Method and device for processing calibration data of permanent magnet synchronous motor and computer equipment

Abstract

The invention relates to the technical field of new energy automobiles, in particular to a permanent magnet synchronous motor calibration data processing method and device and computer equipment. According to the permanent magnet synchronous motor calibration data processing method, a specified torque value, a plurality of current specified values corresponding to the specified torque value and a first corresponding relation are obtained; a plurality of current calculation values, a plurality of d-axis flux linkage calculation values and a plurality of q-axis flux linkage calculation values corresponding to a specified torque value can be determined; and then, forming a test data set by using the numerical values, and determining calibration data of the permanent magnet synchronous motor according to the test data set. Moreover, before a plurality of d-axis flux linkage calculation values and a plurality of q-axis flux linkage calculation values are determined according to a plurality of current specified values and a plurality of current calculation values, whether the first corresponding relation deviates from the reality or not can be judged by judging whether the current calculation values are abnormal or not, so that the data validity can be judged in the processing process of calibration data.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a method and device for processing calibration data of a permanent magnet synchronous motor, and a computer device. Background Art

[0002] Permanent magnet synchronous motors have many advantages such as small size, high power factor, high efficiency, wide speed regulation range, reliable operation, and easy maintenance, and are widely used in electric vehicle drive systems. Nowadays, the vector control algorithm based on rotor magnetic field orientation is the most widely used in permanent magnet synchronous motors. In industrial production, in order to obtain higher torque control accuracy and good current control dynamic response, a torque open-loop current lookup table control strategy is usually adopted. The lookup table data is either calculated by the finite element method or obtained through offline calibration tests.

[0003] There are usually two methods for processing permanent magnet synchronous motor calibration data. The first is to manually find the optimal current point at different speeds and voltages. This method does not require further data processing, but the calibration workload is large. The second is to scan the current combination through a script at only one speed and one voltage. After completion, the data is processed to obtain a work table with a full speed and full voltage range. This solution can greatly save calibration time. However, the second method lacks judgment on the validity of the data during the data processing process. It is not until the generated software has tested the efficiency that it is discovered that the torque is inaccurate or the weak magnetic current is incorrect, and then recalibration leads to a waste of time and resources. Summary of the invention

[0004] In view of this, the present invention provides a method, device and computer equipment for processing permanent magnet synchronous motor calibration data to solve the problem of waste of time and resources caused by recalibration due to lack of judgment on data validity during calibration data processing.

[0005] In a first aspect, the present invention provides a method for processing calibration data of a permanent magnet synchronous motor, comprising the following steps: obtaining a specified torque value and a plurality of current specified values ​​corresponding to the specified torque value; obtaining a first correspondence between a preset torque, a d-axis current, and a q-axis current; determining a plurality of current calculation values ​​corresponding to the specified torque value according to the specified torque value, a plurality of current specified values, and the first correspondence; judging whether the plurality of current calculation values ​​have abnormalities; when the plurality of current calculation values ​​do not have abnormalities, determining a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to the plurality of current specified values ​​and the plurality of current calculation values; forming a test data set with the plurality of specified torque values, and a plurality of current specified values, a plurality of current calculation values, a plurality of d-axis flux calculation values, and a plurality of q-axis flux calculation values ​​respectively corresponding to each measured torque value, and determining the calibration data of the permanent magnet synchronous motor according to the test data set.

[0006] The method for processing the calibration data of a permanent magnet synchronous motor provided by the present invention can obtain a first correspondence between a specified torque value, and a plurality of current specified values ​​corresponding to the specified torque value, a preset torque, a d-axis current, and a q-axis current; a plurality of current calculation values ​​corresponding to the specified torque value can be determined; further, a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​are determined according to the plurality of current specified values ​​and the plurality of current calculation values; finally, a plurality of specified torque values, and a plurality of current specified values ​​corresponding to each measured torque value, a plurality of current calculation values, a plurality of d-axis flux calculation values, and a plurality of q-axis flux calculation values ​​are formed into a test data set, and the calibration data of the permanent magnet synchronous motor is determined according to the test data set. Moreover, before determining a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to a plurality of current specified values ​​and a plurality of current calculation values, by judging whether there is an abnormality in the current calculation value, it can be judged whether the first correspondence deviates from the actual, so that the validity of the data can be judged during the processing of the calibration data, thereby avoiding the waste of time and resources caused by recalibration.

[0007] In an optional embodiment, determining whether there are abnormalities in multiple current calculation values ​​includes: selecting a maximum value and a minimum value from multiple current calculation values ​​corresponding to specified torque values; calculating a difference between the maximum value and the minimum value; determining whether the difference is greater than a preset first threshold; when the difference is greater than the first threshold, determining that there are abnormalities in the multiple current calculation values.

[0008] This is because, due to the delay in current sampling and angle sampling, it is necessary to compensate for this angle during park transformation. If compensation is not performed, the d and q axis currents will not be completely decoupled, so the first corresponding relationship obtained will deviate from the actual relationship, and ultimately lead to ammeter deviation, resulting in inaccurate torque accuracy. Since the torque of the surface-mounted motor is only related to the q-axis current, if the equal torque line drawn with Id as the horizontal axis and Iq as the vertical axis should be a horizontal line, the present invention can accurately determine whether the current calculation value is abnormal through the above method, and then can determine whether the first corresponding relationship deviates from the actual relationship based on whether there is an abnormality in the current calculation value.

[0009] In an optional embodiment, determining multiple d-axis flux calculation values ​​and multiple q-axis flux calculation values ​​based on multiple current specified values ​​and multiple current calculated values ​​includes: obtaining a second correspondence between a preset d-axis flux, d-axis current, and q-axis current, and a third correspondence between a preset q-axis flux, d-axis current, and q-axis current; determining multiple d-axis flux calculation values ​​based on multiple current specified values, multiple current calculated values, and the second correspondence; determining multiple q-axis flux calculation values ​​based on multiple current specified values, multiple current calculated values, and the third correspondence.

[0010] In this way, the calculated values ​​of the d-axis magnetic flux and the q-axis magnetic flux can be determined conveniently and accurately.

[0011] In an optional implementation, determining the calibration data of the permanent magnet synchronous motor according to the test data set includes: taking a specified torque value, a specified current value, a calculated current value, a d-axis flux calculation value, and a q-axis flux calculation value as a group of data, obtaining multiple groups of data according to the test data set, and respectively calculating the synthetic current and synthetic flux of each group of data; selecting a group of data with the smallest synthetic current under the same specified torque value in the test data set to obtain a first subset; selecting a group of data with the smallest specified torque value under the same synthetic flux in the test data set to obtain a second subset. Two subsets; using the test data set to obtain equal flux linkage circles and equal torque lines in a preset coordinate system, wherein the preset coordinate system uses the d-axis current as the horizontal coordinate and the q-axis current as the vertical coordinate; if the equal flux linkage circle and the equal torque line intersect, the calibration data of the permanent magnet synchronous motor is determined according to a group of data corresponding to the intersection; if the equal flux linkage circle and the equal torque line do not intersect, the calibration data of the permanent magnet synchronous motor is determined according to a row of data of the maximum torque under the synthetic flux linkage corresponding to the second subset, or the calibration data of the permanent magnet synchronous motor is determined according to a group of data of the minimum synthetic torque under the torque corresponding to the first subset.

[0012] This makes it easy and accurate to determine the calibration data of the permanent magnet synchronous motor.

[0013] In an optional embodiment, the method for processing permanent magnet synchronous motor calibration data also includes the following steps: obtaining multiple phase current peak values, multiple current angles corresponding to each phase current peak value, and motor speed values, motor torque values, d-axis voltage values, q-axis voltage values, d-axis current values, and q-axis current values ​​corresponding to each current angle; calculating the d-axis flux value and q-axis flux value corresponding to each current angle based on the d-axis voltage value, q-axis voltage value, d-axis current value, and q-axis current value corresponding to each current angle; using the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value and q-axis flux value corresponding to each current angle, and the motor torque value to fit to obtain a first corresponding relationship, a second corresponding relationship, and a third corresponding relationship.

[0014] Thus, the first corresponding relationship, the second corresponding relationship and the third corresponding relationship can be obtained.

[0015] In an optional embodiment, after fitting the first correspondence, the second correspondence and the third correspondence using the d-axis voltage value, the q-axis voltage value, the d-axis current value, the q-axis current value, the d-axis magnetic flux value and the q-axis magnetic flux value, and the motor torque value corresponding to each current angle, it also includes: for any d-axis voltage value i, calculating the first error value of the d-axis voltage value i; obtaining a first number of first error values ​​greater than a preset second threshold; when the first number is greater than the preset third threshold, determining that the d-axis voltage value i is abnormal; and / or; for any q-axis voltage value j, calculating the second error value of the q-axis voltage value j; determining a second number of second error values ​​greater than a preset fourth threshold; when the second number is greater than a preset fifth threshold, determining that the q-axis voltage value j is abnormal.

[0016] This is because, during the calibration process, it is difficult for the data to be accurate every time, and some abnormal data, such as incorrect dead zone compensation parameters, cannot be quickly identified. Through formula derivation, it can be obtained that Ud is symmetrical about 180°, and Uq is also symmetrical about 180°. Based on this, the present invention can determine whether there are abnormalities in the d-axis voltage value and the q-axis voltage value through the above method, and further determine whether the dead zone compensation parameters are correct.

[0017] In an optional embodiment, before using the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value, q-axis flux value, and motor torque value corresponding to each current angle to fit to obtain the first corresponding relationship, the second corresponding relationship, and the third corresponding relationship, it also includes: taking the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value, and q-axis flux value corresponding to the same current angle as a group of data; rearranging multiple groups of data in the order of increasing or decreasing multiple motor torque values; obtaining a third number of q-axis current value change trends in the rearranged multiple groups of data that are inconsistent with the change trends of multiple motor torque values; when the third number is greater than a preset sixth threshold, determining that the q-axis current value is abnormal.

[0018] As mentioned above, due to the delay of current sampling and angle sampling, it is necessary to compensate for this angle during park transformation. If compensation is not performed, the d- and q-axis currents will not be completely decoupled, so the first corresponding relationship obtained will deviate from the actual relationship, and ultimately lead to ammeter deviation, resulting in inaccurate torque accuracy. Since the torque of the surface-mounted motor is only related to the q-axis current, if the equal torque line drawn with Id as the horizontal axis and Iq as the vertical axis should be a horizontal line, the present invention can accurately determine whether the q-axis current value is abnormal through the above method, and then can determine whether the first corresponding relationship deviates from the actual relationship based on whether the q-axis current value is abnormal.

[0019] In a second aspect, the present invention also provides a processing device for calibration data of a permanent magnet synchronous motor, the device comprising a first acquisition module, a second acquisition module, a q-axis current determination module, a first abnormal data judgment module, a flux determination module and a data set processing module; the first acquisition module is used to obtain a specified torque value and a plurality of current specified values ​​corresponding to the specified torque value; the second acquisition module is used to obtain a first correspondence between a preset torque, a d-axis current and a q-axis current; the q-axis current determination module is used to determine a plurality of current calculation values ​​corresponding to the specified torque value according to the specified torque value, a plurality of current specified values ​​and the first correspondence; the first abnormal data judgment module is used to determine whether a plurality of current calculation values ​​are abnormal; the flux determination module is used to determine a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to a plurality of current specified values ​​and a plurality of current calculation values ​​when a plurality of current calculation values ​​are not abnormal; the data set processing module is used to form a test data set with a plurality of specified torque values, and a plurality of current specified values, a plurality of current calculation values, a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​respectively corresponding to each measured torque value, and determine the calibration data of the permanent magnet synchronous motor according to the test data set.

[0020] In a third aspect, the present invention further provides a computer device, comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method for processing permanent magnet synchronous motor calibration data of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0021] In a fourth aspect, the present invention further provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for processing permanent magnet synchronous motor calibration data of the above-mentioned first aspect or any corresponding embodiment thereof.

[0022] In a fifth aspect, the present invention further provides a computer program product, comprising computer instructions, wherein the computer instructions are used to enable a computer to execute the method for processing permanent magnet synchronous motor calibration data of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 is a flow chart of a method for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of equal torque lines according to an embodiment of the present invention;

[0026] Figure 3 is a flow chart of another permanent magnet synchronous motor calibration data processing method according to an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of equal flux linkage circles and equal torque lines according to an embodiment of the present invention;

[0028] Figure 5 is a flowchart of a method for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a theoretical value of Ud according to an embodiment of the present invention;

[0030] Figure 7 is a schematic diagram of theoretical values ​​of Uq according to an embodiment of the present invention;

[0031] Figure 8 is a schematic diagram of the measured value of Ud according to an embodiment of the present invention;

[0032] Fig. 9 is a schematic diagram of the measured value of Uq according to an embodiment of the present invention;

[0033] Fig.10 is a structural block diagram of a device for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0034] Fig.11 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0036] According to an embodiment of the present invention, an embodiment of a method for processing calibration data of a permanent magnet synchronous motor is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] In this embodiment, a method for processing calibration data of a permanent magnet synchronous motor is provided, which can be used in computer equipment. Figure 1 is a flow chart of a method for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0038] Step S101: obtaining a specified torque value and a plurality of specified current values ​​corresponding to the specified torque value.

[0039] For the motor, the q-axis current produces torque and the d-axis current excites. Based on this, the current specified value is generally the d-axis current. Specifically, the torque is traversed at preset intervals to obtain multiple specified torque values; multiple d-axis current specified values ​​are set under the same specified torque value. For example, it is possible to traverse between -500Nm and 500Nm at intervals of 20Nm to obtain multiple specified torque values; under the same specified torque value, it is set to traverse between -200A and 200A at intervals of 10A to obtain multiple d-axis current specified values.

[0040] Step S102: obtaining a first corresponding relationship among a preset torque, a d-axis current, and a q-axis current.

[0041] Specifically, the first corresponding relationship among the torque, the d-axis current, and the q-axis current may be pre-set in a computer device, and the first corresponding relationship may be represented by Te(id, iq).

[0042] Step S103: determining a plurality of current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, a plurality of current prescribed values ​​and the first corresponding relationship.

[0043] As described above, there are a plurality of d-axis current prescribed values ​​under the same prescribed torque value, and correspondingly there are a plurality of q-axis current calculated values ​​under the same prescribed torque value.

[0044] Step S104: Determine whether there is any abnormality in the plurality of current calculation values.

[0045] This is because, due to the delay of current sampling and angle sampling, this angle needs to be compensated during park transformation. If compensation is not performed, the d and q axis currents will not be completely decoupled, so the first corresponding relationship obtained will deviate from the actual relationship, eventually leading to ammeter deviation and inaccurate torque accuracy.

[0046] Permanent magnet synchronous motor torque formula torque

[0047] The torque formula of the surface mounted permanent magnet synchronous motor is:

[0048] Where P represents the number of pole pairs, λ fIt indicates the flux of the permanent magnet. It can be seen from the above formula that the torque of the surface-mounted motor is only related to the q-axis current. Then the equal torque line drawn with Id as the horizontal axis and Iq as the vertical axis should be a horizontal line, such as Figure 2 If the angle compensation is incorrect, Figure 2 Therefore, this embodiment can determine whether the first corresponding relationship deviates from the actual situation by determining whether the q-axis current calculation value is abnormal, so that the validity of the data can be determined during the calibration data processing.

[0049] Step S105: when there is no abnormality in the plurality of current calculated values, determining a plurality of d-axis flux calculated values ​​and a plurality of q-axis flux calculated values ​​according to the plurality of current prescribed values ​​and the plurality of current calculated values.

[0050] Step S106: A test data set is composed of multiple specified torque values, multiple current specified values ​​corresponding to each measured torque value, multiple current calculated values, multiple d-axis flux calculated values, and multiple q-axis flux calculated values, and the calibration data of the permanent magnet synchronous motor is determined according to the test data set.

[0051] The method for processing the calibration data of the permanent magnet synchronous motor provided in this embodiment obtains a first correspondence between a specified torque value, a plurality of d-axis current specified values ​​corresponding to the specified torque value, a preset torque, a d-axis current, and a q-axis current; a plurality of q-axis current calculation values ​​corresponding to the specified torque value can be determined; further, a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​are determined according to the plurality of d-axis current specified values ​​and the plurality of q-axis current calculation values; finally, a plurality of specified torque values, and a plurality of d-axis current specified values, a plurality of q-axis current calculation values, a plurality of d-axis flux calculation values, and a plurality of q-axis flux calculation values ​​corresponding to each measured torque value are formed into a test data set, and the calibration data of the permanent magnet synchronous motor is determined according to the test data set. Moreover, before determining the plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to the plurality of d-axis current specified values ​​and the plurality of q-axis current calculation values, it is possible to determine whether the first correspondence deviates from the actual by determining whether the q-axis current calculation value is abnormal, so that the validity of the data can be determined during the processing of the calibration data, thereby avoiding the waste of time and resources caused by recalibration.

[0052] In this embodiment, a method for processing calibration data of a permanent magnet synchronous motor is provided, which can be used in computer equipment. Figure 3 FIG. 4 is a flow chart of another method for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0053] Step S301: obtaining a predetermined torque value and a plurality of predetermined d-axis current values ​​corresponding to the predetermined torque value.

[0054] Step S302: obtaining a first corresponding relationship between a preset torque, a d-axis current, and a q-axis current.

[0055] Step S303: determining a plurality of q-axis current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, a plurality of d-axis current prescribed values ​​and the first corresponding relationship.

[0056] Step S304: determine whether there is any abnormality in the plurality of q-axis current calculation values.

[0057] As mentioned above, since the torque of the surface-mounted motor is only related to the q-axis current, if the equal torque line drawn with Id as the horizontal axis and Iq as the vertical axis should be a horizontal line. Based on this, this embodiment determines whether there is an abnormality in multiple q-axis current calculation values ​​through the following steps S3041 to S3044.

[0058] Step S3041: Selecting the maximum value and the minimum value from a plurality of q-axis current calculation values ​​corresponding to a specified torque value.

[0059] Step S3042: Calculate the difference between the maximum value and the minimum value, and determine whether the difference is greater than a preset first threshold.

[0060] Step S3043: when the difference is less than or equal to the first threshold, it is determined that the plurality of q-axis current calculation values ​​are normal; otherwise, it is determined that the plurality of q-axis current calculation values ​​are abnormal.

[0061] Step S305: when there is no abnormality in the plurality of q-axis current calculated values, determining a plurality of d-axis flux calculated values ​​and a plurality of q-axis flux calculated values ​​according to the plurality of d-axis current prescribed values ​​and the plurality of q-axis current calculated values.

[0062] In an optional implementation, determining a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to a plurality of d-axis current prescribed values ​​and a plurality of q-axis current calculated values ​​comprises the following steps S3051 to S3052.

[0063] Step S3051: when there is no abnormality in the multiple q-axis current calculation values, obtaining a second corresponding relationship among the preset d-axis flux, d-axis current, and q-axis current, and a third corresponding relationship among the preset q-axis flux, d-axis current, and q-axis current.

[0064] Specifically, the second corresponding relationship between the d-axis flux, the d-axis current, and the q-axis current can be pre-set in the computer device, and the second corresponding relationship between the d-axis flux, the d-axis current, and the q-axis current can be expressed as λ d (Id, Iq) represents.

[0065] The third corresponding relationship between the q-axis flux, the d-axis current, and the q-axis current can be preset in the computer device, and the third corresponding relationship between the q-axis flux, the d-axis current, and the q-axis current can be expressed by λ q (Id, Iq) represents.

[0066] Step S3052: determining multiple d-axis flux calculation values ​​according to multiple d-axis current specified values, multiple q-axis current calculated values ​​and the second corresponding relationship; determining multiple q-axis flux calculation values ​​according to multiple d-axis current specified values, multiple q-axis current calculated values ​​and the third corresponding relationship.

[0067] Step S306: compose a test data set with a plurality of prescribed torque values, a plurality of d-axis current prescribed values ​​corresponding to each measured torque value, a plurality of q-axis current calculated values, a plurality of d-axis flux calculated values, and a plurality of q-axis flux calculated values.

[0068] Step S307: determining calibration data of the permanent magnet synchronous motor according to the test data set.

[0069] In an optional implementation, determining the calibration data of the permanent magnet synchronous motor according to the test data set includes the following steps S3071 to S3076.

[0070] Step S3071: taking a specified torque value, a specified d-axis current value, a calculated q-axis current value, a calculated d-axis flux value, and a calculated q-axis flux value as a group of data, obtaining multiple groups of data according to the test data set, and respectively calculating the synthetic current and synthetic flux of each group of data.

[0071] Specifically, the composite current can be expressed as Is, where IS 2 =Id 2 +Iq 2 The synthetic magnetic flux can be expressed as s Indicates that λ s 2 =λ d 2 +λ q 2 .

[0072] Step S3072: Select a set of data with the smallest synthetic current under the same specified torque value from the test data set to obtain a first subset.

[0073] Step S3073: Select a set of data with the smallest specified torque value under the same synthetic flux in the test data set to obtain a second subset.

[0074] Step S3074: using the test data set to obtain equal magnetic flux linkage circles and equal torque lines in a preset coordinate system, wherein the preset coordinate system uses the d-axis current as the horizontal coordinate and the q-axis current as the vertical coordinate.

[0075] That is to say, with Id as the horizontal coordinate and Iq as the vertical coordinate, the same λ s The Id and Iq corresponding to the magnetic flux are plotted out to form the equal magnetic flux circle; the Id and Iq corresponding to the same Te torque are plotted out to form the equal torque line.

[0076] Step S3075: If there is an intersection between the equal flux linkage circle and the equal torque line, the calibration data of the permanent magnet synchronous motor is determined according to a set of data corresponding to the intersection; if there is no intersection between the equal flux linkage circle and the equal torque line, the calibration data of the permanent magnet synchronous motor is determined according to a row of data of the maximum torque under the synthetic flux linkage corresponding to the second subset, or the calibration data of the permanent magnet synchronous motor is determined according to a set of data of the minimum synthetic torque under the torque corresponding to the first subset.

[0077] Specifically, Figure 4 As shown, point 1 is the intersection of the equal flux linkage circle and the equal torque line, so the calibration data of the permanent magnet synchronous motor can be determined based on a set of data corresponding to point 1. Point 2 is not the intersection of the equal flux linkage circle and the equal torque line, and the calibration data of the permanent magnet synchronous motor can be determined based on a row of data of the maximum torque under the synthetic flux linkage corresponding to the second subset, or based on a set of data of the minimum synthetic torque under the torque corresponding to the first subset. Example. The calibration data of the permanent magnet synchronous motor finally obtained are shown in Tables 1 and 2.

[0078] Table 1λ s 、The correspondence between Te and Id

[0079] <![CDATA[λ s / The]]> -500 -490 ... 490 500 0.01 Id Id Id Id Id 0.0011 Id Id Id Id Id ... Id Id Id Id Id 0.079 Id Id Id Id Id 0.08 Id Id Id Id Id

[0080] Table 2λ s , the corresponding relationship between Te and Iq

[0081] <![CDATA[λ s / The]]> -500 -490 ... 490 500 0.01 Iq Iq Iq Iq Iq 0.0011 IUsQ Iq Iq Iq Iq ... Iq Iq Iq Iq Iq 0.079 Iq Iq Iq Iq Iq 0.08 Iq Iq Iq Iq Iq

[0082] The method for processing permanent magnet synchronous motor calibration data provided by the embodiment of the present embodiment, before determining multiple d-axis flux calculation values ​​and multiple q-axis flux calculation values ​​based on multiple d-axis current specified values ​​and multiple q-axis current calculated values, can determine whether the first corresponding relationship deviates from the actual relationship by judging whether there is an abnormality in the q-axis current calculation value, so that the validity of the data can be determined during the processing of the calibration data, thereby avoiding the waste of time and resources caused by recalibration.

[0083] In this embodiment, a method for processing calibration data of a permanent magnet synchronous motor is provided, which can be used in computer equipment. Figure 5 FIG. 4 is a flowchart of another method for processing calibration data of a permanent magnet synchronous motor according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0084] Step S501: Obtain multiple phase current peaks, multiple current angles corresponding to each phase current peak, and motor speed values, motor torque values, d-axis voltage values, q-axis voltage values, d-axis current values, and q-axis current values ​​corresponding to each current angle.

[0085] Specifically, the bus voltage is set to the rated voltage, the dynamometer is set to a fixed speed, and a current sweep test is performed according to the given phase current peak value Is and current angle θ in the table below to collect motor speed, motor torque, d-axis voltage Ud, q-axis voltage Uq, d-axis current Id, and q-axis current Iq.

[0086] Step S502: Calculate the d-axis flux linkage value and the q-axis flux linkage value corresponding to each current angle according to the d-axis voltage value, q-axis voltage value, d-axis current value, and q-axis current value corresponding to each current angle.

[0087] In an optional embodiment, according to the formula Calculate the d-axis flux and q-axis flux. Where Ud represents the d-axis voltage output by the current loop, Uq represents the q-axis voltage output by the current loop, Rs represents the phase resistance of the motor, Id represents the measured d-axis current, Iq represents the measured q-axis current, ω e Represents electrical angular velocity.

[0088] Step S503: taking the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux linkage value and q-axis flux linkage value corresponding to the same current angle as a set of data.

[0089] Step S504: rearrange the multiple sets of data in the order of increasing or decreasing motor torque values.

[0090] Step S505: Obtain a third number of data sets whose change trends of the q-axis current values ​​are inconsistent with the change trends of the multiple motor torque values.

[0091] Step S506: when the third number is greater than a preset sixth threshold, it is determined that the q-axis current value is abnormal.

[0092] Step S507: Use the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value and q-axis flux value, and motor torque value corresponding to each current angle to fit and obtain the first corresponding relationship, the second corresponding relationship, and the third corresponding relationship.

[0093] Step S508: For any d-axis voltage value i, calculate a first error value of the d-axis voltage value i.

[0094] Step S509: Determine the number of times that the first error value is greater than a preset third threshold.

[0095] Step S510: when the number of times that the first error value is greater than the preset third threshold is greater than the preset fourth threshold, it is determined that the d-axis voltage value i is abnormal.

[0096] This is because, during the calibration process, it is difficult for the data to be accurate every time. Some obvious abnormal points, such as temperature exceeding the expected range, can be identified by drawing. However, some abnormal data, such as incorrect dead zone compensation, cannot be quickly identified. In this case, the formula can be used to make a judgment.

[0097]

[0098]

[0099] In steady state, ignoring the resistance term, we have

[0100] U d =-ω e *L q *i q ;

[0101] U q =ω e *(L d *i d +λ f );

[0102] Since Iq = Is*cosθ, θ is between 90° and 2100°, the value of Iq is symmetrical about 180°. Therefore, Ud should also be symmetrical about 180°, and Uq should also be symmetrical about 180°. Figure 6 The theoretical calculated value of Ud and Figure 7 Theoretical calculated value of Uq.

[0103] If the correction is not made in time and the data is directly used for subsequent data processing, the resulting ammeter will have a large deviation, resulting in low motor efficiency or even loss of control. Using the characteristics that Ud and Uq are symmetrical about 180°, the following method for verifying the validity of the data can be obtained:

[0104] UdErr=Ud(90°+x)+Ud(2100°-x); (0°<x<90°)

[0105] UqErr=Uq(90°+x)-Uq(2100°-x)); (0°<x<90°)

[0106] Assuming that x is at intervals of 10°, a total of 8 UdErr and UqErr values ​​can be obtained. If 3 abs(UdErr) values ​​are greater than 10V, or 3 abs(UqErr) values ​​are greater than 10V, it indicates that the data is abnormal, such as Figure 8 As shown, Ud is not symmetric about 180°, such as Fig. 9 As shown in the figure, Uq is not symmetrical about 180°. A prompt should pop up in the processing script, indicating that the data may be abnormal. Please check the data or re-scan the points. It should be noted that the 3 and 10V described here are only examples, and the specific values ​​should be determined by the developer. Figure 8 As shown, ..., as Fig. 9 As shown….

[0107] Step S511: Acquire a predetermined torque value and a plurality of predetermined d-axis current values ​​corresponding to the predetermined torque value.

[0108] Step S512: determining a plurality of q-axis current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, a plurality of d-axis current prescribed values ​​and the first corresponding relationship.

[0109] Step S513: Determine whether there is any abnormality in the plurality of q-axis current calculation values.

[0110] Step S514: when there is no abnormality in the plurality of q-axis current calculated values, determining a plurality of d-axis flux calculated values ​​and a plurality of q-axis flux calculated values ​​according to the plurality of d-axis current prescribed values ​​and the plurality of q-axis current calculated values.

[0111] Step S515: A test data set is composed of multiple specified torque values, multiple d-axis current specified values ​​corresponding to each measured torque value, multiple q-axis current calculated values, multiple d-axis flux calculated values, and multiple q-axis flux calculated values, and the calibration data of the permanent magnet synchronous motor is determined according to the test data set.

[0112] The method for processing permanent magnet synchronous motor calibration data provided in this embodiment is based on the principle that Ud is symmetrical about 180° and Uq is also symmetrical about 180°. It can determine whether there are abnormalities in the d-axis voltage value and the q-axis voltage value, and further determine whether the dead zone compensation parameters are correct.

[0113] In this embodiment, a processing device for permanent magnet synchronous motor calibration data is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0114] This embodiment provides a permanent magnet synchronous motor calibration data processing device, such as Fig.10 As shown, including:

[0115] The first acquisition module 1001 is used to acquire a specified torque value and a plurality of current specified values ​​corresponding to the specified torque value.

[0116] The second acquisition module 1002 is used to acquire a first corresponding relationship between a preset torque, a d-axis current, and a q-axis current.

[0117] The q-axis current determination module 1003 is used to determine a plurality of current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, a plurality of current prescribed values ​​and a first corresponding relationship.

[0118] The first abnormal data determination module 1004 is used to determine whether the multiple current calculation values ​​are abnormal.

[0119] The flux determination module 1005 is used to determine a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to a plurality of current prescribed values ​​and a plurality of current calculation values ​​when the plurality of current calculation values ​​are not abnormal.

[0120] The data set processing module 1006 is used to form a test data set from multiple specified torque values, multiple current specified values ​​corresponding to each measured torque value, multiple current calculated values, multiple d-axis flux calculated values, and multiple q-axis flux calculated values, and determine the calibration data of the permanent magnet synchronous motor based on the test data set.

[0121] In an optional embodiment, the first abnormal data judgment module 1004 is specifically used to: select the maximum and minimum values ​​from multiple current calculation values ​​corresponding to the specified torque value; calculate the difference between the maximum and minimum values; determine whether the difference is greater than a preset first threshold; when the difference is greater than the first threshold, determine that there is an abnormality in the multiple current calculation values.

[0122] In an optional implementation, the flux determination module 1005 is specifically used to: obtain a second correspondence between a preset d-axis flux, a d-axis current, and a q-axis current, and a third correspondence between a preset q-axis flux, a d-axis current, and a q-axis current; determine a plurality of d-axis flux calculation values ​​according to a plurality of current specified values, a plurality of current calculated values, and the second correspondence; determine a plurality of q-axis flux calculation values ​​according to a plurality of current specified values, a plurality of current calculated values, and the third correspondence.

[0123] In an optional implementation, the data set processing module 1006 is specifically used to: take a specified torque value, a specified current value, a calculated current value, a d-axis flux calculation value, and a q-axis flux calculation value as a group of data, obtain multiple groups of data according to the test data set, and respectively calculate the synthetic current and synthetic flux of each group of data; select a group of data with the smallest synthetic current under the same specified torque value in the test data set to obtain a first subset; select a group of data with the smallest specified torque value under the same synthetic flux in the test data set to obtain a second subset; use the test data set to obtain an equal flux circle and an equal torque line in a preset coordinate system, wherein the preset coordinate system uses the d-axis current as the horizontal coordinate and the q-axis current as the vertical coordinate; if the equal flux circle and the equal torque line have an intersection, select and determine the calibration data of the permanent magnet synchronous motor according to a group of data corresponding to the intersection; if the equal flux circle and the equal torque line do not have an intersection, determine the calibration data of the permanent magnet synchronous motor according to a row of data corresponding to the maximum torque under the synthetic flux of the second subset or determine the calibration data of the permanent magnet synchronous motor according to a group of data corresponding to the minimum synthetic torque under the torque of the first subset.

[0124] In an optional embodiment, the processing device for the permanent magnet synchronous motor calibration data also includes a corresponding relationship determination module. The corresponding relationship determination module is specifically used to: obtain multiple phase current peak values, multiple current angles corresponding to each phase current peak value, and motor speed values, motor torque values, d-axis voltage values, q-axis voltage values, d-axis current values, and q-axis current values ​​corresponding to each current angle; calculate the d-axis flux value and q-axis flux value corresponding to each current angle according to the d-axis voltage value, q-axis voltage value, d-axis current value, and q-axis current value corresponding to each current angle; use the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value, q-axis flux value, and motor torque value corresponding to each current angle to fit and obtain the first corresponding relationship, the second corresponding relationship, and the third corresponding relationship.

[0125] In an optional embodiment, the processing device for the calibration data of the permanent magnet synchronous motor further includes a second abnormal data judgment module. After fitting the first corresponding relationship, the second corresponding relationship and the third corresponding relationship using the d-axis voltage value, the q-axis voltage value, the d-axis current value, the q-axis current value, the d-axis flux value and the q-axis flux value, and the motor torque value corresponding to each current angle, the second abnormal data judgment module is used to: for any d-axis voltage value i, calculate the first error value of the d-axis voltage value i; obtain the first number of first error values ​​greater than the preset second threshold value; when the first number is greater than the preset third threshold value, determine that the d-axis voltage value i is abnormal; and / or; for any q-axis voltage value j, calculate the second error value of the q-axis voltage value j; determine the second number of second error values ​​greater than the preset fourth threshold value; when the second number is greater than the preset fifth threshold value, determine that the q-axis voltage value j is abnormal.

[0126] In an optional embodiment, the processing device for permanent magnet synchronous motor calibration data also includes a third abnormal data judgment module. Before fitting the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value, q-axis flux value, and motor torque value corresponding to each current angle to obtain the first corresponding relationship, the second corresponding relationship, and the third corresponding relationship, the third abnormal data judgment module is used to: take the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value, and q-axis flux value corresponding to the same current angle as a group of data; rearrange multiple groups of data in the order of increasing or decreasing multiple motor torque values ​​in sequence; obtain a third number of the change trends of the q-axis current values ​​in the rearranged multiple groups of data that are inconsistent with the change trends of the multiple motor torque values; when the third number is greater than the preset sixth threshold value, it is determined that the q-axis current value is abnormal.

[0127] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0128] The processing device for the permanent magnet synchronous motor calibration data in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0129] The embodiment of the present invention also provides a computer device having the above Fig.10 The device for processing calibration data of a permanent magnet synchronous motor is shown.

[0130] See also Fig.11 , Fig.11 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.11 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.11A processor 10 is taken as an example.

[0131] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0132] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0133] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0134] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0135] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig.11 The example of connecting through bus is taken in the following.

[0136] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0137] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0138] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0139] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for processing calibration data of a permanent magnet synchronous motor, characterized in that: include: Acquire a specified torque value and a plurality of current specified values ​​corresponding to the specified torque value; Obtaining a first corresponding relationship between a preset torque, a d-axis current, and a q-axis current; Determine a plurality of current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, the plurality of current prescribed values ​​and the first corresponding relationship; Determining whether a plurality of the current calculation values ​​are abnormal; When the plurality of current calculated values ​​do not have an abnormality, determining a plurality of d-axis flux calculated values ​​and a plurality of q-axis flux calculated values ​​according to the plurality of current prescribed values ​​and the plurality of current calculated values; A test data set is composed of multiple specified torque values, multiple current specified values ​​corresponding to each measured torque value, multiple current calculated values, multiple d-axis flux calculated values, and multiple q-axis flux calculated values, and the calibration data of the permanent magnet synchronous motor is determined based on the test data set.

2. The method according to claim 1, characterized in that The determining whether the multiple current calculation values ​​are abnormal includes: Selecting a maximum value and a minimum value from a plurality of the current calculation values ​​corresponding to the specified torque value; Calculate the difference between the maximum value and the minimum value; Determine whether the difference is greater than a preset first threshold; When the difference is greater than the first threshold, it is determined that the plurality of current calculation values ​​are abnormal.

3. The method according to claim 1, characterized in that The determining of a plurality of d-axis flux calculation values ​​and a plurality of q-axis flux calculation values ​​according to a plurality of the current prescribed values ​​and a plurality of the current calculation values ​​comprises: Obtaining a second corresponding relationship among a preset d-axis flux, a d-axis current, and a q-axis current, and a third corresponding relationship among a preset q-axis flux, a d-axis current, and a q-axis current; A plurality of d-axis flux calculation values ​​are determined according to the plurality of current prescribed values, the plurality of current calculation values ​​and the second corresponding relationship; a plurality of q-axis flux calculation values ​​are determined according to the plurality of current prescribed values, the plurality of current calculation values ​​and the third corresponding relationship.

4. The method according to claim 1, characterized in that: Determining the calibration data of the permanent magnet synchronous motor according to the test data set includes: Taking a specified torque value, a specified current value, a calculated current value, a d-axis flux calculation value, and a q-axis flux calculation value as a set of data, obtaining multiple sets of data according to the test data set, and respectively calculating the synthetic current and synthetic flux of each set of data; A set of data with the smallest synthetic current under the same specified torque value is selected from the test data set to obtain a first subset; A group of data with the smallest specified torque value under the same synthetic flux is selected from the test data set to obtain a second subset; Using the test data set, an equal magnetic flux linkage circle and an equal torque line are obtained in a preset coordinate system, wherein the preset coordinate system has a d-axis current as a horizontal coordinate and a q-axis current as a vertical coordinate; If the intersection of the equal flux linkage circle and the equal torque line is, the calibration data of the permanent magnet synchronous motor is selected and determined according to a set of data corresponding to the intersection; If there is no intersection between the equal flux linkage circle and the equal torque line, the calibration data of the permanent magnet synchronous motor is determined according to a row of data of the maximum torque under the synthetic flux linkage corresponding to the second subset, or the calibration data of the permanent magnet synchronous motor is determined according to a group of data of the minimum synthetic torque under the torque corresponding to the first subset.

5. The method according to claim 1, characterized in that Also includes: Acquire multiple phase current peak values, multiple current angles corresponding to each phase current peak value, and motor speed values, motor torque values, d-axis voltage values, q-axis voltage values, d-axis current values, and q-axis current values ​​corresponding to each current angle; Calculate the d-axis flux linkage value and the q-axis flux linkage value corresponding to each current angle according to the d-axis voltage value, the q-axis voltage value, the d-axis current value, and the q-axis current value corresponding to each current angle; The first corresponding relationship, the second corresponding relationship and the third corresponding relationship are obtained by fitting using the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux value and q-axis flux value, and motor torque value corresponding to each current angle.

6. The method according to claim 5, characterized in that After fitting the first corresponding relationship, the second corresponding relationship and the third corresponding relationship by using the d-axis voltage value, the q-axis voltage value, the d-axis current value, the q-axis current value, the d-axis flux value and the q-axis flux value, and the motor torque value corresponding to each current angle, the method further includes: For any of the d-axis voltage values ​​i, calculating a first error value of the d-axis voltage value i; Obtain a first number of the first error values ​​that are greater than a preset second threshold; When the first number is greater than a preset third threshold, it is determined that the d-axis voltage value i is abnormal; and / or; For any of the q-axis voltage values ​​j, calculating a second error value of the q-axis voltage value j; Determine a second amount by which the second error value is greater than a preset fourth threshold; When the second number is greater than a preset fifth threshold, it is determined that the q-axis voltage value j is abnormal.

7. The method according to claim 5, characterized in that Before fitting the first corresponding relationship, the second corresponding relationship and the third corresponding relationship by using the d-axis voltage value, the q-axis voltage value, the d-axis current value, the q-axis current value, the d-axis flux value and the q-axis flux value, and the motor torque value corresponding to each current angle to obtain the first corresponding relationship, the second corresponding relationship and the third corresponding relationship, the method further includes: taking the d-axis voltage value, q-axis voltage value, d-axis current value, q-axis current value, d-axis flux linkage value and q-axis flux linkage value corresponding to the same current angle as a set of data; Rearranging the plurality of sets of data in an order in which the plurality of motor torque values ​​are successively increased or decreased; Acquire a third number of the change trends of the q-axis current values ​​in the rearranged plurality of data sets that are inconsistent with the change trends of the plurality of motor torque values; When the third number is greater than a preset sixth threshold, it is determined that the q-axis current value is abnormal.

8. A device for processing calibration data of a permanent magnet synchronous motor, characterized in that: The device comprises: A first acquisition module, used for acquiring a specified torque value and a plurality of current specified values ​​corresponding to the specified torque value; A second acquisition module, used to acquire a first corresponding relationship between a preset torque, a d-axis current, and a q-axis current; a q-axis current determination module, configured to determine a plurality of current calculation values ​​corresponding to the prescribed torque value according to the prescribed torque value, the plurality of current prescribed values ​​and the first corresponding relationship; A first abnormal data judgment module, used for judging whether the plurality of current calculation values ​​are abnormal; a flux linkage determination module, for determining a plurality of d-axis flux linkage calculation values ​​and a plurality of q-axis flux linkage calculation values ​​according to a plurality of the current prescribed values ​​and a plurality of the current calculation values ​​when the plurality of current calculation values ​​are not abnormal; The data set processing module is used to form a test data set by combining multiple specified torque values, multiple current specified values ​​corresponding to each of the measured torque values, multiple current calculated values, multiple d-axis flux calculation values, and multiple q-axis flux calculation values, and determine the calibration data of the permanent magnet synchronous motor based on the test data set.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for processing permanent magnet synchronous motor calibration data according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for processing permanent magnet synchronous motor calibration data according to any one of claims 1 to 7.

11. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the method for processing permanent magnet synchronous motor calibration data according to any one of claims 1 to 7.

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