Method and system for improving target motor operation stability based on high-frequency signal injection

Abstract

The present invention discloses a method and system for improving the operating stability of a target motor based on high-frequency signal injection, and belongs to the field of motor control technology. The present invention comprises: extracting the fault feature quantity of the target motor by a preset convex optimization extraction scheme; establishing an objective function, if the objective function is a convex function, inputting the independent variable as an input value into the objective function, prompting the objective function to solve and calculate, and obtaining the real-time objective function value of the objective function; correcting the rotor position of the control system of the target motor based on the estimated rotor position; obtaining the phase angle of the two-phase current envelope of the target motor, and filtering the phase angle; determining the rotor position based on the filtered phase angle, prompting the control system to perform closed-loop control on the target motor based on the rotor position. The present invention avoids the unstable zero point problem existing in the traditional phase-locked scheme and improves the estimation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and more specifically, to a method and system for improving the operating stability of a target motor based on high-frequency signal injection. Background Art

[0002] The motor body with the characteristic of suppressing high-frequency harmonics has certain characteristics in terms of armature winding arrangement, stator and rotor tooth profiles, etc. How to understand and design the motor body that meets the control requirements is a key technical problem that needs to be solved. Summary of the invention

[0003] In view of the above problems, the present invention proposes a method for improving the operating stability of a target motor based on high-frequency signal injection, comprising:

[0004] After the high-frequency signal is injected into the target motor, the fault feature quantity of the target motor is extracted by a preset convex optimization extraction scheme;

[0005] Based on the extracted fault feature quantity, and taking the speed and rotor position estimated by the monitoring prediction algorithm of the target motor as independent variables, an objective function is established. If the objective function is a convex function, the independent variables are input into the objective function as input values, so as to prompt the objective function to perform solution calculation and obtain a real-time objective function value of the objective function;

[0006] When a target function value in any time unit exceeds a preset threshold, determining a rotor position estimated by a monitoring prediction algorithm of the target motor at this time, and performing a rotor position correction on a control system of the target motor based on the estimated rotor position;

[0007] After the control system of the target motor is modified, the phase angle of the two-phase current envelope of the target motor is obtained by using a preset envelope extraction scheme, and the phase angle is filtered;

[0008] The rotor position is determined based on the filtered phase angle, which enables the control system to perform closed-loop control on the target motor based on the rotor position to improve the stability of the target motor operation.

[0009] Optionally, whether the objective function is a convex function is determined based on eigenvalues ​​of a Hessian matrix of the objective function.

[0010] Optionally, a threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is modified according to a time-varying characteristic of a target motor control system parameter.

[0011] Optionally, obtaining a real-time objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the real-time objective function value.

[0012] Optionally, the estimation accuracy of the monitoring estimation algorithm is compensated by eliminating the effects of lag and cross saturation of current sampling in the target motor on the position estimation.

[0013] Optionally, a preset envelope extraction scheme is established based on the peak hold circuit principle of the target motor.

[0014] Optionally, a preset envelope extraction scheme is used to obtain the phase angle of the two-phase current envelope of the target motor, including: using the preset envelope extraction scheme to extract the low-frequency component associated with the motor speed in the high-frequency current response of the target motor, determining the two-phase current envelope of the target motor based on the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​using an inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor.

[0015] Optionally, the phase angle is filtered by a phase-locked loop observer.

[0016] On the other hand, the present invention further proposes a system for improving the operating stability of a target motor based on high-frequency signal injection, comprising:

[0017] The first calculation unit extracts the fault feature quantity of the target motor by using a preset convex optimization extraction scheme after injecting a high-frequency signal into the target motor; based on the extracted fault feature quantity, and taking the speed and rotor position estimated by the monitoring prediction algorithm of the target motor as independent variables, establishes an objective function, and if the objective function is a convex function, inputs the independent variable as an input value into the objective function, prompts the objective function to perform a solution calculation, and obtains a real-time objective function value of the objective function;

[0018] The second calculation unit determines the rotor position estimated by the monitoring prediction algorithm of the target motor at this time when a target function value in any time unit exceeds a preset threshold value, and performs rotor position correction on the control system of the target motor based on the estimated rotor position; after correcting the control system of the target motor, obtains the phase angle of the two-phase current envelope of the target motor by a preset envelope extraction scheme, and performs filtering processing on the phase angle;

[0019] The third calculation unit determines the rotor position based on the phase angle after filtering, and prompts the control system to perform closed-loop control on the target motor based on the rotor position to improve the stability of the operation of the target motor.

[0020] Optionally, whether the objective function is a convex function is determined based on eigenvalues ​​of a Hessian matrix of the objective function.

[0021] Optionally, a threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is modified according to a time-varying characteristic of a target motor control system parameter.

[0022] Optionally, obtaining a real-time objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the real-time objective function value.

[0023] Optionally, the estimation accuracy of the monitoring estimation algorithm is compensated by eliminating the effects of lag and cross saturation of current sampling in the target motor on the position estimation.

[0024] Optionally, a preset envelope extraction scheme is established based on the peak hold circuit principle of the target motor.

[0025] Optionally, a preset envelope extraction scheme is used to obtain the phase angle of the two-phase current envelope of the target motor, including: using the preset envelope extraction scheme to extract the low-frequency component associated with the motor speed in the high-frequency current response of the target motor, determining the two-phase current envelope of the target motor based on the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​using an inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor.

[0026] Optionally, the phase angle is filtered by a phase-locked loop observer.

[0027] In yet another aspect, the present invention further provides a computing device, comprising: one or more processors;

[0028] a processor for executing one or more programs;

[0029] When the one or more programs are executed by the one or more processors, the above-described method is implemented.

[0030] In yet another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the method described above is implemented.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention proposes a method for improving the running stability of a target motor based on high-frequency signal injection, comprising: after the high-frequency signal is injected into the target motor, the fault feature quantity of the target motor is extracted by a preset convex optimization extraction scheme; based on the extracted fault feature quantity, and taking the speed and rotor position estimated by the monitoring prediction algorithm of the target motor as independent variables, an objective function is established, if the objective function is a convex function, the independent variables are input into the objective function as input values, so as to prompt the objective function to perform solution calculation and obtain the real-time objective function value of the objective function; when an objective function value in any time unit exceeds a preset threshold value, the rotor position estimated by the monitoring prediction algorithm of the target motor at this time is determined, and the control system of the target motor is corrected for the rotor position based on the estimated rotor position; after the control system of the target motor is corrected, the phase angle of the two-phase current envelope of the target motor is obtained by a preset envelope extraction scheme, and the phase angle is filtered; the rotor position is determined based on the filtered phase angle, so as to prompt the control system to perform closed-loop control on the target motor based on the rotor position, so as to improve the running stability of the target motor. The present invention avoids the unstable zero point problem existing in the traditional phase-locked solution, and eliminates the influence of current sampling hysteresis and cross saturation on position estimation, thereby improving the estimation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of the method of the present invention;

[0034] Figure 2 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0035] Now, exemplary embodiments of the present invention are described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.

[0036] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0037] Embodiment 1:

[0038] The present invention proposes a method for improving the operating stability of a target motor based on high-frequency signal injection, such as Figure 1As shown, including:

[0039] Step 1: After injecting a high-frequency signal into the target motor, the fault feature quantity of the target motor is extracted using a preset convex optimization extraction scheme;

[0040] Step 2: Based on the extracted fault feature quantity, and taking the speed and rotor position estimated by the monitoring prediction algorithm of the target motor as independent variables, establish an objective function. If the objective function is a convex function, input the independent variables as input values ​​into the objective function, prompt the objective function to solve and calculate, and obtain the real-time objective function value of the objective function;

[0041] Step 3: when an objective function value in any time unit exceeds a preset threshold, determine the rotor position estimated by the monitoring prediction algorithm of the target motor at this time, and perform rotor position correction on the control system of the target motor based on the estimated rotor position;

[0042] Step 4: After the control system of the target motor is corrected, the phase angle of the two-phase current envelope of the target motor is obtained by using a preset envelope extraction scheme, and the phase angle is filtered;

[0043] Step 5: Determine the rotor position based on the filtered phase angle, and enable the control system to perform closed-loop control on the target motor based on the rotor position to improve the stability of the target motor operation.

[0044] Wherein, whether the objective function is a convex function is determined based on the Hessian matrix eigenvalue of the objective function.

[0045] Wherein, a threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is corrected according to a time-varying characteristic of a target motor control system parameter.

[0046] Wherein, obtaining the real-time objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the real-time objective function value.

[0047] Among them, the estimation accuracy of the monitoring estimation algorithm is compensated by eliminating the influence of the lag and cross saturation of the current sampling in the target motor on the position estimation.

[0048] Among them, the preset envelope extraction scheme is established according to the peak holding circuit principle of the target motor.

[0049] Among them, a preset envelope extraction scheme is used to obtain the phase angle of the two-phase current envelope of the target motor, including: using the preset envelope extraction scheme to extract the low-frequency component associated with the motor speed in the high-frequency current response of the target motor, determining the two-phase current envelope of the target motor based on the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​through the inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor.

[0050] The phase angle is filtered by a phase-locked loop observer.

[0051] The implementation principle of the present invention includes the following:

[0052] The stability problem of the traditional salient pole tracking solution is reflected in the dynamic process of the motor's rapid acceleration or deceleration or torque disturbance. It is possible that the position observation converges to the opposite of the actual position due to large transient errors. From the perspective of fault diagnosis, the position estimation can be detected in real time, and fault tolerance processing can be quickly performed after a fault occurs to restore the system to normal steady-state operation.

[0053] When designing the scheme, it is planned to use the convex optimization theory in optimal control to extract the fault characteristics: the objective function is designed with the estimated speed and position as independent variables, and the Hessian matrix eigenvalues ​​are analyzed to determine that the objective function is a convex function, and the global minimum value appears when the estimated value is equal to the true value. The operation of the estimation algorithm is monitored by real-time calculation of the objective function. When the objective function value exceeds the set threshold, it is considered that the position estimation has converged incorrectly, and the position estimation is corrected to make the system return to a stable state.

[0054] The setting of the threshold should fully consider the impact of the estimation error in the dynamic process, and leave an appropriate margin to reduce the false alarm rate. Considering the time-varying characteristics of the parameters of the motor control system, the parameter sensitivity is studied by deriving the electrical parameters of the objective function, and the key parameters are obtained for online identification. In the absence of position sensors, the speed and position variables are also obtained by observation. Therefore, the parameter identification system is a multi-input and multi-output system, and the identification results affect each other. The erroneous convergence caused by the "lack of rank problem" in multi-parameter identification can be avoided by reasonably adding steady-state operating points; the stability of the identification system can also be improved by step-by-step identification of fast and slow time-varying parameters.

[0055] 2) Design a direct calculation scheme for the rotor position. The starting point of this scheme is to extract the low-frequency component related to the motor speed in the high-frequency current response, and directly calculate the phase angle through the inverse tangent function. From existing research results, it can be seen that when the high-frequency voltage is injected into the direct axis in the estimated two-phase rotating coordinate system, the frequency of the high-frequency current envelope after the motor salient polarity modulation in the two-phase stationary coordinate system is related to the motor speed. It is proposed to use the peak holding circuit principle to design an envelope extraction scheme that is conducive to the implementation of digital control systems, normalize the extracted two-phase current envelope to obtain the sine and cosine values, and use the inverse tangent function to calculate the phase angle. Since the direct calculation method is susceptible to noise interference, it is considered to filter the calculated phase angle through a phase-locked loop observer, and finally use it for closed-loop control.

[0056] This scheme avoids the unstable zero point problem existing in the traditional phase-locked scheme. However, since the position information is contained in the low-frequency component of the high-frequency current response, it is necessary to study the phase lag caused by low-pass filtering. At the same time, it is necessary to compensate for the influence of current sampling lag and cross-saturation on position estimation in order to improve the estimation accuracy.

[0057] Embodiment 2:

[0058] The present invention also proposes a system 200 for improving the operating stability of a target motor based on high-frequency signal injection, such as Figure 1 As shown, including:

[0059] The first calculation unit 201 extracts the fault feature quantity of the target motor by using a preset convex optimization extraction scheme after injecting a high-frequency signal into the target motor; based on the extracted fault feature quantity, and taking the speed and rotor position estimated by the monitoring prediction algorithm of the target motor as independent variables, establishes an objective function, and if the objective function is a convex function, inputs the independent variables as input values ​​into the objective function, prompts the objective function to perform solution calculation, and obtains the real-time objective function value of the objective function;

[0060] The second calculation unit 202 determines the rotor position estimated by the monitoring prediction algorithm of the target motor at this time when an objective function value in any time unit exceeds a preset threshold value, and performs rotor position correction on the control system of the target motor based on the estimated rotor position; after correcting the control system of the target motor, obtains the phase angle of the two-phase current envelope of the target motor by a preset envelope extraction scheme, and performs filtering processing on the phase angle;

[0061] The third calculation unit 203 determines the rotor position based on the filtered phase angle, and prompts the control system to perform closed-loop control on the target motor based on the rotor position to improve the stability of the target motor operation.

[0062] Wherein, whether the objective function is a convex function is determined based on the Hessian matrix eigenvalue of the objective function.

[0063] Wherein, a threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is corrected according to a time-varying characteristic of a target motor control system parameter.

[0064] Wherein, obtaining the real-time objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the real-time objective function value.

[0065] Among them, the estimation accuracy of the monitoring estimation algorithm is compensated by eliminating the influence of the lag and cross saturation of the current sampling in the target motor on the position estimation.

[0066] Among them, the preset envelope extraction scheme is established according to the peak holding circuit principle of the target motor.

[0067] Among them, a preset envelope extraction scheme is used to obtain the phase angle of the two-phase current envelope of the target motor, including: using the preset envelope extraction scheme to extract the low-frequency component associated with the motor speed in the high-frequency current response of the target motor, determining the two-phase current envelope of the target motor based on the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​through the inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor.

[0068] The phase angle is filtered by a phase-locked loop observer.

[0069] The present invention avoids the unstable zero point problem existing in the traditional phase-locked solution, and eliminates the influence of current sampling hysteresis and cross saturation on position estimation, thereby improving the estimation accuracy.

[0070] Embodiment 3:

[0071] Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding functions, so as to implement the steps of the method in the above embodiment.

[0072] Embodiment 4:

[0073] Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both a built-in storage medium in a computer device and an extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps of the method in the above embodiment.

[0074] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0075] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0079] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for improving the operating stability of a target motor based on high-frequency signal injection, characterized in that: The method comprises: After the high-frequency signal is injected into the target motor, the fault feature quantity of the target motor is extracted by a preset convex optimization extraction scheme; Based on the speed and rotor position estimated by the monitoring prediction algorithm of the target motor in the extracted fault feature quantity as independent variables, an objective function is established. If the objective function is a convex function, the independent variables are input into the objective function as input values, so as to prompt the objective function to perform solution calculation and obtain the objective function value of the objective function; When a target function value in any time unit exceeds a preset threshold, determining a rotor position estimated by a monitoring prediction algorithm of the target motor at this time, and performing a rotor position correction on a control system of the target motor based on the estimated rotor position; After the control system of the target motor is modified, the phase angle of the two-phase current envelope of the target motor is obtained by using a preset envelope extraction scheme, and the phase angle is filtered; Determine the rotor position based on the filtered phase angle, and enable the control system to perform closed-loop control on the target motor based on the rotor position to improve the stability of the target motor operation; The obtaining of the objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the objective function value; The method of obtaining the phase angle of the two-phase current envelope of the target motor by using a preset envelope extraction scheme includes: extracting the low-frequency component associated with the motor speed in the high-frequency current response of the target motor by using the preset envelope extraction scheme, determining the two-phase current envelope of the target motor according to the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​by an inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor; Among them, the objective function is designed with the estimated speed and rotor position as independent variables. The Hessian matrix eigenvalue of the objective function is used to determine that when the objective function is a convex function, the global minimum occurs when the estimated value is equal to the true value. The operation status is determined by monitoring the estimation algorithm through real-time calculation of the objective function. When the objective function value exceeds the set threshold, erroneous convergence of the position estimation occurs. The position estimation is corrected to make the target motor re-enter a stable state.

2. The method according to claim 1, characterized in that Determine whether the objective function is convex based on the Hessian matrix eigenvalues ​​of the objective function.

3. The method according to claim 1, characterized in that A threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is modified according to the time-varying characteristics of the target motor control system parameters.

4. A system for improving the operating stability of a target motor based on high-frequency signal injection, characterized in that: The system comprises: The first calculation unit extracts the fault feature quantity of the target motor by using a preset convex optimization extraction scheme after injecting a high-frequency signal into the target motor; establishes an objective function based on the speed and rotor position estimated by the monitoring prediction algorithm of the target motor in the extracted fault feature quantity as independent variables, and if the objective function is a convex function, inputs the independent variables as input values ​​into the objective function, prompts the objective function to perform solution calculation, and obtains the objective function value of the objective function; The second calculation unit determines the rotor position estimated by the monitoring prediction algorithm of the target motor at this time when a target function value in any time unit exceeds a preset threshold value, and performs rotor position correction on the control system of the target motor based on the estimated rotor position; after correcting the control system of the target motor, obtains the phase angle of the two-phase current envelope of the target motor by a preset envelope extraction scheme, and performs filtering processing on the phase angle; a third calculation unit, which determines a rotor position based on the filtered phase angle, and prompts the control system to perform closed-loop control on the target motor based on the rotor position, so as to improve the stability of the operation of the target motor; The obtaining of the objective function value of the objective function includes: calculating the operation status of the target motor monitoring estimation algorithm in real time through the objective function to obtain the objective function value; The method of obtaining the phase angle of the two-phase current envelope of the target motor by using a preset envelope extraction scheme includes: extracting the low-frequency component associated with the motor speed in the high-frequency current response of the target motor by using the preset envelope extraction scheme, determining the two-phase current envelope of the target motor according to the low-frequency component, normalizing the two-phase current envelope, determining the sine and cosine values ​​of the two-phase current envelope, and calculating the sine and cosine values ​​by an inverse tangent function to obtain the phase angle of the two-phase current envelope of the target motor; Among them, the objective function is designed with the estimated speed and rotor position as independent variables. The Hessian matrix eigenvalue of the objective function is used to determine that when the objective function is a convex function, the global minimum occurs when the estimated value is equal to the true value. The operation status is determined by monitoring the estimation algorithm through real-time calculation of the objective function. When the objective function value exceeds the set threshold, erroneous convergence of the position estimation occurs. The position estimation is corrected to make the target motor re-enter a stable state.

5. The system according to claim 4, characterized in that Determine whether the objective function is convex based on the Hessian matrix eigenvalues ​​of the objective function.

6. The system according to claim 4, characterized in that A threshold is set based on an estimation error of a monitoring estimation algorithm, and the threshold is modified according to the time-varying characteristics of the target motor control system parameters.

7. A computer device, characterized in that: include: one or more processors; a processor for executing one or more programs; When the one or more programs are executed by the one or more processors, the method according to any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, the method according to any one of claims 1 to 3 is implemented.

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