Rotor position determination method and device, equipment, storage medium and program product

Abstract

The invention relates to a rotor position determination method and device, equipment, a storage medium and a program product. The method comprises the steps of obtaining original rotating speed data and motor operation related data generated by a target motor based on a target voltage signal in a target voltage injection time period, determining target angular acceleration data of the target motor according to the original rotating speed data and standard motor calibration data, and determining the target angular acceleration of the target motor according to the target angular acceleration data and the motor operation related data. And determining a rotor initial position value of the target motor. By adopting the method, the motor calibration efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a method, device, equipment, storage medium and program product for determining a rotor position. Background Art

[0002] With the continuous development of motor technology, when automatically calibrating the initial position of the motor rotor in the mass production stage, the rotor needs to be installed with a resolver and positioned within a certain initial range so that the motor can be automatically calibrated based on the initial range when it is offline.

[0003] However, in the actual production process of the motor, the position of the motor resolver rotor may exceed the initial range that can be automatically calibrated due to manufacturing, assembly and other reasons, resulting in the failure of the rotor automatic calibration, thereby reducing the efficiency of the motor calibration. Summary of the invention

[0004] Based on this, it is necessary to provide a rotor position determination method, device, equipment, storage medium and program product that can improve the motor calibration efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a rotor position, comprising:

[0006] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0007] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0008] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0009] In one embodiment, determining target angular acceleration data of a target motor according to original rotation speed data and standard motor calibration data includes:

[0010] The original rotation speed data is differentiated to obtain the original angular acceleration data; the angular acceleration compensation value is determined based on the standard motor calibration data; and the target angular acceleration data of the target motor is determined based on the original angular acceleration data and the angular acceleration compensation value.

[0011] In one embodiment, determining the rotor initial position value of the target motor according to the target angular acceleration data and the motor operation related data includes:

[0012] The target torque estimate of the target motor is determined based on the target angular acceleration data and the motor operation related data; wherein the motor operation related data includes the rotor angle data, the motor temperature data and the motor oil temperature data; and the rotor initial position value of the target motor is determined based on the target torque estimate and the rotor angle data.

[0013] In one embodiment, determining the rotor initial position value of the target motor according to the target torque estimation value and the rotor angle data includes:

[0014] The target torque estimation value is used as an index to query the correspondence between the candidate torque estimation values ​​and the candidate estimated current values ​​to obtain the target estimated current value corresponding to the target torque estimation value; the rotor initial position value of the target motor is determined based on the target estimated current value and the rotor angle data.

[0015] In one embodiment, determining the rotor initial position value of the target motor according to the target estimated current value and the rotor angle data includes:

[0016] The target rotor angle value is determined according to the target estimated current value and the voltage value corresponding to the target voltage signal; the rotor angle data is processed using the target rotor angle value to obtain the rotor initial position value of the target motor.

[0017] In one embodiment, the method further comprises:

[0018] The target voltage signal is determined according to the configuration information of the target motor; and the target voltage injection period is determined according to the historical motor calibration data associated with the target motor.

[0019] In a second aspect, the present application further provides a rotor position determination device, comprising:

[0020] A data acquisition module, used to acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0021] A speed determination module, used to determine target angular acceleration data of a target motor according to original speed data and standard motor calibration data;

[0022] The position determination module is used to determine the initial position value of the rotor of the target motor according to the target angular acceleration data and the motor operation related data.

[0023] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0024] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0025] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0026] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0027] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0028] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0029] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0030] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0031] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0032] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0033] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0034] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0035] The above-mentioned rotor position determination method, device, equipment, storage medium and program product obtain the original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period, and determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data, and then determine the rotor initial position value of the target motor according to the target angular acceleration data and the motor operation related data. Compared with the related art, in which manual correction is required for motors that fail automatic calibration, the above-mentioned method is used to determine the rotor initial position value of the target motor based on the original speed data and motor operation related data generated by the target motor, and a more accurate rotor initial position value can be determined, so that the target motor can be re-calibrated automatically, thereby improving the efficiency of motor calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 is a schematic flow chart of a method for determining a rotor position in one embodiment;

[0038] Figure 2 A schematic diagram of a process for determining target angular acceleration data in one embodiment;

[0039] Figure 3 A schematic diagram of a process for determining an initial position value of a rotor in one embodiment;

[0040] Figure 4 A schematic diagram of a flow chart for determining an initial position value of a rotor in another embodiment;

[0041] Figure 5 is a schematic flow chart of a method for determining a rotor position in another embodiment;

[0042] Figure 6 is a structural block diagram of a rotor position determination device in one embodiment;

[0043] Figure 7 It is a structural block diagram of a rotor position determination device in another embodiment;

[0044] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] 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.

[0046] With the continuous development of motor technology, when automatically calibrating the initial position of the motor rotor in the mass production stage, the rotor needs to be installed with a resolver and positioned within a certain initial range so that the motor can be automatically calibrated based on the initial range when it is offline.

[0047] However, in the actual production process of the motor, the position of the motor's resolver rotor may exceed the initial range that can be automatically calibrated due to manufacturing, assembly and other reasons, resulting in the failure of the rotor automatic calibration. For such motors, manual readjustment is required, which reduces the efficiency of motor calibration.

[0048] Based on this, in an exemplary embodiment, Figure 1 As shown, a method for determining the rotor position is provided, and the method is applied to a position determination device as an example for explanation, and specifically includes the following steps:

[0049] S101, obtaining original speed data and motor operation related data generated by a target motor based on a target voltage signal during a target voltage injection period.

[0050] Among them, the target voltage injection period is used to characterize the fixed duration of injecting the voltage signal into the target motor; the target motor refers to the motor that needs to be recalibrated, for example, it may be a motor whose rotor position calibration has failed; the target voltage signal refers to the voltage signal injected into the target motor; the original speed data refers to the rotor speed data directly obtained; the motor operation-related data refers to the data related to the operation of the target motor.

[0051] Optionally, after the rotor position calibration test bench is installed, the connection between the target motor and the calibration test bench can be tested in advance. After the test is passed, the rotor position calibration test bench can be used to continuously inject target voltage signals into the α-axis and β-axis of the target motor during the target voltage injection period, so that the target motor can rotate; at the same time, during the target voltage injection period, the original speed data and motor operation-related data generated by the target motor are obtained.

[0052] It is understandable that in order to ensure the accuracy of the test, the target voltage signal and the target voltage injection period that match the target motor can be determined in advance. Exemplarily, the target voltage signal is determined based on the configuration information of the target motor; and the target voltage injection period is determined based on the historical motor calibration data associated with the target motor.

[0053] Among them, configuration information refers to data related to the basic configuration of the motor. For example, the target voltage signal can be selected on the premise that the torque is small within the current circle corresponding to the target motor and will not cause dangerous situations such as motor stalling; historical motor calibration data refers to historical calibration data corresponding to motors of the same model as the target motor.

[0054] Optionally, the configuration information of the target motor may be input into a trained first signal determination model, and the first signal determination model outputs a target voltage signal according to the configuration information and model parameters.

[0055] The historical motor calibration data associated with the target motor is selected based on the motor model of the target motor; then, the historical motor calibration data is input into a trained duration determination model, and the duration determination model outputs a target voltage injection period according to the historical motor calibration data and model parameters.

[0056] S102, determining target angular acceleration data of the target motor according to the original rotation speed data and the standard motor calibration data.

[0057] The target angular acceleration data refers to the angular acceleration data of the target motor.

[0058] Optionally, the original speed data of the target motor and the standard motor calibration data can be simultaneously input into a trained angular acceleration determination model, and the angular acceleration determination model outputs the target angular acceleration data of the target motor based on the original speed data, the standard motor calibration data and model parameters.

[0059] S103, determining an initial rotor position value of the target motor according to the target angular acceleration data and motor operation related data.

[0060] The rotor initial position value refers to the initial position corresponding to the automatic calibration of the motor.

[0061] Optionally, after determining the target angular acceleration data and motor operation related data, the target angular acceleration data and the motor operation related data can be simultaneously input into a trained first position confirmation model, and the first position confirmation model outputs the initial rotor position value of the target motor based on the target angular acceleration data, motor operation related data and model parameters.

[0062] In the above-mentioned method for determining the rotor position, the original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period are obtained, and the target angular acceleration data of the target motor is determined according to the original speed data and the standard motor calibration data, and then the rotor initial position value of the target motor is determined according to the target angular acceleration data and the motor operation related data. Compared with the related art, in which manual correction is required for motors that fail automatic calibration, the above-mentioned method is used to determine the rotor initial position value of the target motor based on the original speed data and motor operation related data generated by the target motor, and a more accurate rotor initial position value can be determined, so that the target motor can be re-calibrated automatically, thereby improving the efficiency of motor calibration.

[0063] In order to ensure the accuracy of the target angular acceleration data, based on the above embodiment, in this embodiment, an optional method for determining the target angular acceleration data is provided, such as Figure 2 As shown, the specific steps include:

[0064] S201, performing differentiation processing on the original rotation speed data to obtain original angular acceleration data.

[0065] The original angular acceleration data refers to the angular acceleration data directly obtained based on the original rotation speed data.

[0066] It can be understood that in order to ensure the accuracy of the original angular acceleration data, the data volume of the original speed data can be summarized before the original speed data is differentiated. After the data volume of the original speed data is greater than the preset data volume threshold, a suitable filter can be used to filter the original speed data to obtain the filtered original speed data.

[0067] Optionally, a differential operation may be performed on the original speed data after filtering to obtain original angular acceleration data of the target motor during the target voltage injection period.

[0068] S202, determining an angular acceleration compensation value based on standard motor calibration data.

[0069] The standard motor calibration data refers to the calibration data associated with a motor with a normal rotor position; the angular acceleration compensation value is used to represent a value that can correct the original angular acceleration data.

[0070] Optionally, the angular acceleration compensation value may be determined based on the original angular acceleration data and the standard motor calibration data. Exemplarily, the angular acceleration compensation value of the target motor may be determined based on the difference between the original angular acceleration data and the standard motor calibration data.

[0071] S203, determining target angular acceleration data of the target motor according to the original angular acceleration data and the angular acceleration compensation value.

[0072] Optionally, after the original angular acceleration data and the angular acceleration compensation value are determined, the angular acceleration compensation value may be used to optimize the original angular acceleration data to obtain target angular acceleration data of the target motor.

[0073] In the embodiment of the present application, the original angular acceleration data is optimized by using the angular acceleration compensation value to obtain the target angular acceleration data of the target motor, which can improve the reliability of the target angular acceleration data.

[0074] In order to ensure the accuracy of the rotor initial position value, based on the above embodiment, in this embodiment, an optional method for determining the rotor initial position value is provided, such as Figure 3 As shown, the specific steps include:

[0075] S301, determining a target torque estimation value of a target motor according to target angular acceleration data and motor operation related data.

[0076] The motor operation related data include rotor angle data, motor temperature data and motor oil temperature data; the target torque estimation value refers to the torque estimation value of the target motor.

[0077] Optionally, the rotor angle data, motor temperature data, motor oil temperature data and target angular acceleration data of the target motor during the target voltage injection period can be simultaneously input into a trained torque estimation model, and the torque estimation model outputs the target torque estimation value of the target motor based on the rotor angle data, motor temperature data, motor oil temperature data, target angular acceleration data and model parameters.

[0078] It is understandable that in order to improve the accuracy of the target torque estimation value, in addition to the target angular acceleration data and motor operation related data, the target torque estimation value of the target motor may also be determined in combination with the lubrication condition of the target motor.

[0079] S302, determining an initial rotor position value of the target motor according to the target torque estimation value and the rotor angle data.

[0080] Optionally, after determining the target torque estimate, the target torque estimate and the rotor angle data may be input into a trained second position confirmation model, which outputs the rotor initial position value of the target motor based on the target torque estimate, the rotor angle data and the model parameters.

[0081] In this embodiment, the target torque estimation value of the target motor is determined according to the target angular acceleration data and the motor operation related data, and then the rotor initial position value is determined, so that the accuracy of the rotor initial position value can be guaranteed.

[0082] In order to further ensure the accuracy of the rotor initial position value, based on the above embodiment, in this embodiment, another optional method for determining the rotor initial position value is provided, such as Figure 4 As shown, the specific steps include:

[0083] S401 , using the target torque estimation value as an index, searching in the correspondence between the candidate torque estimation values ​​and the candidate estimated current values, and obtaining the target estimated current value corresponding to the target torque estimation value.

[0084] Among them, the candidate torque estimation value is used to characterize different torque values; the candidate estimated current value is used to characterize the estimated current value under different torque values; and the target estimated current value is used to characterize the estimated current value under the target torque estimation value.

[0085] Optionally, a correspondence between candidate torque estimation values ​​and candidate estimated current values ​​may be constructed based on estimated current values ​​of the motor d-axis and q-axis under each motor torque.

[0086] After determining the target torque estimation value, the target torque estimation value may be used as an index to query the correspondence between candidate torque estimation values ​​and candidate estimated current values ​​to obtain the target estimated current values ​​of the d-axis and q-axis corresponding to the target torque estimation value.

[0087] S402, determining an initial rotor position value of a target motor according to a target estimated current value and rotor angle data.

[0088] An optional method is to input the target estimated current value and rotor angle data into a trained third position confirmation model, and the third position confirmation model outputs the rotor initial position value of the target motor based on the target estimated current value, rotor angle data and model parameters.

[0089] Another optional method is to determine the target rotor angle value based on the target estimated current value and the voltage value corresponding to the target voltage signal; and use the target rotor angle value to process the rotor angle data to obtain the rotor initial position value of the target motor.

[0090] The target rotor angle value refers to the rotor angle value of the target motor.

[0091] Optionally, after determining the target estimated current values ​​of the d-axis and q-axis of the target motor, the voltage values ​​of the d-axis and q-axis can be determined based on the configuration information of the motor and the target estimated current values ​​of the d-axis and q-axis; subsequently, the target rotor angle value can be calculated based on the voltage values ​​of the d-axis and q-axis, and the voltage values ​​corresponding to the target voltage signals (the voltage values ​​of the α-axis and the β-axis).

[0092] Furthermore, the target rotor angle value may be subtracted from the rotor angle data to obtain the rotor initial position value of the target motor.

[0093] In the embodiment of the present application, by determining the rotor initial position value of the target motor according to the target estimated current value and the rotor angle data, the accuracy of the rotor initial position value can be further guaranteed.

[0094] Figure 5 FIG. 2 is a flow chart of a method for determining a rotor position in another embodiment. Based on the above embodiment, this embodiment provides an optional example of a method for determining a rotor position. Figure 5 The specific implementation process is as follows:

[0095] S501, determining a target voltage signal according to configuration information of a target motor.

[0096] S502 , determining a target voltage injection period according to historical motor calibration data associated with the target motor.

[0097] S503, obtaining original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period.

[0098] S504, performing differentiation processing on the original rotation speed data to obtain original angular acceleration data.

[0099] S505, determining an angular acceleration compensation value based on standard motor calibration data.

[0100] S506 , determining target angular acceleration data of the target motor according to the original angular acceleration data and the angular acceleration compensation value.

[0101] S507 , determining a target torque estimation value of the target motor according to the target angular acceleration data and motor operation related data.

[0102] Among them, the motor operation related data includes rotor angle data, motor temperature data and motor oil temperature data.

[0103] S508 , using the target torque estimation value as an index, searching in the correspondence between the candidate torque estimation values ​​and the candidate estimated current values, and obtaining the target estimated current value corresponding to the target torque estimation value.

[0104] S509, determining a target rotor angle value according to the target estimated current value and the voltage value corresponding to the target voltage signal.

[0105] S510, using the target rotor angle value to process the rotor angle data to obtain the rotor initial position value of the target motor.

[0106] The specific process of the above S501-S510 can refer to the description of the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0107] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments 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 to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0108] Based on the same inventive concept, the embodiment of the present application also provides a rotor position determination device for implementing the rotor position determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more rotor position determination device embodiments provided below can refer to the above limitations on the rotor position determination method, and will not be repeated here.

[0109] In an exemplary embodiment, Figure 6 As shown, a rotor position determination device 1 is provided, comprising: a data acquisition module 10, a speed determination module 20 and a position determination module 30, wherein:

[0110] A data acquisition module 10 is used to acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0111] The speed determination module 20 is used to determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0112] The position determination module 30 is used to determine the initial position value of the rotor of the target motor according to the target angular acceleration data and the motor operation related data.

[0113] In an exemplary embodiment, the speed determination module 20 is specifically configured to:

[0114] The original rotation speed data is differentiated to obtain the original angular acceleration data; the angular acceleration compensation value is determined based on the standard motor calibration data; and the target angular acceleration data of the target motor is determined based on the original angular acceleration data and the angular acceleration compensation value.

[0115] In an exemplary embodiment, Figure 7 As shown, the location determination module 30 includes:

[0116] A first determination unit 31 is used to determine a target torque estimation value of a target motor according to target angular acceleration data and motor operation related data; wherein the motor operation related data includes rotor angle data, motor temperature data and motor oil temperature data;

[0117] The second determination unit 32 is used to determine the rotor initial position value of the target motor according to the target torque estimation value and the rotor angle data.

[0118] In an exemplary embodiment, the second determining unit 32 includes:

[0119] A first subunit is configured to use the target torque estimation value as an index, query in the correspondence between the candidate torque estimation values ​​and the candidate estimated current values, and obtain the target estimated current value corresponding to the target torque estimation value;

[0120] The second subunit is used to determine the rotor initial position value of the target motor according to the target estimated current value and the rotor angle data.

[0121] In an exemplary embodiment, the second subunit is specifically configured to:

[0122] The target rotor angle value is determined according to the target estimated current value and the voltage value corresponding to the target voltage signal; the rotor angle data is processed using the target rotor angle value to obtain the rotor initial position value of the target motor.

[0123] In an exemplary embodiment, the rotor position determination device further includes a voltage injection module, wherein the voltage injection module is specifically used to:

[0124] The target voltage signal is determined according to the configuration information of the target motor; and the target voltage injection period is determined according to the historical motor calibration data associated with the target motor.

[0125] Each module in the above-mentioned rotor position determination 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.

[0126] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store historical motor calibration data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for determining the rotor position is implemented.

[0127] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0128] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0129] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0130] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0131] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0132] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0133] The original rotation speed data is differentiated to obtain the original angular acceleration data; the angular acceleration compensation value is determined based on the standard motor calibration data; and the target angular acceleration data of the target motor is determined based on the original angular acceleration data and the angular acceleration compensation value.

[0134] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0135] The target torque estimate of the target motor is determined based on the target angular acceleration data and the motor operation related data; wherein the motor operation related data includes the rotor angle data, the motor temperature data and the motor oil temperature data; and the rotor initial position value of the target motor is determined based on the target torque estimate and the rotor angle data.

[0136] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0137] The target torque estimation value is used as an index to query the correspondence between the candidate torque estimation values ​​and the candidate estimated current values ​​to obtain the target estimated current value corresponding to the target torque estimation value; the rotor initial position value of the target motor is determined based on the target estimated current value and the rotor angle data.

[0138] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0139] The target rotor angle value is determined according to the target estimated current value and the voltage value corresponding to the target voltage signal; the rotor angle data is processed using the target rotor angle value to obtain the rotor initial position value of the target motor.

[0140] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0141] The target voltage signal is determined according to the configuration information of the target motor; and the target voltage injection period is determined according to the historical motor calibration data associated with the target motor.

[0142] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0143] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0144] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0145] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0146] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0147] The original rotation speed data is differentiated to obtain the original angular acceleration data; the angular acceleration compensation value is determined based on the standard motor calibration data; and the target angular acceleration data of the target motor is determined based on the original angular acceleration data and the angular acceleration compensation value.

[0148] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0149] The target torque estimate of the target motor is determined based on the target angular acceleration data and the motor operation related data; wherein the motor operation related data includes the rotor angle data, the motor temperature data and the motor oil temperature data; and the rotor initial position value of the target motor is determined based on the target torque estimate and the rotor angle data.

[0150] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0151] The target torque estimation value is used as an index to query the correspondence between the candidate torque estimation values ​​and the candidate estimated current values ​​to obtain the target estimated current value corresponding to the target torque estimation value; the rotor initial position value of the target motor is determined based on the target estimated current value and the rotor angle data.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0153] The target rotor angle value is determined according to the target estimated current value and the voltage value corresponding to the target voltage signal; the rotor angle data is processed using the target rotor angle value to obtain the rotor initial position value of the target motor.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0155] The target voltage signal is determined according to the configuration information of the target motor; and the target voltage injection period is determined according to the historical motor calibration data associated with the target motor.

[0156] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0157] Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period;

[0158] Determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data;

[0159] The initial rotor position value of the target motor is determined according to the target angular acceleration data and motor operation related data.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] The original rotation speed data is differentiated to obtain the original angular acceleration data; the angular acceleration compensation value is determined based on the standard motor calibration data; and the target angular acceleration data of the target motor is determined based on the original angular acceleration data and the angular acceleration compensation value.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0163] The target torque estimate of the target motor is determined based on the target angular acceleration data and the motor operation related data; wherein the motor operation related data includes the rotor angle data, the motor temperature data and the motor oil temperature data; and the rotor initial position value of the target motor is determined based on the target torque estimate and the rotor angle data.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0165] The target torque estimation value is used as an index to query the correspondence between the candidate torque estimation values ​​and the candidate estimated current values ​​to obtain the target estimated current value corresponding to the target torque estimation value; the rotor initial position value of the target motor is determined based on the target estimated current value and the rotor angle data.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] The target rotor angle value is determined according to the target estimated current value and the voltage value corresponding to the target voltage signal; the rotor angle data is processed using the target rotor angle value to obtain the rotor initial position value of the target motor.

[0168] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0169] The target voltage signal is determined according to the configuration information of the target motor; and the target voltage injection period is determined according to the historical motor calibration data associated with the target motor.

[0170] It should be noted that the data involved in this application (including but not limited to historical motor calibration data, etc.) are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0171] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method 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 the present application can include at least one of non-volatile memory 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), magnetic 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, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0172] 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 application.

[0173] 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 method for determining a rotor position, characterized in that: The method comprises: Acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period; Determining target angular acceleration data of the target motor according to the original rotation speed data and the standard motor calibration data; An initial rotor position value of the target motor is determined according to the target angular acceleration data and the motor operation related data.

2. The method according to claim 1, characterized in that The step of determining target angular acceleration data of the target motor according to the original rotation speed data and the standard motor calibration data comprises: Performing differential processing on the original rotation speed data to obtain original angular acceleration data; Determine the angular acceleration compensation value based on the standard motor calibration data; The target angular acceleration data of the target motor is determined according to the original angular acceleration data and the angular acceleration compensation value.

3. The method according to claim 1, characterized in that Determining the rotor initial position value of the target motor according to the target angular acceleration data and the motor operation related data includes: Determine a target torque estimation value of the target motor according to the target angular acceleration data and the motor operation related data; wherein the motor operation related data includes rotor angle data, motor temperature data and motor oil temperature data; An initial rotor position value of the target motor is determined according to the target torque estimation value and the rotor angle data.

4. The method according to claim 3, characterized in that The step of determining the rotor initial position value of the target motor according to the target torque estimation value and the rotor angle data comprises: Using the target torque estimation value as an index, searching in the correspondence between candidate torque estimation values ​​and candidate estimated current values, to obtain a target estimated current value corresponding to the target torque estimation value; An initial rotor position value of the target motor is determined according to the target estimated current value and the rotor angle data.

5. The method according to claim 4, characterized in that The step of determining the rotor initial position value of the target motor according to the target estimated current value and the rotor angle data comprises: Determining a target rotor angle value according to the target estimated current value and a voltage value corresponding to the target voltage signal; The rotor angle data is processed using the target rotor angle value to obtain an initial rotor position value of the target motor.

6. The method according to claim 1, characterized in that The method further comprises: Determining the target voltage signal according to the configuration information of the target motor; The target voltage injection period is determined based on historical motor calibration data associated with the target motor.

7. A rotor position determination device, characterized in that: The device comprises: A data acquisition module, used to acquire original speed data and motor operation related data generated by the target motor based on the target voltage signal during the target voltage injection period; A speed determination module, used to determine the target angular acceleration data of the target motor according to the original speed data and the standard motor calibration data; The position determination module is used to determine the initial position value of the rotor of the target motor according to the target angular acceleration data and the motor operation related data.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. 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 6 are implemented.

10. A computer program product, comprising a computer program, 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 6 are implemented.

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