An inductance identification method and device, electronic equipment and storage medium

Abstract

The present application relates to an inductance identification method, device, electronic equipment and storage medium, the method comprises: for each two-phase winding in the two-phase winding set corresponding to the three-phase motor, injecting a preset voltage pulse into the two-phase winding; obtaining the three-phase current corresponding to the three-phase motor after the preset voltage pulse; determining the target phase current from the three-phase current, determining the pulse response current corresponding to the two-phase winding according to the target phase current and the preset voltage pulse, obtaining the pulse response current set corresponding to the two-phase winding set; wherein, the target phase current is used to represent the current corresponding to the phase which has not injected the preset voltage pulse; according to the pulse response current set, the first shaft inductance and the second shaft inductance corresponding to the three-phase motor are determined. The present application combines the current corresponding to the phase which has not injected the voltage pulse to determine the first shaft inductance and the second shaft inductance corresponding to the three-phase motor, which reduces the deviation existing in the determination of the inductance of the three-phase motor by injecting the voltage pulse method.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to an inductance identification method, device, electronic device and storage medium. Background Technology

[0002] Three-phase motors with high saliency ratio (such as synchronous reluctance motors, salient permanent magnet synchronous motors, or permanent magnet assisted synchronous reluctance motors) have gained widespread attention due to their advantages of high efficiency, low cost, energy saving, and emission reduction. Because their rotors have high saliency ratio characteristics (i.e., the difference between the d-axis and q-axis inductances of the motor is large), accurately determining the d-axis and q-axis inductances of three-phase motors with high saliency ratio is of great importance for the establishment of motor models and high-performance control.

[0003] Currently, the voltage pulse injection method is often used to easily determine the d-axis and q-axis inductances in a three-phase motor. This method requires the phase without a voltage pulse to be left floating or its current to be 0A. However, under certain conditions, the induced voltage of the phase without a voltage pulse signal may be lower than 0V or higher than the bus voltage, forcing the freewheeling diode to conduct and causing current to flow in that phase. This contradicts the voltage pulse injection method, leading to a certain deviation in the determined inductance of the three-phase motor. Summary of the Invention

[0004] In view of this, in order to solve the above-mentioned technical problems or some of the technical problems, the present invention provides an inductance identification method, device, electronic device and storage medium.

[0005] In a first aspect, embodiments of the present invention provide an inductor identification method, comprising:

[0006] For each two-phase winding in the set of two-phase windings corresponding to a three-phase motor, a preset voltage pulse is injected into the two-phase winding;

[0007] Obtain the three-phase current corresponding to the three-phase motor after passing the preset voltage pulse;

[0008] The target phase current is determined from the three-phase current. Based on the target phase current and the preset voltage pulse, the pulse response current corresponding to the two-phase winding is determined, and the set of pulse response currents corresponding to the set of two-phase windings is obtained. The target phase current is used to characterize the current corresponding to the phase that has not been injected with the preset voltage pulse.

[0009] Based on the set of pulse response currents, the first shaft inductance and the second shaft inductance corresponding to the three-phase motor are determined.

[0010] In an optional implementation, determining the pulse response current corresponding to the two-phase winding based on the target phase current and the preset voltage pulse includes:

[0011] Determine the target comparison result between the target phase current and a first preset value; wherein, the first preset value is zero;

[0012] Based on the target comparison result and the preset voltage pulse, determine the calculation strategy corresponding to the two-phase winding;

[0013] Based on the calculation strategy, the pulse response current corresponding to the two-phase winding is determined.

[0014] In an optional implementation, determining the calculation strategy corresponding to the two-phase winding based on the target comparison result and the preset voltage pulse includes:

[0015] When the target comparison result and the preset voltage pulse satisfy the first preset condition, the calculation strategy is determined to be the first calculation strategy;

[0016] The first preset condition includes: the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to characterize a positive voltage pulse, the second voltage pulse is used to characterize a negative voltage pulse, and the first voltage pulse and the second voltage pulse have the same width.

[0017] In one optional implementation, the three-phase current includes a first-phase current, a second-phase current, and the target phase current;

[0018] Determining the pulse response current corresponding to the two-phase winding according to the calculation strategy includes:

[0019] When the calculation strategy is the first calculation strategy, a first difference between the first phase current and the second phase current is determined, and a second difference between the first difference and the target phase current is determined;

[0020] Determine a first ratio between the absolute value of the second difference and the second preset value;

[0021] The first ratio is determined as the pulse response current corresponding to the two-phase winding.

[0022] In an optional implementation, determining the calculation strategy corresponding to the two-phase winding based on the target comparison result and the preset voltage pulse includes:

[0023] When the target comparison result and the preset voltage pulse satisfy the second preset condition, the calculation strategy is determined to be the second calculation strategy;

[0024] The second preset condition includes: the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to characterize a positive voltage pulse, the second voltage pulse is used to characterize a negative voltage pulse, and the first voltage pulse and the second voltage pulse have the same width.

[0025] In one optional implementation, the three-phase current includes a first-phase current, a second-phase current, and the target phase current;

[0026] Determining the pulse response current corresponding to the two-phase winding according to the calculation strategy includes:

[0027] When the calculation strategy is the second calculation strategy, a third difference between the first phase current and the second phase current is determined, and a first sum between the third difference and the target phase current is determined;

[0028] Determine a second ratio between the absolute value of the first sum and a second preset value;

[0029] The second ratio is determined as the pulse response current corresponding to the two-phase winding.

[0030] In an optional implementation, determining the first shaft inductance and the second shaft inductance corresponding to the three-phase motor based on the set of pulse response currents includes:

[0031] Based on the set of pulse response currents, determine the set of line inductances corresponding to the set of two-phase windings;

[0032] Based on the set of line inductances, determine the first shaft inductance and the second shaft inductance corresponding to the three-phase motor.

[0033] In a second aspect, embodiments of the present invention provide an inductor identification device, comprising:

[0034] The injection module is used to inject a preset voltage pulse into each two-phase winding in the set of two-phase windings corresponding to the three-phase motor.

[0035] The acquisition module is used to acquire the three-phase current corresponding to the three-phase motor after passing through the preset voltage pulse;

[0036] The determination module is used to determine the target phase current from the three-phase current, and to determine the pulse response current corresponding to the two-phase winding based on the target phase current and the preset voltage pulse, thereby obtaining the set of pulse response currents corresponding to the set of two-phase windings; wherein, the target phase current is used to characterize the current corresponding to the phase for which the preset voltage pulse has not been injected;

[0037] The determining module is further configured to determine the first shaft inductance and the second shaft inductance corresponding to the three-phase motor based on the pulse response current set.

[0038] Thirdly, embodiments of the present invention provide an electronic device, including: a processor and a memory, wherein the processor is configured to execute an inductor identification program stored in the memory to implement the inductor identification method as described above.

[0039] Fourthly, an embodiment of the present invention provides a storage medium storing one or more programs, which can be executed by one or more processors to implement the inductor identification method described above.

[0040] This invention provides an inductor identification method, comprising: injecting a preset voltage pulse into each two-phase winding in a set of two-phase windings corresponding to a three-phase motor; acquiring the three-phase current corresponding to the three-phase motor after the preset voltage pulse; determining a target phase current from the three-phase current; determining the pulse response current corresponding to the two-phase winding based on the target phase current and the preset voltage pulse, thereby obtaining a set of pulse response currents corresponding to the set of two-phase windings; wherein the target phase current is used to characterize the current corresponding to the phase without the preset voltage pulse; and determining the first-axis inductance and the second-axis inductance of the three-phase motor based on the set of pulse response currents. Through this method, this invention, when using the voltage pulse injection method to determine the inductance of a three-phase motor, considers the influence of the current corresponding to the phase without the voltage pulse and combines the current corresponding to the phase without the voltage pulse to determine the first-axis inductance and the second-axis inductance of the three-phase motor, thus reducing the deviation present in the voltage pulse injection method for determining the inductance of a three-phase motor. Attached Figure Description

[0041] Figure 1 A schematic diagram of a three-phase motor based on a frequency converter is provided for an embodiment of the present invention;

[0042] Figure 2 A flowchart illustrating an inductor identification method provided in an embodiment of the present invention;

[0043] Figure 3 A voltage pulse injection sequence diagram for inductor identification provided in an embodiment of the present invention;

[0044] Figure 4 A comparison chart of results between an improved injection voltage pulse method and a traditional injection voltage pulse method provided in an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of an inductor identification device provided in an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0047] In the attached diagrams above:

[0048] 10. Injection module; 20. Acquisition module; 30. Determining module;

[0049] 400. Electronic device; 401. Processor; 402. Memory; 4021. Operating system; 4022. Application program; 403. User interface; 404. Network interface; 405. Bus system. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0051] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. These embodiments do not constitute a limitation on the embodiments of the present invention.

[0052] The following section details the necessity of considering the current corresponding to the phase without injected voltage pulse when determining the inductance of a three-phase motor. In this embodiment, the three-phase motor can be a three-phase motor with a high saliency ratio (i.e., the saliency ratio of the three-phase motor is usually greater than 3). A three-phase motor with a high saliency ratio can be a synchronous reluctance motor, a saliency motor permanent magnet synchronous motor, or a permanent magnet assisted synchronous reluctance motor, etc.

[0053] refer to Figure 1 As shown, VT1 and VT6 are turned on simultaneously, and a positive voltage pulse AB pulse is injected into the AB winding. All IGBTs in the C-phase bridge arm are turned off, that is, the C-phase is the phase without a positive voltage pulse, and the C-phase is called the non-conducting phase. The traditional voltage pulse injection method assumes that the current flows into the A-phase and flows out from the B-phase. The potential at point A is the bus voltage, and the potential at point B is 0. There is no current in the non-conducting phase C. However, under certain conditions, it is possible for current to be generated in the C-phase. The specific conditions are: (1) the salient pole ratio K of the three-phase motor is greater than 3, and (2) the rotor of the three-phase motor is at a specific angle.

[0054] Table 1

[0055]

[0056] Synchronous reluctance motors typically have a saliency ratio of 5 or higher, satisfying the first condition. When identifying the inductance of a three-phase motor, the rotor may be at any angle due to factors such as mechanical braking, potentially near the angles listed in Table 1. Therefore, the second condition is also met, meaning the prerequisites for the traditional voltage pulse injection method are not met. If the current in the non-conducting phases is ignored, the inductance identification results using the traditional voltage pulse injection method will show significant deviations. Therefore, the influence of the current corresponding to the phase without voltage pulse injection must be considered. The following section will specifically introduce the motor inductance identification method considering the current corresponding to the phase without voltage pulse injection.

[0057] refer to Figure 3 , Figure 3 This is a flowchart illustrating an inductor identification method provided in an embodiment of the present invention. The inductor identification method provided in this embodiment includes the following steps:

[0058] S101: For each two-phase winding in the set of two-phase windings corresponding to the three-phase motor, inject a preset voltage pulse into the two-phase winding.

[0059] In this embodiment, the three-phase motor can be a synchronous reluctance motor. The two-phase winding set includes three two-phase windings. The three-phase motor has three phases, specifically phases A, B, and C. Each pair of phases forms a two-phase winding; that is, the three-phase motor has AB two-phase windings, BC two-phase windings, and CA two-phase windings. A preset voltage pulse is injected into each two-phase winding in the two winding sets. The preset voltage pulse includes a first voltage pulse and a second voltage pulse. The first voltage pulse represents a positive voltage pulse, and the second voltage pulse represents a negative voltage pulse. The first and second voltage pulses have the same width and are pulses capable of causing the three-phase motor output current to reach the rated voltage of the three-phase motor. For example, for the AB two-phase winding, the first voltage pulse can be denoted as the AB pulse, and the second voltage pulse can be denoted as the BA pulse. The same applies to the BC and CA two-phase windings. (See reference...) Figure 2 The preset voltage pulse is injected into the two-phase winding assembly as shown.

[0060] S102: Obtain the three-phase current corresponding to the three-phase motor after passing through the preset voltage pulse.

[0061] In this embodiment, for a two-phase winding, after injecting a first voltage pulse, the three-phase current corresponding to the three-phase motor after the first voltage pulse is obtained; after injecting a second voltage pulse, the three-phase current corresponding to the three-phase motor after the second voltage pulse is obtained. The three-phase current refers to the current corresponding to A, the current corresponding to B, and the current corresponding to C. Specifically, the three-phase current can be obtained through a current sensor.

[0062] S103: Determine the target phase current from the three-phase current, and determine the pulse response current corresponding to the two-phase windings based on the target phase current and the preset voltage pulse, thereby obtaining the set of pulse response currents corresponding to the set of two-phase windings.

[0063] In this embodiment, since the current corresponding to the phase without a preset voltage pulse may not necessarily be 0A under certain conditions, determining the inductance of a three-phase motor using the traditional voltage pulse injection method would result in a significant deviation. Therefore, this application considers the influence of the current corresponding to the phase without a preset voltage pulse when using the voltage pulse injection method to determine the inductance of a three-phase motor. Specifically, the target phase current is used to characterize the current corresponding to the phase without a preset voltage pulse (i.e., the current corresponding to the non-conducting phase). For example, for a two-phase winding AB, a first voltage pulse and a second voltage pulse are injected into the two-phase winding AB. The target phase is phase C, and the target phase current is the current corresponding to phase C. For a two-phase winding, the determined pulse response currents corresponding to the two-phase winding are two. One pulse response current is determined based on the target phase current and the first voltage pulse, and the other pulse response current is determined based on the target phase current and the second voltage pulse. Therefore, the resulting set of pulse response currents includes six pulse response currents, and one two-phase winding corresponds to two pulse response currents.

[0064] In this embodiment, step S103, determining the pulse response current corresponding to the two-phase windings based on the target phase current and the preset voltage pulse, includes:

[0065] Determine the target comparison result between the target phase current and the first preset value;

[0066] Based on the target comparison results and the preset voltage pulse, determine the calculation strategy corresponding to the two-phase winding;

[0067] Based on the calculation strategy, the pulse response current corresponding to the two-phase winding is determined.

[0068] Specifically, the first preset value is zero. Since the traditional voltage pulse injection method requires the target phase current to be zero, but under certain specific conditions the target phase current is not zero, continuing to use the traditional voltage pulse injection method when the target phase current is not zero will result in a deviation in the final determined inductance of the three-phase motor. Therefore, the target phase current is compared with the first preset value to determine whether the target phase current is equal to the first preset value. When the target phase current is equal to the first preset value, the pulse response current can be determined according to the traditional voltage pulse injection method; when the target phase current is not equal to the first preset value, the pulse response current can be determined based on whether the target phase current is greater than or less than the first preset value. For details, please refer to the following description; this embodiment will not elaborate further.

[0069] More specifically, after determining whether the target phase current is greater than or less than the first preset value, the calculation strategy corresponding to the two-phase winding can be determined from the correlation relationship based on whether the preset voltage pulse is the first voltage pulse or the second voltage pulse. This correlation relationship stores the correspondence between the comparison results, voltage pulses, and calculation strategies. The calculation strategy is the formula for calculating the pulse response current. Once the calculation formula for the two-phase winding is obtained, the three-phase current is substituted into the formula to obtain the pulse response current corresponding to the two-phase winding.

[0070] In this embodiment, step S103 determines the calculation strategy corresponding to the two-phase winding based on the target comparison result and the preset voltage pulse, including:

[0071] When the target comparison result and the preset voltage pulse meet the first preset condition, the calculation strategy is determined to be the first calculation strategy;

[0072] When the target comparison result and the preset voltage pulse meet the second preset condition, the calculation strategy is determined to be the second calculation strategy;

[0073] When the target comparison result and the preset voltage pulse meet the third preset condition, the calculation strategy is determined to be the third calculation strategy.

[0074] Specifically, the target comparison results include target phase current greater than a first preset value, target phase current less than a first preset value, and target phase current equal to a first preset value. A target phase current greater than the first preset value indicates a positive target phase current, and a target phase current less than the first preset value indicates a negative target phase current. The first preset condition includes: the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is the first voltage pulse; or, the target comparison result is that the target phase current is less than the first preset value and the preset current pulse is the second voltage pulse. The second preset condition includes: the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is the first voltage pulse; or, the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is the second voltage pulse. The third preset condition includes: the target comparison result is that the target phase current is equal to the first preset value and the preset voltage pulse is the first voltage pulse; or the target comparison result is that the target phase current is equal to the first preset value and the preset voltage pulse is the second voltage pulse.

[0075] More specifically, when the target comparison result and the preset voltage pulse meet the third preset condition, it indicates that the current corresponding to the phase without the preset voltage pulse is equal to the first preset value. At this time, the pulse response current determined by the traditional voltage pulse injection method will not affect the final determined result of the three-phase motor inductance.

[0076] In this embodiment, the three-phase current includes the first phase current, the second phase current, and the target phase current. For example, for the AB two-phase windings injected with the first and second voltage pulses, the first phase current can be considered as phase A, the second phase current as phase B, and the target phase current as phase C; for the BC two-phase windings injected with the first and second voltage pulses, the first phase current can be considered as phase B, the second phase current as phase C, and the target phase current as phase A; for the CA two-phase windings injected with the first and second voltage pulses, the first phase current can be considered as phase C, the second phase current as phase A, and the target phase current as phase B.

[0077] Specifically, when the calculation strategy is the first calculation strategy, the pulse response currents corresponding to the two sets of windings can be determined as follows:

[0078] When the calculation strategy is the first calculation strategy, a first difference between the first phase current and the second phase current is determined, and a second difference between the first difference and the target phase current is determined.

[0079] Determine the first ratio between the absolute value of the second difference and the second preset value;

[0080] The first ratio determines the pulse response current corresponding to the two-phase winding.

[0081] In this embodiment, the first calculation strategy described above can be implemented using the following formula:

[0082]

[0083] In the above formula, i xy Indicates the impulse response current, i x i represents the first phase current. y Indicates the second phase current, i z This represents the target phase current, with a second preset value of 2.

[0084] For example, for the AB winding, after injecting the first voltage pulse AB, when the target phase current is greater than the first preset value, the first calculation strategy can be implemented by the following formula:

[0085]

[0086] In the above formula, for the AB winding, i AB This represents the impulse response current, with the first difference being i. A -i B The second difference is i A -i B -i C The first ratio is

[0087] Similarly, for the AB winding, after injecting the second voltage pulse BA, if the target phase current is less than the first preset value, the first calculation strategy can also be implemented according to the above formula. This embodiment will not be described in detail here.

[0088] Specifically, when the calculation strategy is the second calculation strategy, the pulse response currents corresponding to the two sets of windings can be determined as follows:

[0089] When the calculation strategy is the second calculation strategy, the third difference between the first phase current and the second phase current is determined, and the first sum between the third difference and the target phase current is determined.

[0090] Determine a second ratio between the absolute value of the first sum and the second preset value;

[0091] The second ratio is determined as the pulse response current corresponding to the two sets of windings.

[0092] In this embodiment, the second calculation strategy above can be implemented using the following formula:

[0093]

[0094] In the above formula, i xy Indicates the impulse response current, i x i represents the first phase current. y Indicates the second phase current, i z This represents the target phase current, with a second preset value of 2.

[0095] For the AB winding, after injecting the first voltage pulse AB, if the target phase current is less than the first preset value, the second calculation strategy can be implemented using the following formula:

[0096]

[0097] In the above formula, for the AB winding, i AB Represents the impulse response current, and the third difference is i. A -i B The first sum is i A -i B +i C The second ratio is

[0098] Similarly, for the AB winding, after injecting the second voltage pulse BA, if the target phase current is greater than the first preset value, the second calculation strategy can also be implemented according to the above formula. This embodiment will not be described in detail here. The correspondence between each two-phase winding and the comparison result, the first calculation strategy and the second calculation strategy can be referred to Table 2.

[0099] Table 2

[0100]

[0101] Specifically, when the calculation strategy is the third calculation strategy, the pulse response current corresponding to the two sets of windings can be determined as follows:

[0102] When the calculation strategy is the first calculation strategy, determine the fourth difference between the first phase current and the second phase current;

[0103] Determine the third ratio between the absolute value of the fourth difference and the second preset value;

[0104] The third ratio is determined as the pulse response current corresponding to the two-phase winding.

[0105] In this embodiment, the third calculation strategy described above can be implemented using the following formula:

[0106]

[0107] In the above formula, i xy Indicates the impulse response current, i x i represents the first phase current. y This indicates the second phase current, with a second preset value of 2.

[0108] Specifically, the third calculation strategy is consistent with the traditional voltage pulse injection method, and will not be elaborated here in this embodiment.

[0109] S104: Determine the first and second shaft inductances of the three-phase motor based on the pulse response current set.

[0110] In this embodiment, through steps S101 to S103, six pulse response currents can be obtained, and these six pulse response currents are combined into a pulse response current set. Based on the combined pulse response set, the first axis inductance and the second axis inductance corresponding to the three-phase motor can be obtained. The first axis inductance is the d-axis inductance, and the second axis inductance is the q-axis inductance.

[0111] Specifically, step S104 includes:

[0112] Based on the set of pulse response currents, determine the set of line inductances corresponding to the set of two-phase windings;

[0113] Based on the set of line inductances, determine the first shaft inductance and the second shaft inductance corresponding to the three-phase motor.

[0114] More specifically, the set of line inductors includes a first line inductor, a second line inductor, and a third line inductor. For windings AB, BC, and CA, the set of line inductors includes three line inductors, which can be denoted as the first line inductor L.AB Second-line inductor L BC and the third-line inductor L CA Among them, L AB It can be determined by the following formula:

[0115]

[0116] In the above formula, L AB U represents the first-line inductance. dc Indicates the bus voltage, ΔT represents the width of the voltage pulse, and i AB i represents the pulse response current of the A and B phase windings under the first voltage pulse. BA This represents the pulse response current of the A and B phase windings under the second voltage pulse.

[0117] L BC It can be determined by the following formula:

[0118]

[0119] In the above formula, L BC Indicates the second-wire inductance, U dc Indicates the bus voltage, ΔT represents the width of the voltage pulse, and i BC i represents the pulse response current of the BC two-phase windings under the first voltage pulse. CB This represents the pulse response current of the BC two-phase windings under the second voltage pulse.

[0120] L CA It can be determined by the following formula:

[0121]

[0122] In the above formula, L CA Indicates the third-line inductance, U dc Indicates the bus voltage, ΔT represents the width of the voltage pulse, and i CA i represents the pulse response current of the two-phase winding CA under the first voltage pulse. AC This represents the pulse response current of the two-phase winding CA under the second voltage pulse.

[0123] In this embodiment, the first shaft inductance and the second shaft inductance of the three-phase motor can be determined based on the set of line inductances as follows:

[0124] Input the set of line inductances into the formula for calculating the first-axis inductance to obtain the first-axis inductance;

[0125] Input the set of line inductances into the formula for calculating the second-axis inductance to obtain the second-axis inductance.

[0126] The formula for calculating the inductance of the first axis includes:

[0127]

[0128] The formula for calculating the second-axis inductance includes:

[0129]

[0130] In the above formula: L d L represents the first-axis inductance. q L represents the second-axis inductance. AB L represents the first-line inductance. BC L represents the second-wire inductance. CA This indicates the third-line inductance.

[0131] In this embodiment, Figure 4 This is a comparison chart of the results between the improved injection voltage pulse method and the traditional injection voltage pulse method. The improved injection voltage pulse method is the method used in this embodiment. The results are the inductance identification results of the synchronous reluctance motor at different rotor positions (inductance identification is performed every 6° of rotor angle). Figure 4 As can be seen, when the rotor angle θ of the three-phase motor d At 30°, 90°, 150°, 210°, 270°, and 330°, the q-axis inductance identification deviation reached more than 35% without the present invention. After adopting the present invention, the q-axis inductance identification deviation was within 10%. It can be seen that the present invention can significantly reduce the inductance identification deviation.

[0132] This embodiment provides an inductance identification method that, when using the voltage pulse injection method to determine the inductance of a three-phase motor, takes into account the influence of the current corresponding to the phase without voltage pulse injection, and combines the current corresponding to the phase without voltage pulse injection to determine the first shaft inductance and the second shaft inductance of the three-phase motor, thereby reducing the deviation in determining the inductance of a three-phase motor using the voltage pulse injection method.

[0133] refer to Figure 5 , Figure 5This is a schematic diagram of an inductor identification device provided in an embodiment of the present invention. The inductor identification device provided in this embodiment includes an injection module 10, an acquisition module 20, and a determination module 30. The injection module 10 is used to inject a preset voltage pulse into each two-phase winding in a set of two-phase windings corresponding to a three-phase motor. The acquisition module 20 is used to acquire the three-phase current corresponding to the three-phase motor after the preset voltage pulse. The determination module 30 is used to determine a target phase current from the three-phase current, and based on the target phase current and the preset voltage pulse, determine the pulse response current corresponding to the two-phase winding, thus obtaining a set of pulse response currents corresponding to the set of two-phase windings. The target phase current is used to characterize the current corresponding to the phase for which the preset voltage pulse was not injected. The determination module 30 is also used to determine the first-axis inductance and the second-axis inductance corresponding to the three-phase motor based on the set of pulse response currents.

[0134] In this embodiment, the determining module 30 is further configured to:

[0135] Determine the target comparison result between the target phase current and a first preset value; wherein, the first preset value is zero;

[0136] Based on the target comparison result and the preset voltage pulse, determine the calculation strategy corresponding to the two-phase winding;

[0137] Based on the calculation strategy, the pulse response current corresponding to the two-phase winding is determined.

[0138] In this embodiment, the determining module 30 is further configured to:

[0139] When the target comparison result and the preset voltage pulse satisfy the first preset condition, the calculation strategy is determined to be the first calculation strategy;

[0140] The first preset condition includes: the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to characterize a positive voltage pulse, the second voltage pulse is used to characterize a negative voltage pulse, and the first voltage pulse and the second voltage pulse have the same width.

[0141] In this embodiment, the three-phase current includes the first phase current, the second phase current, and the target phase current.

[0142] In this embodiment, the determining module 30 is further configured to:

[0143] When the calculation strategy is the first calculation strategy, a first difference between the first phase current and the second phase current is determined, and a second difference between the first difference and the target phase current is determined;

[0144] Determine a first ratio between the absolute value of the second difference and the second preset value;

[0145] The first ratio is determined as the pulse response current corresponding to the two-phase winding.

[0146] In this embodiment, the determining module 30 is further configured to:

[0147] When the target comparison result and the preset voltage pulse satisfy the second preset condition, the calculation strategy is determined to be the second calculation strategy;

[0148] The second preset condition includes: the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to characterize a positive voltage pulse, the second voltage pulse is used to characterize a negative voltage pulse, and the first voltage pulse and the second voltage pulse have the same width.

[0149] In this embodiment, the determining module 30 is further configured to:

[0150] When the calculation strategy is the second calculation strategy, a third difference between the first phase current and the second phase current is determined, and a first sum between the third difference and the target phase current is determined;

[0151] Determine a second ratio between the absolute value of the first sum and a second preset value;

[0152] The second ratio is determined as the pulse response current corresponding to the two-phase winding.

[0153] In this embodiment, the determining module 30 is further configured to:

[0154] Based on the set of pulse response currents, determine the set of line inductances corresponding to the set of two-phase windings;

[0155] Based on the set of line inductances, determine the first shaft inductance and the second shaft inductance corresponding to the three-phase motor.

[0156] The inductance identification device provided in this embodiment, when determining the inductance of a three-phase motor using the injected voltage pulse method, takes into account the influence of the current corresponding to the phase without injected voltage pulse, and combines the current corresponding to the phase without injected voltage pulse to determine the first shaft inductance and the second shaft inductance of the three-phase motor, thereby reducing the deviation of the injected voltage pulse method in determining the inductance of a three-phase motor.

[0157] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 6 The illustrated electronic device 400 includes at least one processor 401, a memory 402, at least one network interface 404, and other user interfaces 403. The various components in the electronic device 400 are coupled together via a bus system 405. It is understood that the bus system 405 is used to implement communication between these components. In addition to a data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 6 The general designated all buses as Bus System 405.

[0158] The user interface 403 may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0159] It is understood that the memory 402 in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 402 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0160] In some implementations, memory 402 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 4021 and application program 4022.

[0161] The operating system 4021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 4022 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 4022.

[0162] In this embodiment of the invention, by calling the program or instructions stored in memory 402, specifically the program or instructions stored in application program 4022, processor 401 is used to execute the method steps provided in each method embodiment, such as: injecting a preset voltage pulse into each two-phase winding in the set of two-phase windings corresponding to the three-phase motor; obtaining the three-phase current corresponding to the three-phase motor after the preset voltage pulse; determining the target phase current from the three-phase current; determining the pulse response current corresponding to the two-phase winding based on the target phase current and the preset voltage pulse, and obtaining the pulse response current set corresponding to the set of two-phase windings; wherein, the target phase current is used to characterize the current corresponding to the phase without the preset voltage pulse; and determining the first shaft inductance and the second shaft inductance corresponding to the three-phase motor based on the pulse response current set.

[0163] The methods disclosed in the above embodiments of the present invention can be applied to processor 401, or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 401 or by instructions in the form of software. The processor 401 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 402. Processor 401 reads the information in memory 402 and, in conjunction with its hardware, completes the steps of the above method.

[0164] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0165] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0166] The electronic device provided in this embodiment may be as follows: Figure 6 The electronic device shown can perform the following: Figure 2 All steps of the inductance identification method are then implemented to achieve... Figure 2 For details on the technical effectiveness of the inductor identification method shown, please refer to [link / reference]. Figure 2 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0167] This invention also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; the memory may also include combinations of the above types of memory.

[0168] One or more programs in the storage medium can be executed by one or more processors to implement the inductor identification method described above, which is executed on the inductor identification device side.

[0169] The processor executes an inductor identification program stored in the memory to implement the following steps of an inductor identification method executed on the inductor identification device side: for each two-phase winding in the set of two-phase windings corresponding to a three-phase motor, injecting a preset voltage pulse into the two-phase winding; obtaining the three-phase current corresponding to the three-phase motor after the preset voltage pulse; determining the target phase current from the three-phase current; determining the pulse response current corresponding to the two-phase winding based on the target phase current and the preset voltage pulse, thus obtaining a set of pulse response currents corresponding to the set of two-phase windings; wherein, the target phase current is used to characterize the current corresponding to the phase for which no preset voltage pulse was injected; and determining the first-axis inductance and the second-axis inductance corresponding to the three-phase motor based on the set of pulse response currents.

[0170] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0171] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0172] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An inductance identification method characterized by, The method comprises the following steps: injecting a preset voltage pulse into each two-phase winding in a two-phase winding set corresponding to a three-phase motor; obtaining three-phase currents corresponding to the three-phase motor after the preset voltage pulse; determining a target phase current from the three-phase currents, determining a pulse response current corresponding to the two-phase winding according to the target phase current and the preset voltage pulse, and obtaining a pulse response current set corresponding to the two-phase winding set; wherein the target phase current is used to represent a current corresponding to a phase which has not injected the preset voltage pulse; determining a first shaft inductance and a second shaft inductance corresponding to the three-phase motor according to the pulse response current set; wherein the determination of the pulse response current corresponding to the two-phase winding according to the target phase current and the preset voltage pulse comprises: determining a target comparison result between the target phase current and a first preset value; wherein the first preset value is zero; determining a calculation strategy corresponding to the two-phase winding according to the target comparison result and the preset voltage pulse; determining the pulse response current corresponding to the two-phase winding according to the calculation strategy; wherein the determination of the calculation strategy corresponding to the two-phase winding according to the target comparison result and the preset voltage pulse comprises: when the target comparison result and the preset voltage pulse satisfy a first preset condition, determining the calculation strategy as a first calculation strategy; wherein the first preset condition comprises: the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to represent a positive direction voltage pulse, the second voltage pulse is used to represent a negative direction pulse, and the first voltage pulse and the second voltage pulse have the same width; wherein the three-phase currents comprise a first phase current, a second phase current and the target phase current; the determination of the pulse response current corresponding to the two-phase winding according to the calculation strategy comprises: when the calculation strategy is the first calculation strategy, determining a first difference between the first phase current and the second phase current, and a second difference between the first difference and the target phase current; determining a first ratio of an absolute value of the second difference to a second preset value; determining the first ratio as the pulse response current corresponding to the two-phase winding.

2. The method of claim 1, wherein, the determination of the calculation strategy corresponding to the two-phase winding according to the target comparison result and the preset voltage pulse comprises: when the target comparison result and the preset voltage pulse satisfy a second preset condition, determining the calculation strategy as a second calculation strategy; The second preset condition comprises: the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to represent a positive direction voltage pulse, the second voltage pulse is used to represent a negative direction pulse, and the first voltage pulse and the second voltage pulse are equal in width; The determining, according to the calculation strategy, of the pulse response current corresponding to the two-phase winding comprises: When the calculation strategy is the second calculation strategy, a third difference value between the first phase current and the second phase current is determined, and a first sum value between the third difference value and the target phase current is determined; A second ratio of an absolute value of the first sum value to a second preset value is determined; The second ratio is determined as the pulse response current corresponding to the two-phase winding.

3. The method of claim 1, wherein, The determining, according to the pulse response current set, of the first shaft inductance and the second shaft inductance corresponding to the three-phase motor comprises: According to the pulse response current set, a line inductance set corresponding to the two-phase winding set is determined; According to the line inductance set, the first shaft inductance and the second shaft inductance corresponding to the three-phase motor are determined.

4. An inductance discrimination device, characterized by, Comprise: The injection module is used for injecting a preset voltage pulse into each two-phase winding in a two-phase winding set corresponding to a three-phase motor; The acquisition module is used for acquiring three-phase currents corresponding to the three-phase motor after the preset voltage pulse; The determination module is used for determining a target phase current from the three-phase currents, determining a pulse response current corresponding to the two-phase winding according to the target phase current and the preset voltage pulse, and obtaining a pulse response current set corresponding to the two-phase winding set; wherein the target phase current represents a current corresponding to a phase which is not injected with the preset voltage pulse; The determination module is also used for determining the first shaft inductance and the second shaft inductance corresponding to the three-phase motor according to the pulse response current set; The determination module is also used for: Determining a target comparison result between the target phase current and a first preset value; wherein the first preset value is zero; According to the target comparison result and the preset voltage pulse, a calculation strategy corresponding to the two-phase winding is determined; According to the calculation strategy, the pulse response current corresponding to the two-phase winding is determined; The determination module is also used for: When the target comparison result and the preset voltage pulse satisfy a first preset condition, the calculation strategy is determined as a first calculation strategy; The first preset condition comprises: the target comparison result is that the target phase current is greater than the first preset value and the preset voltage pulse is a first voltage pulse; or, the target comparison result is that the target phase current is less than the first preset value and the preset voltage pulse is a second voltage pulse; the first voltage pulse is used to represent a positive direction voltage pulse, the second voltage pulse is used to represent a negative direction pulse, and the first voltage pulse and the second voltage pulse are equal in width; The three-phase current includes a first-phase current, a second-phase current, and the target-phase current. The determining module is further configured to: When the calculation strategy is the first calculation strategy, determine a first difference between the first-phase current and the second-phase current, and a second difference between the first difference and the target-phase current; Determine a first ratio of an absolute value of the second difference to a second preset value; Determine the first ratio as a corresponding pulse response current of the two-phase winding.

5. An electronic device, comprising: The method comprises: A processor and a memory, the processor being configured to execute an inductance identification program stored in the memory to implement the inductance identification method of any one of claims 1-3.

6. A storage medium, characterized by The storage medium stores one or more programs, which can be executed by one or more processors to implement the inductance identification method of any one of claims 1-3.

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