Method, device, processor and vehicle for determining motor torque

Abstract

The application discloses a motor torque determination method and device, a processor and a vehicle. The method comprises the following steps: obtaining a torque estimation value of a motor of the vehicle and a torque instruction value, wherein the torque instruction value is used to represent torque demand of a vehicle controller on the motor, and the torque estimation value is used to estimate actual torque of the motor running based on the torque instruction value; based on the torque estimation value and the torque instruction value, flux linkage data and inductance data of the motor are determined, wherein the flux linkage data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross-coupling properties of the motor; based on the flux linkage data and the inductance data, rotor flux linkage and rotor temperature of the motor are determined, wherein the rotor temperature is used to represent temperature rise properties of the motor, and the rotor flux linkage is used to represent electromagnetic properties of a rotor of the motor; and based on the rotor flux linkage and the rotor temperature, a target torque of the motor is determined. The application solves the technical problem of low accuracy of determining the torque of the motor.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, device, processor and vehicle for determining motor torque. Background Art

[0002] Currently, due to the error between the motor's torque command and torque estimate, pulse width modulation (PWM) can be performed on the phase voltage of the torque estimate to directly determine the target torque. However, using PWM alone results in low motor control accuracy and poor stability. Therefore, the technical problem of low accuracy in determining the motor's torque still exists.

[0003] With respect to the technical problem of low accuracy in determining the torque of the motor in the above-mentioned related technologies, no effective solution has been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, processor, and vehicle for determining motor torque, to at least solve the technical problem of low accuracy in determining the torque of a motor.

[0005] According to one aspect of an embodiment of the present invention, a method for determining motor torque is provided. The method may include: obtaining a torque estimate and a torque command value of a vehicle's motor, wherein the torque command value is used to represent the torque demand of the vehicle controller for the motor, and the torque estimate is used to estimate the actual torque of the motor controlled based on the torque command value; determining the motor's flux data and inductance data based on the torque estimate and the torque command value, wherein the flux data is used to represent the motor's magnetic field properties, and the inductance data is used to represent the motor's magnetic saturation and cross-coupling properties; determining the motor's rotor flux and rotor temperature based on the flux data and the inductance data, wherein the rotor temperature is used to represent the motor's temperature rise properties, and the rotor flux is used to represent the electromagnetic properties of the motor's rotor; and determining the motor's target torque based on the rotor flux and the rotor temperature.

[0006] Optionally, based on the torque estimate value and the torque command value, the flux data and inductance data of the motor are determined, including: determining the phase voltage of the motor based on the deviation between the torque estimate value and the torque command value; determining the flux data of the motor based on the phase voltage under the coordinate axis of the magnetic field property; simulating the magnetic saturation and cross-coupling properties, and determining the inductance data based on the flux data.

[0007] Optionally, under the coordinate axis of the magnetic field properties, the magnetic flux data of the motor is determined based on the phase voltage, including: determining the stator resistance of the motor, the electrical angular velocity of the motor, the voltage of the direct axis in the coordinate axis, and the voltage of the quadrature axis in the coordinate axis based on the phase voltage; determining the quadrature axis magnetic flux data in the magnetic flux data based on the stator resistance, the electrical angular velocity, and the voltage of the direct axis, and determining the direct axis magnetic flux data in the magnetic flux data based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis.

[0008] Optionally, the magnetic saturation and cross-coupling properties are simulated, and the inductance data is determined based on the flux data, including: determining the flux self-inductance data in the inductance data based on the direct-axis flux data in the flux data and the direct-axis current of the motor, wherein the flux self-inductance data is used to represent the flux self-inductance of the direct axis in the coordinate axis; determining the flux mutual inductance data in the inductance data based on the quadrature-axis flux data in the flux data and the quadrature-axis current of the motor, wherein the flux mutual inductance data is used to represent the flux mutual inductance of the quadrature axis to the direct axis in the coordinate axis.

[0009] Optionally, before simulating the magnetic saturation and cross-coupling properties and determining the inductance data based on the flux data, the method further includes: establishing a relationship model between the flux data and the direct-axis current based on the coefficient matrix of the direct-axis flux data, the coefficient matrix of the cross-axis flux data, and the polynomial fitting basis.

[0010] Optionally, the rotor flux and rotor temperature of the motor are determined based on the flux data and inductance data, including: determining the rotor flux of the motor based on the flux data, the AC current and DC current of the motor, and the inductance data; and determining the rotor temperature based on a relationship model between the rotor flux and the rotor temperature.

[0011] Optionally, the target torque of the motor is determined based on the rotor flux and the rotor temperature, including: simulating the electromagnetic properties and temperature rise properties to determine the coefficient fitting matrix at the initial temperature and the target temperature; determining the target torque of the motor based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor and the phase current of the motor.

[0012] According to another aspect of an embodiment of the present invention, a device for determining motor torque is also provided. The device may include: an acquisition unit for acquiring a torque estimate and a torque command value of a vehicle's motor, wherein the torque command value is used to represent the torque demand of the vehicle's vehicle controller for the motor, and the torque estimate is used to estimate the actual torque of the motor controlled based on the torque command value; a first determination unit for determining the motor's flux data and inductance data based on the torque estimate and the torque command value, wherein the flux data is used to represent the motor's magnetic field properties, and the inductance data is used to represent the motor's magnetic saturation and cross-coupling properties; a second determination unit for determining the motor's rotor flux and rotor temperature based on the flux data and the inductance data, wherein the rotor temperature is used to represent the motor's temperature rise properties, and the rotor flux is used to represent the electromagnetic properties of the motor's rotor; and a third determination unit for determining the motor's target torque based on the rotor flux and the rotor temperature.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device containing the computer-readable storage medium is controlled to execute the method for determining the motor torque according to the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is provided, wherein the processor is configured to run a program, wherein when the program is run, the method for determining the motor torque according to an embodiment of the present invention is executed.

[0015] According to another aspect of an embodiment of the present invention, a vehicle is provided, which is used to execute the method for determining the motor torque according to an embodiment of the present invention.

[0016] In an embodiment of the present invention, a torque estimate value and a torque command value of a vehicle's motor are obtained, wherein the torque command value is used to represent the torque demand of the vehicle controller for the motor, and the torque estimate value is used to estimate the actual torque for controlling the motor operation based on the torque command value; based on the torque estimate value and the torque command value, the flux data and inductance data of the motor are determined, wherein the flux data is used to represent the magnetic field properties of the motor, and the inductance data is used to represent the magnetic saturation and cross-coupling properties of the motor; based on the flux data and the inductance data, the rotor flux and rotor temperature of the motor are determined, wherein the rotor temperature is used to represent the temperature rise properties of the motor, and the rotor flux is used to represent the electromagnetic properties of the rotor of the motor; based on the rotor flux and the rotor temperature, the target torque of the motor is determined. That is to say, the embodiment of the present invention can analyze the torque estimation value and the torque torque value through the magnetic field properties and magnetic saturation or cross-coupling properties of the motor to determine the magnetic flux data corresponding to the magnetic field properties, and can also determine the inductance data corresponding to the magnetic saturation and cross-coupling properties. The inductance data and magnetic flux data can be analyzed through the temperature rise properties and electromagnetic properties of the motor to determine the rotor temperature corresponding to the temperature rise properties, and can also determine the rotor magnetic flux of the electromagnetic properties. The target torque of the motor can be determined based on the rotor magnetic flux and the rotor temperature. Since various properties of the motor are taken into consideration, the purpose of improving the accuracy of calculating the target torque can be achieved, thereby solving the technical problem of low accuracy in determining the torque of the motor and achieving the technical effect of effectively improving the accuracy of determining the torque of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for determining motor torque according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a system for determining a target torque in a related art according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a torque online estimation model according to an embodiment of the present invention;

[0021] Figure 4 is a flow chart of a method for online estimation of target torque of a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention;

[0022] Figure 5 is a flow chart of a method for determining inductance data of a motor according to an embodiment of the present invention;

[0023] Figure 6 2 is a schematic diagram of a device for determining motor torque according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] According to an embodiment of the present invention, an embodiment of a method for determining motor torque is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] Figure 1 is a flow chart of determining a motor torque according to an embodiment of the present invention, such as Figure 1 As shown, the method may include the following steps:

[0029] Step S102, obtaining the torque estimate and torque command value of the vehicle's motor, wherein the torque command value is used to represent the torque demand of the vehicle controller for the motor, and the torque estimate is used to estimate the actual torque of the motor controlled based on the torque command value.

[0030] In the technical solution provided in step S102 of the present invention, a torque estimate and torque command value of the vehicle's motor can be obtained. The torque command value can be used to represent the torque demanded by the vehicle controller for the motor. The torque estimate can be used to estimate the actual torque used to control the motor based on the torque command value, and can also be called estimated torque.

[0031] Optionally, a torque online estimation model for determining the target torque can be established in advance. After the model is established, the torque estimate value and the torque command value can be input into the model as input data of the model. The torque estimate value and the torque command value can be processed by various units in the model to determine the target torque of the motor. The torque online estimation model can include a torque online estimation unit, a torque control unit, a PWM modulation unit and a direct-axis quadrature-axis (dq axis) calculation unit, a dq axis inductance calculation unit, a rotor flux calculation unit and a rotor temperature estimation unit. The torque online estimation model can also be called a torque closed-loop control system. It should be noted that the calculation unit in the above-mentioned torque online estimation model is only for example and is not specifically limited here.

[0032] Step S104 : determining the flux data and inductance data of the motor based on the torque estimate and the torque command value, wherein the flux data is used to represent the magnetic field properties of the motor, and the inductance data is used to represent the magnetic saturation and cross-coupling properties of the motor.

[0033] In the technical solution provided in step S104 of the present invention, after obtaining the estimated torque value and torque command value of the motor, the estimated torque value and torque command value can be analyzed based on the motor's magnetic field properties, magnetic saturation, and cross-coupling properties to determine the motor's flux data and inductance data. The magnetic field properties can be magnetic field effects. The flux data can be used to represent the motor's magnetic field properties and can be flux values. The cross-coupling properties can be cross-coupling effects. The inductance data can be used to represent the motor's magnetic saturation and cross-coupling properties and can include flux self-inductance and flux mutual inductance.

[0034] Optionally, after inputting the obtained torque estimate and torque command value into the torque online estimation model, a torque control unit in the torque online estimation model can use the torque estimate and torque command value as input, calculate the two, and obtain a calculation result. The calculation result can then be input into a dq-axis flux calculation unit, which calculates the flux value based on the magnetic field properties of the motor. The dq-axis inductance calculation unit can calculate the flux value based on the magnetic saturation cross-coupling effect of the motor to determine the inductance data.

[0035] Since only PWM modulation will result in low control accuracy and poor stability of the motor, in order to improve the calculation accuracy of the motor's target torque, in an embodiment of the present invention, a simulation of the motor's magnetic saturation cross-coupling effect can be introduced, and the inductance data can be calculated based on the magnetic flux data. Since various properties and effects of the motor are taken into consideration, the motor's target torque can be better analyzed, thereby achieving the technical effect of improving the calculation accuracy of the motor's target torque.

[0036] Step S106 : determining the rotor flux and rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used to represent the temperature rise property of the motor, and the rotor flux is used to represent the electromagnetic property of the rotor of the motor.

[0037] In the technical solution of step S106 of the present invention, after determining the flux data and inductance data, the flux data and inductance data can be analyzed based on the temperature rise properties of the motor to determine the rotor temperature of the motor. The flux data and inductance data can be analyzed based on the electromagnetic properties of the motor to determine the rotor flux of the motor. The temperature rise property can also be referred to as a temperature rise effect or a temperature rise condition. The rotor temperature can be used to represent the temperature rise property of the motor. The rotor flux can be used to represent the electromagnetic properties of the rotor in the motor.

[0038] Optionally, after the dq-axis flux calculation unit calculates flux data and the dq-axis inductance calculation unit calculates inductance data, the calculated flux data can be transmitted to the rotor flux calculation unit in the online torque estimation model via the dq-axis flux calculation unit. Alternatively, the calculated inductance data can be transmitted to the rotor flux calculation unit via the dq-axis inductance calculation unit. The rotor flux calculation unit analyzes the inductance and flux data based on electromagnetic properties to determine the rotor flux. The rotor flux can be input from the rotor flux calculation unit to the rotor temperature estimation unit, and the rotor temperature can be calculated based on the rotor flux.

[0039] Step S108: determining the target torque of the motor based on the rotor flux and the rotor temperature.

[0040] In the technical solution of step S108 of the present invention, after determining the rotor flux and the rotor temperature, the target torque of the motor can be determined, wherein the target torque can be used to represent a torque that is close to the torque command value.

[0041] Optionally, after the rotor temperature estimation unit calculates the rotor temperature, the rotor temperature may be input into the torque online estimation unit through the rotor temperature estimation unit, and the target torque may be calculated based on parameters such as the rotor temperature through the torque online estimation unit.

[0042] In an embodiment of the present invention, since the magnetic field properties, magnetic saturation and cross-coupling properties and temperature rise properties of the motor are taken into consideration, the accuracy of determining the target torque of the motor can be improved. Based on the above-mentioned multiple properties, the torque estimate and torque command value of the motor can be calculated to determine the flux data and inductance data, and further determine the rotor flux and rotor temperature of the rotor, so that the target torque of the motor can be determined, thereby achieving the purpose of improving the calculation accuracy of the target torque, and further realizing the technical effect of improving the accuracy of determining the target torque of the motor.

[0043] In the above steps S102 to S108 of the present invention, the torque estimation value and the torque torque value are analyzed through the magnetic field properties and magnetic saturation or cross-coupling properties of the motor to determine the magnetic flux data corresponding to the magnetic field properties, and the inductance data corresponding to the magnetic saturation and cross-coupling properties can also be determined. The inductance data and magnetic flux data can be analyzed through the temperature rise properties and electromagnetic properties of the motor to determine the rotor temperature corresponding to the temperature rise properties, and the rotor magnetic flux of the electromagnetic properties can also be determined. The target torque of the motor can be determined based on the rotor magnetic flux and the rotor temperature. Since various properties of the motor are taken into consideration, the purpose of improving the accuracy of calculating the target torque can be achieved, thereby solving the technical problem of low accuracy in determining the torque of the motor and achieving the technical effect of effectively improving the accuracy of determining the torque of the motor.

[0044] The above method of this embodiment is further introduced below.

[0045] As an optional embodiment, step S104 determines the flux data and inductance data of the motor based on the torque estimate value and the torque command value, including: determining the phase voltage of the motor based on the deviation between the torque estimate value and the torque command value; determining the flux data of the motor based on the phase voltage under the coordinate axis of the magnetic field property; simulating the magnetic saturation and cross-coupling properties, and determining the inductance data based on the flux data.

[0046] In this embodiment, in the process of determining the flux data and inductance data of the motor based on the torque estimate and the torque command value, the deviation between the torque estimate and the torque command value can be determined, and the phase voltage of the motor is determined based on the deviation between the two. The flux data of the motor is determined based on the phase voltage under the coordinates of the magnetic field properties, and the magnetic saturation and cross-coupling properties are simulated, and the inductance data is determined based on the flux data, wherein the coordinate axis can be a rotating coordinate system of the motor, and the rotating coordinate system includes two axes, a direct axis (d axis) and a quadrature axis (q axis), the direct axis can be the direction axis of the motor magnetic field, and the quadrature axis can be the direction axis of the motor rotor. The phase voltage can be called the input phase voltage.

[0047] Optionally, the torque estimate value and the torque command value can be used as input data of the torque closed-loop control system, the deviation between the torque estimate value and the torque command value can be calculated, the torque estimate value and the torque command value can be transmitted to the torque control unit for modulation, and the optimal phase voltage under the working conditions of the current torque estimate value and the torque command value can be determined.

[0048] Optionally, the phase voltages obtained by the torque control unit can be input into the PWM modulation unit to generate six PWMs for driving the inverter power switches. Furthermore, they can be input into the dq-axis flux calculation unit to determine flux data. To improve the accuracy of the motor's target torque calculation, the dq-axis inductance calculation unit can simulate the motor's magnetic saturation and cross-coupling effects. When the flux data is input into the dq-axis inductance calculation unit, the inductance data can be determined during the simulation.

[0049] As an optional embodiment, step S104 determines the magnetic flux data of the motor based on the phase voltage under the coordinate axis of the magnetic field attribute, including: determining the stator resistance of the motor, the electrical angular velocity of the motor, the voltage of the direct axis in the coordinate axis, and the voltage of the quadrature axis in the coordinate axis based on the phase voltage; determining the quadrature axis magnetic flux data in the magnetic flux data based on the stator resistance, the electrical angular velocity, and the voltage of the direct axis, and determining the direct axis magnetic flux data in the magnetic flux data based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis.

[0050] In this embodiment, under the coordinate axis of the flux property, in the process of determining the flux data based on the phase voltage, the stator resistance, electrical angular velocity, the voltage of the direct axis in the coordinate axis, and the voltage of the quadrature axis of the coordinate axis of the motor can be determined based on the phase voltage; the quadrature axis flux data in the flux data can be determined based on the stator resistance, electrical angular velocity, and the voltage of the direct axis; and the direct axis flux data in the flux data can be determined based on the stator resistance, electrical angular velocity, and the voltage of the quadrature axis, wherein the flux data may include quadrature axis flux data and direct axis flux data.

[0051] Optionally, when the phase voltage is input into the dq axis flux calculation unit, the stator resistance R and the electrical angular velocity ω of the motor can be determined based on the phase voltage. e , direct axis voltage u d And the quadrature axis voltage u q .

[0052] Alternatively, based on the stator resistance, electrical angular velocity, and direct-axis voltage, the quadrature-axis flux data can be determined using the following formula:

[0053]

[0054] in, Can be used to represent quadrature axis flux data; i dIt can be used to represent the current of the direct axis; R can be used to represent the stator resistance of the motor; u d Can be used to represent the voltage of the direct axis; ω e Can be used to express electrical angular velocity.

[0055] Alternatively, based on the stator resistance, electrical angular velocity, and quadrature-axis voltage, the direct-axis flux data can be determined using the following formula:

[0056]

[0057] in, Can be used to represent direct axis flux data; i q Can be used to represent the quadrature axis current; u q Can be used to represent the voltage of the quadrature axis.

[0058] As an optional embodiment, step S104 simulates the magnetic saturation and cross-coupling properties, and determines the inductance data based on the flux data, including: determining the flux self-inductance data in the inductance data based on the direct-axis flux data in the flux data and the direct-axis current of the motor, wherein the flux self-inductance data is used to represent the flux self-inductance of the direct axis in the coordinate axis; and determining the flux mutual inductance data in the inductance data based on the quadrature-axis flux data in the flux data and the quadrature-axis current of the motor, wherein the flux mutual inductance data is used to represent the flux mutual inductance of the quadrature axis to the direct axis in the coordinate axis.

[0059] In this embodiment, when simulating magnetic saturation and cross-coupling properties and determining inductance data based on flux data, the flux self-inductance data of the inductance data can be determined based on the direct-axis flux data and the direct-axis current in the flux data, or the flux mutual inductance data in the inductance data can be determined based on the quadrature-axis flux data of the flux data and the quadrature-axis current of the motor. The flux self-inductance data can be used to represent the flux self-inductance of the direct axis in the coordinate axis, which can be called the dq-axis self-inductance. The flux mutual inductance data can be used to represent the flux mutual inductance of the quadrature axis to the direct axis in the coordinate axis, which can be called the dq-axis mutual inductance. The inductance data includes flux self-inductance data and flux mutual inductance data.

[0060] Optionally, in order to improve the calculation accuracy of the target torque of the motor, an embodiment of the present invention introduces a simulation of the magnetic saturation and cross-coupling effects of the motor. Therefore, after calculating the direct-axis flux data and the quadrature-axis flux data, the dq-axis self-inductance data and the mutual inductance data between the two can be calculated respectively.

[0061] For example, based on the direct-axis flux data and the direct-axis current, the flux self-inductance data can be determined by the following formula:

[0062]

[0063] Among them, L ddCan be used to represent flux self-inductance data.

[0064] For another example, based on the quadrature-axis current and quadrature-axis flux data, the flux mutual inductance data can be determined using the following formula:

[0065]

[0066] Among them, L dq It can be used to represent the mutual inductance data of magnetic flux.

[0067] As an optional embodiment, in step S104, before simulating the magnetic saturation and cross-coupling properties and determining the inductance data based on the flux data, the method further includes: establishing a relationship model between the flux data and the direct-axis current based on the coefficient matrix of the direct-axis flux data, the coefficient matrix of the cross-axis flux data, and the polynomial fitting basis.

[0068] In this embodiment, before determining the inductance data, a relationship model between the flux data and the direct-axis current can be established using the coefficient matrix of the direct-axis flux data, the coefficient matrix of the quadrature-axis flux data, and a polynomial fitting basis. The relationship model can be a binary multivariate function between the magnetic data and the direct-axis current, and can be used to represent the d-axis flux fitting results and the q-axis flux fitting results. The coefficient matrix of the direct-axis flux data can be the coefficient matrix after the d-axis flux fitting. The coefficient matrix of the quadrature-axis flux data can be the coefficient matrix after the q-axis flux fitting.

[0069] In the embodiment of the present invention, a polynomial fitting method may be used to model the relationship between the flux data and the current of the motor, and a binary multivariate function of the flux with respect to the dq axis current may be obtained.

[0070] For example, based on the coefficient matrix of the direct-axis flux data and the polynomial fitting basis, the d-axis flux fitting result can be determined by the following formula:

[0071]

[0072] in, Can be used to represent the d-axis magnetic flux fitting results; Matrix d It can be used to represent the coefficient matrix after d-axis flux fitting; I can be used to represent the polynomial fitting basis.

[0073] For another example, based on the coefficient matrix of the quadrature-axis flux data and the polynomial fitting basis, the q-axis flux fitting result can be determined by the following formula:

[0074]

[0075] in, Can be used to represent the q-axis magnetic flux fitting results; Matrix q It can be used to represent the coefficient matrix after q-axis magnetic flux fitting.

[0076] Optionally, before dq-axis flux fitting, original data can be obtained through finite element simulation or bench calibration. In order to characterize the influence of different rotor temperatures on the electromagnetic properties under the same stator current input, it is necessary to obtain the dq-axis flux map at the lowest and highest temperatures of the rotor flux respectively. After fitting, two sets of fitting coefficient matrices are obtained. Based on the above data, the change in the coefficient matrix corresponding to the unit rotor temperature rise can be obtained, thereby providing input for the subsequent calculation process of the output target torque.

[0077] As an optional embodiment, step S106 determines the rotor flux and rotor temperature of the motor based on the flux data and inductance data, including: determining the rotor flux of the motor based on the flux data, the AC current and DC current of the motor, and the inductance data; and determining the rotor temperature based on a relationship model between the rotor flux and the rotor temperature.

[0078] In this embodiment, in the process of determining the rotor flux and rotor temperature of the motor based on flux data and inductance data, the rotor flux of the motor can be determined based on the flux data, the AC current and DC current of the motor, and the inductance data, and the rotor temperature can be determined based on a relationship model between the rotor flux and the rotor temperature, wherein the rotor flux can also be referred to as permanent magnet flux, or simply flux, and the relationship model between the rotor flux and the rotor temperature can be a corresponding relationship table between the rotor flux and the rotor temperature. The rotor temperature can be referred to as the actual temperature value of the rotor.

[0079] Optionally, the flux data and inductance data may be transmitted to the rotor flux calculation unit through the dq-axis flux calculation unit and the dq-axis inductance calculation unit, and the rotor flux calculation unit may receive the flux data and inductance data in real time to determine the rotor flux.

[0080] For example, the rotor flux can be determined by the following formula:

[0081]

[0082] in, Can be used to represent rotor flux.

[0083] Optionally, the rotor flux can be transmitted to the rotor temperature estimation unit through the rotor flux calculation unit. The rotor temperature estimation unit can use the rotor flux calculated in real time as input and calculate the rotor temperature under the current circumstances through the correspondence table between the rotor flux and temperature.

[0084] As an optional embodiment, step S108 determines the target torque of the motor based on the rotor flux and the rotor temperature, including: simulating the electromagnetic properties and temperature rise properties to determine the coefficient fitting matrix at the initial temperature and the target temperature; determining the target torque of the motor based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor and the phase current of the motor.

[0085] In this embodiment, in the process of determining the target torque of the motor based on the rotor flux and rotor temperature, the electromagnetic properties and temperature rise properties can be simulated, and a coefficient fitting matrix at the initial temperature and the target temperature can be determined. The target torque of the motor can be determined based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor, and the phase current of the motor. The initial temperature can be used to represent the motor temperature value at the initial moment of motor startup. The target temperature can be used to represent the motor temperature value at the current moment of the motor.

[0086] Optionally, the rotor temperature can be transmitted from the rotor temperature estimation unit to the torque online estimation unit. The torque online estimation unit can take the dq axis current and rotor temperature of the motor as input, perform online real-time estimation of the target torque of the motor, and simulate the nonlinear electromagnetic characteristics and temperature rise characteristics of the motor, so as to determine the target torque.

[0087] For example, based on the coefficient fitting matrix, target temperature, number of motor pole pairs, and phase current of the motor, the target torque of the motor can be determined by the following formula:

[0088] T e =1.5n p [(Matrix d0 +Matrix d (t-t0))i q -(Matrix q0 +Matrix q (t-t0))i d ]

[0089] Among them, T e Can be used to represent the target torque of the motor; n p It can be used to indicate the number of pole pairs of the motor; t can be used to indicate the motor temperature value at the current moment; and t0 can be used to indicate the motor temperature value at the initial moment.

[0090] In an embodiment of the present invention, a torque estimate value and a torque command value of a vehicle's motor are obtained, wherein the torque command value is used to represent the torque demand of the vehicle controller for the motor, and the torque estimate value is used to estimate the actual torque for controlling the motor operation based on the torque command value; based on the torque estimate value and the torque command value, the flux data and inductance data of the motor are determined, wherein the flux data is used to represent the magnetic field properties of the motor, and the inductance data is used to represent the magnetic saturation and cross-coupling properties of the motor; based on the flux data and the inductance data, the rotor flux and rotor temperature of the motor are determined, wherein the rotor temperature is used to represent the temperature rise properties of the motor, and the rotor flux is used to represent the electromagnetic properties of the rotor of the motor; based on the rotor flux and the rotor temperature, the target torque of the motor is determined. That is to say, the embodiment of the present invention can analyze the torque estimation value and the torque torque value through the magnetic field properties and magnetic saturation or cross-coupling properties of the motor to determine the magnetic flux data corresponding to the magnetic field properties, and can also determine the inductance data corresponding to the magnetic saturation and cross-coupling properties. The inductance data and magnetic flux data can be analyzed through the temperature rise properties and electromagnetic properties of the motor to determine the rotor temperature corresponding to the temperature rise properties, and can also determine the rotor magnetic flux of the electromagnetic properties. The target torque of the motor can be determined based on the rotor magnetic flux and the rotor temperature. Since various properties of the motor are taken into consideration, the purpose of improving the accuracy of calculating the target torque can be achieved, thereby solving the technical problem of low accuracy in determining the torque of the motor and achieving the technical effect of effectively improving the accuracy of determining the torque of the motor.

[0091] Example 2

[0092] The technical solutions of the embodiments of the present invention are described below with reference to preferred implementation methods.

[0093] Output torque is a crucial technical indicator for automotive drive motors, directly impacting the vehicle's power and driving stability. Therefore, the core purpose of the motor controller is to control the drive motor to achieve accurate and stable torque output during vehicle operation.

[0094] Figure 2 is a schematic diagram of a system for determining target torque in a related art according to an embodiment of the present invention, such as Figure 2As shown, the system for determining the target torque in the related art can include a torque control unit 201, a PWM modulation unit 202 and a torque online estimation unit 203. The motor controller receives the target torque input from the vehicle controller, calculates the error between the target torque and the actual torque, and obtains the motor phase voltage target value after adjustment by the torque control unit 201. The phase voltage target value is modulated by the PWM modulation unit 202, and the duty cycle of the three-phase PWM is calculated to control the inverter to switch in the corresponding state, thereby realizing the control of the motor three-phase current and the output torque. However, only through PWM modulation can result in low control accuracy and poor stability of the motor. Therefore, there is still a technical problem of low accuracy of determining the torque of the motor.

[0095] To solve the above problems, the embodiment of the present application provides a vehicle permanent magnet synchronous motor output torque online estimation method, which can analyze the torque estimation value and the torque torque value by the magnetic field property and the magnetic saturation cross coupling property of the motor, determine the flux linkage data corresponding to the magnetic field property, and also determine the inductance data corresponding to the magnetic saturation and cross coupling property. The inductance data and the flux linkage data can be analyzed by the temperature rise property and the electromagnetic property of the motor to determine the rotor temperature corresponding to the temperature rise property and the rotor flux linkage corresponding to the electromagnetic property. The target torque of the motor can be determined according to the rotor flux linkage and the rotor temperature. Since various properties of the motor are considered, the accuracy of calculating the target torque is improved, thereby solving the technical problem of low accuracy of determining the torque of the motor and achieving the technical effect of effectively improving the accuracy of determining the torque of the motor.

[0096] The embodiment of the present application will be further introduced below.

[0097] Figure 3 is a schematic diagram of a torque online estimation model according to the embodiment of the present application, as Figure 3 shown, the torque online estimation model can include a torque control unit 301, a PWM modulation unit 302, a dq-axis flux linkage calculation unit 303, a dq-axis inductance calculation unit 304, a rotor flux linkage calculation unit 305, a rotor temperature estimation unit 306 and a torque online estimation unit 307. It should be noted that the calculation units in the above torque online estimation model are only for illustration and are not specifically limited here.

[0098] Alternatively, a torque online estimation model for determining the target torque can be established in advance. After the model is established, the torque estimation value and the torque instruction value can be input into the model as input data of the model. The torque estimation value and the torque instruction value can be processed by various units in the model to determine the target torque of the motor.

[0099] Optionally, after inputting the obtained torque estimate and torque command value into the torque online estimation model, a torque control unit in the torque online estimation model can use the torque estimate and torque command value as input, calculate the two, and obtain a calculation result. The calculation result can then be input into a dq-axis flux calculation unit, which calculates the flux value based on the magnetic field properties of the motor. The dq-axis inductance calculation unit can calculate the flux value based on the magnetic saturation cross-coupling effect of the motor to determine the inductance data.

[0100] Optionally, after the dq-axis flux calculation unit calculates flux data and the dq-axis inductance calculation unit calculates inductance data, the calculated flux data can be transmitted to the rotor flux calculation unit in the online torque estimation model via the dq-axis flux calculation unit. Alternatively, the calculated inductance data can be transmitted to the rotor flux calculation unit via the dq-axis inductance calculation unit. The rotor flux calculation unit analyzes the inductance and flux data based on electromagnetic properties to determine the rotor flux. The rotor flux can be input from the rotor flux calculation unit to the rotor temperature estimation unit, and the rotor temperature can be calculated based on the rotor flux.

[0101] Optionally, after the rotor temperature estimation unit calculates the rotor temperature, the rotor temperature may be input into the torque online estimation unit through the rotor temperature estimation unit, and the target torque may be calculated based on parameters such as the rotor temperature through the torque online estimation unit.

[0102] Figure 4 FIG. 1 is a flow chart of a method for online estimating target torque of a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention. Figure 4 As shown, the method may include the following steps:

[0103] Step S402: determining flux linkage data according to the phase voltage and the phase current.

[0104] In the technical solution provided in the above step S402 of the embodiment of the present invention, the direct-axis flux data and the quadrature-axis flux data in the flux data can be determined by calculating the phase voltage and the phase current.

[0105] Optionally, the torque estimate value and the torque command value can be used as input data of the torque closed-loop control system, the deviation between the torque estimate value and the torque command value can be calculated, the torque estimate value and the torque command value can be transmitted to the torque control unit for modulation, and the optimal phase voltage under the working conditions of the current torque estimate value and the torque command value can be determined.

[0106] Optionally, the phase voltage obtained by adjusting the torque control unit can be input into the PWM modulation unit to generate six-way PWM to drive the inverter power switching device, and can also be input into the dq axis flux calculation unit to determine the flux data.

[0107] Optionally, when the phase voltage is input into the dq axis flux calculation unit, the stator resistance R and the electrical angular velocity ω of the motor can be determined based on the phase voltage. e , direct axis voltage u d And the quadrature axis voltage u q .

[0108] For example, based on the stator resistance, electrical angular velocity, and direct-axis voltage, the quadrature-axis flux data can be determined using the following formula:

[0109]

[0110] in, Can be used to represent quadrature axis flux data; i d It can be used to represent the current of the direct axis; R can be used to represent the stator resistance of the motor; u d Can be used to represent the voltage of the direct axis; ω e Can be used to express electrical angular velocity.

[0111] For another example, based on the stator resistance, electrical angular velocity, and quadrature-axis voltage, the direct-axis flux data can be determined using the following formula:

[0112]

[0113] in, Can be used to represent direct axis flux data; i q Can be used to represent the quadrature axis current; u q Can be used to represent the voltage of the quadrature axis.

[0114] Step S404: Determine inductance data based on the flux linkage data and the phase current.

[0115] In the technical solution provided in the above step S404 of the embodiment of the present invention, in order to improve the calculation accuracy of the target torque of the motor, the magnetic saturation and cross-coupling effects of the motor can be simulated. Therefore, after calculating the direct-axis flux data and the quadrature-axis flux data, the dq-axis self-inductance data and the mutual inductance data between the two can be calculated respectively.

[0116] Figure 5 FIG. 1 is a flow chart of a method for determining inductance data of a motor according to an embodiment of the present invention. Figure 5 As shown, the method may include:

[0117] Step S502 , obtaining dq-axis flux linkage maps corresponding to normal temperature and maximum temperature.

[0118] In the technical solution provided in step S502 of the embodiment of the present invention, the original data can be obtained through finite element simulation or bench calibration before dq-axis flux fitting. In order to characterize the influence of different rotor temperatures on the electromagnetic properties under the same stator current input, it is necessary to obtain the dq-axis flux map at the lowest and highest temperatures of the rotor flux respectively.

[0119] Step S504 : reconstructing the flux map data using a bivariate polynomial fitting method to obtain coefficient matrices corresponding to different temperatures.

[0120] In the technical solution provided in the above step S504 of the embodiment of the present invention, a polynomial fitting method can be used to model the relationship between the flux data and the current of the motor, a binary multivariate function of the flux with respect to the dq-axis current can be obtained, and a coefficient matrix of the direct-axis flux data and a coefficient matrix of the quadrature-axis flux data at different temperatures can be determined.

[0121] Optionally, two sets of fitting coefficient matrices are obtained after fitting processing. Based on the above data, the coefficient matrix change corresponding to the unit rotor temperature rise can be obtained, thereby providing input for the subsequent calculation process of the output target torque.

[0122] Step S506: establishing a post-reconstruction flux calculation model.

[0123] In the technical solution provided in step S506 of the embodiment of the present invention, a polynomial fitting method can be used to model the relationship between the flux data and the current of the motor, and a binary multivariate function of the flux with respect to the dq axis current can be obtained, that is, a flux calculation model is determined.

[0124] For example, based on the coefficient matrix of the direct-axis flux data and the polynomial fitting basis, the d-axis flux fitting result can be determined by the following formula:

[0125]

[0126] in, Can be used to represent the d-axis magnetic flux fitting results; Matrix d It can be used to represent the coefficient matrix after d-axis flux fitting; I can be used to represent the polynomial fitting basis.

[0127] For another example, based on the coefficient matrix of the quadrature-axis flux data and the polynomial fitting basis, the q-axis flux fitting result can be determined by the following formula:

[0128]

[0129] in, Can be used to represent the q-axis magnetic flux fitting results; Matrix q Can be used to represent the coefficient matrix after q-axis magnetic flux fitting

[0130] Step S508 , taking the first-order derivative of the flux linkage model to obtain the dq-axis self-inductance and mutual inductance values.

[0131] In the technical solution provided in step S508 of the embodiment of the present invention, the first-order derivative of the flux model can be taken to determine the flux self-inductance data (dq-axis self-inductance values) and the flux mutual inductance data (dq-axis mutual inductance values).

[0132] For example, based on the direct-axis flux data and the direct-axis current, the flux self-inductance data can be determined by the following formula:

[0133]

[0134] Among them, L dd Can be used to represent flux self-inductance data.

[0135] For another example, based on the quadrature-axis current and quadrature-axis flux data, the flux mutual inductance data can be determined using the following formula:

[0136]

[0137] Among them, L dq It can be used to represent the mutual inductance data of magnetic flux.

[0138] Step S406: determining the rotor flux based on the inductance data and the flux data.

[0139] In the technical solution provided in the above step S406 of the embodiment of the present invention, the flux data and the inductance data can be transmitted to the rotor flux calculation unit through the dq-axis flux calculation unit and the dq-axis inductance calculation unit. The rotor flux calculation unit can receive the flux data and the inductance data in real time to determine the rotor flux.

[0140] For example, the rotor flux can be determined by the following formula:

[0141]

[0142] in, Can be used to represent rotor flux.

[0143] Step S408: determining the rotor temperature based on the rotor flux.

[0144] In the technical solution provided in the above step S408 of the embodiment of the present invention, the rotor flux can be transmitted to the rotor temperature estimation unit through the rotor flux calculation unit. The rotor temperature estimation unit can use the rotor flux calculated in real time as input and calculate the rotor temperature under the current circumstances through the correspondence table between the rotor flux and the temperature.

[0145] Step S410: determining the target torque of the motor based on the rotor temperature.

[0146] In the technical solution provided in the above step S410 of the embodiment of the present invention, the rotor temperature can be transmitted from the rotor temperature estimation unit to the torque online estimation unit. The torque online estimation unit can take the dq axis current and rotor temperature of the motor as input, and can perform online real-time estimation of the target torque of the motor. It can simulate the nonlinear electromagnetic characteristics and temperature rise characteristics of the motor, so as to determine the target torque.

[0147] For example, based on the coefficient fitting matrix, target temperature, number of motor pole pairs, and phase current of the motor, the target torque of the motor can be determined by the following formula:

[0148] T e =1.5n p [(Matrix d0 +Matrix d (t-t0))i q -(Matrix q0 +Matrix q (t-t0))i d ]

[0149] Among them, T e Can be used to represent the target torque of the motor; n p It can be used to indicate the number of pole pairs of the motor; t can be used to indicate the motor temperature value at the current moment; and t0 can be used to indicate the motor temperature value at the initial moment.

[0150] The embodiments of the present invention can analyze the torque estimation value and the torque torque value through the magnetic field properties and magnetic saturation or cross-coupling properties of the motor to determine the magnetic flux data corresponding to the magnetic field properties, and can also determine the inductance data corresponding to the magnetic saturation and cross-coupling properties. The inductance data and magnetic flux data can be analyzed through the temperature rise properties and electromagnetic properties of the motor to determine the rotor temperature corresponding to the temperature rise properties, and can also determine the rotor magnetic flux of the electromagnetic properties. The target torque of the motor can be determined based on the rotor magnetic flux and the rotor temperature. Since various properties of the motor are taken into consideration, the purpose of improving the accuracy of calculating the target torque can be achieved, thereby solving the technical problem of low accuracy in determining the torque of the motor and achieving the technical effect of effectively improving the accuracy of determining the torque of the motor.

[0151] Embodiment 3

[0152] According to the embodiments of the present application, a motor torque determination device is also provided. It should be noted that the motor torque determination device can be used to execute the motor torque determination method in Embodiment 1.

[0153] Figure 6 is a schematic diagram of a motor torque determination device according to an embodiment of the present application, as shown in Figure 6 The motor torque determination device 600 can include an acquisition unit 602, a first determination unit 604, a second determination unit 606 and a third determination unit 608.

[0154] The acquisition unit 602 is configured to acquire a torque estimation value and a torque instruction value of a motor of a vehicle, wherein the torque instruction value is used to represent a torque demand of a vehicle controller to the motor, and the torque estimation value is used to estimate an actual torque of the motor based on the torque instruction value.

[0155] The first determination unit 604 is configured to determine flux linkage data and inductance data of the motor based on the torque estimation value and the torque instruction value, wherein the flux linkage data is used to represent a magnetic field property of the motor, and the inductance data is used to represent a magnetic saturation and cross-coupling property of the motor.

[0156] The second determination unit 606 is configured to determine rotor flux linkage and rotor temperature of the motor based on the flux linkage data and the inductance data, wherein the rotor temperature is used to represent a temperature rise property of the motor, and the rotor flux linkage is used to represent an electromagnetic property of a rotor of the motor.

[0157] The third determination unit 608 is configured to determine a target torque of the motor based on the rotor flux linkage and the rotor temperature.

[0158] Optionally, the first determination unit 604 can include a first determination module configured to determine a phase voltage of the motor based on a deviation between the torque estimation value and the torque instruction value, a second determination module configured to determine the flux linkage data of the motor based on the phase voltage in a coordinate axis of the magnetic field property, and a third determination module configured to simulate the magnetic saturation and cross-coupling property, and determine the inductance data based on the flux linkage data.

[0159] Optionally, the second determination module can include a first determination sub-module configured to determine a stator resistance of the motor, an electrical angular velocity of the motor, a voltage of a direct axis in the coordinate axis, and a voltage of a quadrature axis in the coordinate axis based on the phase voltage, and a second determination sub-module configured to determine quadrature axis flux linkage data in the flux linkage data based on the stator resistance, the electrical angular velocity and the voltage of the direct axis, and determine direct axis flux linkage data in the flux linkage data based on the stator resistance, the electrical angular velocity and the voltage of the quadrature axis.

[0160] Optionally, the third determination module may include: a third determination submodule, used to determine the flux self-inductance data in the inductance data based on the direct-axis flux data in the flux data and the direct-axis current of the motor, wherein the flux self-inductance data is used to represent the flux self-inductance of the direct axis in the coordinate axis; a fourth determination submodule, used to determine the flux mutual inductance data in the inductance data based on the quadrature-axis flux data in the flux data and the quadrature-axis current of the motor, wherein the flux mutual inductance data is used to represent the flux mutual inductance of the quadrature axis to the direct axis in the coordinate axis.

[0161] Optionally, the device may further include: an establishment module for establishing a relationship model between the flux data and the direct-axis current based on the coefficient matrix of the direct-axis flux data, the coefficient matrix of the quadrature-axis flux data and the polynomial fitting basis.

[0162] Optionally, the second determination unit 606 may include: a fourth determination module, used to determine the rotor flux of the motor based on the flux data, the AC current and DC current of the motor, and the inductance data; and a fifth determination module, used to determine the rotor temperature based on a relationship model between the rotor flux and the rotor temperature.

[0163] Optionally, the third determination unit 608 may include: a simulation module for simulating electromagnetic properties and temperature rise properties to determine the coefficient fitting matrix at the initial temperature and the target temperature; a sixth determination module for determining the target torque of the motor based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor and the phase current of the motor.

[0164] In an embodiment of the present invention, an acquisition unit is used to acquire a torque estimate value and a torque command value of a vehicle's motor, wherein the torque command value is used to represent the torque demand of the vehicle controller for the motor, and the torque estimate value is used to estimate the actual torque for controlling the motor operation based on the torque command value; a first determination unit is used to determine the flux data and inductance data of the motor based on the torque estimate value and the torque command value, wherein the flux data is used to represent the magnetic field properties of the motor, and the inductance data is used to represent the magnetic saturation and cross-coupling properties of the motor; a second determination unit is used to determine the rotor flux and rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used to represent the temperature rise properties of the motor, and the rotor flux is used to represent the electromagnetic properties of the rotor of the motor; a third determination unit is used to determine the target torque of the motor based on the rotor flux and the rotor temperature, thereby solving the technical problem of low accuracy in determining the torque of the motor and achieving the technical effect of improving the accuracy of determining the torque of the motor.

[0165] Example 4

[0166] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the method for determining the motor torque described in Example 1.

[0167] Example 5

[0168] According to an embodiment of the present invention, a processor is further provided. The processor is configured to run a program, wherein the method for determining the motor torque described in Example 1 is executed when the program is run.

[0169] Example 6

[0170] According to an embodiment of the present invention, a vehicle is further provided. The vehicle is used to execute the method for determining the motor torque according to an embodiment of the present invention.

[0171] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0172] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0174] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0175] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0176] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0177] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for determining motor torque, characterized in that: include: Obtaining a torque estimate and a torque command value of a motor of a vehicle, wherein the torque command value is used to represent a torque requirement of a vehicle controller of the vehicle for the motor, and the torque estimate is used to estimate an actual torque for controlling the motor based on the torque command value; determining flux data and inductance data of the motor based on the torque estimate and the torque command value, wherein the flux data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross-coupling properties of the motor; Determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used to represent a temperature rise property of the motor, and the rotor flux is used to represent an electromagnetic property of the rotor of the motor; determining a target torque of the motor based on the rotor flux and the rotor temperature; The determining of the flux data and inductance data of the motor based on the torque estimate and the torque command value includes: determining the phase voltage of the motor based on a deviation between the torque estimate and the torque command value; determining the flux data of the motor based on the phase voltage under the coordinate axis of the magnetic field property; and simulating the magnetic saturation and the cross-coupling property to determine the inductance data based on the flux data. Based on the rotor flux and the rotor temperature, the target torque of the motor is determined, including: simulating the electromagnetic properties and the temperature rise properties to determine the coefficient fitting matrix at the initial temperature and the target temperature of the motor; based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor and the phase current of the motor, the target torque of the motor is determined.

2. The method according to claim 1, characterized in that Under the coordinate axis of the magnetic field property, determining the magnetic flux data of the motor based on the phase voltage includes: Determining, based on the phase voltage, the stator resistance of the motor, the electrical angular velocity of the motor, the voltage of the direct axis of the coordinate axis, and the voltage of the quadrature axis of the coordinate axis; The quadrature-axis flux data in the flux data is determined based on the stator resistance, the electrical angular velocity, and the direct-axis voltage, and the direct-axis flux data in the flux data is determined based on the stator resistance, the electrical angular velocity, and the quadrature-axis voltage.

3. The method according to claim 1, characterized in that The method includes simulating the magnetic saturation and the cross-coupling properties and determining the inductance data based on the flux linkage data, including: Determining flux self-inductance data in the inductance data based on direct-axis flux data in the flux data and the direct-axis current of the motor, wherein the flux self-inductance data is used to represent the flux self-inductance of the direct axis in the coordinate axis; Based on the quadrature-axis flux data in the flux data and the quadrature-axis current of the motor, flux mutual inductance data in the inductance data is determined, wherein the flux mutual inductance data is used to represent the flux mutual inductance of the quadrature axis to the direct axis in the coordinate axis.

4. The method according to claim 3, characterized in that Before simulating the magnetic saturation and the cross-coupling properties and determining the inductance data based on the flux linkage data, the method further includes: A relationship model between the flux data and the direct-axis current is established based on the coefficient matrix of the direct-axis flux data, the coefficient matrix of the quadrature-axis flux data, and a polynomial fitting basis.

5. The method according to claim 1, wherein Determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data includes: determining a rotor flux of the motor based on the flux data, the AC current and the DC current of the motor, and the inductance data; The rotor temperature is determined based on a relationship model between the rotor flux and the rotor temperature.

6. A device for determining motor torque, characterized in that: The device comprises: an acquisition unit, configured to acquire a torque estimate and a torque command value of a motor of a vehicle, wherein the torque command value is used to represent a torque requirement of a vehicle controller of the vehicle for the motor, and the torque estimate is used to estimate an actual torque for controlling the operation of the motor based on the torque command value; a first determining unit, configured to determine flux data and inductance data of the motor based on the torque estimate and the torque command value, wherein the flux data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross-coupling properties of the motor; a second determining unit, configured to determine a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used to represent a temperature rise property of the motor, and the rotor flux is used to represent an electromagnetic property of the rotor of the motor; a third determining unit, configured to determine a target torque of the motor based on the rotor flux and the rotor temperature; The first determining unit is configured to determine the flux data and the inductance data by: determining the phase voltage of the motor based on a deviation between the torque estimate and the torque command value; determining the flux data of the motor based on the phase voltage under the coordinate axis of the magnetic field property; simulating the magnetic saturation and the cross-coupling property, and determining the inductance data based on the flux data; The third determination unit is used to determine the target torque through the following steps: simulating the electromagnetic properties and the temperature rise properties to determine the coefficient fitting matrix at the initial temperature and the target temperature of the motor; determining the target torque of the motor based on the coefficient fitting matrix, the target temperature, the number of pole pairs of the motor and the phase current of the motor.

7. A processor, characterized in that: The processor is configured to run a program, wherein the program executes the method according to any one of claims 1 to 5 when run by the processor.

8. A vehicle, characterized in that: Used to perform the method according to any one of claims 1 to 5.

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