Brushless motor noise suppression method and device and computer equipment

Abstract

The invention discloses a brushless motor noise suppression method and device and computer equipment. The method comprises the steps that the maximum torque current Iqlimit of a brushless motor is obtained through real-time calculation; converting the maximum torque current into an amplitude limiting value output by a speed ring; and dynamically adjusting the speed ring output Iq amplitude limit in a speed closed-loop control loop of the brushless motor according to the amplitude limit value output by the speed ring. The device comprises an acquisition and calculation module, a conversion module and a dynamic adjustment module. According to the brushless motor noise suppression method and device and the computer equipment, the speed ring is dynamically set to output the Iq amplitude limiting value, so that the motor stably works in the rated torque interval, the torque requirements under different loads and different rotating speeds are met, generation of abnormal electromagnetic noise is suppressed, power consumption under different loads is reduced, and a software control method is easy to implement.

Description

Technical Field

[0001] The present invention relates to the technical field of brushless motors, and in particular to a method and device for suppressing noise of a brushless motor and a computer device. Background Art

[0002] With the development and progress of science and technology, brushless motors, especially permanent magnet synchronous motors (PMSM), are widely used in various fields such as underwater walking robots, sweeping robots, lawn mowers, etc. During operation, the motor usually adopts speed closed-loop control, and the inner control loop is the current loop, that is, Iq (input current of the q-axis of the permanent magnet synchronous motor) and Id (input current of the d-axis of the permanent magnet synchronous motor) closed loop. The output torque is mainly determined by the Iq current. It outputs different speeds and torques according to different usage scenarios to adapt to different usage scenarios and make the motor run more efficiently.

[0003] However, conventional technology uses a fixed speed loop output Iq limit, that is, the maximum torque current amplitude is fixed, as shown in the attached Figure 1 As shown in the dashed box. When a smaller Iq limit is set, it can be ensured that the motor does not generate noise due to the load size during operation, but it is not enough to meet the torque requirements at various speeds; when a larger Iq limit is set, it can be ensured that the motor has sufficient torque at low speeds, but at high speeds, as long as the current does not reach the limit value, the driver will increase or decrease the torque current according to the load size to keep the speed near the reference value, but when the torque exceeds the rated value of the motor at this speed, the motor will generate abnormal electromagnetic noise, affecting the user experience, and when the motor is overloaded, the heat and power consumption of the motor and the driver board are also increasing, which greatly reduces the battery life of the device powered by a mobile power supply. Summary of the invention

[0004] Based on this, it is necessary to provide a brushless motor noise suppression method, device and computer equipment to address the technical problem of how to avoid the generation of abnormal electromagnetic noise.

[0005] A method for suppressing noise of a brushless motor, the method comprising the following steps:

[0006] Real-time calculation to obtain the maximum torque current Iq_limit of the brushless motor;

[0007] Convert the maximum torque current into the limit value of the speed loop output;

[0008] According to the limit value of the speed loop output, the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor is dynamically adjusted.

[0009] In one embodiment, the step of calculating in real time to obtain the maximum torque current of the brushless motor comprises:

[0010] Real-time acquisition of the bus voltage value VBAT and speed SpeedFreq of the brushless motor;

[0011] The bus voltage value VBAT and the speed SpeedFreq are substituted into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

[0012] In one embodiment, the step of substituting the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit includes:

[0013] According to the motor performance simulation data under the minimum working voltage and the maximum working voltage, a fitting curve equation of speed and torque current is established, and the curve slope A_COEF, the minimum offset value V_COEFmin and the maximum offset value V_COEFmax of the fitting curve equation are calculated;

[0014] The voltage offset value V_COEF under the current bus voltage value VBAT is calculated based on the bus voltage value VBAT and the fitting curve equation;

[0015] Substitute the voltage offset value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

[0016] In one embodiment, the formula of the fitting curve equation is: Iq_limit=-(A_COEF*SpeedFreq)+V_COEF.

[0017] In one embodiment, the step of real-time acquisition of the speed SpeedFreq comprises:

[0018] Obtain feedback values ​​of three switch Hall sensors set on the brushless motor with electrical angles that differ by 120 degrees;

[0019] According to the conversion time in the feedback value of the three-way switch Hall, the current speed SpeedFreq of the brushless motor is calculated.

[0020] A brushless motor noise suppression device, comprising:

[0021] The acquisition calculation module is used to calculate the maximum torque current Iq_limit of the brushless motor in real time;

[0022] A conversion module, used for converting the maximum torque current into a limiting value output by a speed loop;

[0023] The dynamic adjustment module is used to dynamically adjust the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor according to the limit value of the speed loop output.

[0024] In one embodiment, the acquisition and calculation module includes a collection unit and a calculation unit.

[0025] The acquisition unit is used to collect the bus voltage value VBAT and the speed SpeedFreq of the brushless motor in real time;

[0026] The calculation unit is used to substitute the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

[0027] In one embodiment, the calculation unit includes an equation fitting calculation unit, a bias voltage calculation unit and a torque current calculation unit.

[0028] The equation fitting calculation unit is used to establish a fitting curve equation of speed and torque current according to the motor performance simulation data under the minimum working voltage and the maximum working voltage, and calculate the curve slope A_COEF, the minimum offset value V_COEFmin and the maximum offset value V_COEFmax of the fitting curve equation;

[0029] The bias voltage calculation unit is used to calculate the voltage bias value V_COEF under the current bus voltage value VBAT according to the bus voltage value VBAT and the fitting curve equation;

[0030] The torque current calculation unit is used to substitute the voltage offset value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

[0031] A computer device comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of any of the above-mentioned methods.

[0032] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the above methods.

[0033] The brushless motor noise suppression method, device and computer equipment mentioned above enable the motor to stably operate in the rated torque range by dynamically setting the speed loop output Iq limit value, adapt to the torque requirements under different loads and different speeds, suppress the generation of abnormal electromagnetic noise, reduce power consumption under different loads, and the software control method is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the drive control loop structure of a brushless motor in the prior art;

[0035] Figure 2 A schematic diagram of a flow chart of a method for suppressing noise of a brushless motor according to an embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of the fitted curve of the speed and the corresponding torque current at low voltage;

[0037] Figure 4 It is a schematic diagram of the fitted curve of the speed and the corresponding torque current under high voltage;

[0038] Figure 5 is a structural block diagram of a brushless motor noise suppression device in one embodiment;

[0039] Figure 6 Schematic diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0041] like Figure 1 As shown, it shows a schematic diagram of the drive control loop structure of a brushless motor in the prior art. The dotted box in the figure shows the method of using a fixed speed loop output Iq limit in the prior art, that is, the method of fixing the maximum torque current amplitude. Figure 1 It can be seen that the brushless motor adopts speed closed-loop control, and the inner control loop is the current loop, that is, the Iq, Id closed loop, and the output torque is mainly determined by the Iq current. Figure 1 In the method shown above of using a fixed speed loop output Iq limit, when the torque exceeds the rated value of the motor at the speed, the motor will generate abnormal electromagnetic noise, affecting the user experience.

[0042] To avoid abnormal electromagnetic noise, please refer to Figure 2 The present invention provides a brushless motor noise suppression method 10, the brushless motor noise suppression method 10 comprises the following steps:

[0043] S101, obtaining the maximum torque current Iq_limit of the brushless motor by real-time calculation;

[0044] S102, converting the maximum torque current into a limiting value output by a speed loop;

[0045] S103 , dynamically adjusting the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor according to the limit value of the speed loop output.

[0046] The above-mentioned brushless motor noise suppression method 10 dynamically sets the speed loop output Iq limit value, so that the motor can stably operate in the rated torque range, adapt to the torque requirements under different loads and different speeds, suppress the generation of abnormal electromagnetic noise, reduce power consumption under different loads, and the software control method is easy to implement.

[0047] For step S101, specifically, the real-time maximum torque current Iq_limit can correspondingly reflect the current speed of the brushless motor, as well as the relationship between torque current and speed under different voltages. In particular, combined with the motor performance simulation data, the speed and corresponding torque current data are extracted and fitted. Figure 3 and Figure 4 This is the fitted curve, where the horizontal axis is the speed SpeedFreq, and the vertical axis is the torque current Iq_limit.

[0048] It can be seen from the figure that the motor speed is linearly related to the rated torque current at that speed. The higher the speed, the smaller the corresponding rated torque current, and vice versa. Furthermore, under different voltages, especially under the minimum operating voltage and the maximum operating voltage, the rated torque current corresponding to the same speed is different. Figure 3 and Figure 4 It can be seen that the larger the voltage, the larger the rated torque current corresponding to the same speed. By comparing the two curves, it can be seen that the slopes (dashed straight lines) of the two curves are approximately equal. The difference is that the larger the voltage, the larger the offset value.

[0049] In one embodiment, the step of calculating in real time the maximum torque current of the brushless motor includes: collecting the bus voltage value VBAT and the speed SpeedFreq of the brushless motor in real time; substituting the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

[0050] In one embodiment, the step of substituting the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit includes:

[0051] According to the motor performance simulation data under the minimum working voltage and the maximum working voltage, a fitting curve equation of speed and torque current is established, and the curve slope A_COEF, the minimum offset value V_COEFmin and the maximum offset value V_COEFmax of the fitting curve equation are calculated;

[0052] The voltage offset value V_COEF under the current bus voltage value VBAT is calculated based on the bus voltage value VBAT and the fitting curve equation;

[0053] Substitute the voltage offset value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

[0054] In one embodiment, the formula of the fitting curve equation is: Iq_limit=-(A_COEF*SpeedFreq)+V_COEF.

[0055] In order to truly collect and obtain the real-time speed SpeedFreq, in one embodiment, the step of real-time collection of the speed SpeedFreq includes: obtaining the feedback values ​​of the three switch Halls with an electrical angle difference of 120 degrees set on the brushless motor; according to the conversion time in the feedback values ​​of the three switch Halls, the current speed SpeedFreq of the brushless motor is calculated. In this way, according to the three switch Halls with an electrical angle difference of 120°, the motor produces periodic conversion during the same-direction movement, and the real-time speed SpeedFreq of the motor is calculated according to the conversion time.

[0056] For step S102, specifically, the maximum torque current is converted into the amplitude limit value output by the speed loop, that is, the calculated maximum torque current is converted into the amplitude limit value output by the speed loop, the purpose of which is to achieve dynamic amplitude limit.

[0057] For step S103, specifically, Figure 1 It can be seen that in the dynamic adjustment of the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor, the calculated current Iq value has not yet acted in the actual circuit, but is used for loop calculation. The loop calculation is a conventional conversion, and reference can be made to the prior art, which will not be repeated here.

[0058] To facilitate understanding of the brushless motor noise suppression methods of the above-mentioned various embodiments, in one embodiment, the brushless motor noise suppression method is further implemented by the following steps:

[0059] S1. According to the motor performance simulation data under the minimum working voltage and the maximum working voltage, the speed and torque current fitting equation is established to calculate the curve slope A_COEF, and the minimum and maximum offset values ​​V_COEFmin, V_COEFmax. S2. Collect the motor bus voltage value VBAT. S3. According to the fitting curve of the minimum working voltage and the maximum voltage, calculate the offset value V_COEF under the current voltage. S4. Real-time speed acquisition. According to the three switch Halls with a difference of 120° in electrical angle, the motor produces periodic transformation during the same-direction movement. The real-time speed SpeedFreq of the motor is calculated according to the transformation time. S5. Substitute the speed SpeedFreq and the offset value V_COEF into the fitting equation. The speed current fitting curve formula is: Iq_limit=-(A_COEF xSpeedFreq)+V_COEF, and calculate the current maximum torque current Iq_limit. S6. Convert the calculated maximum torque current into the limit value of the speed loop output to achieve dynamic limit.

[0060] In this way, compared with the prior art that uses a fixed speed loop output Iq limit, when a smaller Iq limit is set, it is not enough to meet the torque requirements at various speeds; when a larger Iq limit is set, the motor will produce defects such as abnormal electromagnetic noise. The present invention dynamically sets the speed loop output Iq limit value to enable the motor to stably operate in the rated torque range, adapt to the torque requirements at different loads and different speeds, suppress the generation of abnormal electromagnetic noise, reduce power consumption under different loads, and the software control method is easy to implement.

[0061] like Figure 5 As shown, the present invention provides a brushless motor noise suppression device, which includes: an acquisition calculation module 101, a conversion module 102 and a dynamic adjustment module 103. The acquisition calculation module 101 is used to calculate and obtain the maximum torque current Iq_limit of the brushless motor in real time. The conversion module 102 is used to convert the maximum torque current into a limit value output by the speed loop. The dynamic adjustment module 103 is used to dynamically adjust the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor according to the limit value output by the speed loop.

[0062] In one embodiment, the acquisition and calculation module includes a collection unit and a calculation unit.

[0063] The acquisition unit is used to collect the bus voltage value VBAT and the speed SpeedFreq of the brushless motor in real time; the calculation unit is used to substitute the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

[0064] In one embodiment, the calculation unit includes an equation fitting calculation unit, a bias voltage calculation unit and a torque current calculation unit. The equation fitting calculation unit is used to establish a fitting curve equation of speed and torque current according to the motor performance simulation data under the minimum working voltage and the maximum working voltage, and calculate the curve slope A_COEF, the minimum bias value V_COEFmin and the maximum bias value V_COEFmax of the fitting curve equation. The bias voltage calculation unit is used to calculate the voltage bias value V_COEF under the current bus voltage value VBAT from the bus voltage value VBAT and the fitting curve equation. The torque current calculation unit is used to substitute the voltage bias value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

[0065] The specific definition of the brushless motor noise suppression device can be found in the definition of the brushless motor noise suppression method above, which will not be repeated here. Each module in the above-mentioned brushless motor noise suppression device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0066] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for suppressing noise of a brushless motor is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0067] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0068] In one embodiment, the present invention provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the following steps are implemented:

[0069] The maximum torque current Iq_limit of the brushless motor is obtained by real-time calculation; the maximum torque current is converted into a limit value of the speed loop output; and the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor is dynamically adjusted according to the limit value of the speed loop output.

[0070] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0071] The maximum torque current Iq_limit of the brushless motor is obtained by real-time calculation; the maximum torque current is converted into a limit value of the speed loop output; and the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor is dynamically adjusted according to the limit value of the speed loop output.

[0072] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0073] It can be understood that the brushless motor noise suppression method, device and computer equipment in the above embodiments can dynamically set the speed loop output Iq limit value, so that the motor can stably work in the rated torque range, adapt to the torque requirements under different loads and different speeds, suppress the generation of abnormal electromagnetic noise, reduce power consumption under different loads, and the software control method is easy to implement. It solves the problem of abnormal electromagnetic noise generated when the brushless motor is under load during operation, and is compatible with different load torque requirements and reduces operating power consumption.

[0074] It should be noted that the brushless motor noise suppression method, device and computer equipment of the present invention can be understood by taking the mopping module motor in a household cleaning robot as an example. Because the mopping module motor usually adopts speed closed-loop control, the inner control loop is a current loop, that is, Iq, Id closed loop, and the output torque is mainly determined by the Iq current. The usage scenario is the ground of various different materials, so the required speed and torque are also different. The prior art uses a fixed speed loop output Iq limit, that is, the maximum torque current amplitude is fixed, as shown in the attached Figure 1As shown in the dashed box. When a smaller Iq limit is set, it can be ensured that the motor does not generate noise due to the load size during operation, but it is not enough to meet the torque requirements at various speeds; when a larger Iq limit is set, it can be ensured that the motor has sufficient torque at low speeds, but at high speeds, as long as the current does not reach the limit value, the driver will increase or decrease the torque current according to the load size, so that the speed remains near the reference value, but when the torque exceeds the rated value of the motor at this speed, the motor will generate abnormal electromagnetic noise, affecting the user experience, and when the motor is overloaded, the heat and power consumption of the motor and the drive board are also increasing, reducing the endurance of the cleaning robot. The present invention dynamically sets the speed loop output Iq limit value, so that the motor can stably work in the rated torque range, adapt to the torque requirements at different loads and different speeds, suppress the generation of abnormal electromagnetic noise, reduce power consumption under different loads, and the software control method is easy to implement.

[0075] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for suppressing noise of a brushless motor, characterized in that: The steps include: Real-time calculation to obtain the maximum torque current Iq_limit of the brushless motor; Convert the maximum torque current into the limit value of the speed loop output; According to the limit value of the speed loop output, the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor is dynamically adjusted.

2. The method for suppressing noise of a brushless motor according to claim 1, characterized in that: The step of calculating and obtaining the maximum torque current of the brushless motor in real time comprises: Real-time acquisition of the bus voltage value VBAT and speed SpeedFreq of the brushless motor; The bus voltage value VBAT and the speed SpeedFreq are substituted into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

3. The method for suppressing noise of a brushless motor according to claim 2, characterized in that: The step of substituting the bus voltage value VBAT and the speed SpeedFreq into a fitting curve equation established by motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit includes: According to the motor performance simulation data under the minimum working voltage and the maximum working voltage, a fitting curve equation of speed and torque current is established, and the curve slope A_COEF, the minimum offset value V_COEFmin and the maximum offset value V_COEFmax of the fitting curve equation are calculated; The voltage offset value V_COEF under the current bus voltage value VBAT is calculated based on the bus voltage value VBAT and the fitting curve equation; Substitute the voltage offset value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

4. The method for suppressing noise of a brushless motor according to claim 3, characterized in that: The formula of the fitting curve equation is: Iq_limit=-(A_COEF*SpeedFreq)+V_COEF.

5. The method for suppressing noise of a brushless motor according to claim 1, characterized in that: The step of real-time acquisition of the speed SpeedFreq comprises: Obtain feedback values ​​of three switch Hall sensors set on the brushless motor with electrical angles that differ by 120 degrees; According to the conversion time in the feedback value of the three-way switch Hall, the current speed SpeedFreq of the brushless motor is calculated.

6. A brushless motor noise suppression device, characterized in that: include: The acquisition calculation module is used to calculate the maximum torque current Iq_limit of the brushless motor in real time; A conversion module, used for converting the maximum torque current into a limiting value output by a speed loop; The dynamic adjustment module is used to dynamically adjust the speed loop output Iq limit in the speed closed-loop control loop of the brushless motor according to the limit value of the speed loop output.

7. The brushless motor noise suppression device according to claim 6, characterized in that: The acquisition and calculation module includes a collection unit and a calculation unit. The acquisition unit is used to collect the bus voltage value VBAT and the speed SpeedFreq of the brushless motor in real time; The calculation unit is used to substitute the bus voltage value VBAT and the speed SpeedFreq into the fitting curve equation established by the motor performance simulation data obtained under the minimum working voltage and the maximum working voltage to obtain the maximum torque current Iq_limit.

8. The brushless motor noise suppression device according to claim 7, characterized in that: The calculation unit includes an equation fitting calculation unit, a bias voltage calculation unit and a torque current calculation unit. The equation fitting calculation unit is used to establish a fitting curve equation of speed and torque current according to the motor performance simulation data under the minimum working voltage and the maximum working voltage, and calculate the curve slope A_COEF, the minimum offset value V_COEFmin and the maximum offset value V_COEFmax of the fitting curve equation; The bias voltage calculation unit is used to calculate the voltage bias value V_COEF under the current bus voltage value VBAT according to the bus voltage value VBAT and the fitting curve equation; The torque current calculation unit is used to substitute the voltage offset value V_COEF and the speed SpeedFreq into the fitting curve equation to calculate the maximum torque current Iq_limit under the current bus voltage value VBAT.

9. A computer device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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