Motor test method, device, equipment and medium

Abstract

The invention relates to a motor testing method and device, equipment, a medium and a product, and the method comprises the steps: carrying out the zero offset confirmation of a motor according to a preset motor zero offset confirmation strategy till the zero calibration of the motor is completed; obtaining and comparing a historical calibration task and a historical calibration record of the motor, and when it is determined that the historical calibration task of the motor is completed, obtaining and comparing a performance parameter value of the motor with a preset performance parameter threshold to obtain a comparison result; when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold value, determining that the motor does not need to be calibrated again; and under the condition that the comparison result is that the performance parameter value is greater than the preset performance parameter threshold value, when replacement information of the motor is obtained, recalibrating the motor according to the historical calibration task so as to complete calibration of the motor. When the method is adopted to calibrate the motor, the unnecessary calibration period can be reduced, so that the development efficiency of a motor system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor testing, and in particular to a motor testing method, device, equipment and medium. Background Art

[0002] Permanent magnet synchronous motors have gradually become the mainstream choice for new energy vehicle drive motors due to their high power density, high operating efficiency, fast response speed, and wide speed regulation range. In the development process of permanent magnet synchronous motors, calibration is an important link to ensure stable and accurate motor performance. However, in the actual calibration process, due to equipment failure, performance improvement, etc., it may be necessary to replace equipment such as motors, electronic controls, or dynamometers.

[0003] In related technologies, the motor calibration process includes zero bias confirmation, performance testing, motor parameter adjustment, and consistency verification. During calibration, in order to ensure the accuracy of the calibration results, the motor usually needs to be recalibrated once the equipment is replaced, which extends the motor calibration cycle and reduces development efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a motor testing method, device, equipment, computer-readable storage medium and computer program product to address the above technical problems.

[0005] In a first aspect, the present application provides a motor testing method, the method comprising:

[0006] Confirm the motor zero bias according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0007] Acquire and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquire and compare the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result;

[0008] When the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the motor calibration.

[0009] In one embodiment, the historical calibration task includes multiple test parameters, the historical calibration record includes historical test results corresponding to the test parameters, and the method further includes:

[0010] When the historical calibration task of the motor is not completed, at least one calibrated test parameter is retested to obtain a test result;

[0011] Based on the test results and historical test results of the calibrated test parameters, the calibration optimization plan for the motor is determined.

[0012] In one embodiment, determining a calibration optimization scheme for a motor based on the test results and historical test results of calibrated test parameters includes:

[0013] When the test result is consistent with the historical test result of the calibrated test parameter, the calibration optimization scheme is determined to continue testing the test parameters that have not been tested in the historical calibration task until the historical calibration task is completed;

[0014] When the test results are inconsistent with the historical test results of the calibrated test parameters, the calibration optimization solution is determined to recalibrate the motor according to the historical calibration tasks.

[0015] In one embodiment, after recalibrating the motor according to the historical calibration task, the method further includes:

[0016] A new performance parameter value of the motor is reacquired, and when the new performance parameter value is not greater than a preset performance parameter value, it is determined that the motor calibration is completed.

[0017] In one embodiment, the motor zero bias is confirmed according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed, including:

[0018] The motor speed is controlled according to the motor zero bias confirmation strategy to obtain the test bench torque value and test bench friction torque value of the motor at different speeds;

[0019] Determine the torque error value according to the test bench torque detection value and the test bench friction torque value;

[0020] When the torque error value is not greater than a preset torque error threshold, it is determined that the motor zero position calibration is completed.

[0021] In one embodiment, the method further comprises:

[0022] When the torque error value is greater than a preset torque error threshold, a preset zero bias angle correction model and zero bias angle measurement values ​​of the motor at different speeds are obtained;

[0023] According to multiple groups of zero bias angle measurement values ​​and rotation speeds, a mapping relationship between the zero bias angle and the rotation speed and a resolver zero bias angle are determined;

[0024] According to the mapping relationship between the zero bias angle and the rotational speed, the zero bias angle at different rotational speeds is updated to obtain an updated zero bias angle, so as to update the test bench torque detection value and the test bench friction torque value according to the updated zero bias angle.

[0025] In one embodiment, before performing zero bias confirmation on the motor according to a preset motor zero bias confirmation strategy, the method further includes:

[0026] The environmental parameters of the motor test environment are obtained, and when the environmental parameters reach a preset environmental parameter threshold, the motor zero bias confirmation strategy is obtained.

[0027] In a second aspect, the present application also provides a motor testing device, the device comprising:

[0028] The motor zero bias confirmation module is used to confirm the motor zero bias according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0029] The performance parameter comparison module is used to obtain and compare the historical calibration tasks and historical calibration records of the motor. When it is determined that the historical calibration task of the motor has been completed, the performance parameter value of the motor is obtained and compared with the preset performance parameter threshold to obtain the comparison result;

[0030] The motor calibration confirmation module is used to determine that the motor does not need to be recalibrated when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the motor calibration.

[0031] In a third aspect, the present application further provides a motor testing device, including the motor testing device provided in the second aspect, the motor testing device including a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0032] Confirm the motor zero bias according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0033] Acquire and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquire and compare the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result;

[0034] When the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the motor calibration.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Confirm the motor zero bias according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0037] Acquire and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquire and compare the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result;

[0038] When the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the motor calibration.

[0039] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] Confirm the motor zero bias according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0041] Acquire and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquire and compare the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result;

[0042] When the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the motor calibration.

[0043] The above-mentioned motor testing method, device, computer equipment, storage medium and computer program product confirm the zero bias of the motor according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed; obtain and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration task of the motor has been completed, obtain and compare the performance parameter value of the motor and the preset performance parameter threshold to obtain a comparison result; when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor. The present application adopts the above method. When calibrating the motor, if the equipment is replaced, the motor will not be recalibrated immediately. Instead, the zero bias of the motor will be confirmed first, and then the historical calibration task of the motor will be checked to see if it has been completed. When it is determined that the historical calibration task of the motor has been completed, the performance parameter value of the motor and the preset performance parameter threshold are obtained and compared. When the performance parameter value of the motor is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated. When the performance parameter value of the motor is greater than the preset performance parameter threshold and the replacement information of the motor is obtained, the motor is recalibrated according to the historical calibration task, thereby reducing unnecessary calibration cycles and improving the development efficiency of the motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG1 is an application environment diagram of a motor testing method according to an embodiment;

[0045] FIG2 is a flow chart of a motor testing method according to an embodiment;

[0046] FIG3 is a flow chart of determining a calibration optimization scheme for a motor in one embodiment;

[0047] FIG4 is a flow chart of determining a calibration optimization scheme for a motor according to consistency of test results in one embodiment;

[0048] FIG5 is a flow chart of confirming the zero bias of a motor in one embodiment;

[0049] 6 is a flow chart of updating the zero deflection angle, the gantry torque detection value and the gantry friction torque value in one embodiment;

[0050] FIG7 is a schematic diagram showing a mapping relationship between a zero bias angle and an angular velocity of a motor in one embodiment;

[0051] FIG8 is a schematic diagram of a motor calibration process in a detailed embodiment;

[0052] FIG9 is a block diagram of a motor testing device according to an embodiment;

[0053] FIG. 10 is a diagram showing the internal structure of a motor testing device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] At present, permanent magnet synchronous motors have gradually become the mainstream choice for new energy vehicle drive motors due to their high power density, high operating efficiency, fast response speed, and wide speed regulation range. In the development process of permanent magnet synchronous motors, calibration is an important link to ensure stable and accurate motor performance. However, in the actual calibration process, due to equipment failure, performance improvement, etc., it may be necessary to replace equipment such as motors, electronic controls, or dynamometers. In related technologies, the calibration process of motors generally includes zero bias confirmation, performance testing, motor parameter adjustment, and consistency verification. During the calibration process, in order to ensure the accuracy of the calibration results, once equipment replacement occurs, the motor usually needs to be recalibrated, which extends the calibration cycle of the motor and reduces development efficiency. Therefore, the present application provides a motor testing method. During the motor calibration process, if the equipment is replaced, the motor will not be recalibrated immediately. Instead, the motor zero bias is confirmed according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed; then the historical calibration tasks and historical calibration records of the motor are obtained and compared. When it is determined that the historical calibration tasks of the motor have been completed, the performance parameter values ​​of the motor and the preset performance parameter thresholds are obtained and compared to obtain a comparison result; then, if the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; if the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, and when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration tasks to complete the motor calibration, thereby helping to reduce unnecessary calibration cycles and improve motor development efficiency.

[0056] The above-mentioned motor testing method provided in the embodiment of the present application can be applied in the application environment as shown in FIG1. ​​Among them, the motor detection device 102 includes detection components such as a dynamometer and a controller. The motor detection device 102 in this embodiment can be a bench detection device as an example. After the motor 104 is installed on the bench detection device, the bench detection device is started to test the motor 104, mainly to test the output torque of the motor 104 under different working conditions (the actual torque applied by the motor on its motor shaft, used to drive the load or mechanical system), and adjust and optimize the parameters of the motor 104 or the motor control system according to the test data, for example, the gain and compensation coefficient of the controller in the motor control system, so as to ensure that the motor 104 can meet the predetermined performance standards under various working conditions.

[0057] Specifically, the calibration process of the motor by the bench test equipment mainly includes equipment inspection, zero bias confirmation, performance testing, parameter adjustment, consistency verification, etc. Among them, equipment inspection is the installation and connection of the motor, control system and other related equipment before zero bias confirmation to ensure that the motor, control system and other related equipment are in normal working condition; zero bias confirmation is the deviation of the motor's output position, torque or current and other parameters from the ideal state when the motor has no load or any signal; performance testing is to measure the motor's torque, efficiency and other parameters; parameter adjustment is to adjust the motor's speed, load, current and other parameters according to performance-related test data or test results to make the motor's performance meet the expected standards; consistency verification is to verify whether the motor's performance under different working conditions can remain consistent after the motor calibration is completed, so as to ensure the accuracy and reliability of the motor after calibration.

[0058] In one embodiment, as shown in FIG2 , the method is applied to the bench detection device in FIG1 as an example for description, and the method includes the following steps:

[0059] Step 202 , confirming the zero bias of the motor according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed.

[0060] Among them, the preset motor zero bias confirmation strategy is a pre-set operation procedure and standard to ensure that the zero deviation of the motor is within an acceptable range during calibration and operation. The main purpose of motor zero bias confirmation is to determine and correct the zero position of the motor in the initial state to ensure that the initial state of the motor is accurate during the subsequent calibration process, thereby ensuring the accuracy and reliability of the test data in the subsequent test process.

[0061] Specifically, when equipment is replaced during the motor calibration process, first confirm and check the basic conditions such as equipment connection and power supply to ensure that the equipment is in normal working condition, and then confirm the zero bias of the motor according to the preset motor zero bias confirmation strategy until the motor zero position calibration is completed. During the motor zero position calibration process, corrections can be made according to the preset compensation algorithm to adjust the output of the motor so that its zero point position meets the preset requirements, thereby ensuring that the motor can be accurately controlled in actual applications.

[0062] Step 204, obtaining and comparing the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, obtaining and comparing the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result.

[0063] Among them, the calibration task of the motor can be stored in the bench detection equipment in the form of a calibration details table, which includes multiple test parameters, such as the maximum torque current ratio MTPA, the quadrature axis inductance Lq, the direct axis inductance Ld, and the maximum torque voltage ratio MTPV of the motor. In the calibration details table, each test parameter needs to be calibrated in sequence, and the test data obtained during the calibration will also be recorded in the calibration details table. The calibrated test parameter items and the corresponding historical test data constitute the historical calibration record. The historical calibration task of the motor is the calibration task that is being executed when the equipment is replaced during the calibration process, or the calibration task that has just been completed. The performance parameter value of the motor is the parameter value used to evaluate the performance of the motor. The preset performance parameter threshold is the performance reference value set according to the characteristics of the motor of the same production batch and the same model.

[0064] For example, the motor under test completes zero bias confirmation, and the test parameters in the calibration task include the maximum torque current ratio, quadrature-axis inductance, direct-axis inductance and maximum torque voltage ratio of the motor under test. In the process of executing the motor calibration task, the maximum torque current ratio, quadrature-axis inductance, direct-axis inductance and maximum torque voltage ratio need to be calibrated in sequence. When calibrating the maximum torque current ratio, the value of the quadrature-axis current Iq can be gradually adjusted under a given direct-axis current Id to find the Iq value at which the motor under test can generate the maximum actual output torque, that is, to determine the optimal Iq ratio under each Id to achieve the maximum torque output of the motor; when calibrating the quadrature-axis inductance Lq and the direct-axis inductance Ld ... rpm), that is, test and record the value of the direct-axis current Id starting from a smaller negative value (such as -12A), and gradually increase it in steps of 22A to a value close to the peak current (such as -540A), the value of the quadrature-axis current Iq corresponding to each value of the direct-axis current Id, and record the actual output torque value of the motor under test; when calibrating the maximum torque-to-voltage ratio, voltage and current sweeps can be performed at a set speed (2000 rpm), that is, under a given voltage limit, adjust the distribution values ​​of the direct-axis current Id and the quadrature-axis current Iq, and record the maximum actual output torque value of the motor under test at different voltages, so as to determine the maximum torque-to-voltage ratio according to the ratio of the maximum actual output torque value to the applied voltage.

[0065] When all the test parameters in the calibration task have been calibrated, it indicates that the calibration task has been completed; when one or more test parameters in the calibration task have not been calibrated, that is, there is no corresponding historical test data in the historical calibration record, it indicates that the calibration task has not been completed.

[0066] Step 206, when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor.

[0067] Specifically, in this embodiment, when the performance parameter value of the motor is not greater than the preset performance parameter threshold, it indicates that the performance of the motor has reached the preset qualification standard and no recalibration or testing is required; when the performance parameter value of the motor is greater than the preset performance parameter threshold, it indicates that the performance of the motor has not yet reached the preset qualification standard. At this time, it is necessary to determine whether the situation in which the performance parameter value of the motor is greater than the preset performance parameter threshold is due to motor replacement. If the performance parameter value caused by motor replacement is greater than the preset performance parameter threshold, that is, when the motor replacement information is obtained, it is necessary to recalibrate the motor under test according to the various test parameters in the historical calibration task of the motor under test to ensure the integrity of the motor calibration process and the reliability of the test results.

[0068] In the above motor testing method, if the equipment is replaced during the motor calibration process, the motor will not be recalibrated immediately. Instead, the motor zero bias will be confirmed first, and then it will be checked whether the motor's historical calibration task has been completed. When it is determined that the motor's historical calibration task has been completed, the motor's performance parameter value and the preset performance parameter threshold are obtained and compared. When the motor's performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated. When the motor's performance parameter value is greater than the preset performance parameter threshold and the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task, thereby reducing unnecessary calibration cycles and improving the development efficiency of the motor system.

[0069] In one embodiment, the performance parameter value includes a torque accuracy value. When the comparison result is that the torque accuracy value is not greater than a preset torque accuracy threshold, it is determined that the motor does not need to be recalibrated. When the comparison result is that the torque accuracy value is greater than the preset torque accuracy threshold and the motor replacement information is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor.

[0070] Among them, the torque accuracy value is the ratio of the absolute value of the difference between the actual output torque value of the motor and the command torque value (output torque expected value) to the torque accuracy value. The torque accuracy value is used to characterize the degree of difference between the actual output torque value of the motor and the expected output torque value, and can be used to evaluate the control accuracy of the motor under specified working conditions. The smaller the torque accuracy value, the closer the actual output torque of the motor is to the expected value, and the more accurate the control. The actual output torque value of the motor is monitored by the load sensor in the bench detection equipment, or measured by the torque sensor in the bench detection equipment. The expected output torque value is the expected value pre-set according to the actual application scenario and load conditions of the tested motor. The preset torque accuracy threshold is obtained based on the historical test data analysis of multiple motors of the same production batch and the same production model. The preset torque accuracy threshold in this embodiment takes 3% as an example.

[0071] Specifically, the torque accuracy value can be calculated according to the calculation formula |(T1-T2) / T1|*100%, where T1 is the expected output torque value of the motor; T2 is the actual output torque value of the motor.

[0072] For example, when the torque accuracy value is not greater than 3%, it indicates that the torque accuracy error is within 3%, that is, the torque control accuracy of the motor under test meets the requirements, and the motor under test does not need to be recalibrated; when the torque accuracy value is greater than 3%, it indicates that the torque accuracy error is not within 3%, that is, the torque control accuracy of the motor under test has not yet met the requirements, then an alarm message needs to be output at this time so that the engineer can promptly confirm the reason why the torque accuracy error is not within 3%. If it is caused by replacing the motor, after obtaining the replacement information of the motor, it is necessary to recalibrate it according to the most recent historical calibration task of the motor under test until the final torque accuracy value is not greater than 3%; if it is not caused by replacing the motor, that is, when the replacement information of the motor is not obtained, the engineer shall specifically determine the cause of the abnormality. In addition, the efficiency MAP of the motor under test can be obtained synchronously during the motor calibration process, and the efficiency of the motor under test can be determined according to the ratio of the output power to the input power of the motor.

[0073] In this embodiment, when the torque accuracy value is greater than the preset torque accuracy threshold and the replacement information of the motor is obtained, it is determined to recalibrate the motor according to the historical calibration task, thereby avoiding the situation where the motor needs to be recalibrated immediately once the equipment is replaced during the bench detection process. Therefore, unnecessary calibration cycles can be reduced, thereby improving the development efficiency of the motor system.

[0074] In one embodiment, as shown in FIG3 , the historical calibration task includes multiple test parameters, the historical calibration record includes historical test results corresponding to the test parameters, and the method further includes:

[0075] Step 302: When the historical calibration task of the motor is not completed, at least one calibrated test parameter is retested to obtain a test result.

[0076] Specifically, when the historical calibration task of the motor is not completed, retesting at least one calibrated test parameter can provide the latest data of the tested motor in the current state, thereby verifying whether the performance of the tested motor has changed.

[0077] For example, taking the test parameters in the historical calibration task including the maximum torque-current ratio, cross-axis inductance, direct-axis inductance and maximum torque-voltage ratio of the motor under test as an example, when the maximum torque-voltage ratio in the historical calibration task of the motor under test has not been calibrated, the cross-axis inductance and direct-axis inductance of the motor under test are retested to obtain a new cross-axis inductance and a new direct-axis inductance of the motor under test; when the maximum torque-current ratio in the historical calibration task of the motor under test has not been calibrated, the maximum torque-current ratio of the motor under test is retested.

[0078] Step 304 , determining a calibration optimization scheme for the motor according to the test results and historical test results of the calibrated test parameters.

[0079] Specifically, there are two situations for the test results in this embodiment. One is that the test results are consistent with the historical test results of the calibrated test parameters, and the other is that the test results are inconsistent with the historical test results of the calibrated test parameters. For different test results, the corresponding motor calibration optimization scheme is determined to improve the performance of the motor or adjust the test method.

[0080] In this embodiment, a calibration optimization scheme for the corresponding motor is determined based on the consistency of the test results with historical test results of the calibrated test parameters, so that the calibration of the motor under test can be adjusted and optimized in a timely manner when performance changes occur due to equipment replacement or failure.

[0081] In one embodiment, as shown in FIG4 , determining a calibration optimization scheme for a motor based on the test results and historical test results of calibrated test parameters includes:

[0082] Step 402, when the test result is consistent with the historical test result of the calibrated test parameter, determine the calibration optimization solution to continue testing the test parameters that have not been tested in the historical calibration task until the historical calibration task is completed.

[0083] Specifically, when the test results are consistent with the historical test results of the calibrated test parameters, it indicates that the calibrated test parameters are stable under the current conditions and have no obvious changes. In other words, the previous calibration results are still valid. Then, the test parameters that have not been tested in the historical calibration task can continue to be tested to ensure that all relevant test parameters are verified, thereby completing the entire calibration task. At the same time, the consistency and reliability of the motor test parameters can also be ensured.

[0084] For example, still taking the above example, when the maximum torque-to-voltage ratio in the historical calibration task of the motor has not been calibrated, the cross-axis inductance of the motor under test and the direct-axis inductance of the motor are retested. When the test results are consistent with the test results in the previous calibration task, the maximum torque-to-voltage ratio of the motor under test continues to be calibrated until all test parameters in the historical calibration task have been calibrated.

[0085] Step 404 , when the test result is inconsistent with the historical test result of the calibrated test parameters, determine the calibration optimization solution to recalibrate the motor according to the historical calibration task.

[0086] Specifically, when the test results are inconsistent with the historical test results of the calibrated test parameters, it indicates that the performance of the motor under test may have changed, or there may be problems with the previous calibration records. In this case, the motor under test needs to be recalibrated to ensure that its performance meets the requirements.

[0087] For example, when the cross-axis inductance and direct-axis inductance of the motor under test are retested and the test results obtained are inconsistent with the previous test results of the cross-axis inductance and direct-axis inductance of the motor, the motor is recalibrated in sequence according to the order of the maximum torque current ratio, the cross-axis inductance of the motor, the direct-axis inductance of the motor and the maximum torque voltage ratio of the motor in the historical calibration task.

[0088] In this embodiment, whether the motor under test needs to be recalibrated is determined based on the consistency of the test results with the historical test results of the calibrated test parameters. When the test results are consistent with the historical test results of the calibrated test parameters, the unfinished test parameters are continued to be tested and a comprehensive calibration is performed, which helps to improve the overall reliability of the motor performance. When the test results are inconsistent with the historical test results of the calibrated test parameters, recalibrating the motor under test can ensure the accuracy of the test data, help correct the motor performance deviation, and improve the reliability of the motor under test during subsequent use.

[0089] In one embodiment, after recalibrating the motor according to the historical calibration task, the method further includes:

[0090] A new performance parameter value of the motor is reacquired, and when the new performance parameter value is not greater than a preset performance parameter value, it is determined that the motor calibration is completed.

[0091] Specifically, after recalibrating the motor under test, in order to verify whether the performance of the motor under test meets the preset design standards and to reduce the possibility of potential performance problems and failure risks in the future, it is necessary to remeasure the new performance parameter values ​​of the motor under test, and only when the new performance parameter values ​​are not greater than the preset performance parameter values ​​can it be determined that the calibration of the motor under test is completed.

[0092] Exemplarily, after the motor under test is recalibrated, a new torque accuracy value is remeasured, and when the new torque accuracy value is not greater than a preset torque accuracy threshold of 3%, it is determined that the calibration of the motor under test is completed.

[0093] In this embodiment, by retesting the new performance parameter values ​​of the recalibrated motor, it is possible to ensure that the reliability and working efficiency of the motor are improved.

[0094] In one embodiment, as shown in FIG5 , the motor is zero-biased confirmed according to a preset motor zero-bias confirmation strategy until the motor zero position calibration is completed, including:

[0095] Step 502 : Control the rotation speed of the motor according to the motor zero bias confirmation strategy to obtain the test bench torque detection value and the test bench friction torque value of the motor at different rotation speeds.

[0096] Among them, the bench torque detection value is the torque value actually measured by the motor during bench detection, and is also the actual output torque value of the motor. During the motor calibration process, the motor will be tested under various load and speed conditions to obtain the torque output of the motor at different working points, that is, the bench torque detection value. The bench torque detection value can be obtained through the torque sensor in the bench detection equipment. The bench friction torque value is the friction torque value generated by the motor under the same test conditions. The bench friction torque is caused by factors such as friction between the internal components of the motor, bearing friction, and friction of the test bench. The bench friction torque value can be obtained through the friction torque sensor in the bench detection equipment.

[0097] Exemplarily, the motor zero bias confirmation strategy includes: after the motor under test is connected to the mechanical test bench, the test bench detection equipment controls the controller to switch to the torque mode, by giving the current command Id=-ASC (for the motor whose short-circuit current ASC is larger than the peak current, Id takes the peak current*0.6), Iq=0A, and controlling the dynamometer to drag the motor under test to rotate, and testing the output torque value corresponding to different speeds within [negative maximum speed, positive maximum speed], that is, the test bench torque detection value, and simultaneously obtaining the corresponding test bench friction torque value, wherein the speed can be determined sequentially within [negative maximum speed, positive maximum speed] according to the speed step of 2000rpm.

[0098] Step 504: determine the torque error value according to the test bench torque detection value and the test bench friction torque value.

[0099] Among them, the torque error value is the deviation value between the test bench torque detection value and the test bench friction torque value. The torque error value can be an absolute error, that is, the difference between the test bench torque detection value and the test bench friction torque value, or it can be the ratio of the absolute value of the difference between the test bench torque detection value and the test bench friction torque value to the test bench friction torque value.

[0100] Specifically, the torque error value can be calculated according to the following calculation formula:

[0101] Torque error value = |(T3-T4) / T4|*100%;

[0102] Wherein, T3 is the test bench torque value; T4 is the test bench friction torque value.

[0103] Step 506 : When the torque error value is not greater than a preset torque error threshold, determine that the motor zero position calibration is completed.

[0104] Specifically, the preset torque error threshold is pre-set according to the characteristics of the motor. The preset torque error threshold in this embodiment takes 0.2% as an example. When the torque error value is not greater than 0.2%, it can be determined that the zero-position calibration of the tested motor is completed.

[0105] In this embodiment, the accuracy in determining the zero bias confirmation state of the measured motor is higher according to the comparison result between the torque error value and the preset torque error threshold.

[0106] In one embodiment, as shown in FIG6 , the method further includes:

[0107] Step 602: When the torque error value is greater than a preset torque error threshold, a preset zero bias angle correction model and zero bias angle measurement values ​​of the motor at different rotation speeds are obtained.

[0108] Specifically, when the torque error value is greater than the preset torque error threshold, it indicates that the control accuracy of the motor under test needs to be adjusted, that is, the zero bias angle needs to be corrected (zero position calibration), and when correcting the zero bias angle of the motor under test, it is necessary to first establish a mapping relationship between the zero bias angle of the motor under test and the speed. Among them, the zero bias angle is the angle deviation of the motor under test when the motor is at zero position without any load or input signal, and this angle deviation will affect the control accuracy of the motor under different working conditions, especially the accuracy of the torque output of the motor.

[0109] Exemplarily, since it is found during the test of the motor that the relationship between the zero bias angle and the rotational speed of the motor under test tends to be linear, the preset zero bias angle correction model in this embodiment takes the linear model y=k*x+b as an example, wherein y is the zero bias angle; k is the delay compensation coefficient, k represents the degree of influence of the angular velocity on the zero bias angle or represents the rate of change of the zero bias angle with the rotational speed; b is the resolver zero bias angle, the resolver zero bias angle is the zero bias error output by the rotary transformer in the motor under test, and is also an additional deviation caused by the change in angular velocity. By compensating for the resolver zero bias angle, compensation for the zero bias angle can be achieved.

[0110] Step 604: Determine a mapping relationship between the zero bias angle and the rotational speed and a resolver zero bias angle according to the multiple sets of zero bias angle measurement values ​​and the rotational speed.

[0111] Specifically, after obtaining the zero bias angle of the motor under test at different speeds, the linear regression method is used to determine the best fit line, that is, to determine the values ​​of k and b, so as to ensure that the zero bias angle can be accurately compensated during the test, thereby improving the control accuracy of the motor under test.

[0112] Exemplarily, the bench testing equipment can perform zero bias confirmation on the motor under test according to the following zero bias confirmation strategy:

[0113] Step A: Power on the low-voltage power supply of the controller, set the bus voltage to the rated voltage, and set the dynamometer speed to 1000rpm;

[0114] Step B: Control the controller to enter the torque control mode, confirm that the zero offset compensation coefficient k is reset to 0, set the Id current of the motor under test to -50A, and adjust it in steps of 10A;

[0115] Step C: Adjust the resolver zero deflection angle in steps of 1° (0.0174 radians) until the actual output torque value T3 of the motor under test is equal to the bench friction torque value T4;

[0116] Step D: With 10A as the step, give an Iq current of 50A (if the DC power is positive at this time, it indicates that the resolver zero deflection angle is coarsely adjusted correctly; if the DC power is negative, it indicates that the resolver zero deflection angle is just 180° off, and the resolver zero deflection angle value should be corrected by adding or subtracting 180°);

[0117] Step E: Remove the Iq current, and add Id to the short-circuit current ASC in steps of 10A (for motors with a short-circuit current ASC greater than the peak current, Id is the peak current*0.6); adjust the resolver zero deflection angle in steps of 0.1° (0.00174 radians) until the test bench torque detection value T3 is equal to the test bench friction torque value T4;

[0118] Step F: Repeat step E at [negative maximum speed, …, -3000, -1000, 1000, 3000, …, positive maximum speed], that is, repeat step E at different speeds such as negative maximum speed, -3000 rpm, -1000 rpm, 1000 rpm, 3000 rpm, etc., to ensure that the resolver calibration under different speed conditions is accurate;

[0119] Step G: According to a preset data processing script, that is, the processing method for obtaining the mapping relationship between the zero deflection angle and the rotational speed, the zero deflection angle data obtained at different rotational speeds are processed to obtain the processed zero deflection angle and the delay compensation coefficient.

[0120] The mapping relationship between the zero bias angle and the rotation speed is finally obtained as shown in FIG7 . According to FIG7 , the delay compensation coefficient K of a motor under test is -0.00000120592, and the resolver zero bias angle of the motor under test is 0.03579872428°.

[0121] Step 606, based on the mapping relationship between the zero bias angle and the rotational speed, the zero bias angle at different rotational speeds is updated to obtain an updated zero bias angle, so as to update the test bench torque detection value and the test bench friction torque value according to the updated zero bias angle.

[0122] Specifically, the updated gantry torque detection value = gantry torque detection value - gantry torque correction value, gantry torque correction value = ; is a constant related to the motor characteristics, is the updated zero deflection angle.

[0123] Updated gantry friction torque value = gantry friction torque value + f ( , preset parameters); f( , preset parameters) is a function related to the zero deflection angle and other conditions (such as temperature, etc.), which is used to describe the change of the test bench friction torque value.

[0124] In this embodiment, the mapping relationship between the zero bias angle and the speed is first determined based on the preset zero bias angle correction model and the zero bias angle test data obtained at different speeds, and then the test bench torque detection value and the test bench friction torque value are updated according to the mapping relationship between the zero bias angle and the speed. This helps to improve the accuracy and reliability in determining the torque error value, thereby improving the accuracy and reliability in determining the zero bias confirmation state, and further helps to improve the reliability of the subsequent motor calibration process.

[0125] In one embodiment, before performing zero bias confirmation on the motor according to a preset motor zero bias confirmation strategy, the method further includes:

[0126] The environmental parameters of the motor test environment are obtained, and when the environmental parameters reach a preset environmental parameter threshold, the motor zero bias confirmation strategy is obtained.

[0127] Among them, environmental parameters are parameters used to characterize the environmental conditions of the motor. Environmental parameters include motor temperature, controller temperature, etc. The environmental parameters in this embodiment take the temperature of the motor and controller, the flow rate of the motor cooling system, and the line voltage filter cutoff frequency as examples.

[0128] For example, since the test environment of the motor may also affect the test data in the zero bias confirmation process, before confirming the zero bias of the motor, it is necessary to first obtain the temperature values ​​of the motor and the controller, the flow value of the motor cooling system, and the line voltage filter cutoff frequency value. Only when the temperature value of the motor and the controller is maintained at 25°C, the flow value of the motor cooling system is maintained at 12L / min, and the line voltage filter cutoff frequency value is maintained at 5.5k, can it be determined that the test environment of the motor under test meets the preset environmental standards, that is, the environmental parameters reach the preset environmental parameter thresholds, and the above-mentioned motor zero bias confirmation strategy can be obtained at this time.

[0129] In this embodiment, before confirming the zero bias of the motor under test, the environmental parameters of the motor under test are first obtained. When the environmental parameters reach the preset environmental parameter threshold, the zero bias confirmation strategy is obtained to confirm the zero bias of the motor under test, which can ensure the accuracy and reliability of the subsequent zero bias confirmation results.

[0130] In a detailed embodiment, when the motor under test fails and the controller is replaced during the calibration process, the connection status between the motor under test and the measurement and control machine, controller and other related equipment is checked first, and after obtaining the operating information that the motor under test and the related equipment are in good connection, the zero bias confirmation of the motor under test is performed according to the above-mentioned motor zero bias confirmation strategy. For example, given Id=-ASC, Iq=0A, and the [negative maximum speed, positive maximum speed] bench detection torque value and bench friction torque value are tested. When the torque error value calculated based on the bench detection torque value and the bench friction torque value is not greater than 0.2%, it indicates that the motor zero position calibration is completed, that is, the zero bias confirmation of the motor under test is completed; otherwise, when the torque error value is greater than 0.2%, it is necessary to recalibrate the zero bias angle and delay compensation coefficient of the motor under test, and continue to confirm the zero bias of the motor under test until the motor zero position calibration is completed.

[0131] After the motor zero bias is confirmed, first obtain and compare whether the historical calibration task of the motor under test is completed, that is, whether the various test parameters in the calibration task of the motor under test when the controller is replaced have been calibrated. If it is determined that all the test parameters in the historical calibration task have been calibrated, then the torque accuracy value of the motor under test is tested. When testing the torque accuracy value, it is calculated based on the actual output torque value and the expected output torque value of the motor obtained during the test process; if there are one or more large test parameters in the historical calibration task that have not been calibrated, for example, the maximum current-torque ratio in the historical calibration task has not been calibrated, then the direct-axis inductance and quadrature-axis inductance in the historical calibration task are retested. If the retest results of the direct-axis inductance and the quadrature-axis inductance are consistent, it indicates that the performance of the motor under test has not changed, and the maximum current-torque ratio can continue to be calibrated according to the historical calibration task; if the retest results of the direct-axis inductance and the quadrature-axis inductance are inconsistent, it indicates that the performance of the motor under test has changed, and it is necessary to recalibrate the motor under test according to all the test parameters in the historical calibration task to ensure the accuracy and reliability of the motor performance test results.

[0132] After confirming that the historical calibration task of the motor under test has been completed, the torque accuracy value of the motor under test is retested. When the torque accuracy value of the motor under test is not greater than 3%, it indicates that the torque accuracy error is within 3%, that is, the torque control accuracy of the motor under test meets the requirements, and the motor under test does not need to be recalibrated; when the torque accuracy value is greater than 3%, it indicates that the torque accuracy error is not within 3%, that is, the torque control accuracy of the motor under test has not yet met the requirements, then an alarm message needs to be output at this time so that the engineer can promptly confirm the reason why the torque accuracy error is not within 3%. If it is caused by replacing the motor, after obtaining the replacement information of the motor, it is necessary to recalibrate it according to the most recent historical calibration task of the motor under test until the final torque accuracy value is not greater than 3%; if it is not caused by replacing the motor, that is, when the replacement information of the motor is not obtained, the engineer shall specifically determine the cause of the abnormality. In addition, the efficiency MAP of the motor under test can be obtained synchronously during the motor calibration process, and the efficiency of the motor under test can be determined according to the ratio of the output power to the input power of the motor.

[0133] The motor calibration process in the above detailed embodiment can be summarized as the motor calibration flow chart shown in FIG8 .

[0134] The present embodiment adopts the above method, which can avoid the situation where the motor needs to be directly recalibrated once the equipment is replaced during the motor calibration process, thereby reducing unnecessary calibration cycles and improving the development efficiency of the motor system; at the same time, by optimizing the zero bias confirmation process before calibration, the zero bias angle is updated and optimized, and accordingly, the test bench torque detection value and the test bench friction torque value are both updated and optimized, thereby ensuring the reliability of the motor's zero bias confirmation process, and then ensuring the accuracy and reliability of the subsequent motor calibration process.

[0135] It should be understood that, although the various steps in the flowcharts involved in the various embodiments shown above are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments as described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0136] Based on the same inventive concept, the embodiment of the present application also provides a motor testing device for implementing the motor testing method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more motor testing device embodiments provided below can refer to the limitations on the motor testing method above, and will not be repeated here.

[0137] In one embodiment, as shown in FIG. 9 , a motor testing device is provided, including: a motor zero bias confirmation module 902 , a performance parameter comparison module 904 , and a motor calibration confirmation module 906 , wherein:

[0138] The motor zero bias confirmation module 902 is used to confirm the motor zero bias according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed;

[0139] The performance parameter comparison module 904 is used to obtain and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration task of the motor has been completed, obtain and compare the performance parameter value of the motor with a preset performance parameter threshold to obtain a comparison result;

[0140] The motor calibration confirmation module 906 is used to determine that the motor does not need to be recalibrated when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the replacement information of the motor is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor.

[0141] In one embodiment, the device also includes an optimization scheme determination module 908, which is used to: when the historical calibration task of the motor is not completed, retest at least one calibrated test parameter to obtain a test result; determine the calibration optimization scheme of the motor based on the test result and the historical test result of the calibrated test parameter.

[0142] In one embodiment, the optimization scheme determination module 908 is also used to: when the test result is consistent with the historical test result of the calibrated test parameter, determine that the calibration optimization scheme is to continue testing the test parameters that have not been tested in the historical calibration task until the historical calibration task is completed; when the test result is inconsistent with the historical test result of the calibrated test parameter, determine that the calibration optimization scheme is to recalibrate the motor according to the historical calibration task.

[0143] In one embodiment, the motor calibration confirmation module 906 is further used to: reacquire a new performance parameter value of the motor, and determine that the motor calibration is completed when the new performance parameter value is not greater than a preset performance parameter value.

[0144] In one embodiment, the motor zero bias confirmation module 902 is also used to: control the speed of the motor according to the motor zero bias confirmation strategy to obtain the test bench torque detection value and the test bench friction torque value of the motor at different speeds; determine the torque error value according to the test bench torque detection value and the test bench friction torque value; and determine that the motor zero position calibration is completed when the torque error value is not greater than a preset torque error threshold.

[0145] In one embodiment, the motor zero bias confirmation module 902 is also used for: when the torque error value is greater than the preset torque error threshold, obtaining a preset zero bias angle correction model and the zero bias angle measurement values ​​of the motor at different rotational speeds; determining the mapping relationship between the zero bias angle and the rotational speed and the rotational speed zero bias angle according to multiple groups of the zero bias angle measurement values ​​and the rotational speed; updating the zero bias angle at different rotational speeds according to the mapping relationship between the zero bias angle and the rotational speed to obtain an updated zero bias angle, so as to update the gantry torque detection value and the gantry friction torque value according to the updated zero bias angle.

[0146] In one embodiment, the motor zero bias confirmation module 902 is further used to: obtain environmental parameters of the motor test environment, and when the environmental parameters reach a preset environmental parameter threshold, obtain the motor zero bias confirmation strategy.

[0147] Each module in the above motor testing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0148] In one embodiment, a motor test device is provided, and its internal structure diagram can be shown in Figure 10. The motor test device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the motor test device is used to provide computing and control capabilities. The memory of the motor test 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 communication interface of the motor test device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a motor test method is implemented. The display screen of the motor test device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the motor test device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the housing of the motor test device, or an external keyboard, touchpad or mouse, etc.

[0149] Those skilled in the art will understand that the structure shown in FIG. 10 is merely a block diagram of a partial 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 shown in the figure, or combine certain components, or have a different arrangement of components.

[0150] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0151] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0152] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0153] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0154] 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 the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0155] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above 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.

[0156] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motor testing method, characterized in that: The method comprises: The motor zero bias is confirmed according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed; Acquire and compare the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquire and compare the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result; When the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold, it is determined that the motor does not need to be recalibrated; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the replacement information of the motor is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor.

2. The method according to claim 1, characterized in that: The historical calibration task includes a plurality of test parameters, the historical calibration record includes historical test results corresponding to the test parameters, and the method further includes: When the historical calibration task of the motor is not completed, retesting at least one calibrated test parameter to obtain a test result; A calibration optimization scheme for the motor is determined based on the test results and historical test results of the calibrated test parameters.

3. The method according to claim 2, characterized in that Determining a calibration optimization scheme for the motor according to the test result and the historical test result of the calibrated test parameter includes: In the case where the test result is consistent with the historical test result of the calibrated test parameter, determining the calibration optimization scheme to continue testing the test parameters that have not been tested in the historical calibration task until the historical calibration task is completed; In the case where the test result is inconsistent with the historical test result of the calibrated test parameter, the calibration optimization scheme is determined to be recalibrating the motor according to the historical calibration task.

4. The method according to claim 1, characterized in that After recalibrating the motor according to the historical calibration task, the method further includes: A new performance parameter value of the motor is reacquired, and when the new performance parameter value is not greater than a preset performance parameter value, it is determined that the motor calibration is completed.

5. The method according to claim 1, characterized in that The step of confirming the zero bias of the motor according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed includes: Controlling the rotation speed of the motor according to the motor zero bias confirmation strategy to obtain a test bench torque detection value and a test bench friction torque value of the motor at different rotation speeds; Determining a torque error value according to the bench torque detection value and the bench friction torque value; When the torque error value is not greater than a preset torque error threshold, it is determined that the motor zero position calibration is completed.

6. The method according to claim 5, characterized in that The method further comprises: When the torque error value is greater than the preset torque error threshold, obtaining a preset zero bias angle correction model and zero bias angle measurement values ​​of the motor at different rotation speeds; Determine a mapping relationship between the zero bias angle and the rotational speed and a resolver zero bias angle according to the plurality of groups of zero bias angle measurement values ​​and the rotational speed; According to the mapping relationship between the zero bias angle and the rotational speed, the zero bias angle at different rotational speeds is updated to obtain an updated zero bias angle, so as to update the gantry torque detection value and the gantry friction torque value according to the updated zero bias angle.

7. The method according to claim 1, characterized in that Before the zero bias confirmation of the motor is performed according to the preset motor zero bias confirmation strategy, the method further includes: The environmental parameters of the motor test environment are obtained, and when the environmental parameters reach a preset environmental parameter threshold, the motor zero bias confirmation strategy is obtained.

8. A motor testing device, characterized in that: The device comprises: A motor zero bias confirmation module is used to confirm the motor zero bias according to a preset motor zero bias confirmation strategy until the motor zero position calibration is completed; A performance parameter comparison module, used for acquiring and comparing the historical calibration tasks and historical calibration records of the motor, and when it is determined that the historical calibration tasks of the motor have been completed, acquiring and comparing the performance parameter values ​​of the motor and the preset performance parameter thresholds to obtain a comparison result; The motor calibration confirmation module is used to determine that the motor does not need to be recalibrated when the comparison result is that the performance parameter value is not greater than the preset performance parameter threshold; when the comparison result is that the performance parameter value is greater than the preset performance parameter threshold, when the replacement information of the motor is obtained, the motor is recalibrated according to the historical calibration task to complete the calibration of the motor.

9. A motor testing device, comprising the motor testing apparatus according to claim 8, the motor testing device further comprising a memory and a processor, the memory storing a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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 7 are implemented.

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