Method and system for calibrating rack data of permanent magnet synchronous motor

Abstract

The invention discloses a calibration method and system for bench data of a permanent magnet synchronous motor. The calibration method comprises the following steps: generating chart data corresponding to torque and rotating speed from set motor data by using a simulation model; loading the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the maximum torque current ratio direct axis, the current value corresponding to the maximum torque current ratio quadrature axis, the direct-axis flux-weakening current and the quadrature-axis flux-weakening current to a field-oriented control algorithm, programming the field-oriented control algorithm to a motor controller, and performing rack verification; and outputting optimal current data to complete calibration. According to the method, the excitation current data and the torque current data corresponding to the second quadrant and the third quadrant in the current limiting ring do not need to be manually scanned, and the rack data calibration time can be shortened on the whole, so that rack resources are reduced, and the purposes of reducing cost and improving efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and more specifically, to a calibration method and system for permanent magnet synchronous motor bench data. Background Art

[0002] PMSM (Permanent Magnet Synchronous Motor) has been widely used in high-demand speed control drive systems such as electric vehicles (such as new energy vehicles) due to its high power density, high reliability and high efficiency. When controlling PMSM, the MTPA (Maximum Torque Per Ampere) algorithm is generally used to optimize the matching of the PMSM's drive current and torque. In actual operation, the quadrature-axis and direct-axis inductances, quadrature-axis and direct-axis currents of PMSM are nonlinearly related to temperature, and this nonlinear relationship is extremely difficult to measure. Therefore, the drive current and torque are generally optimally matched by calibrating the actual output torque corresponding to the drive current.

[0003] At present, PMSM is generally calibrated manually. The operator uses a test bench to manually calibrate the motor data. The whole process requires a lot of calibration work to obtain a three-dimensional table represented by the drive current, the maximum torque corresponding to the drive current, and the current angle corresponding to the maximum torque. The calibrated three-dimensional table needs to be processed by an external computing device to convert the three-dimensional table into data unit torque suitable for the motor software program and integrated into the motor controller. A large number of complex manual calculations are required on the three-dimensional table to convert the three-dimensional table into data that can be used by the motor controller. The whole work process is cumbersome and inefficient. Therefore, it is a technical problem that urgently needs to be solved in this field.

[0004] Reference Figure 1-Figure 3 As shown, Figure 1 It is a vector control block diagram of a permanent magnet synchronous motor provided by the prior art; Figure 2 The prior art provides a four-quadrant table view of current, wherein Current Constraint refers to current constraint conditions, voltage constraint refers to voltage constraint conditions, fw region refers to weak magnetic region, and MTPAtrajectory refers to current trajectory under maximum torque current ratio control; Figure 3 This is a schematic diagram of manual calibration of a permanent magnet synchronous motor provided by the prior art; Figure 1As shown in the figure, the control method of the permanent magnet synchronous motor needs to use a rotary transformer to collect the angle, and then convert it into a speed calculation formula through a supervision calculation formula, and control the output to torque through the speed outer loop PI (proportional-integral controller), and convert the torque into a torque current i q and the excitation current i d , and this conversion method is MTPA and MTPV (Maximum Torque Per Voltage, weak magnetic speed increase) two methods, this method is the process of converting torque into current is called calibration process, the motor four quadrant excitation current i d and torque current i q Convert to a reasonable and valid interval, such as Figure 2 In the traditional motor calibration process, engineers need to manually scan different operating points in the second and third quadrants of the current limit circle (such as excitation current and torque current) to determine the best current and voltage operating points, and then select the best data. That is, engineers manually calibrate the motor efficiency and motor excitation current i d and torque current i q MAP table, or calibrate the excitation current i d MAP table, and then use the torque calculation formula to calculate the torque current i q ,like Figure 3 shown.

[0005] The torque formula of the permanent magnet synchronous motor can be converted into the following expression: Where, T e is the torque, n p is the number of motor pole pairs, φ f is the permanent magnet flux, L d is the d-axis inductance, L q is the q-axis inductance, i d is the excitation current i d ,i q is the torque current i q , where the formula for the current limit circle is: Therefore, the torque current i q and the excitation current i d They are all related to torque and have a certain degree of coupling. The main reason is the coupling caused by the difference between the D-axis inductance and the Q-axis inductance of the permanent magnet synchronous motor. In order to find the extreme value relationship, the auxiliary function is introduced using the Lagrange theorem in mathematics.

[0006]

[0007] Solving the above formula, we can get the calculation formulas of excitation current id and torque current iq as follows:

[0008]

[0009]

[0010] The above excitation current i d and torque current i q The calculation formula shows that the excitation current i d and torque current i q The calculation is very complicated. In the actual software, the formula method will increase the load rate and calculation time of the chip operation, thereby affecting the control accuracy of the FOC control algorithm (Field-Oriented Control), and will cause different actual currents with different inductances. Therefore, bench calibration is often used. This method mainly relies on manual calibration, which is time-consuming and labor-intensive, and the calibration data are often different due to different levels of engineers. Summary of the invention

[0011] In view of this, the present invention provides a permanent magnet synchronous motor bench data calibration method to solve the problem of complicated whole working process and low efficiency in the permanent magnet synchronous motor calibration process in the prior art.

[0012] In a first aspect, the present application provides a method for calibrating data of a permanent magnet synchronous motor test bench, comprising:

[0013] The simulation model is used to generate chart data corresponding to torque and speed from the set motor data, including:

[0014] According to the torque given value, the number of motor pole pairs and the flux coefficient, a given maximum current saturation value is obtained; according to the given maximum current saturation value and the motor phase current peak value, an estimated maximum current saturation value is obtained; according to the quadrature-axis inductance, the direct-axis inductance, the flux coefficient and the estimated maximum current saturation value, a current value corresponding to the direct-axis of the maximum torque current ratio is obtained; according to the estimated maximum current saturation value and the current value corresponding to the direct-axis of the maximum torque current ratio, a current value corresponding to the quadrature-axis of the maximum torque current ratio is obtained;

[0015] The direct-axis flux weakening current is obtained according to the flux linkage coefficient, the quadrature-axis inductance, the direct-axis inductance, the estimated maximum current saturation value, the peak value of the motor line voltage and the electrical angular velocity; the quadrature-axis flux weakening current is obtained according to the direct-axis flux weakening current and the peak value of the motor phase current;

[0016] The given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current are loaded into the magnetic field oriented control algorithm, the magnetic field oriented control algorithm is burned into the motor controller, and the bench verification is carried out to output the optimal current data to complete the calibration.

[0017] In a second aspect, this embodiment provides a permanent magnet synchronous motor bench data calibration system, which is applied to any permanent magnet synchronous motor bench data calibration method of this embodiment, including:

[0018] A chart generation module is used to generate chart data corresponding to torque and speed from set motor data using a simulation model, which includes: obtaining a given maximum current saturation value according to a given torque value, a motor pole pair number and a flux coefficient; obtaining an estimated maximum current saturation value according to a given maximum current saturation value and a motor phase current peak value; obtaining a current value corresponding to a maximum torque current ratio to a direct axis according to a quadrature-axis inductance, a direct-axis inductance, a flux coefficient and an estimated maximum current saturation value; obtaining a current value corresponding to a maximum torque current ratio to a quadrature-axis according to an estimated maximum current saturation value and a current value corresponding to a maximum torque current ratio to a direct axis; obtaining a direct-axis weak magnetic current according to the flux coefficient, a quadrature-axis inductance, a direct-axis inductance, an estimated maximum current saturation value, a peak value of a motor line voltage and an electrical angular velocity; obtaining a quadrature-axis weak magnetic current according to the direct-axis weak magnetic current and a peak value of a motor phase current;

[0019] The verification module is coupled to the chart generation module, and is used to receive the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current, load the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current into the magnetic field oriented control algorithm, burn the magnetic field oriented control algorithm into the motor controller, perform bench verification, output the optimal current data, and complete calibration.

[0020] Compared with the prior art, the permanent magnet synchronous motor bench data calibration method and system provided by the present invention achieve at least the following beneficial effects:

[0021] The present invention provides a method and system for calibrating data of a permanent magnet synchronous motor bench. The calibration method comprises: using a simulation model to generate chart data corresponding to torque and speed from set motor data; since a given maximum current saturation value, an estimated maximum current saturation value, a current value corresponding to a direct axis of a maximum torque current ratio, a current value corresponding to a quadrature axis of a maximum torque current ratio, a direct axis weak magnetic current, and a quadrature axis weak magnetic current are directly calculated by the simulation model, that is, using the simulation model to directly generate excitation current data and torque current data corresponding to different quadrants in a current limiting circle from set motor data, such as excitation current data corresponding to the second quadrant and the third quadrant in the current limiting circle. d and torque current data i qTherefore, there is no need to manually scan the excitation current data and torque current data corresponding to the second quadrant and the third quadrant in the current limiting circle. Subsequently, the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current are loaded into the magnetic field oriented control algorithm, the magnetic field oriented control algorithm is burned into the motor controller, and the bench verification is carried out to output the optimal data and complete the calibration. Overall, the bench data calibration time can be reduced, thereby reducing the bench resources, and then achieving the purpose of reducing costs and increasing efficiency.

[0022] Of course, any product implementing the present invention does not necessarily need to achieve all of the technical effects described above at the same time.

[0023] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0025] Figure 1 It is a vector control block diagram of a permanent magnet synchronous motor provided by the prior art;

[0026] Figure 2 The prior art provides a four-quadrant table view of current;

[0027] Figure 3 It is a schematic diagram of manual calibration of a permanent magnet synchronous motor provided by the prior art;

[0028] Figure 4 It is a flow chart of a method for calibrating data of a permanent magnet synchronous motor bench provided by the present invention;

[0029] Figure 5 It is a schematic diagram of a script input motor data provided by the present invention;

[0030] Figure 6 It is a current MAP interval chart after the visual simulation tool provided by the present invention is run;

[0031] Figure 7 It is a motor efficiency MAP diagram generated after running a visual simulation tool provided by the present invention;

[0032] Figure 8 It is a flow chart of a simulation model provided by the present invention;

[0033] Fig. 9 is a flow chart of another simulation model provided by the present invention;

[0034] Fig.10 It is an MTPA curve diagram (MTPA calculation effect comparison chart) generated by different inductance operations provided by the prior art;

[0035] Fig.11 It is an MTPA curve diagram (MTPA measured result comparison chart) generated by different inductance operations provided by the prior art;

[0036] Fig.12 It is a bench data calibration flow chart provided by the present invention;

[0037] Fig.13 It is a structural schematic diagram of a permanent magnet synchronous motor bench data calibration system provided by the present invention. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In order to improve the phenomenon that engineers need to manually scan different working points (such as current data) in the second quadrant and the third quadrant within the current limiting circle, the present invention provides a permanent magnet synchronous motor bench data calibration method and a system thereof. The specific embodiment of the permanent magnet synchronous motor bench data calibration method will be described in detail below.

[0044] Embodiment 1

[0045] Reference Figure 4-Figure 7 As shown, Figure 4 It is a flow chart of a method for calibrating data of a permanent magnet synchronous motor bench provided by the present invention; Figure 5 It is a schematic diagram of a script input motor data provided by the present invention, and the script can be a MATLAB (matrix laboratory) script; Figure 6 A current MAP interval chart after a visual simulation tool provided by the present invention is run, the visual simulation tool may be SIMULINK, SIMULINK is a visual simulation tool in MATLAB launched by Mathworks of the United States, SIMULINK is a module diagram environment for multi-domain simulation and model-based design; Figure 7 It is a motor efficiency MAP diagram generated after a visual simulation tool provided by the present invention is run, wherein the motor efficiency MAP diagram is an efficiency distribution diagram of the motor under a given speed and torque. The motor efficiency MAP diagram helps engineers intuitively understand the performance characteristics of the motor by showing the efficiency of the motor under different speeds and torque conditions; This embodiment provides a permanent magnet synchronous motor bench data calibration method, including:

[0046] Step 101, continue to refer to Figure 4-Figure 7 As shown, the motor data is written using a script, and then step 102 is performed;

[0047] The above script can be a MATLAB script, and the motor data can be the basic parameters of the motor calibrated on the bench. The basic parameters of the motor calibrated on the bench include but are not limited to: stator resistance Ω, direct-axis inductance H, quadrature-axis inductance H, permanent magnet flux Wb, motor pole pair number, peak current A, peak torque Nm, torque step Nm, maximum speed rpm, speed step rpm, battery voltage V and voltage utilization. Specifically, using MATLAB script to write the basic parameters of the motor calibrated on the bench can not only improve the test efficiency and optimize the control algorithm, thereby reducing the work intensity and calibration cycle of engineers, but also realize high-precision motor modeling and facilitate data analysis and result visualization.

[0048] It should be noted that: stator resistance refers to the resistance of the motor stator coil. Direct axis inductance refers to the inductance when the current flows along the direct axis of the motor. Quadrature axis inductance refers to the inductance when the current flows along the quadrature axis of the motor. Permanent magnetic flux refers to the flux generated by permanent magnets. The number of motor pole pairs refers to the number of magnetic poles inside the motor divided by 2.

[0049] Peak current refers to the maximum current that the motor can withstand in a short period of time. Peak torque refers to the maximum torque that the motor can generate in a short period of time. Torque step size is usually related to the control strategy of the motor. It refers to the minimum unit or step size of torque adjustment during the motor control process. The smaller the torque step size, the higher the control accuracy of the motor; maximum speed refers to the maximum speed that the motor can reach under rated conditions. This parameter is closely related to the design parameters of the motor (such as the number of poles, the number of stator slots, etc.), and is also affected by factors such as power supply voltage and load. Speed ​​step size refers to the minimum unit or step size of speed adjustment during the motor control process. The size of the speed step size also affects the control accuracy and response speed of the motor.

[0050] Battery voltage usually refers to the voltage of the battery pack that provides power to the motor. Voltage utilization refers to the ratio of the actual voltage used by the motor during operation to the theoretical maximum voltage. The higher this ratio, the more efficient the motor is in utilizing the input voltage, which helps improve the performance and efficiency of the motor.

[0051] Use MATLAB script to write the basic parameters of the motor for bench calibration, see Figure 5 As shown, before using the MATLAB script to write the basic parameters of the motor calibrated on the bench, it also includes: collecting the basic parameters of the motor calibrated on the bench, and the basic parameters of the motor calibrated on the bench include but are not limited to the stator resistance can be 0.02Ω, the direct-axis inductance can be 0.0005H, the quadrature-axis inductance can be 0.0015H, the permanent magnet flux can be 0.1Wb, the number of motor pole pairs can be 2, the peak current can be 260A, the peak torque can be 190Nm, the torque step can be 5Nm, the maximum speed can be 10000rpm, the speed step can be 100rpm, the battery voltage can be 320V, and the voltage utilization rate can be 0.96. The data corresponding to the above motor data are only used as examples for reference. When calibrating the motor later, the corresponding parameters, such as the torque step and / or the speed step, can be adjusted.

[0052] Step 102: Combine Figure 5-Figure 7 As shown, the simulation model is used to generate chart data corresponding to torque and speed from the set motor data, which includes:

[0053] According to the torque setting Motor pole pair number P and flux coefficient λ Pm , get the given maximum current saturation value i m-ref ;

[0054] According to the given maximum current saturation value i m-ref and the motor phase current peak value i max , get the estimated maximum current saturation value i m ;

[0055] According to the quadrature axis inductance L q , direct axis inductance L d , flux linkage coefficient λ Pm and the estimated maximum current saturation value i m , get the current value i corresponding to the direct axis of the maximum torque current ratio d-mtPa ;

[0056] According to the estimated maximum current saturation value i m The current value corresponding to the direct axis of the maximum torque current ratio Get the current value corresponding to the maximum torque current ratio cross axis

[0057] According to the flux coefficient λ Pm , quadrature axis inductance L q , direct axis inductance L d , estimated maximum current saturation value i m , Peak value of motor line voltage and electrical angular velocity ω e , and the direct-axis weak magnetic current is obtained

[0058] According to the direct-axis flux weakening current and the motor phase current peak value i max , we get the quadrature-axis flux-weakening current i q-fw .

[0059] The chart data corresponding to torque and speed includes the excitation current data corresponding to different quadrants in the current limit circle i d and torque current data i q , such as the excitation current data i corresponding to the second and third quadrants in the current limiting circle d and torque current data i q .

[0060] The simulation model is an effective tool for simulating and analyzing the performance of the motor system. The above simulation model can be a MATLAB / SIMULINK model. By setting the motor data, such as stator resistance Ω, direct-axis inductance H, quadrature-axis inductance H, permanent magnet flux Wb, motor pole pair number, peak current A, peak torque Nm, torque step Nm, maximum speed rpm, speed step rpm, battery voltage V and voltage utilization, the MATLAB / SIMULINK model can calculate the excitation current data i corresponding to the torque and speed. d and torque current data i q , and the above excitation current data i d and torque current data i q It is displayed in the form of a chart. The chart data can intuitively reflect the performance of the motor under different working conditions.

[0061] The above chart data can be the excitation current data i d and torque current data i q MAP chart and motor efficiency map, specifically, combined with Figure 6 and Figure 7 As shown, the MATLAB script is used to generate the excitation current data corresponding to the torque and speed. d and torque current data i q MAP chart and motor efficiency Map chart. The motor efficiency Map chart is also called the efficiency MAP chart. It is the efficiency distribution chart of the motor at a given speed and torque. It helps to intuitively understand the speed and torque range corresponding to the motor's high-efficiency zone.

[0062] It should be noted that: Figure 6 The middle circle represents the current limit circle, which is used to prevent the motor from overloading or overheating. The optimal working area in the second quadrant includes multiple optimal current data, such as the excitation current data i d and torque current data i q .

[0063] Given the maximum current saturation value i m-ref , estimated maximum current saturation value i m , the maximum torque current is the current value corresponding to the direct axis i d-mtPa , the current value corresponding to the maximum torque current ratio cross axis Direct axis flux weakening current and quadrature-axis flux-weakening current i q-fw It is directly calculated by the simulation model, which can be understood as: using the simulation model to directly generate the excitation current data i corresponding to different quadrants in the current limiting circle by setting the motor data d and torque current data i q , such as the excitation current data i corresponding to the second and third quadrants in the current limiting circle d and torque current data i q Therefore, there is no need to manually scan the excitation current data corresponding to the second and third quadrants in the current limiting circle. d and torque current data iq, which can reduce the test bench data calibration time as a whole, thereby reducing the test bench resources and achieving the goal of reducing costs and increasing efficiency.

[0064] Step 103, load the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current into the magnetic field oriented control algorithm, burn the magnetic field oriented control algorithm into the motor controller, perform bench verification, output the optimal current data, and complete the calibration.

[0065] Specifically, the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current are introduced into the field oriented control algorithm, which can be understood as: the excitation current data i corresponding to different quadrants in the current limiting circle are d and torque current data i q Import the field-oriented control algorithm to achieve precise control of the motor. Burn the field-oriented control algorithm into the motor controller to ensure that the motor controller can accurately control the operation of the motor according to the field-oriented control algorithm. Install the motor assembly and motor controller on the bench for verification, such as correctly connecting the motor controller to the motor assembly first and installing it on the bench. Bench verification ensures the effectiveness and reliability of the FOC control algorithm in actual applications, thereby improving the energy efficiency and performance of the motor. In addition, bench verification is an important part of evaluating the performance of the motor control system. It simulates actual working conditions for testing to ensure that the system can meet the expected performance standards in actual applications.

[0066] The field oriented control algorithm can be a FOC control algorithm. The FOC control algorithm is an algorithm widely used in permanent magnet synchronous motor control. Its core idea is to convert the motor space vector into two independent coordinate systems: the field oriented axis (d axis) and the instantaneous reaction axis (q axis). d and torque current data i q , realizing independent control of motor torque and magnetic field. By measuring the rotor position and speed of the motor, the excitation current data can be adjusted in real time. d and torque current data i q , enabling the motor controller to achieve precise control of the motor.

[0067] Configuring the FOC control algorithm on the motor controller can reduce data transmission delays and improve system response speed and stability. Since the motor controller is directly connected to the motor, it can adjust the control parameters in real time according to the motor's operating status to achieve the best motor performance.

[0068] The simulation model is used to generate chart data corresponding to torque and speed from the set motor data, and the chart data corresponding to torque and speed are imported into the FOC control algorithm, which can achieve precise control of the motor and improve motor performance and efficiency.

[0069] like Figure 6 As shown, the optimal current data may be the excitation current and torque current in different optimal working areas in the current limit circle.

[0070] Compared with the prior art, the method for calibrating the data of the permanent magnet synchronous motor bench provided in this embodiment achieves at least the following beneficial effects:

[0071] In this embodiment, the simulation model is used to generate chart data corresponding to torque and speed from the set motor data. m-ref , estimated maximum current saturation value i m , the maximum torque current is the current value corresponding to the direct axis i d-mtPa , the current value corresponding to the maximum torque current ratio cross axis Direct axis flux weakening current and quadrature-axis flux-weakening current i q-fw It is directly calculated by the simulation model, that is, the simulation model is used to directly generate the excitation current data corresponding to different quadrants in the current limiting circle from the set motor data d and torque current data i q , such as the excitation current data i corresponding to the second and third quadrants in the current limiting circle d and torque current data i q Therefore, there is no need to manually scan the excitation current data corresponding to the second and third quadrants in the current limiting circle. d And torque current data iq, and then load the given maximum current saturation value, estimated maximum current saturation value, maximum torque current ratio current value corresponding to the direct axis, maximum torque current ratio current value corresponding to the quadrature axis, direct-axis weak magnetic current and quadrature-axis weak magnetic current into the magnetic field oriented control algorithm, burn the magnetic field oriented control algorithm to the motor controller, and perform bench verification, output the optimal data, and complete the calibration, which can reduce the bench data calibration time as a whole, thereby reducing the bench resources, and thus achieving the purpose of reducing costs and increasing efficiency.

[0072] Optionally, a maximum current saturation value i is given m-ref The calculation formula is as follows:

[0073]

[0074] In the formula, i m-ref For a given maximum current saturation value, is the torque given value, P is the number of motor pole pairs, λ Pm is the magnetic linkage coefficient;

[0075] Estimated maximum current saturation value i m The calculation formula is as follows:

[0076]

[0077] is the given maximum current saturation value, i max is the peak value of the motor phase current.

[0078] Maximum torque current ratio direct axis corresponding current value The calculation formula is:

[0079]

[0080] In the formula, is the current value corresponding to the MTPA D axis, L q is the Q-axis inductance, L d is the D-axis inductance, λ Pm is the flux linkage coefficient, i m is the estimated maximum current saturation value;

[0081] The current value corresponding to the maximum torque current ratio cross axis The calculation formula is:

[0082]

[0083] In the formula, is the current value corresponding to the MTPA Q axis, i m is the estimated maximum current saturation value, is the current value corresponding to the MTPA D axis;

[0084] Direct axis flux weakening current The calculation formula is:

[0085]

[0086] In the formula, i d-fw is the D-axis weak magnetic current, λ Pm is the magnetic linkage coefficient; L d is the D-axis inductance, L q is the Q-axis inductance, i max is the peak value of the motor phase current, is the peak value of the motor line voltage, ω e is the electrical angular velocity.

[0087] Q-axis weak magnetic current i q-fw The calculation formula is as follows:

[0088]

[0089] In the formula, i q-fw is the Q-axis weak magnetic current, i max is the peak value of the motor phase current, i d-fw is the D-axis weak magnetic current;

[0090] Using the above solution, the simulation model is used to calculate the maximum current saturation value i m-ref , estimated maximum current saturation value i m, the current value corresponding to the MTPA D axis, the current value corresponding to the MTPA Q axis and the D axis weak magnetic current are calculated, which greatly simplifies the excitation current i in the prior art d and torque current i q The calculation formula of this embodiment is used in actual software to greatly reduce the chip operation load rate and calculation time, thereby improving the accuracy of the FOC control algorithm.

[0091] It should be noted that in the present application, the straight axis may be the D axis, the cross axis may be the Q axis, and the D axis is perpendicular to the Q axis.

[0092] The above-mentioned maximum torque current ratio MTPA and weak magnetic speed increase MTPV are two important control strategies, which are respectively suitable for the optimal control of permanent magnet synchronous motors under different operating conditions.

[0093] The maximum torque current ratio MTPA, its control strategy is suitable for low-speed conditions, and its core is to adjust the excitation current i d and torque current i q To achieve the minimum synthetic current, thereby minimizing the copper loss of the motor. Under this control strategy, voltage is not the main consideration. The focus is on finding the optimal power point on the voltage limit circle to achieve the maximum torque output, thereby improving the energy conversion efficiency and service life of the permanent magnet synchronous motor.

[0094] The control strategy of the weak magnetic field speed-up MTPV is suitable for high-speed working conditions. The key is to achieve the maximum torque output within a certain speed range. Under this control strategy, the torque output of the motor has reached the maximum value, so the MTPA curve can no longer be used for control. By adjusting the excitation current i d and torque current i q To achieve the maximum speed and find the maximum power point on the voltage limit circle, thereby achieving maximum torque output, ensuring that the permanent magnet synchronous motor can still maintain a large output power and speed regulation range when running at high speed.

[0095] Optionally, the peak value of the motor line voltage The calculation formula is as follows:

[0096]

[0097] In the formula, v d0 is the direct-axis voltage value when the direct-axis current is 0, V q0 The quadrature-axis voltage value when the quadrature-axis current is 0.

[0098] Specifically, the calculation formula for the peak value of the motor line voltage is as follows:

[0099]

[0100] In the formula, is the peak value of the motor line voltage, v d0 is the D-axis voltage value when the D-axis current is 0, V q0 The Q-axis voltage value when the Q-axis current is 0.

[0101] By adopting the above scheme and using the simulation model to calculate the peak value of the motor line voltage, the excitation current i in the prior art can also be simplified. d and torque current i q The calculation formula of this embodiment is used in the actual software to reduce the chip operation load rate and calculation time, thereby improving the accuracy of the FOC control algorithm; in addition, the peak value of the motor line voltage can achieve precise control of the motor voltage and current, thereby achieving precise control of the motor speed and torque, while also ensuring efficient and stable operation of the motor.

[0102] Further, v d0 =-ω e L q i q ,

[0103] In the formula, v d0 is the D-axis voltage value when the D-axis current is 0, ω e is the electrical angular velocity, L q is the Q-axis inductance, i q is the Q-axis current value.

[0104]

[0105] In the formula, v q0 is the Q-axis voltage value when the Q-axis current is 0, ω e is the electrical angular velocity, L q is the Q-axis inductance, i d is the D-axis current value, λ Pm is the magnetic linkage coefficient.

[0106] Due to the simplification of the above calculation formula, the simulation model can quickly calculate the D-axis voltage value when the D-axis current is 0 and the Q-axis voltage value when the Q-axis current is 0, which provides a basis for calculating the peak value of the motor line voltage.

[0107] Embodiment 2

[0108] This embodiment is further expanded on the basis of the first embodiment.

[0109] Reference Figure 8 As shown, Figure 8 1 is a flow chart of a simulation model provided by the present invention. In this embodiment, the simulation model in step 102 includes:

[0110] Step 1021, continue to refer to Figure 8 As shown, in the simulation model, the relationship between the current angular velocity and the motor angular velocity is determined. If the current angular velocity is less than or equal to the motor angular velocity, step 1022 is executed;

[0111] Step 1022: The direct-axis current given value corresponding to the given torque and speed is equal to the current value corresponding to the direct-axis ratio of the maximum torque current; the quadrature-axis current given value corresponding to the given torque and speed is equal to the current value corresponding to the quadrature-axis ratio of the maximum torque current, such as the D-axis given value corresponding to the given torque and speed is equal to the current value corresponding to the MTPA D-axis; the Q-axis given value corresponding to the given torque and speed is equal to the current value corresponding to the MTPA Q-axis.

[0112] Specifically, in the MATLAB / SIMULINK model, the current angular velocity ω is determined m and the motor angular velocity ω base The relationship between m ≤ω base When In the formula, is the D-axis given value corresponding to the given torque and speed, is the current value corresponding to the MTPA D axis, is the Q-axis given value corresponding to the given torque and speed, is the current value corresponding to the MTPA Q axis.

[0113] If the current angular velocity is greater than the motor angular velocity, execute step 1023;

[0114] Step 1023, the given direct-axis current corresponding to the given torque and speed is equal to the maximum difference between the direct-axis weak magnetic current and the peak value of the motor phase current; the quadrature-axis weak magnetic current is equal to the square difference between the peak value of the motor phase current and the direct-axis weak magnetic current under the square root, such as the given direct-axis current corresponding to the given torque and speed is equal to the maximum difference between the D-axis weak magnetic current and the peak value of the motor phase current; the Q-axis weak magnetic current is equal to the square difference between the peak value of the motor phase current and the D-axis weak magnetic current under the square root.

[0115] Specifically, when ω m >ω base When ), where i d-fw is the D-axis weak magnetic current, i max is the peak value of the motor phase current, i q-fw is the Q-axis weak magnetic current.

[0116] The MATLAB / SIMULINK model compares the current angular velocity ω m and the motor angular velocity ω baseThe relationship between can determine the effectiveness of the motor control strategy and whether the motor control system can respond to the control command quickly and accurately to achieve the expected angular velocity. It can be understood as: optimizing the motor control system through simulation analysis.

[0117] In some alternatives, see Fig. 9 As shown, Fig. 9 is a flow chart of another simulation model provided by the present invention, wherein in step 102, the simulation model further includes:

[0118] Step 1021 , in the simulation model, determine the relationship between the quadrature-axis weakening magnetic current and the estimated maximum current saturation value. If the quadrature-axis weakening magnetic current is less than the estimated maximum current saturation value, execute step 1022 .

[0119] Step 1022: The quadrature-axis current given value corresponding to the given torque and speed is equal to the quadrature-axis weakening magnetic current.

[0120] Specifically, if i q-fw m ,but Among them, i q-fw is the Q-axis weak magnetic current, i m is the estimated maximum current saturation value; It is the cross-axis given value corresponding to the given torque and speed.

[0121] If the quadrature-axis weakening magnetic current is greater than or equal to the estimated maximum current saturation value, step 1023 is executed.

[0122] Step 1023: The quadrature-axis current given value corresponding to the given torque and speed is equal to the estimated maximum current saturation value.

[0123] If i q-fw ≥i m ,but

[0124] In the simulation model, the relationship between the Q-axis weakening current and the estimated maximum current saturation value is determined, and the motor behavior under different conditions can be simulated, including the current and voltage changes under different loads and speeds, and how these changes affect the torque and speed control of the motor, thereby preventing the motor from overcurrent when running at high speeds, while ensuring that the motor can fully utilize its performance and achieve the expected speed and torque output.

[0125] It should be noted that in the MATLAB / SIMULINK model, the specific derivation formula is as follows:

[0126]

[0127] In the formula, i m-ref ​For a given maximum current saturation value, is the torque given value, P is the number of motor pole pairs, λ Pm is the magnetic linkage coefficient;

[0128]

[0129] v d0 =-ω e L q i q ,

[0130] In the formula, v d0 is the D-axis voltage value when the D-axis current is 0, ω e is the electrical angular velocity, L q is the Q-axis inductance, i q is the torque current i q value;

[0131]

[0132] In the formula, v q0 is the Q-axis voltage value when the Q-axis current is 0, ω e is the electrical angular velocity, L q is the Q-axis inductance, i d is the D-axis current value, λ Pm is the magnetic linkage coefficient;

[0133]

[0134] In the formula, is the peak value of the motor line voltage, v d0 is the D-axis voltage value when the D-axis current is 0, V q0 Q-axis voltage value when Q-axis current is 0;

[0135]

[0136] Where, L q is the Q-axis inductance, i q is the Q-axis current value, L d is the D-axis inductance, i d is the D-axis current value, λ Pm is the flux linkage coefficient, is the peak value of the motor line voltage, ω e is the electrical angular velocity;

[0137]

[0138] In the formula, i q is the torque current i q value,i max is the peak value of the motor phase current, i dis the excitation current i d value;

[0139]

[0140] Where, L d is the D-axis inductance, L q is the Q-axis inductance, λ Pm is the flux linkage coefficient, i d is the D-axis current value, i max is the peak value of the motor phase current, is the peak value of the motor line voltage, ω e is the electrical angular velocity;

[0141]

[0142] Ifω m ≤ω base

[0143]

[0144] Ifω m >ω base

[0145]

[0146] If i q-fw m

[0147]

[0148] If i q-fw ≥i m

[0149]

[0150] In the MATLAB / SIMULINK model, not only can the three-dimensional table of current corresponding to the motor torque and speed be calculated accurately and quickly, but also the excitation current data i can be quickly generated. d Torque current data i q The MAP chart can reduce the bench data calibration time, thereby reducing bench resources. At the same time, the use of this embodiment in actual software operations can greatly reduce the load rate and calculation time of the chip operation, thereby improving the control accuracy of FOC.

[0151] It should be noted that the chart data corresponding to the torque and speed generated in the MATLAB / SIMULINK model are imported into the field-oriented control algorithm. The field-oriented control algorithm can be applied to different motor controllers and has good scalability. ​

[0152] Embodiment 3

[0153] Based on the first embodiment, the expansion scheme is as follows:

[0154] Combined with reference Fig.10 and Fig.11 As shown, Fig.10 It is an MTPA curve diagram (MTPA calculation effect comparison chart) generated by different inductance operations provided by the prior art; Fig.11 It is an MTPA curve diagram (MTPA measured result comparison chart) generated by different inductance operation provided by the prior art; the inventor found that if the actual operating inductance changes, resulting in changes in the permanent magnet flux, the subsequent excitation current data i in step 102 will also be affected d and torque current data i q MAP chart.

[0155] Combination Figure 4 and Fig.12 As shown, Fig.12 The present invention provides a bench data calibration flow chart; in step 104, the motor is calibrated on the bench, the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current are loaded into the magnetic field oriented control algorithm, the magnetic field oriented control algorithm is burned into the motor controller, and the bench verification is performed, the optimal current data is output, and the calibration is completed, including:

[0156] Step 1021, the motor controller triggers sampling to implement sampling of resolver data, current data and temperature data, that is, obtaining resolver data, current data and temperature data. The resolver data may be a resolver angle value, and the above current data includes excitation current data i d and torque current data i q , such as the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current, and subsequent real-time monitoring and analysis of the resolver data, current data and temperature data to ensure that the performance and safety of the motor meet the predetermined standards.

[0157] Specifically, first, the motor controller is assembled on the motor under test, and the motor under test is fixed on the bench by a fixture, and the rotary transformer is ensured to be correctly connected. The U-phase, V-phase and W-phase ends of the motor are connected to the motor controller using a communication harness, and the excitation signal end, sine signal end and cosine signal end of the rotary transformer are also connected to the motor controller; secondly, the motor controller is powered by a DC regulated power supply, and the host computer sends a control instruction to the motor controller. The motor controller uses a magnetic field oriented control algorithm to control the motor to maintain a specified speed; then, when the motor speed is stable, the motor controller collects the hard-decoded data θ of the rotary transformer and transmits the data to the host computer through the communication harness. The host computer parses the received data and calculates the fluctuation amount of the maximum angle change, which is used to analyze the performance and stability of the motor. Finally, in addition to the sampling of rotary transformer data and current data, temperature data sampling is also an important part of the bench calibration process. Temperature sensors are usually installed in the motor or the surrounding environment to monitor the changes in motor temperature data in real time. These data are crucial for evaluating the thermal performance and safety of the motor.

[0158] The host computer sends a torque command, and the motor controller determines the current operation stage according to the motor speed. The current operation stage can be the maximum torque current ratio MTPA or the weak magnetic speed increase MTPV. The motor controller outputs the excitation current data i d and torque current data i q , excitation current data i d and torque current data i q It can be directly uploaded to the host computer to achieve real-time monitoring and adjustment of the motor's operating status.

[0159] It should be noted that the resolver angle value refers to the output angle value of the motor resolver, which is closely related to the performance of the motor. If the difference between the resolver angle value and the electronically controlled resolver value is too large, the motor performance will be reduced. Current is one of the important indicators of the motor's operating status. Excessive current may cause the motor to overheat and the winding to overload, which in turn affects the efficiency and life of the motor. Temperature is a key parameter for monitoring the motor's operating status. Excessive temperature may cause the motor material to age and the insulation performance to deteriorate, eventually causing an overtemperature fault. Excessive current may cause the wires or windings inside the motor to overheat, causing an overcurrent fault.

[0160] Step 1032: Based on the resolver data, current data and temperature data, the field-oriented control algorithm determines whether the motor has an overcurrent or overtemperature fault; if the motor does not have an overcurrent or overtemperature fault, execute step 1033.

[0161] The causes of the over-temperature and over-current faults in step 1032 include, but are not limited to, excessive load, slip ring coil short circuit, winding break, phase short circuit and long-term operation.

[0162] Step 1033, decomposing the torque step length;

[0163] In step 1033, the torque increment is reduced to prevent the motor from being damaged due to excessive current or temperature during startup or operation. By decomposing the torque step, the torque can be gradually and smoothly increased, thereby reducing the instantaneous load on the motor and avoiding the occurrence of overcurrent or overtemperature faults.

[0164] Step 1034: According to the decomposed torque step, the motor controller searches the torque table to obtain the actual torque data, and then uploads the actual torque data to the host computer, and then executes step 1035.

[0165] The decomposition of the torque step in step 1033 and the search of the torque table in step 1034 are key steps to ensure the accuracy and efficiency of calibration. Through steps 1033 and 1034, the performance and efficiency of the motor can be effectively improved to meet the needs under different working conditions, and can also directly affect the accuracy and efficiency of the calibration.

[0166] It should be noted that the torque step can gradually increase from the minimum torque step number to the maximum torque step number, and the torque step can affect the torque output. Each torque step generates a lookup table parameter by querying the torque table. Since it gradually increases from the minimum torque step number to the maximum torque step number, different lookup table parameters are generated by querying the torque table. It can be understood that the smaller the input torque step during the test, the larger the sample size of the test, and the higher the test accuracy of the subsequent motor. The torque step range can be 4Nm-10Nm. Specifically, the torque step can be 4Nm, 5Nm, 6Nm, 7Nm, 8Nm, 9Nm or 10Nm.

[0167] Step 1035: According to the actual torque data and the excitation current data i d and torque current data i q , the host computer calculates the voltage utilization rate.

[0168] The voltage utilization rate is an important indicator to measure the motor operating efficiency, which involves the motor excitation current data i d , torque current data i q As well as multiple parameters such as actual torque data, through these parameters, the voltage utilization rate can be calculated. This calculation not only helps to evaluate the performance of the motor, but also provides a basis for the optimal design of the motor to ensure that the motor can achieve the best operating efficiency and performance in actual applications.

[0169] Step 1036: The host computer determines whether the voltage utilization rate meets the requirements. If the voltage utilization rate meets the requirements, step 1037 is executed, and step 1037 is to output the optimal current data; if the voltage utilization rate does not meet the requirements, step 1034 is continued to be executed until the optimal current data is output.

[0170] In step 1036, the voltage utilization is directly related to the operating efficiency and performance of the motor. The host computer collects the real-time operating data of the motor, including voltage data, current data, and speed data, and then calculates whether the voltage utilization meets the preset standard based on the characteristics and working requirements of the motor. If the voltage utilization meets the requirements, the host computer will output the optimal current data, such as Figure 6 Different excitation current data i in the optimal working area d and torque current data i q , to ensure that the motor operates in optimal conditions, thereby improving the efficiency and performance of the overall system.

[0171] If the voltage utilization rate does not meet the requirement, step 1034 is executed, and the motor controller will take corresponding measures to adjust the excitation current data i d and torque current data i q , such as adjusting the unqualified excitation current data i d and torque current data i q , then continue to execute step 1034, such as according to the adjusted excitation current data i d and torque current data i q The motor controller continues to query the torque table to obtain the actual torque data and upload the actual torque data to the host computer; according to the actual torque data and the excitation current data i d and torque current data i q , the host computer calculates the voltage utilization rate, and the host computer continues to determine whether the voltage utilization rate meets the requirements. If the voltage utilization rate meets the requirements, the optimal current data is output. If the voltage utilization rate does not meet the requirements, step 1034 is continued until the optimal current data is output.

[0172] It should be noted that: Figure 6 As shown, the host computer can evaluate the optimal current data. If individual current data (individual working points) in the optimal current data is inappropriate, such as the current data at the boundary of the optimal working area, the individual current data will be supplemented and revised, such as continuing to execute step 1034 until the optimal current data that satisfies the user is output, thereby improving the overall performance and service life of the motor.

[0173] By consulting the torque table, the actual performance of the motor under the above parameters can be verified, thus ensuring that the performance of the motor meets the design requirements.

[0174] Step 1038, end the calibration. If the motor has an overcurrent or overtemperature fault, it indicates that the motor or the field oriented control algorithm cannot work, and the calibration ends.

[0175] On the basis of executing step 103, combined with steps 1021-1038, the differences in bench calibration efficiency and data accuracy caused by different engineers can be avoided, thereby achieving standardized operations, improving everyone's work efficiency and improving the accuracy of bench calibration.

[0176] Optionally:

[0177]

[0178] In the formula, η represents the voltage utilization rate, represents the voltage component in the α direction, represents the voltage component in the β direction, U dc is the rated voltage.

[0179] By using the above calculation formula, the host computer can quickly obtain the voltage utilization rate, which is helpful to save the test bench data calibration time, thereby reducing the test bench resources, and further achieving the purpose of reducing costs and increasing efficiency.

[0180] Embodiment 4

[0181] Reference Fig.13 As shown, Fig.13 : is a structural schematic diagram of a permanent magnet synchronous motor bench data calibration system provided by the present invention. This embodiment provides a permanent magnet synchronous motor bench data calibration system, which is applied to any permanent magnet synchronous motor bench data calibration method of this embodiment, including:

[0182] The chart generating module 100 is used to generate chart data corresponding to torque and speed from the set motor data using the simulation model, and includes:

[0183] According to the torque setting Motor pole pair number P and flux coefficient λ Pm , get the given maximum current saturation value i m-ref ; According to the given maximum current saturation value i m-ref and the motor phase current peak value i max , get the estimated maximum current saturation value i m ; According to the quadrature axis inductance L q , direct axis inductance L d , flux linkage coefficient λ Pm and the estimated maximum current saturation value i m , get the current value corresponding to the direct axis of the maximum torque current ratio According to the estimated maximum current saturation value i mThe current value corresponding to the maximum torque current ratio Get the current value corresponding to the maximum torque current ratio cross axis

[0184] According to the flux coefficient λ Pm , quadrature axis inductance L q , direct axis inductance L d , estimated maximum current saturation value i m , Peak value of motor line voltage and electrical angular velocity ω e , and the direct-axis weak magnetic current is obtained According to the direct-axis flux weakening current and the motor phase current peak value i max , we get the quadrature-axis flux-weakening current i q-fw ;

[0185] The verification module 200 is coupled to the chart generation module 100, and is coupled to the chart generation module, and is used to receive the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current, load the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current and the quadrature-axis weak magnetic current into the magnetic field oriented control algorithm, burn the magnetic field oriented control algorithm into the motor controller, perform bench verification, output the optimal current data, and complete the calibration.

[0186] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A method for calibrating data of a permanent magnet synchronous motor test bench, characterized in that: include: The motor data is set to generate chart data corresponding to torque and speed using a simulation model, which includes: According to the torque given value, the number of motor pole pairs and the flux coefficient, a given maximum current saturation value is obtained; according to the given maximum current saturation value and the motor phase current peak value, an estimated maximum current saturation value is obtained; according to the quadrature-axis inductance, the direct-axis inductance, the flux coefficient and the estimated maximum current saturation value, a current value corresponding to the direct-axis of the maximum torque current ratio is obtained; according to the estimated maximum current saturation value and the current value corresponding to the direct-axis of the maximum torque current ratio, a current value corresponding to the quadrature-axis of the maximum torque current ratio is obtained; According to the flux linkage coefficient, the quadrature-axis inductance, the direct-axis inductance, the estimated maximum current saturation value, the peak value of the motor line voltage and the electrical angular velocity, a direct-axis flux weakening current is obtained; according to the direct-axis flux weakening current and the peak value of the motor phase current, a quadrature-axis flux weakening current is obtained; The given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current are loaded into the magnetic field oriented control algorithm, the magnetic field oriented control algorithm is burned into the motor controller, and bench verification is performed to output the optimal current data to complete the calibration.

2. The method for calibrating the permanent magnet synchronous motor bench data according to claim 1, characterized in that: The given maximum current saturation value is calculated as follows: In the formula, i m-ref is the given maximum current saturation value, is the torque given value, P is the number of motor pole pairs, λ Pm is the magnetic linkage coefficient; The calculation formula of the estimated maximum current saturation value is as follows: is the given maximum current saturation value, i max is the peak value of the motor phase current; The calculation formula of the current value corresponding to the direct axis of the maximum torque current ratio is: In the formula, is the current value corresponding to the direct axis of the maximum torque current ratio, L q is the quadrature-axis inductance, L d is the direct-axis inductance, λ Pm is the flux linkage coefficient, i m is the estimated maximum current saturation value; The calculation formula of the current value corresponding to the quadrature axis of the maximum torque current ratio is: In the formula, is the current value corresponding to the direct axis of the maximum torque current ratio; The calculation formula of the direct-axis weak magnetic current is: In the formula, i d-fw is the direct-axis flux-weakening current, is the peak value of the motor line voltage, ω e is the electrical angular velocity; The calculation formula of the quadrature-axis weakening magnetic current is: In the formula, i max is the peak value of the motor phase current.

3. The method for calibrating the permanent magnet synchronous motor bench data according to claim 2, characterized in that: The peak value calculation formula of the motor line voltage is as follows: In the formula, is the peak value of the motor line voltage, v d0 is the direct-axis voltage value when the direct-axis current is 0, V q0 The quadrature-axis voltage value when the quadrature-axis current is 0.

4. The method for calibrating the permanent magnet synchronous motor bench data according to claim 1, characterized in that: In the simulation model, determining the relationship between the current angular velocity and the motor angular velocity; If the current angular velocity is less than or equal to the motor angular velocity, the given value of the direct-axis current corresponding to the given torque and speed is equal to the current value corresponding to the direct-axis of the maximum torque current ratio; The given value of the quadrature axis current corresponding to the given torque and speed is equal to the current value corresponding to the quadrature axis of the maximum torque current ratio; If the current angular velocity is greater than the motor angular velocity, the given direct-axis current value corresponding to the given torque and speed is equal to the maximum difference between the direct-axis weak magnetic current and the peak value of the motor phase current; the quadrature-axis weak magnetic current is equal to the square difference between the peak value of the motor phase current and the direct-axis weak magnetic current under the square root.

5. The method for calibrating the permanent magnet synchronous motor bench data according to claim 1, characterized in that: In the simulation model, the relationship between the quadrature-axis weakening magnetic current and the estimated maximum current saturation value is determined. If the quadrature-axis weakening magnetic current is less than the estimated maximum current saturation value, the quadrature-axis current given value corresponding to the given torque and speed is equal to the quadrature-axis weakening magnetic current. If the quadrature-axis weakening magnetic current is greater than or equal to the estimated maximum current saturation value, the quadrature-axis current given value corresponding to the given torque and speed is equal to the estimated maximum current saturation value.

6. The method for calibrating the permanent magnet synchronous motor bench data according to claim 1, characterized in that: The given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct axis weak magnetic current and the quadrature axis weak magnetic current are loaded into the magnetic field oriented control algorithm, the magnetic field oriented control algorithm is burned into the motor controller, and bench verification is performed to output optimal current data to complete the calibration, including: The motor controller triggers sampling to obtain resolver data, current data and temperature data, wherein the current data includes the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current, the current value corresponding to the quadrature axis of the maximum torque current, the direct axis magnetic weakening current and the quadrature axis magnetic weakening current; The field-oriented control algorithm determines whether the motor has an overcurrent or overtemperature fault according to the resolver data, the current data, and the temperature data; if the motor does not have the overcurrent or overtemperature fault, the torque step is decomposed; According to the decomposed torque step, the motor searches the torque table to obtain actual torque data; The host computer calculates voltage utilization rate according to the current data and the actual torque data; The host computer determines whether the voltage utilization rate meets the requirements, and if so, outputs the optimal current data; if not, continues to search the torque table; If the motor has the over-current or over-temperature fault, the calibration is terminated.

7. The method for calibrating the permanent magnet synchronous motor bench data according to claim 6, characterized in that: The calculation formula of the voltage utilization rate is as follows: In the formula, η represents the voltage utilization rate, represents the voltage component in the α direction, represents the voltage component in the β direction, U dc is the rated voltage.

8. The method for calibrating the permanent magnet synchronous motor bench data according to claim 1, characterized in that: Before using the simulation model to generate chart data corresponding to torque and speed from the set motor data, the method further includes: The motor data is written using a script.

9. The calibration method of permanent magnet synchronous motor bench data according to claim 1, wherein the motor data includes stator resistance, the direct-axis inductance, the quadrature-axis inductance, permanent magnet flux, the number of motor pole pairs, peak current, peak torque, torque step, maximum speed, speed step, battery voltage and voltage utilization.

10. A permanent magnet synchronous motor bench data calibration system, characterized in that: The method for calibrating the permanent magnet synchronous motor bench data applied to any one of claims 1 to 9 comprises: A chart generating module, for generating chart data corresponding to torque and speed from the set motor data by using a simulation model, comprising: obtaining a given maximum current saturation value according to a given torque value, a motor pole pair number and a flux coefficient; obtaining an estimated maximum current saturation value according to the given maximum current saturation value and a motor phase current peak value; obtaining a current value corresponding to a maximum torque current ratio to a direct axis according to a quadrature-axis inductance, a direct-axis inductance, the flux coefficient and the estimated maximum current saturation value; obtaining a current value corresponding to a maximum torque current ratio to a quadrature-axis according to the estimated maximum current saturation value and a current value corresponding to a maximum torque current ratio to a direct axis; obtaining a direct-axis magnetic field weakening current according to the flux coefficient, the quadrature-axis inductance, the direct-axis inductance, the estimated maximum current saturation value, a peak value of a motor line voltage and an electrical angular velocity; obtaining a quadrature-axis magnetic field weakening current according to the direct-axis magnetic field weakening current and the peak value of the motor phase current; A verification module is coupled to the chart generation module, and is used to receive the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current, and the quadrature-axis weak magnetic current, load the given maximum current saturation value, the estimated maximum current saturation value, the current value corresponding to the direct axis of the maximum torque current ratio, the current value corresponding to the quadrature axis of the maximum torque current ratio, the direct-axis weak magnetic current, and the quadrature-axis weak magnetic current into a magnetic field oriented control algorithm, burn the magnetic field oriented control algorithm into a motor controller, perform bench verification, output optimal current data, and complete calibration.

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