Permanent magnet synchronous motor calibration method, device, equipment, medium and vehicle

Abstract

The invention provides a permanent magnet synchronous motor calibration method, device and equipment, a medium and a vehicle. The method comprises the steps of obtaining motor inductance parameters under different currents according to a preset quadrature-direct axis rotation coordinate voltage formula of a permanent magnet synchronous motor; the motor inductance parameters are processed through a preset data processing script, a target two-dimensional look-up table is generated, the target two-dimensional look-up table comprises d-axis currents and q-axis currents under different motor magnetic fluxes and motor torques, and the target two-dimensional look-up table is used for calibrating the permanent magnet synchronous motor. According to the embodiment of the invention, the inductance parameter of the motor is obtained through the quadrature-direct axis rotation coordinate voltage formula, the target two-dimensional look-up table containing d-axis current and q-axis current under different motor magnetic fluxes and torques is generated by using the preset data processing script, the control algorithm is optimized, the operation load of software and hardware is reduced, and the efficiency is improved. And current instructions of the motor under different working conditions can be accurately calibrated.

Description

Technical Field

[0001] The present invention relates to the field of calibration technology, and in particular to a permanent magnet synchronous motor calibration method, device, equipment, medium and vehicle. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is the first choice for electric vehicle drive systems. It has quickly occupied the new energy vehicle market due to its advantages such as fast torque response, small size, high efficiency and low noise, and its market share has gradually increased. The rapid development of electric vehicles and strong demand stimulation have forced drive motors to move rapidly towards high speed, light weight and high efficiency. By optimizing motor control and calibration strategies, it not only meets the electric vehicle's demand for efficient control of the drive system, but also has important strategic significance for PMSM product competition.

[0003] The existing calibration technology uses a large power test bench to give the three-phase current and angle of the permanent magnet synchronous motor, obtains the direct-axis and quadrature-axis current values ​​under the MTPA and MTPV characteristic requirements, and finally realizes the magnetic field oriented control of the permanent magnet synchronous motor through a three-dimensional voltage, speed, and torque lookup table method. The above method occupies a lot of chip memory, has low resource utilization, and a long calibration cycle, which does not meet the current market requirements for rapid iteration and update of electric drive products. Summary of the invention

[0004] In view of this, the present invention aims to propose a permanent magnet synchronous motor calibration method, device, equipment, medium and vehicle to solve the problem of master-slave role switching and accurate torque distribution after a vehicle's wire-controlled steering system fails, which is not conducive to achieving the system's safety goals.

[0005] According to a first aspect of the present invention, a permanent magnet synchronous motor calibration method is provided, the method comprising:

[0006] The motor inductance parameters under different currents are obtained according to the preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor;

[0007] The motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

[0008] Optionally, obtaining the motor inductance parameter under different currents according to a preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor includes:

[0009] Pre-set stator resistance and permanent magnet flux;

[0010] Predetermining different stator d-axis currents and stator q-axis currents;

[0011] Monitoring the phase voltage fundamental wave value and power factor of the permanent magnet synchronous motor under different operating conditions;

[0012] A stator d-axis voltage and a stator q-axis voltage are determined based on the phase voltage fundamental wave value and the power factor.

[0013] Optionally, the processing of the motor inductance parameter by a preset data processing script to generate a target two-dimensional lookup table includes:

[0014] The motor inductance parameters are processed based on a preset torque equation and a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor fluxes and motor torques, the motor torque is generated by a preset torque equation, and the motor flux is generated based on a d-axis voltage and a q-axis voltage preset at different speeds.

[0015] Optionally, after the step of processing the motor inductance parameter by a preset data processing script to generate a target two-dimensional lookup table, the method includes:

[0016] Constructing a feedback closed-loop control model based on the target two-dimensional lookup table, PI regulator and preset SVPWM algorithm;

[0017] When it is detected that the permanent magnet synchronous motor is in a target state, correcting the voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model;

[0018] The target two-dimensional lookup table is updated based on the corrected voltage utilization rate of the permanent magnet synchronous motor.

[0019] Optionally, after the step of constructing a feedback closed-loop control model based on the target two-dimensional lookup table, the PI regulator and a preset SVPWM algorithm, the method further includes:

[0020] Acquire the current motor magnetic flux and current motor torque corresponding to the permanent magnet synchronous motor through a sensor;

[0021] Searching for a target d-axis current and a target q-axis current in the target two-dimensional lookup table based on the current motor magnetic flux and the current motor torque;

[0022] Obtaining current error values ​​between an actual d-axis current and an actual q-axis current and the target d-axis current and the target q-axis current respectively;

[0023] The current error value is processed by a PI regulator in the feedback closed-loop control model to generate a target voltage instruction.

[0024] Optionally, updating the target two-dimensional lookup table based on the corrected permanent magnet synchronous motor voltage utilization rate includes:

[0025] Get the current voltage utilization and target voltage utilization;

[0026] generating a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current;

[0027] The target two-dimensional lookup table is updated based on the modified d-axis current and the modified q-axis current.

[0028] According to a second aspect of the present invention, a permanent magnet synchronous motor calibration device is provided, the device comprising:

[0029] An acquisition module is used to acquire the motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor;

[0030] A calibration module is used to process the motor inductance parameters through a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

[0031] Optionally, the acquisition module includes:

[0032] A first acquisition submodule is used to preset the stator resistance and permanent magnet flux linkage;

[0033] A second acquisition submodule is used to predetermine different stator d-axis currents and stator q-axis currents;

[0034] The third acquisition submodule is used to monitor the phase voltage fundamental wave value and power factor of the permanent magnet synchronous motor under different operating conditions;

[0035] The fourth acquisition submodule is used to determine the stator d-axis voltage and the stator q-axis voltage based on the phase voltage fundamental value and the power factor.

[0036] Optionally, the calibration module includes:

[0037] A calibration submodule is used to process the motor inductance parameters based on a preset torque equation and a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor fluxes and motor torques, the motor torque is generated by a preset torque equation, and the motor flux is generated based on the d-axis voltage and q-axis voltage preset at different speeds.

[0038] Optionally, the device further comprises:

[0039] The first module is used to build a feedback closed-loop control model based on the target two-dimensional lookup table, PI regulator and preset SVPWM algorithm;

[0040] A second module is used to correct the voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model when it is detected that the permanent magnet synchronous motor is in a target state;

[0041] The third module is used to update the target two-dimensional lookup table based on the corrected voltage utilization rate of the permanent magnet synchronous motor.

[0042] Optionally, the device further comprises:

[0043] A fifth module is used to obtain a current motor magnetic flux and a current motor torque corresponding to the permanent magnet synchronous motor through a sensor;

[0044] A sixth module is used to search for a target d-axis current and a target q-axis current in the target two-dimensional lookup table based on the current motor magnetic flux and the current motor torque;

[0045] A seventh module is used to obtain current error values ​​between the actual d-axis current and the actual q-axis current and the target d-axis current and the target q-axis current respectively;

[0046] The eighth module is used to process the current error value through the PI regulator in the feedback closed-loop control model to generate a target voltage instruction.

[0047] Optionally, the third module includes:

[0048] The first submodule is used to obtain the current voltage utilization rate and the target voltage utilization rate;

[0049] A second submodule, configured to generate a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current;

[0050] The third submodule is configured to update the target two-dimensional lookup table based on the modified d-axis current and the modified q-axis current.

[0051] According to a third aspect of the present invention, there is provided an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the permanent magnet synchronous motor calibration method as described in any one of the first aspects is implemented.

[0052] According to a fourth aspect of the present invention, a readable storage medium is provided for storing a program, wherein when the program is executed by a processor, the permanent magnet synchronous motor calibration method as described in the first aspect is implemented.

[0053] According to a fifth aspect of the present invention, a vehicle is provided, comprising the permanent magnet synchronous motor calibration device according to the second aspect of the present invention.

[0054] A permanent magnet synchronous motor calibration method provided by an embodiment of the present invention obtains motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of a permanent magnet synchronous motor; the motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor. The embodiment of the present invention obtains motor inductance parameters by using an AC and DC axis rotating coordinate voltage formula, and generates a target two-dimensional lookup table containing d-axis current and q-axis current under different motor magnetic fluxes and torques by using a preset data processing script, optimizes the control algorithm, reduces the software and hardware operating load, and can accurately calibrate the current instructions of the motor under different working conditions, thereby improving the efficiency and stability of the motor when running at high speeds, high temperatures, and large loads, and ensuring that the motor can operate efficiently and stably under various complex working conditions.

[0055] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0057] Figure 1 is a flowchart of a method for calibrating a permanent magnet synchronous motor provided by an embodiment of the present invention;

[0058] Figure 2 is a device block diagram of a permanent magnet synchronous motor calibration device provided by an embodiment of the present invention;

[0059] Figure 3 is a schematic diagram of an electronic device provided by an embodiment of the present invention;

[0060] Figure 4It is a schematic diagram of a permanent magnet synchronous motor calibration algorithm provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0062] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0063] In conjunction with the accompanying drawings, a permanent magnet synchronous motor calibration method, device, equipment, medium and vehicle provided by an embodiment of the present invention are described in detail through specific embodiments and their application scenarios.

[0064] Reference Figure 1 , Figure 1 A flow chart of a permanent magnet synchronous motor calibration method provided in an embodiment of the present invention is provided. The permanent magnet synchronous motor calibration method comprises the following steps:

[0065] Step 101, obtaining the motor inductance parameters under different currents according to a preset DC-axis rotating coordinate voltage formula of the permanent magnet synchronous motor;

[0066] Furthermore, the method of obtaining the motor inductance parameters under different currents according to the preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor includes: pre-setting the stator resistance and permanent magnet flux; pre-determining different stator d-axis currents and stator q-axis currents on a power test bench through a preset calibration tool; monitoring the phase voltage fundamental value and power factor of the permanent magnet synchronous motor under different operating conditions on the power test bench through a power analyzer; and determining the stator d-axis voltage and the stator q-axis voltage based on the phase voltage fundamental value and the power factor.

[0067] It should be noted that, in the embodiment of the present application, the preset AC and DC axis rotation coordinate voltage formula of the permanent magnet synchronous motor is the following voltage equation:

[0068]

[0069] Among them, in the above formula 1, Ud is the stator d-axis voltage, Uq is the stator q-axis voltage, id is the stator d-axis current, iq is the stator q-axis current, Rs is the stator resistance, Ld is the stator d-axis inductance, Lq is the stator q-axis inductance, ωe is the rotor rotation speed, and ψf is the permanent magnet flux.

[0070] Therefore, in the embodiment of the present application, the corresponding motor parameters Rs and ψf are set according to the voltage equation, and a vector calibration tool is used on the constructed power test bench to give different idiq current combination instructions. During this period, the WT3000 power analyzer is used to monitor the phase voltage fundamental value and power factor of the motor under different operating conditions, and the combination of Ud and Uq is calculated to finally obtain the Ld and Lq required for calculating the torque.

[0071] Specifically, the calculation of resistance Rs: measure the three-phase resistance value at room temperature of 20°C, and calculate the resistance value at the corresponding temperature according to the resistance change rate at different temperatures;

[0072] Calculation of flux linkage ψf: refer to the permanent magnet basic flux linkage, Br-T curve and remanence coefficient to calculate the flux linkage value at the corresponding temperature;

[0073] Correction of current sampling value under dynamic conditions: The sampling of three-phase current is affected by the interrupt trigger position, PWM control cycle and current angle θ. The sampling delay compensation coefficient is increased and the WT3000 power analyzer is used for correction and value acquisition;

[0074] Ud and Uq calculation: The power factor angle and current command angle collected by the test bench equipment are added to obtain the Ud and Uq angles, and the actual Ud and Uq are calculated using the phase voltage fundamental value collected by WT3000.

[0075] Step 102, processing the motor inductance parameters by a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

[0076] Furthermore, the processing of the motor inductance parameters by a preset data processing script to generate a target two-dimensional lookup table includes: processing the motor inductance parameters based on a preset torque equation and a preset data processing script to generate a target two-dimensional lookup table.

[0077] It should be noted that the torque equation is as shown in the following formula 3: T = 1.5*Pn*iq(ψpm+(Ld-Lq)*id) (Formula 3)

[0078] Among them, in the above formula 3, Pn is the number of motor pole pairs, iq is the stator q-axis current, id is the stator d-axis current, Ψpm is the motor permanent magnet flux, Ld is the motor stator d-axis inductance, and Lq is the motor stator q-axis inductance.

[0079] After completion, the data is processed using MATLAB or Python scripts according to Formula 3, and the idiq current combination of the flux and torque two-dimensional lookup table is obtained under the requirements of MTPA (maximum torque current ratio, Maximum Torque PerAmpere) and MTPV (maximum torque voltage ratio, Maximum TorquePerVoltage).

[0080] It should be noted that, in the embodiment of the present application, the specific process of generating the target two-dimensional lookup table is as follows: first, the motor temperature and the controller temperature can be controlled within a preset range, for example, the motor temperature is controlled within a range of 50-60°, and the controller temperature is controlled within a range of 50-60°.

[0081] Secondly, set the initial values ​​of id and iq. For example, set the initial value to 20A, and gradually increase it according to the set step size such as 20A, with the maximum value being 500A. Repeat to obtain multiple groups of id iq combinations, and then perform the following calculation process, in which the calculation includes three parts.

[0082] The first one is inductance calculation. The specific calculation process refers to Formula 1 and Formula 2 in the previous section, and the inductance Ld and Lq corresponding to the id and iq of each group can be calculated.

[0083] Second, the magnetic flux calculation, the specific calculation process refers to the following formula 4:

[0084]

[0085] Among them, in the above formula 4, Us is the stator phase voltage of the motor, λ=Us / ωe, and the magnetic flux λ is calculated by given voltage values ​​ud, uq and different speeds, that is, the magnetic flux λ corresponding to different speeds (starting speed 500rpm step size 500rpm to the maximum speed of the motor) is obtained.

[0086] The third is the calculation of torque. The specific calculation process is to set the inductance obtained by the previous inductance calculation, and increase the Is (phase current) from the initial value of 1A to 500A in steps of 1A. Each Is sets the current angle (the angle between the id and iq currents) from the initial value of 90 degrees and the step size of 0.5 degrees to 0 degrees. The maximum torque (ie MTPA) corresponding to the corresponding current is obtained through the previous formula 3.

[0087] In summary, the corresponding idiq two-dimensional table, that is, the target two-dimensional lookup table, can be obtained based on the calculated values, that is, according to the torque T and the magnetic flux λ.

[0088] Further, after step 102, that is, after the step of processing the motor inductance parameter by a preset data processing script to generate a target two-dimensional lookup table, the method includes:

[0089] A feedback closed-loop control model is constructed based on the target two-dimensional lookup table, a PI regulator and a preset SVPWM algorithm; when it is detected that the permanent magnet synchronous motor is in a target state, the voltage utilization rate of the permanent magnet synchronous motor is corrected based on the feedback closed-loop control model; and the target two-dimensional lookup table is updated based on the corrected voltage utilization rate of the permanent magnet synchronous motor.

[0090] Further, updating the target two-dimensional lookup table based on the corrected permanent magnet synchronous motor voltage utilization rate includes:

[0091] Get the current voltage utilization and target voltage utilization;

[0092] generating a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current;

[0093] The target two-dimensional lookup table is updated based on the modified d-axis current and the modified q-axis current.

[0094] It should be noted that in the embodiment of the present application, the idiq current under different λ motor flux and T motor torque is imported into the 2D Table, and a feedback closed-loop control is formed with the PI regulator and the SVPWM algorithm. When the permanent magnet synchronous motor is operating at high speed, high temperature and high load, the voltage utilization rate is dynamically corrected to achieve efficient and stable operation of the permanent magnet synchronous motor.

[0095] Furthermore, after the step of constructing a feedback closed-loop control model based on the target two-dimensional lookup table, the PI regulator and the preset SVPWM algorithm, the method further includes:

[0096] Acquire the current motor magnetic flux and current motor torque corresponding to the permanent magnet synchronous motor through a sensor;

[0097] Searching for a target d-axis current and a target q-axis current in the target two-dimensional lookup table based on the current motor magnetic flux and the current motor torque;

[0098] Obtaining current error values ​​between an actual d-axis current and an actual q-axis current and the target d-axis current and the target q-axis current respectively;

[0099] The current error value is processed by a PI regulator in the feedback closed-loop control model to generate a target voltage instruction.

[0100] It should be noted that in the embodiments of the present application,

[0101] Read current magnetic flux ψ and torque T: Get current magnetic flux ψ and torque T from the sensor.

[0102] Search the target two-dimensional table 2D Table: According to the current magnetic flux ψ and torque T, search the corresponding idid and iqiq values ​​from the 2D Table.

[0103] Calculate current error: Calculate the error between the actual current and the target current.

[0104] PI regulator adjustment: Use the PI regulator to adjust the current error and generate a new voltage command.

[0105] SVPWM generates PWM signals: converts new voltage commands into three-phase voltages and generates PWM signals.

[0106] Dynamically correct voltage utilization: According to the current voltage utilization, dynamically adjust the current command to ensure that the voltage utilization is within a reasonable range.

[0107] Update current command: Update the corrected current command to the 2D Table and recalculate the voltage command.

[0108] It should be noted that, refer to Figure 4 , Figure 4 It is a schematic diagram of an exemplary control algorithm principle, which is mainly composed of four parts. Part I in the figure represents the calculation of the maximum phase voltage value output in the linear region of SVPWM, Part II in the figure represents the output of the command idiq current according to the command torque and flux table lookup, Part III in the figure represents the command torque and flux limiting module, and Part IV in the figure represents the voltage loop PI adjustment.

[0109] Specifically, the torque command is obtained and processed by the maximum available torque and maximum flux limiting modules (torque and flux have set upper and lower limits). The current command is output according to the idiq two-dimensional table under λ and T. The current command and the actual feedback current are adjusted through the current loop PI to obtain the phase voltage command required for calculating the duty cycle. The voltage loop feedback adjustment (Part IV) quickly and dynamically adjusts the flux and controls the voltage utilization rate in the high-efficiency area, which can improve the motor operation efficiency and reduce the motor temperature rise.

[0110] A permanent magnet synchronous motor calibration method provided by an embodiment of the present invention obtains motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of a permanent magnet synchronous motor; the motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor. The embodiment of the present invention obtains motor inductance parameters by using an AC and DC axis rotating coordinate voltage formula, and generates a target two-dimensional lookup table containing d-axis current and q-axis current under different motor magnetic fluxes and torques by using a preset data processing script, optimizes the control algorithm, reduces the software and hardware operating load, and can accurately calibrate the current instructions of the motor under different working conditions, thereby improving the efficiency and stability of the motor when running at high speeds, high temperatures, and large loads, and ensuring that the motor can operate efficiently and stably under various complex working conditions.

[0111] The present invention also relates to a permanent magnet synchronous motor calibration device, the device block diagram of which is as follows: Figure 2 As shown, including:

[0112] An acquisition module 201 is used to acquire motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of a permanent magnet synchronous motor;

[0113] The calibration module 202 is used to process the motor inductance parameters through a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes the d-axis current and the q-axis current under different motor fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

[0114] Optionally, the acquisition module includes:

[0115] A first acquisition submodule is used to preset the stator resistance and permanent magnet flux linkage;

[0116] A second acquisition submodule is used to predetermine different stator d-axis currents and stator q-axis currents on a power test bench by using a preset calibration tool;

[0117] The third acquisition submodule is used to monitor the phase voltage fundamental wave value and power factor of the permanent magnet synchronous motor under different working conditions through a power analyzer on a power test bench;

[0118] The fourth acquisition submodule is used to determine the stator d-axis voltage and the stator q-axis voltage based on the phase voltage fundamental value and the power factor.

[0119] Optionally, the calibration module includes:

[0120] The calibration submodule is used to process the motor inductance parameters based on a preset torque equation and a preset data processing script to generate a target two-dimensional lookup table.

[0121] Optionally, the device further comprises:

[0122] The first module is used to build a feedback closed-loop control model based on the target two-dimensional lookup table, PI regulator and preset SVPWM algorithm;

[0123] A second module is used to correct the voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model when it is detected that the permanent magnet synchronous motor is in a target state;

[0124] The third module is used to update the target two-dimensional lookup table based on the corrected voltage utilization rate of the permanent magnet synchronous motor.

[0125] Optionally, the device further comprises:

[0126] A fifth module is used to obtain a current motor magnetic flux and a current motor torque corresponding to the permanent magnet synchronous motor through a sensor;

[0127] A sixth module is used to search for a target d-axis current and a target q-axis current in the target two-dimensional lookup table based on the current motor magnetic flux and the current motor torque;

[0128] A seventh module is used to obtain current error values ​​between the actual d-axis current and the actual q-axis current and the target d-axis current and the target q-axis current respectively;

[0129] The eighth module is used to process the current error value through the PI regulator in the feedback closed-loop control model to generate a target voltage instruction.

[0130] Optionally, the third module includes:

[0131] The first submodule is used to obtain the current voltage utilization rate and the target voltage utilization rate;

[0132] A second submodule, configured to generate a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current;

[0133] The third submodule is configured to update the target two-dimensional lookup table based on the modified d-axis current and the modified q-axis current.

[0134] A permanent magnet synchronous motor calibration device provided by an embodiment of the present invention obtains motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of a permanent magnet synchronous motor; the motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor. The embodiment of the present invention obtains motor inductance parameters by using an AC and DC axis rotating coordinate voltage formula, and generates a target two-dimensional lookup table including d-axis current and q-axis current under different motor magnetic fluxes and torques by using a preset data processing script, optimizes the control algorithm, reduces the software and hardware operating load, and can accurately calibrate the current instructions of the motor under different working conditions, thereby improving the efficiency and stability of the motor when running at high speed, high temperature, and high load, and ensuring that the motor can operate efficiently and stably under various complex working conditions.

[0135] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] A third embodiment of the present invention relates to a storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the permanent magnet synchronous motor calibration method as described in the first aspect are implemented.

[0137] A fourth embodiment of the present invention provides a vehicle, the vehicle comprising the permanent magnet synchronous motor calibration device according to the second aspect of the present invention.

[0138] The embodiment of the present invention further provides an electronic device, such as Figure 3 As shown, it includes a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0139] Memory 303, used for storing computer programs;

[0140] The processor 301 is used to execute the program stored in the memory 303 to implement the following steps:

[0141] The motor inductance parameters under different currents are obtained according to the preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor;

[0142] The motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

[0143] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0144] The communication interface is used for communication between the above terminal and other devices.

[0145] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0146] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0147] In another embodiment provided by the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the software version upgrade method described in any of the above embodiments.

[0148] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Sol logo State Disk (SSD)), etc.

[0149] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0150] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor calibration method, characterized in that: The method comprises: The motor inductance parameters under different currents are obtained according to the preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor; The motor inductance parameters are processed by a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

2. The method according to claim 1, characterized in that The method of obtaining the motor inductance parameters under different currents according to the preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor includes: Pre-set stator resistance and permanent magnet flux; Predetermining different stator d-axis currents and stator q-axis currents; Monitoring the phase voltage fundamental wave value and power factor of the permanent magnet synchronous motor under different operating conditions; A stator d-axis voltage and a stator q-axis voltage are determined based on the phase voltage fundamental wave value and the power factor.

3. The method according to claim 1, characterized in that The step of processing the motor inductance parameter by a preset data processing script to generate a target two-dimensional lookup table includes: The motor inductance parameters are processed based on a preset torque equation and a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor fluxes and motor torques, the motor torque is generated by a preset torque equation, and the motor flux is generated based on a d-axis voltage and a q-axis voltage preset at different speeds.

4. The method according to claim 1, characterized in that After the step of processing the motor inductance parameter by a preset data processing script to generate a target two-dimensional lookup table, the method includes: Constructing a feedback closed-loop control model based on the target two-dimensional lookup table, PI regulator and preset SVPWM algorithm; When it is detected that the permanent magnet synchronous motor is in a target state, correcting the voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model; The target two-dimensional lookup table is updated based on the corrected voltage utilization rate of the permanent magnet synchronous motor.

5. The method according to claim 4, characterized in that After the step of constructing a feedback closed-loop control model based on the target two-dimensional lookup table, the PI regulator and the preset SVPWM algorithm, the method further includes: Acquire the current motor magnetic flux and current motor torque corresponding to the permanent magnet synchronous motor through a sensor; Searching for a target d-axis current and a target q-axis current in the target two-dimensional lookup table based on the current motor magnetic flux and the current motor torque; Obtaining current error values ​​between an actual d-axis current and an actual q-axis current and the target d-axis current and the target q-axis current respectively; The current error value is processed by a PI regulator in the feedback closed-loop control model to generate a target voltage instruction.

6. The method according to claim 5, characterized in that The updating of the target two-dimensional lookup table based on the corrected voltage utilization rate of the permanent magnet synchronous motor comprises: Get the current voltage utilization and target voltage utilization; generating a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current; The target two-dimensional lookup table is updated based on the modified d-axis current and the modified q-axis current.

7. A permanent magnet synchronous motor calibration device, characterized in that: The device comprises: An acquisition module is used to acquire the motor inductance parameters under different currents according to a preset AC and DC axis rotating coordinate voltage formula of the permanent magnet synchronous motor; A calibration module is used to process the motor inductance parameters through a preset data processing script to generate a target two-dimensional lookup table, wherein the target two-dimensional lookup table includes d-axis current and q-axis current under different motor magnetic fluxes and motor torques, and the target two-dimensional lookup table is used to calibrate the permanent magnet synchronous motor.

8. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the permanent magnet synchronous motor calibration method as claimed in any one of claims 1 to 6 is implemented.

9. A readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the permanent magnet synchronous motor calibration method as described in any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: Including the permanent magnet synchronous motor calibration device as described in claim 7.

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