A control system and method for automatic calibration of a permanent magnet synchronous motor for vehicle

Abstract

The application is a kind of control system and method for automatic calibration of vehicle permanent magnet synchronous motor, and relates to the technical field of permanent magnet synchronous motor calibration, which obtains target current instruction by decoupling motor torque instruction; achieves target current instruction and target torque value based on feedback such as rotor position and three-phase current of the motor; and realizes automatic calibration of constant power area by controlling battery simulator, measurement and control machine and motor controller through CAN communication of bench host computer. Under the condition of the application, a kind of control method for automatic calibration of constant power area is disclosed in combination with conditions such as motor controller and bench host computer, and the application of the method realizes automatic calibration of global motor MAP, greatly improves the efficiency of motor calibration and reduces labor cost.

Description

TECHNICAL FIELD

[0001] The application relates to a control system and method for automatic calibration of a vehicle-used permanent magnet synchronous motor. BACKGROUND

[0002] In order to meet the requirements of torque response, torque control accuracy and control robustness of the vehicle-used permanent magnet synchronous motor, the motor needs to be calibrated by a test bench. The motor calibration mainly includes constant torque area calibration and constant power area calibration. The constant torque area calibration mainly refers to estimating a torque estimation table in a full working current range by giving different current amplitudes and different angles under a low motor speed condition. Since the motor speed and voltage input of the constant torque area calibration are fixed, this part is relatively easy to realize automatic calibration. The constant power area calibration mainly refers to obtaining the maximum torque under the corresponding conditions by adjusting the voltage angle after the input voltage of the inverter reaches saturation. The corresponding conditions mainly refer to different voltage and different speed inputs. The calibration work of the constant power area is mainly manual calibration. The manual calibration has a large workload and low efficiency.

[0003] Many reference schemes have been given by insiders for the control method of the automatic calibration of the vehicle-used permanent magnet synchronous motor.

[0004] Patent document 1 (CN106452266A) discloses a vehicle-mounted motor automatic calibration method and device. The method includes: obtaining the output torque value under different calibration direct-axis currents and different calibration quadrature-axis currents, calculating the torque constant under the corresponding calibration direct-axis current and calibration quadrature-axis current according to the output torque value, and obtaining the optimal curve of torque-direct-axis current by curve fitting according to the torque expression. By giving different calibration direct-axis currents and calibration quadrature-axis currents, the number of sampling points is increased to improve the torque calibration accuracy. The corresponding output torque value is automatically read and the corresponding torque constant is calculated. The optimal curve of torque-direct-axis current is obtained by curve fitting according to the torque constant, so that the calibration efficiency is greatly improved.

[0005] Patent document 2 (CN108226774A) discloses an automatic calibration system and method for a permanent magnet synchronous motor of an electric vehicle. The system is composed of a measured motor, a dynamometer and a corresponding motor controller. A torque speed sensor is used to detect the torque and speed of the measured motor and the dynamometer and transmit them to the industrial computer through the information transmission unit. The industrial computer is communicatively connected to the corresponding motor controller. The method automatically measures all current command values that meet the motor controller's limit voltage and current through the industrial computer, records the stator voltage, magnetic flux, torque and temperature parameters at each current command value, and finds the optimal current command value that meets the motor control through interpolation fitting. The system and method calibrate based on actual measured data, which is not only accurate, but also automated, fast, and reduces development costs.

[0006] Patent document 3 (CN109617486A) relates to the field of pure electric vehicle calibration testing, and specifically relates to an automatic calibration method for a permanent magnet synchronous motor, comprising the following steps: step 1, the dynamometer drives the calibrated permanent magnet synchronous motor to run at a set speed; step 2, record the maximum torque current point under the set current vector amplitude, i.e. the optimal working point; step 3, the current vector amplitude is gradually increased according to the preset current gradient; the present application reasonably plans the change process of the current vector angle, which gradually decreases from 90°, avoiding the problem of insufficient voltage to adjust the current size and the problem of motor out of control caused by directly setting the current vector angle to 0° when the speed is above the base speed, which is caused by the existing method of gradually increasing the current vector angle from 0° to 90°.

[0007] Patent document 4 (CN109818543A) relates to the field of vehicle performance testing, and proposes an automatic calibration method, device and controller for electric motors. The method obtains the direct-axis voltage strength, the cross-axis voltage strength and the motor torque by inputting the direct-axis current and the cross-axis current, and processes data according to the relationship between the motor torque, the direct-axis current and the cross-axis current, and the relationship between the direct-axis current, the cross-axis current, the direct-axis voltage strength and the cross-axis voltage strength, to obtain the direct-axis current and the cross-axis current corresponding to the given torque value at different speeds. The method calculates the difference between adjacent points, and when error data occurs, the error data only affects adjacent points, and other data is not affected, avoiding the influence of individual abnormal points on the entire calculation. The method also has a temperature detection function before automatic calibration, avoiding the danger and influence on data caused by excessive temperature.

[0008] Patent document 5 (CN111628690B) discloses a self-optimizing vehicle-mounted permanent magnet synchronous motor calibration method and system, which is based on the target external characteristic curve of the motor to be calibrated. For each torque point at each speed, the current command (Id, Iq) and the target torque Ter of the maximum torque current ratio are obtained by automatic optimization. The current command (Id, Iq) is automatically input into the motor system in the controller of the motor to be calibrated, and the feedback torque Tef is obtained by closed-loop control of the motor system until the feedback torque Tef of each torque point meets the target external characteristic curve. The calibration process. The present application is based on DownHillSimplex optimization algorithm, which can effectively overcome the human reading error in manual calibration during the torque calibration process of the current closed-loop control system, and can also reduce the influence of temperature change on calibration. The self-optimizing algorithm has higher accuracy than the fitting-based method for calibration results.

[0009] Patent document 6 (CN112671281A) discloses an automatic calibration method for salient pole motor of electric moped. By controlling the three-phase voltage of IPMSM, the three-phase current of the motor is controlled. The current-torque of the salient pole motor of the electric moped is automatically calibrated, the optimal operating point is searched and two-dimensional table is built, and the whole automatic calibration process is completed by the cooperation of the upper computer and the lower computer. In the MTPA area, the torque MTPA point is searched by fixed current angle step search point; in the FW area, the voltage closed-loop strategy is designed, and the current angle is automatically adjusted by the motor controller (without changing the current vector size) until it runs stably on the set terminal voltage circle boundary. Compared with the traditional calibration strategy, the present application greatly simplifies the manual operation time, and improves the calibration accuracy and efficiency. SUMMARY

[0010] In order to overcome the shortcomings of the prior art, the present application provides a control system and method for automatic calibration of a vehicle-mounted permanent magnet synchronous motor.

[0011] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0012] The present application provides a control system and method for automatic calibration of a vehicle-mounted permanent magnet synchronous motor, which provides the following technical solutions:

[0013] A control method for automatic calibration of a vehicle permanent magnet synchronous motor, the method comprising the following steps:

[0014] By decoupling the motor torque instruction, a target current instruction is obtained;

[0015] Based on the rotor position and three-phase current feedback of the motor, the target current instruction is reached, and the target torque value is reached;

[0016] The bench host computer controls the battery simulator, the measurement and control machine and the motor controller through CAN communication, and realizes automatic calibration in the constant power area.

[0017] Preferably, after calibration in the constant torque area, the voltage amplitude reaches the maximum, and when the motor speed is increased, the calibration in the constant power area is introduced according to the calibration method in the constant torque area.

[0018] Preferably, the maximum torque under the corresponding condition is obtained by adjusting the voltage angle according to the fixed voltage amplitude.

[0019] Preferably, the bench host computer gives the battery simulator a high voltage Vol1, and Vol1 represents the set calibration voltage value. The bench host computer controls the motor to open the tube through CAN communication, and then controls the measurement and control machine to reach the target speed Spd1 in T1 time. Here, Spd1 represents the set calibration speed value.

[0020] Preferably, after T2 time, the bench host computer sends a constant power area calibration instruction to the motor controller, and after T3 time, the bench host computer records the maximum torque in the automatic calibration process. Then the bench host computer judges whether the bench torque at this time is less than or equal to the set torque value Trq1. If it is less than or equal to, the automatic calibration of the next constant power area working point is carried out, and if it is greater than, the machine is stopped for fault checking.

[0021] Preferably, the constant torque area calibration is carried out at a low motor speed, and the torque estimation is carried out by giving different current amplitudes and different current angles, covering the torque estimation table in the full working current range, and realizing automatic calibration.

[0022] A control system for automatic calibration of a vehicle permanent magnet synchronous motor, the system comprising:

[0023] An instruction module, which obtains a target current instruction by decoupling the motor torque instruction;

[0024] A feedback module, which reaches the target current instruction and reaches the target torque value based on the rotor position and three-phase current feedback of the motor;

[0025] An automatic calibration module controls the battery simulator, the control machine and the motor controller through the bench host computer respectively through CAN communication, and realizes automatic calibration in the constant power area.

[0026] A computer readable storage medium stores a computer program, and the program is executed by a processor to implement a control method for automatic calibration of a vehicle permanent magnet synchronous motor.

[0027] A computer device includes a memory and a processor, the memory stores a computer program, and the processor implements a control method for automatic calibration of a vehicle permanent magnet synchronous motor when executing the computer program.

[0028] A vehicle includes a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement a control method for automatic calibration of a vehicle permanent magnet synchronous motor.

[0029] The present application has the following beneficial effects:

[0030] The present application is mainly to obtain the maximum torque under corresponding conditions by adjusting the voltage angle after the inverter input voltage end reaches saturation from the perspective of constant power area calibration. The corresponding conditions mainly refer to different voltages and different input speeds. The calibration in the constant power area is mainly manual, which is labor-intensive and inefficient. The present application discloses a control method for automatic calibration in the constant power area under the above conditions combined with the motor controller and the bench host computer. The application of the method realizes automatic calibration of the global motor MAP, greatly improves the efficiency of motor calibration and reduces the labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0032] Figure 1 The permanent magnet synchronous motor control block diagram is shown in Figure 1.

[0033] Figure 2 The motor external characteristic calibration interval relationship diagram is shown in Figure 2.

[0034] Figure 3 The motor constant torque area calibration and constant power area calibration relationship diagram is shown in Figure 3.

[0035] Figure 4A schematic diagram for motor calibration output interval division;

[0036] Figure 5 A schematic diagram for motor constant power area automatic calibration structure;

[0037] Figure 6 A logic block diagram for motor constant power area automatic calibration. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0039] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0042] The present application will be described in detail below with reference to specific embodiments. Embodiment one:

[0044] According to Figures 1 to 6 As shown in the drawings, the specific optimization technical solution adopted by the present application to solve the above technical problems is: the present application relates to a control system and method for automatic calibration of a vehicle permanent magnet synchronous motor.

[0045] A control method for automatic calibration of a permanent magnet synchronous motor for vehicle, the method comprises the following steps:

[0046] By decoupling the motor torque instruction, a target current instruction is obtained;

[0047] Based on the feedbacks such as rotor position and three-phase current of the motor, the target current instruction is reached, and the target torque value is reached;

[0048] The bench host computer controls the battery simulator, the test and control machine and the motor controller through CAN communication, and realizes the automatic calibration of the constant power area. Specific embodiment two:

[0050] The difference between the second embodiment and the first embodiment of the application is only:

[0051] After the calibration of the constant torque area, the voltage amplitude reaches the maximum, and when the motor speed is increased, the calibration of the constant power area is introduced according to the calibration mode of the constant torque area. Specific embodiment three:

[0053] The difference between the third embodiment and the second embodiment of the application is only:

[0054] According to the fixed voltage amplitude, the maximum torque under the corresponding condition is obtained by adjusting the voltage angle. Specific embodiment four:

[0056] The difference between the fourth embodiment and the third embodiment of the application is only:

[0057] The bench host computer gives the battery simulator a high voltage Vol1, and Vol1 represents the set calibration voltage value. The bench host computer controls the motor to open the pipe through CAN communication, and then controls the test and control machine to reach the target speed Spd1 in T1 time, where Spd1 represents the set calibration speed value. Specific embodiment five:

[0059] The difference between the fifth embodiment and the fourth embodiment of the application is only:

[0060] After T2 time, the bench host computer sends the constant power area calibration instruction to the motor controller, and after T3 time, the bench host computer records the maximum torque in the automatic calibration process. Then the bench host computer judges whether the bench torque at this time is less than or equal to the set torque value Trq1. When it is less than or equal to, the automatic calibration of the next constant power area working point is carried out, and if it is greater than, the machine is stopped for fault checking. Specific embodiment six:

[0062] The difference between the sixth embodiment and the fifth embodiment of the application is only:

[0063] The constant torque area calibration is to estimate the torque by giving different current amplitudes and different current angles under the condition of low motor speed, cover the torque estimation table in the whole working current range, and realize automatic calibration. Specific embodiment seven:

[0065] The difference between the embodiment seven and the embodiment six is only that:

[0066] The application provides a control system for automatic calibration of a vehicle permanent magnet synchronous motor, and the system comprises:

[0067] An instruction module is configured to obtain a target current instruction by decoupling a motor torque instruction;

[0068] A feedback module is configured to achieve the target current instruction and a target torque value based on a rotor position of the motor and a three-phase current feedback.

[0069] An automatic calibration module is configured to control a battery simulator, a measurement and control machine and a motor controller through a CAN communication by a bench host computer, so as to realize automatic calibration in the constant power area. Specific embodiment eight:

[0071] The difference between the embodiment eight and the embodiment seven is only that:

[0072] The application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize a control method for automatic calibration of a vehicle permanent magnet synchronous motor. Specific embodiment nine:

[0074] The difference between the embodiment nine and the embodiment eight is only that:

[0075] The application provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor realizes a control method for automatic calibration of a vehicle permanent magnet synchronous motor when executing the computer program. Specific embodiment ten:

[0077] The difference between the embodiment ten and the embodiment nine is only that:

[0078] The application provides a vehicle, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor executes the program to realize a control method for automatic calibration of a vehicle permanent magnet synchronous motor.

[0079] In order to meet the torque response, torque control accuracy and control robustness of the vehicle permanent magnet synchronous motor, the application discloses a control method for automatic calibration in a constant power area.Figure 1 The permanent magnet synchronous motor control block diagram is a main scheme of current control, a rotor field orientation vector control is adopted, a target current command is obtained by decoupling a motor torque command, a target current command is finally reached based on a motor rotor position and three-phase current feedback, and a target torque value is reached. Figure 2 The motor external characteristic calibration interval is mainly calibration of a constant torque region and calibration of a constant power region. The constant torque region calibration mainly refers to torque estimation under a low motor speed condition by giving different current amplitudes and different current angles, and a torque estimation table covering a full working current interval. Figure 3 The motor constant torque region calibration and constant power region calibration relationship is shown in the figure. Figure 4 The motor inverter voltage reaches the red circle part, and if the motor speed is further increased, the current controller will be in a saturation and out-of-control state according to the constant torque region calibration mode. Figure 4 The constant power region calibration is introduced, that is, the voltage amplitude is fixed, and the maximum torque under the corresponding condition is obtained by adjusting the voltage angle. Figure 5 The constant power region calibration is introduced, that is, the voltage amplitude is fixed, and the maximum torque under the corresponding condition is obtained by adjusting the voltage angle. Figure 6 The constant power region calibration is introduced, that is, the voltage amplitude is fixed, and the maximum torque under the corresponding condition is obtained by adjusting the voltage angle.

[0080] The present application proposes a constant power region automatic calibration logic.

[0081] The present application proposes a constant power region automatic calibration logic.

[0082] The application proposes a speed-up time T1 of a measuring and controlling machine.

[0083] The application proposes data processing after a T3 time of a measuring and controlling machine, a bench performs point recording of actual torque values, and then processes torque points of an automatic calibration interval to obtain the maximum.

[0084] The application proposes torque judgment of a bench measuring and controlling machine.

[0085] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction. In addition, the terms "first", "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited. Any process or method described in the flowchart or otherwise described herein can be understood as a module, fragment or part of code including one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of the present application includes additional implementations in which the functions can be performed in the order shown or discussed, including in a substantially simultaneous manner or in reverse order according to the functions involved, which should be understood by the person skilled in the art. The embodiments of the present application. In the flowchart or otherwise described herein, logic and / or steps, for example, can be considered as a list of executable instructions for implementing logical functions, which can be embodied in any computer readable medium for use by an instruction execution system, device or apparatus, such as a computer based system, a system including a processor or other system that can fetch and execute instructions from the instruction execution system, device or apparatus. For the purpose of the present specification, "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by an instruction execution system, device or apparatus or in conjunction with these instruction execution systems, devices or apparatus. More specific examples (non-exhaustive list) of computer readable medium include the following: electrical connections having one or N wires (electronic devices), portable computer disk cartridges (magnetic devices), random access memories (RAM), read only memories (ROM), erasable programmable read only memories (EPROM or flash memory), fiber optic devices, and portable compact disk read only memories (CDROM).Additionally, a computer readable medium can be paper or other comparable effectively medium whereupon at least one of the programs is printed, since the programs can be electronically retrieved, for instance by optically scanning the paper or other medium, then rendered into an electronically useable form by suitably known methods, and stored in computer memory. It should be understood that parts of the present application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiment, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. As such, if implemented in hardware and in another embodiment, the hardware can include any or a combination of the following technologies, which are all well known in the art: a discrete logic circuit(s) having logic gates for implementing logic functions upon an application of data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array(s) (PGA), a field programmable gate array (FPGA), and so on.

[0086] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment method can be completed by programs instructing relevant hardware, and the programs can be stored in a computer readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiment is included. In addition, each functional unit in each embodiment of the present application can be integrated in one processing module, or each unit can exist physically independently, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0087] The above is only a preferred embodiment of the control system and method for automatic calibration of a vehicle permanent magnet synchronous motor, and the protection scope of the control system and method for automatic calibration of a vehicle permanent magnet synchronous motor is not limited to the above-mentioned embodiment. Any technical solution belonging to the idea is within the protection scope of the present application. It should be pointed out that, for those skilled in the art, some improvements and changes without departing from the principle of the present application should be considered as the protection scope of the present application.

Claims

1. A control method for automated calibration of a vehicle permanent magnet synchronous motor, characterized by: The method includes the following steps: The target current command is obtained by decoupling the motor torque command; Based on the rotor position and three-phase current feedback of the motor, the target current command is achieved, and the target torque value is reached. The host computer on the test bench controls the battery simulator, the test and control computer, and the motor controller via CAN communication, realizing automated calibration of the constant power range; After calibration in the constant torque region, the voltage amplitude reaches its maximum. When the motor speed is further increased, the calibration in the constant power region is introduced in accordance with the calibration method of the constant torque region. With a fixed voltage amplitude, the maximum torque under the corresponding conditions can be obtained by adjusting the voltage angle. The host computer on the test bench provides the high voltage Vol1 of the battery simulator, where Vol1 represents the set calibration voltage value. The host computer on the test bench controls the motor switch via CAN communication and controls the measurement and control machine to reach the calibrated target speed Spd1 within time T1, where Spd1 represents the set calibration speed value. After time T2, the host computer on the test bench sends a constant power zone calibration command to the motor controller. After time T3, the host computer on the test bench records the maximum torque value during the automatic calibration process. Then, the host computer on the test bench determines whether the test bench torque is less than or equal to the set torque value of Trq1. If it is less than or equal to the set torque value, the automatic calibration of the next constant power zone operating point is performed. If it is greater than the set torque value, the machine is stopped to check for faults. Constant torque calibration is performed by estimating torque under low motor speed conditions by giving different current amplitudes and current angles. It covers the torque estimation table across the entire operating current range, thus achieving automated calibration.

2. A control system for automated calibration of a vehicle permanent magnet synchronous motor, characterized in that: The system includes: The instruction module obtains the target current instruction by decoupling the motor torque instruction; The feedback module, based on the rotor position and three-phase current feedback of the motor, achieves the target current command and the target torque value. The automatic calibration module, which is a host computer on a test bench, controls the battery simulator, the test and control computer, and the motor controller via CAN communication, thereby realizing the automatic calibration of the constant power range; After calibration in the constant torque region, the voltage amplitude reaches its maximum. When the motor speed is further increased, the calibration in the constant power region is introduced in accordance with the calibration method of the constant torque region. With a fixed voltage amplitude, the maximum torque under the corresponding conditions can be obtained by adjusting the voltage angle. The host computer on the test bench provides the high voltage Vol1 of the battery simulator, where Vol1 represents the set calibration voltage value. The host computer on the test bench controls the motor switch via CAN communication and controls the measurement and control machine to reach the calibrated target speed Spd1 within time T1, where Spd1 represents the set calibration speed value. After time T2, the host computer on the test bench sends a constant power zone calibration command to the motor controller. After time T3, the host computer on the test bench records the maximum torque value during the automatic calibration process. Then, the host computer on the test bench determines whether the test bench torque is less than or equal to the set torque value of Trq1. If it is less than or equal to the set torque value, the automatic calibration of the next constant power zone operating point is performed. If it is greater than the set torque value, the machine is stopped to check for faults. Constant torque calibration is performed by estimating torque under low motor speed conditions by giving different current amplitudes and current angles. It covers the torque estimation table across the entire operating current range, thus achieving automated calibration.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the control method for automated calibration of a vehicle permanent magnet synchronous motor as described in claim 1.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the control method for automated calibration of a vehicle permanent magnet synchronous motor as described in claim 1.

5. A vehicle, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a control method for automated calibration of a vehicle permanent magnet synchronous motor as described in claim 1.

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