overcurrent risk, thereby effectively reducing the overcurrent risk.

[0100] In this embodiment, by acquiring the initial voltage setting value and magnetic pole position angle of the target motor, a first voltage is injected into the motor windings of the target motor based on the magnetic pole position angle and the initial voltage setting value, thereby exciting the current in the motor windings. Then, by collecting the historical feedback current at least one moment before the current moment and the current feedback current generated in the motor windings based on the first voltage, a predicted feedback current at least one moment after the current moment is determined based on the current feedback current and at least one of the historical feedback currents. Furthermore, based on the predicted feedback current, it can be determined whether there is an overcurrent risk, achieving real-time monitoring and overcurrent risk prediction of the feedback current excited in the motor windings. Then, if an overcurrent risk is determined to exist, the initial voltage setting value is reduced to obtain an adjusted voltage setting value, and a second voltage is injected into the motor windings based on the magnetic pole position angle and the adjusted voltage setting value until it is determined that there is no overcurrent risk, thus obtaining the target voltage setting value. The target voltage setting value can be used for saturation model identification, which enables timely avoidance of potential overcurrent risks. By gradually reducing the voltage setting value based on the risk prediction results, the current rise trend is gradually slowed down, thereby effectively reducing the overcurrent risk in the inductor identification process and overcoming the technical problem of high overcurrent risk in the inductor identification process of the prior art.

[0101] Optionally, the step of injecting a second voltage into the motor winding based on the magnetic pole position angle and the adjusted voltage setting value may include:

[0102] Step B10: Update the magnetic pole position angle by identifying the magnetic pole position;

[0103] Step B20: Based on the updated magnetic pole position angle and the adjusted voltage setting, a second voltage is injected into the motor winding.

[0104] In this embodiment, the magnetic pole position can be identified using a preset magnetic pole position identification method to obtain the current magnetic pole position angle, and this current magnetic pole position angle is used to replace the originally set magnetic pole position angle to update the magnetic pole position angle. Furthermore, based on the updated magnetic pole position angle and the adjusted voltage setting value, a second voltage can be injected into the motor winding. The preset magnetic pole position identification method can include pulse method, high-frequency injection identification, or other identification methods with equivalent effects; this embodiment does not limit this method.

[0105] The voltage injection process requires a certain level of accuracy in identifying the magnetic pole position angle. After resetting the voltage setting value, the magnetic pole position can be identified again to further identify the injected voltage based on the accurate magnetic pole position angle. This can effectively avoid the accumulation of position deviations caused by voltage adjustment during the inductor identification process, thereby further ensuring the identification accuracy.

[0106] Optionally, after the step of obtaining the target voltage setpoint, the method may further include:

[0107] Step S80: Input the target voltage setting value into a preset saturation model to identify the nonlinear inductance characteristic curve of the target motor.

[0108] In this embodiment, the target voltage setting value can be input into a preset saturation model. The nonlinear inductance characteristic curve of the target motor can be identified through the saturation model. The nonlinear inductance characteristic curve is the characteristic curve of the nonlinear inductance changing with the current. The nonlinear inductance characteristic curve can more accurately reflect the actual operating characteristics of the motor.

[0109] Furthermore, in another embodiment of the motor voltage injection method of this application, referring to Figure 3 The step of determining the predicted feedback current at least one time after the current time based on the current feedback current and at least one of the historical feedback currents may include:

[0110] Step S41: Based on the at least one historical feedback current and the current feedback current, predict the first and second time feedback currents corresponding to the next two times after the current time.

[0111] In this embodiment, at least one historical feedback current collected at least one time before the current time can be obtained, and the upward trend of the current can be determined based on the current feedback current and each of the historical feedback currents, thereby predicting the first time feedback current and the second time feedback current corresponding to the two times after the current time.

[0112] Optionally, the step of predicting the first and second time-period feedback currents corresponding to the next two time-periods after the current time based on the at least one historical feedback current and the current time-period feedback current may include:

[0113] Step S411: If it is determined that the current rising trend of the motor winding is a linear rising trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined according to the difference between the current feedback current at the current moment and the historical feedback current.

[0114] In this embodiment, the current rising trend information of the motor winding can be obtained, and the current rising trend of the motor winding can be determined to be either a linear or non-linear rising trend based on the current rising trend information. If the current rising trend of the motor winding is determined to be a linear rising trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the two moments after the current moment can be determined based on the difference between the current feedback current at the current moment and the historical feedback current. For example, assuming each moment represents the same time interval, the feedback current at the first moment is the current generated at the first moment after the current moment, and the feedback current at the second moment is the current generated at the second moment after the current moment. If the feedback current at the current moment is I... k The feedback current of the previous time step is I. k-1 The feedback current at the first moment is I k+1 The feedback current at the second moment is I. k+2 , then I k+1 =2I k -I k-1 I k+2 =3I k -2I k-1 .

[0115] Step S412: If it is determined that the current rising trend of the motor winding is a non-linear rising trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined according to the current change rate between the current feedback current at the current moment and the historical feedback current.

[0116] In this embodiment, it should be noted that for motors with significant saturation effects, the actual inductance decreases as the current increases, and the current increase gradually accelerates. Therefore, it is necessary to consider the nonlinear change in current rise, which requires considering the change in the current rise slope, and predicting the current for the next two cycles based on the current rise slope.

[0117] In this embodiment, after obtaining the current upward trend information of the motor winding, it is possible to determine whether the current upward trend of the motor winding is a linear or non-linear upward trend based on the current upward trend information. If the current upward trend of the motor winding is determined to be non-linear, the feedback current at the first moment and the feedback current at the second moment can be determined based on the rate of change between the current feedback current at the current moment and the historical feedback current. For example, assuming each moment represents the same time interval, the feedback current at the first moment is the current generated at the first moment after the current moment, and the feedback current at the second moment is the current generated at the second moment after the current moment. If the feedback current at the current moment is I... k The feedback current of the previous time step is I. k-1 The feedback current at the first moment is Ik+1 The feedback current at the second moment is I. k+2 ΔI is the difference between the feedback current at each time step and the previous time step (e.g., ΔI0). k Let ΔI be the difference between the feedback current at time k and time k-1. k =I k -I k-1 ΔI k+1 =2ΔI k -ΔI k-1 ΔI k+2 =3ΔI k -2ΔI k-1 , then I k+1 =I k +ΔI k+1 I k+2 =I k+1 +ΔI k+2 .

[0118] Correspondingly, the step of determining whether there is an overcurrent risk based on the predicted feedback current may include:

[0119] Step S51: Determine whether there is an overcurrent risk based on the feedback current at the first moment and the feedback current at the second moment.

[0120] In this embodiment, the feedback current at the first moment and the feedback current at the second moment can be compared with a preset overcurrent risk current range to determine whether the feedback current at the first moment and the feedback current at the second moment are respectively within the corresponding risk-free range or risk range. Then, the overcurrent risk prediction result can be determined based on the determination result. For example, the overcurrent risk prediction method can be that if any one or both of the feedback current at the first moment and the feedback current at the second moment exceed a preset overcurrent limit current, then an overcurrent risk is determined to exist; alternatively, if the difference between the feedback current at the second moment and the feedback current at the first moment exceeds the difference between a preset overcurrent threshold and the overcurrent limit current, then an overcurrent risk is determined to exist.

[0121] In this embodiment, the overcurrent threshold can be greater than the overcurrent limit current, and the overcurrent limit current and the overcurrent threshold can be preset according to actual conditions or hardware conditions.

[0122] Optionally, the first time point is earlier than the second time point, and the step of determining whether there is an overcurrent risk based on the feedback current at the first time point and the feedback current at the second time point may include:

[0123] Step S511: Obtain the preset overcurrent limit current and the preset overcurrent threshold.

[0124] Step S512: If the feedback current at the first moment does not exceed the preset overcurrent limit current, and the feedback current at the second moment exceeds the preset overcurrent threshold, it is determined that there is an overcurrent risk.

[0125] In this embodiment, a preset overcurrent limit current and a preset overcurrent threshold can be obtained. If the feedback current at the first moment does not exceed the preset overcurrent limit current, but the feedback current at the second moment exceeds the preset overcurrent threshold, it can be determined that there is an overcurrent risk, and the voltage setting value needs to be reduced. The first moment is earlier than the second moment. For example, referring to... Figure 4 , Figure 4 In the diagram, the horizontal axis represents time, the vertical axis represents current, k is the current moment, k-1 is the historical moment before the current moment, k+1 is the first moment, k+2 is the second moment, and each moment represents the same time interval. ovr I is the overcurrent threshold. limit The overcurrent limit current is determined by risk prediction. k+1 Less than I limit However, I k+2 Greater than I ovr At this point, it indicates that the current may exceed the overcurrent threshold at the second moment, thus indicating that there is an overcurrent risk.

[0126] In this embodiment, the rate of change of the current rise induced by the currently set voltage value in the motor winding is determined by using historical feedback current and the current feedback current at the current moment. This allows for the effective prediction of the magnitude of the feedback current at two moments after the current moment. Based on the predicted magnitude of the feedback current at these two moments, it is possible to promptly and effectively determine whether there is an overcurrent risk if the voltage is injected at the currently set voltage value. This enables the prediction of future overcurrent risks. Since the feedback current is collected in real time, predicting only the next two moments effectively improves the efficiency of risk prediction and reduces the computational resources required for risk prediction.

[0127] Furthermore, embodiments of the present invention provide an electronic device, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the motor voltage injection method in the above embodiments.

[0128] The following is for reference. Figure 5The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0129] like Figure 5 As shown, an electronic device may include a processing unit (such as a central processing unit, graphics processing unit, etc.) that can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from a storage device into random access memory (RAM). The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0130] Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tapes, hard disks, etc.; and communication devices. Communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0131] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined above in the methods of embodiments of this disclosure.

[0132] The electronic device provided by this invention employs the motor voltage injection method in the above embodiments, solving the technical problem of high overcurrent risk in the inductor identification process of the prior art. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiments of this invention are the same as those of the motor voltage injection method provided in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0133] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0134] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0135] Furthermore, this embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the motor voltage injection method in the above embodiment.

[0136] The computer-readable storage medium provided in this embodiment of the invention may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0137] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0138] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: acquire an initial voltage setting value and a magnetic pole position angle of a target motor; inject a first voltage into the motor windings of the target motor based on the magnetic pole position angle and the initial voltage setting value; collect historical feedback currents at least one time before the current time and current feedback currents generated in the motor windings based on the first voltage; determine a predicted feedback current at least one time after the current time based on the current feedback current and at least one of the historical feedback currents; determine whether there is an overcurrent risk based on the predicted feedback current; if an overcurrent risk is determined to exist, reduce the initial voltage setting value to obtain an adjusted voltage setting value; inject a second voltage into the motor windings based on the magnetic pole position angle and the adjusted voltage setting value until an overcurrent risk is determined to exist, thereby obtaining a target voltage setting value, wherein the target voltage setting value is used for saturation model identification.

[0139] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0141] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0142] The computer-readable storage medium provided by this invention stores computer-readable program instructions for executing the above-described motor voltage injection method, thus solving the technical problem of high overcurrent risk in the inductance identification process of the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiments of this invention are the same as the beneficial effects of the motor voltage injection method provided by the above-described embodiments, and will not be repeated here.

[0143] Furthermore, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor voltage injection method described above.

[0144] The computer program product provided in this application solves the technical problem of high overcurrent risk in the inductor identification process of the prior art. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of the present invention are the same as the beneficial effects of the motor voltage injection method provided in the above embodiments, and will not be repeated here.

[0145] 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 scope of this application.

Claims

1. A method for injecting motor voltage, characterized in that, include: Obtain the initial voltage setting value and magnetic pole position angle of the target motor; The voltage injection direction is determined based on the magnetic pole position angle, and a first voltage is injected into the motor windings of the target motor based on the voltage injection direction and the initial voltage setting value. Collect the historical feedback current at least one time before the current time and the current time feedback current generated in the motor winding based on the first voltage; Based on the current feedback current and at least one of the historical feedback currents, determine the predicted feedback current at least one time after the current time; Based on the predicted feedback current, determine whether there is an overcurrent risk; If an overcurrent risk is identified, the initial voltage setting value is reduced to obtain an adjusted voltage setting value. Based on the magnetic pole position angle and the adjusted voltage setting value, a second voltage is injected into the motor winding until it is determined that there is no risk of overcurrent, and a target voltage setting value is obtained. The target voltage setting value is used for saturation model identification.

2. The motor voltage injection method as described in claim 1, characterized in that, The step of determining the predicted feedback current at least one time after the current time based on the current feedback current and at least one historical feedback current includes: Based on the at least one historical feedback current and the current feedback current, predict the first and second feedback currents corresponding to the next two times after the current time. Correspondingly, the step of determining whether there is an overcurrent risk based on the predicted feedback current includes: Based on the feedback current at the first moment and the feedback current at the second moment, determine whether there is an overcurrent risk.

3. The motor voltage injection method as described in claim 2, characterized in that, The first time point is earlier than the second time point. The step of determining whether there is an overcurrent risk based on the feedback current at the first time point and the feedback current at the second time point includes: Obtain the preset overcurrent limit current and the preset overcurrent threshold; If the feedback current at the first moment does not exceed the preset overcurrent limit current, and the feedback current at the second moment exceeds the preset overcurrent threshold, an overcurrent risk is determined to exist.

4. The motor voltage injection method as described in claim 2, characterized in that, The step of predicting the first and second time feedback currents corresponding to the next two time moments after the current time based on the at least one historical feedback current and the current time feedback current includes: If the current in the motor winding is determined to be a linear upward trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined based on the difference between the current feedback current and the historical feedback current. If the current rising trend of the motor winding is determined to be a non-linear rising trend, the feedback current at the first moment and the feedback current at the second moment corresponding to the next two moments after the current moment are determined based on the current change rate between the current feedback current at the current moment and the historical feedback current.

5. The motor voltage injection method as described in claim 1, characterized in that, The step of injecting a second voltage into the motor winding based on the magnetic pole position angle and the adjusted voltage setting value includes: The magnetic pole position angle is updated by identifying the magnetic pole position; Based on the updated magnetic pole position angle and the adjusted voltage setting, a second voltage is injected into the motor winding.

6. The motor voltage injection method as described in claim 1, characterized in that, Before the steps of obtaining the initial voltage setting value and magnetic pole position angle of the target motor, the method further includes: The basic stator resistance is obtained by identifying the stator resistance, and the basic inductance value is obtained by identifying the inductance. Based on the basic stator resistance and the preset threshold voltage, determine the target current identified by the preset saturation model; Based on the target current, the basic inductance value, and a preset resistor-inductor series model, the voltage setting value of the target motor is determined, wherein the resistor-inductor series model is as follows: U set L is the voltage setting value for the target motor. tune I is the base inductance value. aim The target current identified by the preset saturation model, N s T is the preset number of sampling points when the current rises to the target current. s This represents the current sampling time interval.

7. The motor voltage injection method as described in claim 1, characterized in that, After the step of obtaining the target voltage setpoint, the method further includes: The target voltage setting value is input into a preset saturation model to identify the nonlinear inductance characteristic curve of the target motor.

8. The motor voltage injection method as described in claim 1, characterized in that, The step of reducing the initial voltage setting value to obtain an adjusted voltage setting value when an overcurrent risk is determined includes: If an overcurrent risk is identified, the initial voltage setting value is reduced to obtain a first voltage setting value. If the first voltage setting value is determined to be less than or equal to the preset limit value, the first voltage setting value is increased to obtain the second voltage setting value; The second voltage setting value is set as the adjusted voltage setting value; If it is determined that the first voltage setting value is greater than the preset limit value, the first voltage setting value is determined as the adjusted voltage setting value.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed, enable the at least one processor to perform the steps of the motor voltage injection method according to any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing the motor voltage injection method, the program for implementing the motor voltage injection method being executed by a processor to implement the steps of the motor voltage injection method as described in any one of claims 1 to 8.

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