Motor temperature estimation method, device, electronic device, chip and medium

Abstract

The present disclosure provides a motor temperature estimation method, device, electronic device, chip and medium, which relates to the field of permanent magnet synchronous motor controller, the method comprising: determining the initial voltage estimation value of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor; obtaining the current current value and current speed of the motor under a first preset condition, the current current value including the current d-axis current value and the current q-axis current value; determining the current current estimation value based on the initial voltage value, the initial voltage estimation value, the current current value, resistance and inductance; determining the current flux value based on the current current estimation value, the current current value, the current speed and the inductance; determining the current temperature estimation value of the motor based on the current flux value. The motor temperature estimation method provided by the present disclosure can determine the current flux value based on the voltage estimation value of the preceding sequence feedback, thereby obtaining the current temperature estimation value based on the voltage definition expression, thereby improving the accuracy of temperature estimation.

Description

Technical Field

[0001] The present disclosure relates to the field of permanent magnet synchronous motor controllers, and in particular to a motor temperature estimation method, device, electronic equipment, chip and medium. Background Art

[0002] Permanent magnet synchronous motors are widely used in new energy vehicle drive systems due to their advantages such as high power density and wide weak magnetic speed regulation range. In order to improve the reliability of new energy vehicle operation, we need to monitor the rotor temperature of the permanent magnet motors they drive in real time and adjust the motor control strategy in time. Currently, there are two main ways to obtain the rotor temperature of permanent magnet motors: direct measurement and indirect estimation. Summary of the invention

[0003] The present disclosure provides a motor temperature estimation method, device, electronic device, chip and medium. By acquiring user data of multiple devices, the user data is learned to adapt to the complex behavior patterns of users, and flexible and intelligent task push is achieved in multiple scenarios, thereby improving user experience and system adaptability.

[0004] The first aspect of the embodiment of the present disclosure proposes a user data processing method, which includes: determining an initial voltage estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor; obtaining a current current value and a current speed of the motor under a first preset condition, the current current value including a current d-axis current value and a current q-axis current value; determining a current current estimate based on the initial voltage value, the initial voltage estimate, the current current value, resistance and inductance; determining a current flux value based on the current current estimate, the current current value, the current speed and inductance; and determining a current temperature estimate of the motor based on the current flux value.

[0005] In some embodiments of the present disclosure, determining the initial voltage estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor includes: obtaining the initial current value, initial voltage value and initial speed of the motor, the initial current value including the initial d-axis current value and the initial q-axis current value, the initial voltage value including the initial d-axis voltage value and the initial q-axis voltage value; determining the initial current estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value; determining the initial voltage estimate based on the difference between the initial current value and the initial current estimate, and the inductance.

[0006] In some embodiments of the present disclosure, determining the current flux value based on the current current estimate, the current current value, the current speed and the inductance includes: determining the current voltage estimate of the motor based on the difference between the current current value and the current current estimate, and the inductance; determining the current flux value based on the current voltage estimate, the inductance and the current speed.

[0007] In some embodiments of the present disclosure, the first preset condition includes: a change rate of the torque of the motor is less than or equal to a change rate threshold and a duration of the motor under torque is greater than or equal to a time threshold.

[0008] In some embodiments of the present disclosure, obtaining the current current value of the motor includes: obtaining three-phase current values ​​of the motor; and determining the current current value based on the three-phase current values.

[0009] The second aspect of the embodiment of the present disclosure proposes a motor temperature estimation device, including: a processing module, used to determine the initial voltage estimation value of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor; an acquisition module, used to acquire the current current value and current speed of the motor under a first preset condition, the current current value including the current d-axis current value and the current q-axis current value; the processing module, used to determine the current current estimation value based on the initial voltage value, the initial voltage estimation value, the current current value, resistance, inductance; determine the current flux value based on the current current estimation value, the current current value, the current speed and inductance; determine the current temperature estimation value of the motor based on the current flux value.

[0010] The third aspect embodiment of the present disclosure proposes an electronic device, comprising: a memory for storing processor-executable instructions; and a processor configured to execute the executable instructions in the memory to implement the method described in the first aspect embodiment of the present disclosure.

[0011] The fourth aspect embodiment of the present disclosure proposes a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect embodiment of the present disclosure is implemented.

[0012] The fifth aspect embodiment of the present disclosure proposes a chip, including one or more interface circuits and one or more processors; the interface circuit is used to receive signals from a memory of an electronic device and send signals to the processor, the signals including computer instructions stored in the memory; when the processor executes the computer instructions, the method described in the first aspect embodiment of the present disclosure is implemented.

[0013] In summary, the motor temperature estimation method proposed in the present disclosure determines the initial voltage estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor; obtains the current current value and current speed of the motor under the first preset condition, and the current current value includes the current d-axis current value and the current q-axis current value; determines the current current estimate based on the initial voltage value, the initial voltage estimate, the current current value, resistance and inductance; determines the current flux value based on the current current estimate, the current current value, the current speed and the inductance; determines the current temperature estimate of the motor based on the current flux value. This method can determine the current flux value based on the voltage estimate of the preceding sequence feedback, thereby obtaining the current temperature estimate based on the voltage definition expression, thereby improving the accuracy of the rotor temperature estimation.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0016] Figure 1 A system architecture diagram proposed for an embodiment of the present disclosure;

[0017] Figure 2 A schematic diagram of a flow chart of a motor temperature estimation method proposed in an embodiment of the present disclosure;

[0018] Figure 3 A schematic diagram of a process for determining an initial voltage estimation value of a motor according to an embodiment of the present disclosure;

[0019] Figure 4 A schematic diagram of a process for determining a current magnetic flux value proposed in an embodiment of the present disclosure;

[0020] Figure 5A A control block diagram of a permanent magnet synchronous motor system according to an embodiment of the present disclosure;

[0021] Figure 5B A schematic diagram of the MRAS structure provided by the present disclosure;

[0022] Figure 6 A schematic diagram of the structure of a motor temperature estimation device proposed in an embodiment of the present disclosure;

[0023] Figure 7 is a structural schematic diagram of an electronic device 700 for implementing the above-mentioned motor temperature estimation method according to an exemplary embodiment;

[0024] Figure 8 FIG. 8 is a schematic structural diagram of a chip 800 for implementing the motor temperature estimation method according to an exemplary embodiment. DETAILED DESCRIPTION

[0025] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0026] At present, permanent magnet synchronous motors are widely used in new energy vehicle drive systems due to their advantages such as high power density and wide weak magnetic speed regulation range. The high power density of permanent magnet motors often leads to higher heat generation. At the same time, existing new energy vehicle drive motors are mostly integrated into Figure 1 In the three-in-one compact structure of the electric drive system shown in the figure, permanent magnet motors for new energy vehicles generally have serious temperature rise problems. Among them, the rotor is the main high-loss heat source of the permanent magnet motor and has a small heat dissipation area. During operation, the rotor can easily reach high temperature quickly. When the temperature exceeds the rotor temperature safety threshold, the motor output performance will be weakened. At the same time, under high temperature conditions, the residual magnetic density of the permanent magnet in the rotor is easy to decrease, and demagnetization may occur in severe cases, which will eventually lead to the weakening and loss of the torque output capacity of the permanent magnet motor, thereby affecting the safety and reliability of new energy vehicles.

[0027] In order to improve the reliability of new energy vehicles, we need to monitor the rotor temperature of the permanent magnet motor driven by it in real time and adjust the motor control strategy in time. At present, there are two main ways to obtain the rotor temperature of the permanent magnet motor: direct measurement and indirect estimation. The electric drive system of new energy vehicles is highly integrated, and the installation space of the temperature measurement device is small and difficult to install. At the same time, when the drive motor is at high speed, it is difficult for the temperature sensor to isolate electromagnetic interference and stably measure and transmit the rotor temperature signal, so indirect estimation is generally selected as the preferred solution for obtaining the rotor temperature. In the current related technical solutions, the dq axis magnetic flux expression is obtained according to the mathematical model transformation of the dq axis voltage of the permanent magnet synchronous motor, and the error between the calculated value and the actual value of the dq axis current is passed into the proportional integral controller (PI), and the output d axis magnetic flux error is used as the change value of the permanent magnet magnetic flux, and the change value is brought into the corresponding relationship expression between the rotor temperature of the permanent magnet synchronous motor and the permanent magnet magnetic flux to calculate the rotor temperature. The model of this method is relatively simple, lacking feedback correction inside the model, redundantly collecting stator temperature, redundant workload of the scheme, and low accuracy of rotor temperature estimation; another related technical method obtains the current estimation value through table lookup method, obtains the flux error value through the PI controller by taking the difference between the current estimation value and the actual current value, and then brings the flux error value into the linear relationship between the flux and the rotor problem to obtain the current rotor temperature. This scheme will also reduce the accuracy of rotor temperature estimation due to the error of the table lookup method. At the same time, setting the speed or current value as the switching threshold for whether the rotor temperature estimation value needs to be maintained, which requires a lot of test and calibration work, so the feasibility is low and the scheme is not practical.

[0028] In summary, in order to solve the technical problems in the related art, the embodiment of the present disclosure provides a method for estimating the temperature of a motor, which determines the initial voltage estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value of the motor; obtains the current current value and current speed of the motor under the first preset condition, and the current current value includes the current d-axis current value and the current q-axis current value; determines the current current estimate based on the initial voltage value, the initial voltage estimate, the current current value, resistance and inductance; determines the current flux value based on the current current estimate, the current current value, the current speed and the inductance; determines the current temperature estimate based on the current flux value. This technical solution takes into account the various factors that affect the rotor temperature, introduces multiple motor parameters, and uses the estimation results in real time to perform closed-loop feedback correction on the model, thereby improving the accuracy of rotor temperature estimation.

[0029] The data transmission method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0030] Figure 2FIG. 1 is a flow chart of a method for estimating motor temperature according to an embodiment of the present disclosure. Figure 2 As shown, the method includes the following steps.

[0031] Step 201 , determining an estimated initial voltage value of the motor based on an initial current value, an initial voltage value, an initial speed, a resistance, an inductance, and an initial flux value of the motor.

[0032] In some embodiments, the initial current value, initial voltage value, initial speed and initial flux value of the motor may be the previous current value, voltage value, speed and flux value at the current moment. For example, the flux value obtained in the previous cycle based on the current value, voltage value, speed, resistance and inductance of the motor in the previous cycle is used as the measurement base of the initial voltage estimation value in this estimation process, and the initial voltage estimation value may be understood as the feedback voltage value received in this estimation process.

[0033] In some embodiments, the values ​​of the resistance and inductance may be the stator resistance and dq-axis inductance of the permanent magnet motor measured in advance in a laboratory environment.

[0034] In some embodiments, the initial flux linkage value may be a flux linkage value when the d-axis current value is 0 at a temperature of 25°C.

[0035] In some embodiments, the initial voltage value is the input voltage of the permanent magnet motor, and the input voltage is constant in each process of the estimation method, that is, the input voltage in each estimation process is equal to the initial voltage value.

[0036] Step 202, under a first preset condition, obtain the current current value and the current speed of the motor.

[0037] In some embodiments, the current value includes a current d-axis current value and a current q-axis current value.

[0038] In some embodiments, the first preset condition may be that a change rate of the torque of the motor is less than or equal to a change rate threshold and a duration of the motor at the torque is greater than or equal to a time threshold.

[0039] Among them, the change rate threshold and time threshold are set values.

[0040] In some embodiments, the first preset condition can be used as a criterion for determining whether the rotor temperature needs to be estimated. For example, when the rate of change of the torque is less than or equal to a rate of change threshold and the duration of the torque is greater than or equal to a time threshold, the rotor temperature estimation process is started.

[0041] In some embodiments, the current value is obtained by transforming the three-phase current value of the motor. For example, the three-phase current value i fed back by the reference model can be measured by a current sensor.a 、i b 、i c , and perform Clarke and Park transformation to the dq axis two-phase current value i d 、i q The transformation angle is the stator electrical angle, which can be obtained by the sum of the rotor electrical angle analyzed by the resolver and the corrected zero-position compensation electrical angle.

[0042] Step 203, determining a current current estimate value based on the initial voltage value, the initial voltage estimate value, the current current value, the resistance, and the inductance.

[0043] In some embodiments, the initial voltage estimate is a voltage estimate calculated in a previous estimation process of the current estimation. Specifically, the initial voltage estimate is used as a feedback voltage value in the current estimation process to participate in the estimation process, and the estimation process can be corrected to make the estimation result more accurate.

[0044] For example, based on the formula Calculate the current estimate, where is the current current value; is the initial voltage value; is the estimated value of initial voltage; R s is the resistance; L d , L q is the inductor; is the estimated value of the current.

[0045] Step 204 , determining a current flux value based on the current estimated value, the current current value, the current speed and the inductance.

[0046] In some embodiments, the current voltage estimate value can be determined based on the current current value, the current current estimate value, and the inductance, and the current flux value can be obtained by substituting the variables into the voltage definition expression.

[0047] Step 205 , determining a current temperature estimation value of the motor based on the current flux value.

[0048] In some embodiments, based on the current flux value, the current temperature estimation value may be obtained by interpolating from a two-dimensional table of permanent magnet flux and temperature.

[0049] Specifically, the permanent magnet structure and volume in the permanent magnet motor rotor are uniquely determined, and the rotor temperature and permanent magnet flux are approximately linearly related. In a laboratory environment, the permanent magnet flux values ​​ψ1, ψ2, and ψ3 at different rotor temperatures T1, T2, and T3 are measured and recorded. in It is calculated based on the current estimated value, current value, and inductance. is the d-axis current value in the current current value. is the current speed, L d is the inductance. Based on the current flux value determined The estimated rotor temperature value under the current estimated q-axis voltage value is obtained by interpolation.

[0050] In summary, according to the embodiments of the present disclosure, by using the feedback voltage value as the input value of the temperature estimation model, the obtained temperature estimation value can be made more accurate. At the same time, the torque command value is set as a condition for triggering the temperature estimation method to avoid a decrease in the accuracy of temperature estimation due to rapid current changes when the system is unstable.

[0051] Figure 3 A schematic diagram of a process for determining an estimated initial voltage value of a motor based on an initial current value, an initial voltage value, an initial speed, a resistance, an inductance, and an initial flux value of the motor according to an embodiment of the present disclosure. Figure 2 The embodiment shown, Figure 3 right Figure 2 Step 201 in is further described. Figure 3 The illustrated embodiment may include the following steps.

[0052] Step 301, obtaining the initial current value, initial voltage value, and initial speed of the motor.

[0053] In some embodiments, the initial current value includes an initial d-axis current value and an initial q-axis current value.

[0054] In some embodiments, the initial voltage value includes an initial d-axis voltage value and an initial q-axis voltage value.

[0055] In some embodiments, the initial current value, initial voltage value, and initial speed may be the current value, voltage value, and speed of a preceding estimation process of the current current value, current voltage value, and current speed. Specifically, the estimation process may be a preceding process of the current temperature estimation process.

[0056] Step 302 , determining an initial current estimation value of the motor based on an initial current value, an initial voltage value, an initial speed, a resistance, an inductance, and an initial flux value.

[0057] In some embodiments, the initial current estimate may be calculated using the following formula:

[0058] where i d 、i q is the initial current value, u d 、u q is the initial voltage value, ω is the initial speed, i ′ d 、i′ q is the initial current estimate.

[0059] Step 303: determining an initial voltage estimate value based on the difference between the initial current value and the initial current estimate value and the inductance.

[0060] In some embodiments, the initial voltage estimate is calculated using the following formula:

[0061] Among them, k i is the integration coefficient, k p is the proportionality coefficient, k i , k p It can be a constant that is determined and does not change.

[0062] In some embodiments, the initial voltage estimate is used as a feedback voltage input in the current temperature estimation process.

[0063] In the embodiment of the present disclosure, by obtaining the initial current value, the initial voltage value and the initial speed, and then calculating the initial voltage estimate value based on the known resistance, inductance and the set initial magnetic flux value, and using it as the feedback voltage input value of the current temperature estimation process, the accuracy of the temperature estimation result can be improved.

[0064] Figure 4 This is a flow chart of determining the current flux value based on the current current estimation value, the current current value, the current speed and the inductance proposed in the embodiment of the present disclosure. Figure 2 The embodiment shown, Figure 4 right Figure 2 Step 204 in the embodiment is further described. Figure 4 The illustrated embodiment may include the following steps:

[0065] Step 401, determining a current voltage estimate of the motor based on a difference between a current current value and a current current estimate and an inductance.

[0066] In some embodiments, the current voltage estimate of the motor is calculated using the following formula:

[0067]

[0068] in, is the current current value; is the estimated value of the current, which is obtained by Figure 2 The k obtained in step 203 i is the integration coefficient, k p is the proportionality coefficient, k i , k p It can be a constant that is determined and does not change.

[0069] In some embodiments, the current voltage estimation value of the motor can be used as a feedback voltage input value for the next round of temperature estimation process.

[0070] Step 402, determining a current flux value based on a current voltage estimate, an inductance, and a current rotational speed.

[0071] In some embodiments, the current flux linkage value may be determined by the following formula:

[0072]

[0073] in, is the q-axis voltage estimated value in the current voltage estimated value; is the current speed; is the current d-axis current value in the current current value;

[0074] The current voltage estimate value obtained by step 401 and Figure 2 The current current value and the current speed obtained in step 202 are substituted into the above formula to calculate the current flux value.

[0075] In an embodiment of the present disclosure, based on the difference between the current current value and the current current estimation value, the current voltage estimation value can be obtained. Through the definition formula of the voltage estimation value, the current flux value can be obtained, which is used to interpolate the current temperature in a two-dimensional table of flux value and temperature. This method obtains the current flux value more accurately.

[0076] Figure 5A A control block diagram of a permanent magnet synchronous motor system according to an embodiment of the present invention.

[0077] This paper designs a rotor temperature estimation method for an interior permanent magnet synchronous motor (IPMSM) based on inductive voltage. Figure 5A In the motor system shown, the target torque is used as the input command, and a permanent magnet synchronous motor system with a dual closed-loop vector control strategy of torque outer loop and current inner loop is adopted in a two-phase synchronous coordinate system.

[0078] First, the state equation of the IPMSM in the synchronously rotating dq axis coordinate system is listed:

[0079]

[0080] In order to facilitate subsequent analysis, the above state equation is simplified to the following form:

[0081]

[0082] in,

[0083] Since the motor mathematical model requires the dq axis voltage as the system input, in order to form a closed-loop feedback system inside the model, this scheme defines the dq axis inductive voltage U dindu and U qindu The expressions are:

[0084]

[0085] This program utilizes Figure 5B The MRAS structure shown in the figure uses IPMSM as the reference model and the state equation as the variable model. The state equation expression of the variable model in MRAS is:

[0086]

[0087] Step 1: Measure the stator resistance R of the permanent magnet motor in advance in a laboratory environment s and dq axis inductance L d , L q .

[0088] Step 2: The permanent magnet structure and volume in the permanent magnet motor rotor are uniquely determined, and the rotor temperature and permanent magnet flux are approximately linearly related. In a laboratory environment, measure and record the permanent magnet flux values ​​ψ1, ψ2, and ψ3 at different rotor temperatures T1, T2, and T3.

[0089] Step 3: Use the current sensor to measure the three-phase current value i fed back by the reference model a 、i b 、i c , and perform Clarke and Park transformation to the dq axis two-phase current value i d 、i q The transformation angle is the stator electrical angle, which can be obtained by the sum of the rotor electrical angle analyzed by the resolver and the corrected zero-position compensation electrical angle.

[0090] Step 4: Calculate the dq axis current feedback value and the dq axis current estimation value i output by the adjustable model ′ d 、i ′ q Based on Popov superstability theory, the current error feedback module is guaranteed to satisfy the classic Popov integral inequality, and the appropriate adaptive rate is selected to identify the estimated value of the dq axis inductive voltage online. The estimated value of the inductive voltage, on the one hand, acts on the final calculation to obtain the estimated value of the rotor flux, and on the other hand, is fed back to the IPMSM variable model as the model input voltage to form a closed-loop system.

[0091] Among them, the derived dq axis inductive voltage adaptive law expression is as follows:

[0092]

[0093] Step 5: Estimate the q-axis inductive voltage and define the expression U qindu =ωL d i d +ψω, excluding the motor speed ω and d-axis inductance L outside the permanent magnet flux d , d-axis current i d After the variables are obtained, they are substituted into the two-dimensional table of permanent magnet flux and temperature, and the estimated value of the rotor temperature under the current q-axis inductive voltage is obtained by interpolation.

[0094] According to the expression of the dq axis inductive voltage and the estimation process of the permanent magnet flux, the rotor temperature estimation accuracy is sensitive to the real-time feedback value of the dq axis current. When the system is in an unstable condition, the current changes rapidly, resulting in a decrease in the accuracy of the rotor temperature estimation. Therefore, the appropriate system torque command value change rate and duration threshold are selected as the basis for updating the rotor temperature estimation value. When the torque command value change rate is less than the threshold and the duration is greater than the threshold, the rotor temperature estimation module is turned on to update the rotor temperature value.

[0095] The beneficial effects brought by the embodiments of the present disclosure are as follows:

[0096] 1. Monitor the rotor temperature in real time to prevent the risk of magnetic field weakening and demagnetization caused by excessive rotor temperature;

[0097] 2. Compared with the direct measurement method of rotor temperature, it can reduce costs, save space, and reduce the possibility of equipment failure;

[0098] 3. Compared with the traditional rotor temperature estimation method, the estimation model has higher accuracy. There is inductive voltage feedback correction inside the model, which can reduce the three-phase voltage measurement equipment and improve the accuracy of rotor temperature estimation;

[0099] 4. The torque closed-loop command value can be corrected according to the rotor temperature to improve the accuracy of permanent magnet motor torque control.

[0100] Figure 6 FIG. 1 is a schematic diagram of the structure of a motor temperature estimation device according to an embodiment of the present disclosure. Figure 6 As shown, the device comprises:

[0101] The processing module 610 is used to determine an estimated initial voltage value of the motor based on an initial current value, an initial voltage value, an initial speed, a resistance, an inductance, and an initial flux value of the motor;

[0102] An acquisition module 620 is used to acquire a current current value and a current speed of the motor under a first preset condition, where the current current value includes a current d-axis current value and a current q-axis current value;

[0103] Processing module 610 is used to determine the current estimated current value based on the initial voltage value, the initial voltage estimated value, the current current value, the resistance, and the inductance; determine the current flux value based on the current estimated current value, the current current value, the current speed, and the inductance; and determine the current temperature estimate of the motor based on the current flux value.

[0104] In some embodiments, the acquisition module 620 is also used to: obtain the initial current value, initial voltage value, and initial speed of the motor, the initial current value includes the initial d-axis current value and the initial q-axis current value, and the initial voltage value includes the initial d-axis voltage value and the initial q-axis voltage value.

[0105] In some embodiments, the processing module 610 is also used to: determine the initial current estimate of the motor based on the initial current value, initial voltage value, initial speed, resistance, inductance and initial flux value; determine the initial voltage estimate based on the difference between the initial current value and the initial current estimate, and the inductance.

[0106] In some embodiments, the processing module 610 is also used to: determine the current voltage estimate of the motor based on the difference between the current current value and the current current estimate, and the inductance; determine the current flux value based on the current voltage estimate, the inductance, and the current speed.

[0107] In some embodiments, the first preset condition includes that a rate of change of the torque of the motor is less than or equal to a rate of change threshold and a duration of the motor under the torque is greater than or equal to a time threshold.

[0108] In some embodiments, obtaining the current value of the motor includes: obtaining three-phase current values ​​of the motor; and determining the current current value based on the three-phase current values.

[0109] Figure 7 is a structural diagram of an electronic device 700 for implementing the above-mentioned motor temperature estimation method according to an exemplary embodiment.

[0110] Reference Figure 7 , the electronic device 700 may include one or more of the following components: a processing component 702 , a memory 704 , a power component 706 , a multimedia component 708 , an audio component 710 , an input / output (I / O) interface 712 , a sensor component 714 , and a communication component 716 .

[0111] The processing component 702 generally controls the overall operation of the electronic device 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0112] The memory 704 is configured to store various types of data to support operations on the electronic device 700. Examples of such data include instructions for any application or method operating on the electronic device 700, contact data, phone book data, messages, pictures, videos, etc. The memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0113] The power supply component 706 provides power to the various components of the electronic device 700. The power supply component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 700.

[0114] The multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0115] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC), and when the electronic device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 704 or sent via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0116] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0117] The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the electronic device 700. For example, the sensor assembly 714 can detect the open / closed state of the electronic device 700, the relative positioning of components, such as the display and keypad of the electronic device 700, and the sensor assembly 714 can also detect the position change of the electronic device 700 or a component of the electronic device 700, the presence or absence of user contact with the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and the temperature change of the electronic device 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0118] The communication component 716 is configured to facilitate wired or wireless communication between the electronic device 700 and other devices. The electronic device 700 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G LTE, 5G NR (NewRadio) or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0119] In an exemplary embodiment, the electronic device 700 may be implemented by 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), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0120] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, and the instructions can be executed by a processor 720 of an electronic device 700 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0121] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the motor temperature estimation method described in the above embodiments of the present disclosure.

[0122] An embodiment of the present disclosure further provides a computer program product, including a computer program. The computer program executes the motor temperature estimation method described in the above embodiment of the present disclosure when a processor executes the computer program.

[0123] Figure 8 FIG. 8 is a schematic diagram of a chip 800 for implementing the above-mentioned user data processing method according to an exemplary embodiment. Figure 8 The chip 800 includes at least one communication interface 801 and a processor 802. The communication interface 801 is used to receive a signal input to the chip 800 or a signal output from the above chip 800. The processor 802 communicates with the communication interface 801 and implements the motor temperature estimation method described in the above embodiment of the present disclosure through a logic circuit or executing code instructions.

[0124] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure 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 data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0125] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0126] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0127] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (control method), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0128] It should be understood that the various parts of the embodiments of the present disclosure can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0129] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0130] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0131] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for estimating motor temperature, characterized in that: The method comprises: Acquire an initial current value, an initial voltage value, and an initial speed of the motor, wherein the initial current value includes an initial d-axis current value and an initial q-axis current value, and the initial voltage value includes an initial d-axis voltage value and an initial q-axis voltage value; Determining an initial current estimate value of the motor based on the initial current value, the initial voltage value, the initial speed, the resistance, the inductance, and the initial flux value; Based on the difference between the initial current value and the initial current estimation value and the inductance, determining an initial voltage estimation value of the inductive voltage, wherein the d-axis of the inductive voltage is the voltage of the inductance part, and the q-axis is the voltage of the inductance and flux linkage part; Under a first preset condition, obtaining a current current value and a current speed of the motor, wherein the current current value includes a current d-axis current value and a current q-axis current value; Determine a current current estimate value through a synchronous motor state equation based on the initial voltage value, the initial voltage estimate value of the inductive voltage, the current current value, the resistance, and the inductance; Determine a current voltage estimate of the inductive voltage of the motor based on a difference between the current current value and the current current estimate and the inductance; Determining a current flux value based on a current voltage estimate of the inductive voltage, the inductance, and the current rotation speed; Based on the current flux linkage value, a current temperature estimate of the electric machine is determined.

2. The method according to claim 1, characterized in that The first preset condition includes: A change rate of the torque of the motor is less than or equal to a change rate threshold and a duration of the motor at the torque is greater than or equal to a time threshold.

3. The method according to claim 1, characterized in that The step of obtaining the current value of the motor includes: Obtaining three-phase current values ​​of the motor; The present current value is determined based on the three-phase current values.

4. A motor temperature estimation device, characterized in that: include: A processing module, used to obtain an initial current value, an initial voltage value, and an initial speed of the motor, wherein the initial current value includes an initial d-axis current value and an initial q-axis current value, and the initial voltage value includes an initial d-axis voltage value and an initial q-axis voltage value; Determining an initial current estimate value of the motor based on the initial current value, the initial voltage value, the initial speed, the resistance, the inductance, and the initial flux value; Based on the difference between the initial current value and the initial current estimation value and the inductance, determining an initial voltage estimation value of the inductive voltage, wherein the d-axis of the inductive voltage is the voltage of the inductance part, and the q-axis is the voltage of the inductance and flux linkage part; An acquisition module, used for acquiring a current current value and a current speed of the motor under a first preset condition, wherein the current current value includes a current d-axis current value and a current q-axis current value; a processing module, configured to determine a current current estimate value through a synchronous motor state equation based on the initial voltage value, the initial voltage estimate value of the inductive voltage, the current current value, the resistance, and the inductance; Determine a current voltage estimate of the inductive voltage of the motor based on a difference between the current current value and the current current estimate and the inductance; Determining a current flux value based on a current voltage estimate of the inductive voltage, the inductance, and the current rotation speed; Based on the current flux linkage value, a current temperature estimate of the electric machine is determined.

5. An electronic device, characterized in that: include: A memory for storing processor executable instructions; A processor is configured to execute the executable instructions in the memory to implement the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

7. A chip, characterized in that: include: one or more interface circuits and one or more processors; The interface circuit is used to receive a signal from a memory of an electronic device and send the signal to the processor, wherein the signal includes a computer instruction stored in the memory; when the processor executes the computer instruction, the electronic device executes the method according to any one of claims 1 to 3.

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