Motor control method and device, readable storage medium and vehicle

Abstract

The invention discloses a motor control method and device, a readable storage medium and a vehicle, and relates to the technical field of new energy vehicles. The motor control method comprises the following steps: acquiring a first current value of a motor, and acquiring a temperature estimation model of the motor; performing data processing on the first current value through a temperature estimation model to obtain a temperature value of the motor; determining a resistance value, a flux linkage value and an inductance value of the motor according to the temperature value; updating the first current value into a second current value according to the resistance value, the flux linkage value and the inductance value; and adjusting the current of the motor to the second current value. According to the invention, the control accuracy of the motor is improved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a control method, a control device, a readable storage medium and a vehicle for a motor. Background Art

[0002] At present, the new energy vehicle market has grown rapidly this year, and users have higher driving demands. However, when new energy vehicles are driving at low temperatures, the efficiency of the power battery is greatly reduced. In order to solve this problem, without adding additional heating devices, a driving heating technology for permanent magnet synchronous motors is proposed. Under low temperature conditions, the current is reasonably distributed to allow the motor to generate heat, increase the motor oil temperature, and heat the temperature of the coolant of the vehicle thermal management, thereby heating the battery system. However, the existing motor control method has technical problems such as low control accuracy. Summary of the invention

[0003] The embodiments of the present application provide a motor control method, a control device, a readable storage medium and a vehicle, which are used to solve technical problems such as low control accuracy in the prior art.

[0004] According to a first aspect of an embodiment of the present application, a method for controlling a motor is provided, comprising:

[0005] Acquire a first current value of the motor, and acquire a temperature estimation model of the motor;

[0006] Performing data processing on the first current value through a temperature estimation model to obtain a temperature value of the motor;

[0007] According to the temperature value, determine the resistance value, flux value and inductance value of the motor;

[0008] updating the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value;

[0009] The current of the motor is adjusted to a second current value.

[0010] The control method of the motor in this embodiment performs data processing on the first current value through a temperature estimation model to determine the temperature value of the motor, and then determines the resistance value, magnetic flux value and inductance value of the motor based on the temperature value; and iteratively processes the first current value based on the resistance value, magnetic flux value and inductance value to obtain the second current value, thereby ensuring the data accuracy of the second current value and further ensuring the control accuracy of the motor.

[0011] According to a second aspect of an embodiment of the present application, a control device for a motor is provided, comprising:

[0012] An acquisition unit, used to acquire a first current value of the motor and acquire a temperature estimation model of the motor;

[0013] A processing unit, configured to perform data processing on the first current value through a temperature estimation model to obtain a temperature value of the motor;

[0014] The processing unit is further used to determine the resistance value, flux linkage value and inductance value of the motor according to the temperature value;

[0015] The processing unit is further used to update the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value;

[0016] The control unit is used to adjust the current of the motor to a second current value.

[0017] In a third aspect of the embodiments of the present application, another motor control device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the motor control method in any of the above embodiments are implemented. Therefore, the motor control device has all the beneficial effects of the motor control method in any of the above embodiments, which will not be described in detail here.

[0018] In a fourth aspect of the embodiments of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the motor control method in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the motor control method in any of the above embodiments, which will not be repeated here.

[0019] According to a fifth aspect of the present invention, a vehicle is proposed, comprising: a control device for a motor as defined in the above second aspect, or a control device for a motor as defined in the above third aspect, and / or a readable storage medium as defined in the above fourth aspect, thus having all the beneficial technical effects of the control device for a motor as defined in the above second aspect, or a control device for a motor as defined in the above third aspect, and / or a readable storage medium as defined in the above fourth aspect, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A flow chart of a method for controlling a motor provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a motor control method provided in an embodiment of the present application;

[0023] Figure 3 A functional module block diagram of a motor control device provided in an embodiment of the present application;

[0024] Figure 4 This is a structural block diagram of a motor control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0026] 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 that there is 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 the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0027] In some embodiments, Figure 1 As shown, in an embodiment of the present application, a method for controlling a motor is provided, comprising:

[0028] Step S101, obtaining a first current value of the motor and obtaining a temperature estimation model of the motor;

[0029] Step S102, performing data processing on the first current value through a temperature estimation model to obtain a temperature value of the motor;

[0030] Step S103, determining the resistance value, flux linkage value and inductance value of the motor according to the temperature value;

[0031] Step S104, updating the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value;

[0032] Step S105, adjusting the current of the motor to a second current value.

[0033] In this embodiment, a method for controlling a motor is proposed. During the operation of the motor, a first current value of the motor is estimated, wherein the first current value is an estimated current of the motor.

[0034] Exemplarily, the first current value includes an estimated d-axis current and a q-axis current.

[0035] A temperature estimation model corresponding to the motor is established, wherein the temperature estimation model is a mathematical model used to determine the temperature of the motor.

[0036] Exemplarily, the temperature estimation model may be a LPTN model (Lumped Parameter Thermal Network Model).

[0037] The first current value is processed by a temperature estimation model to determine a temperature value of the motor, wherein the temperature value is the temperature of the motor.

[0038] Exemplarily, the first current value includes an estimated d-axis current and a q-axis current, and the temperature values ​​corresponding to the d-axis current and the q-axis current are predicted by a temperature estimation model.

[0039] The resistance value, flux linkage value and inductance value of the motor are determined according to the temperature value, wherein the resistance value is the resistance of the motor, the flux linkage value is the flux linkage of the permanent magnet of the motor, and the inductance value is the inductance of the motor.

[0040] Exemplarily, the resistance value may be the resistance of the motor under a temperature value condition.

[0041] Exemplarily, the flux linkage value may be the permanent magnet flux linkage of the motor under a temperature value condition.

[0042] Exemplarily, the inductance value may be the inductance of the motor under a temperature value condition.

[0043] The first current value is updated according to the resistance value, the flux linkage value and the inductance value to obtain a second current value, and the current of the motor is adjusted to the second current value, wherein the second current value is a target current value of the motor.

[0044] Exemplarily, the second current value includes a target d-axis current and a target q-axis current of the motor.

[0045] Exemplarily, the d-axis current of the motor is adjusted to the target d-axis current, and the q-axis current of the motor is adjusted to the target q-axis current.

[0046] Exemplarily, the first current value is iteratively processed according to the resistance value, the flux linkage value and the inductance value to obtain the second current value.

[0047] It should be noted that this embodiment first estimates the first current value of the motor, and then updates the first current value to an accurate second current value based on parameters such as the resistance value, magnetic flux value and inductance value of the motor, thereby ensuring the data accuracy of the second current value and thereby improving the control accuracy of the motor.

[0048] The control method of the motor in this embodiment performs data processing on the first current value through a temperature estimation model to determine the temperature value of the motor, and then determines the resistance value, magnetic flux value and inductance value of the motor based on the temperature value; and iteratively processes the first current value based on the resistance value, magnetic flux value and inductance value to obtain the second current value, thereby ensuring the data accuracy of the second current value and further ensuring the control accuracy of the motor.

[0049] In some embodiments, an embodiment of the present application provides a method for controlling a motor, and obtaining a first current value of the motor includes:

[0050] Step S201, performing parameter detection on the motor to obtain a first torque, a first speed, and a first heating power of the motor;

[0051] Step S202, determining a first current value according to a first torque, a first rotational speed and a first heating power.

[0052] In this embodiment, during the operation of the motor, the parameters of the motor are detected to obtain the first torque, first speed and first heating power of the motor, wherein the first torque is the torque of the motor, the first speed is the speed of the motor, and the first heating power is the heating power of the motor.

[0053] A first current value is determined according to the first torque, the first rotation speed and the first heating power.

[0054] Exemplarily, the first torque may be a given torque, and the first rotational speed may be a given rotational speed.

[0055] For example, at a temperature of 20°, a torque T is given on a bench. e and given speed w e Under the condition, the power is increased according to a certain step size, and the map of different heating powers is obtained by subtracting the mechanical power from the bus terminal power, as shown in Table 1. d is the d-axis current.

[0056] Table 1

[0057]

[0058] According to the given torque, given speed, and heating power, the map is searched to obtain the row closest to the given value, and the Euclidean distance is used to measure the difference between each row of data and the given data, so as to obtain the i with the smallest gap. d. The formula for the Euclidean distance d is:

[0059]

[0060] In the formula, i represents the dimension of the data, n represents the total dimension of the data, and x i Represents the i-th dimension of the given data, y i Represents the i-th dimension of each row of data.

[0061] In some embodiments, an embodiment of the present application provides a method for controlling a motor, and obtaining a temperature estimation model of the motor includes:

[0062] Step S301, obtaining a plurality of power loss values ​​corresponding to the motor, and obtaining thermal resistance value data and thermal capacity value data of the motor;

[0063] Step S302, establishing a state transfer matrix and an input matrix according to the thermal resistance value data and the thermal capacitance value data;

[0064] Step S303: establishing a temperature estimation model based on multiple power loss values, a state transition matrix and an input matrix.

[0065] In this embodiment, a plurality of power loss values ​​corresponding to the motor are acquired, wherein the plurality of power loss values ​​include power values ​​corresponding to a plurality of loss items of the motor.

[0066] Exemplarily, the multiple power loss values ​​include stator iron loss, stator winding copper loss, rotor silicon steel sheet iron loss, permanent magnet loss, and shaft tooth mechanical loss.

[0067] (1) The iron loss expression of the stator core is:

[0068]

[0069] Among them, p s is the iron loss of the stator core, f is the magnetic field alternating frequency, k c represents the eddy current loss coefficient, k h represents the hysteresis loss coefficient, B rm Represents the radial magnetic flux density amplitude, B tm represents the tangential magnetic flux amplitude, and a is the temperature coefficient of the stator winding.

[0070] (2) The stator winding copper loss is the loss caused by the current passing through the winding, and the expression is:

[0071] p cu =3 / 2(i d 2 +i q 2 )R s ;

[0072] Among them, p cu is the stator winding copper loss, i d is the d-axis current, i q is the q-axis current, R s is the resistance of the stator winding.

[0073] (3) The iron loss of the rotor silicon steel sheet is composed of hysteresis loss and eddy current loss. The expression of iron loss is:

[0074] P ss =k h f 2 +k e f 2 B 2 +k a f 1.5 B 1.5 ;

[0075] Among them, p ss is the rotor silicon steel sheet iron loss, k h represents the hysteresis loss coefficient, k e represents the eddy current loss coefficient, k a represents the lamination coefficient, f represents the alternating frequency, B represents the magnetic flux density, and a is the temperature coefficient of the stator winding.

[0076] (4) Permanent magnet loss Considering the current density amplitude and conductivity, the expression of permanent magnet loss is:

[0077]

[0078] Among them, p pm is the permanent magnet loss, V pm represents the volume of permanent magnet, J represents the current density amplitude, σ pm represents the conductivity of the permanent magnet, and v represents the angular frequency of the shaft.

[0079] (5) Bearing mechanical loss is composed of friction loss. The expression of bearing mechanical loss is:

[0080] P m =0.5vuFD;

[0081] Where P m is the bearing mechanical loss, v represents the shaft angular frequency, u represents the friction coefficient, F represents the bearing load force, and D is the bearing inner diameter.

[0082] The thermal resistance data and thermal capacitance data of the motor are obtained, wherein the thermal resistance data is the resistance data corresponding to the thermal resistance in the motor, and the thermal capacitance data is the capacitance data corresponding to the thermal capacitance in the motor.

[0083] Exemplarily, the thermal resistance value data includes the thermal resistance of the motor air gap, the thermal resistance between the stator core and the stator oil channel, the thermal resistance between the stator winding and the stator core, the thermal resistance between the permanent magnet and the silicon steel sheet, the thermal resistance between the bearing and the permanent magnet, and the thermal resistance between the bearing and the environment.

[0084] Exemplarily, the heat capacity data includes the heat capacity of the stator core, the heat capacity of the stator winding, the heat capacity of the silicon steel sheet, the heat capacity of the permanent magnet, and the heat capacity of the bearing.

[0085] For example, Figure 2 As shown, T s Represents the stator core temperature, T cu Represents the stator winding temperature, T ss Represents the temperature of silicon steel sheet, T pm represents the permanent magnet temperature, T b Represents the bearing temperature, T o , T e Respectively represent oil channel temperature and ambient temperature; C s Represents the stator core heat capacity, C cu Represents the stator winding heat capacity, C ss Represents the heat capacity of silicon steel sheet, C pm Represents the permanent magnet heat capacity, C b represents the heat capacity of the bearing; p s represents the stator core loss, p cu represents the stator winding loss, p ss represents the stator winding loss, p pm represents the permanent magnet loss, p b represents bearing loss; R airgap Represents the motor air gap thermal resistance, R s-o Represents the thermal resistance between the stator core and the stator oil channel, R cu-s Represents the thermal resistance between the stator winding and the stator core, R pm-ss Represents the thermal resistance between the permanent magnet and the silicon steel sheet, R pm-b Represents the thermal resistance between the bearing and the permanent magnet, R b-e Represents the thermal resistance between the bearing and the environment.

[0086] According to the thermal resistance value data and the thermal capacitance value data, a state transfer matrix and an input matrix are established, wherein the state transfer matrix is ​​a data matrix representing the state transfer of the motor, and the input matrix is ​​a matrix of input data.

[0087] For example, the input matrix is:

[0088]

[0089] Exemplarily, the state transition matrix is:

[0090]

[0091] Among them, C s Represents the stator core heat capacity, C cu Represents the stator winding heat capacity, C ss Represents the heat capacity of silicon steel sheet, C pm Represents the permanent magnet heat capacity, C b Represents the bearing heat capacity, R airgap Represents the motor air gap thermal resistance, R s-o Represents the thermal resistance between the stator core and the stator oil channel, R cu-s Represents the thermal resistance between the stator winding and the stator core, R pm-ss Represents the thermal resistance between the permanent magnet and the silicon steel sheet, R pm-b Represents the thermal resistance between the bearing and the permanent magnet, R b-e Represents the thermal resistance between the bearing and the environment.

[0092] A temperature estimation model is established based on multiple power loss values, a state transition matrix, and an input matrix.

[0093] Exemplarily, the expression of the temperature estimation model is:

[0094] T'=φT+Bu;

[0095] Among them, T' represents the predicted temperature, φ represents the state transfer matrix, T represents the temperature at the previous moment, B represents the input matrix, and u represents each loss input.

[0096] In some embodiments, an embodiment of the present application provides a method for controlling a motor, which determines the resistance value, flux value and inductance value of the motor according to the temperature value, including:

[0097] Step S401, obtaining preset resistance, preset inductance, residual magnetic density and magnetic permeability data corresponding to the motor;

[0098] Step S402, performing data processing on the preset resistance and temperature value to obtain a resistance value;

[0099] Step S403, performing data processing on the preset inductance and temperature value to obtain an inductance value;

[0100] Step S404, processing the remanent magnetic density, magnetic permeability data and temperature value to obtain a flux linkage value.

[0101] In this embodiment, preset resistance, preset inductance, residual magnetic density and magnetic permeability data corresponding to the motor are obtained, wherein the preset resistance, preset inductance, residual magnetic density and magnetic permeability data are preset parameters corresponding to the motor.

[0102] Data processing is performed on the preset resistance and temperature values ​​to obtain the resistance value.

[0103] Exemplarily, the preset resistance may be a resistance at 20°.

[0104] Exemplarily, the calculation formula of the resistance value is:

[0105] R s (T) = R s_20 (1+a(T-20));

[0106] Among them, R s is the resistance value, T is the temperature, R s_20 represents the resistance at 20° and a represents the temperature correction factor.

[0107] The preset inductance and temperature values ​​are processed to obtain an inductance value.

[0108] Exemplarily, the preset inductance may be an inductance value at a standard temperature and in an unsaturated state.

[0109] Exemplarily, the calculation formula of the inductance value is:

[0110] L=L base ×K T ×K S ;

[0111] Where, L is the inductance value, L base Represents the inductance value at standard temperature and unsaturated state, K T Represents the temperature correction factor, K S Represents the saturation effect correction factor.

[0112] The remanence density, magnetic permeability data and temperature values ​​are processed to obtain the flux linkage value.

[0113] Illustratively, the magnetic permeability data may include vacuum magnetic permeability and relative magnetic permeability.

[0114] Exemplarily, the calculation formula of the magnetic flux value is:

[0115] Ψ f =B r (T)×V pm / (u0×u r (T0));

[0116] Among them, f is the magnetic flux value, T is the temperature, B r (T) represents the remanent magnetic density at temperature T, V pm represents the volume of the permanent magnet, u0 represents the vacuum permeability, u r (T0) represents the relative permeability at temperature T.

[0117] In some embodiments, an embodiment of the present application provides a method for controlling a motor, which updates a first current value to a second current value according to a resistance value, a flux linkage value, and an inductance value, including:

[0118] Step S501, establishing a gradient objective function of the motor;

[0119] Step S502, determining the electromagnetic torque formula of the motor according to the resistance value, the flux linkage value and the inductance value;

[0120] Step S503, determining the gradient value of the first current value according to the gradient objective function and the electromagnetic torque formula;

[0121] Step S504: performing data update processing on the first current value according to the gradient value to obtain a second current value.

[0122] In this embodiment, a gradient objective function of the motor is established, wherein the gradient objective function is an objective function of a gradient descent algorithm.

[0123] Exemplarily, the gradient objective function may be:

[0124] f=|T e -T e (i d ,i q )|+|w e -w e (i d ,i q )|+|P H -P H (i d ,i q )|;

[0125] Where f is the gradient objective function, T represents the command torque, and T e (id,iq) represents i d 、i q Through the electromagnetic torque formula, w e represents the command speed, w e (id,iq) represents the value of i d 、i q The function of P H Represents the command heating power, P H (id,iq) represents the value of i d 、i q function.

[0126] The electromagnetic torque formula of the motor is determined according to the resistance value, the flux linkage value and the inductance value. The electromagnetic torque formula represents the electromagnetic torque of the motor.

[0127] For example, the electromagnetic torque formula T eCan be:

[0128] T e =3 / 2p[Ψ f i q +(L d -L q )i d i q ];

[0129] Where p is the pole pair number, Ψ f is the permanent magnet flux, L d is the d-axis inductance, L q is the q-axis inductance, i d is the d-axis current, i q is the q-axis current.

[0130] According to the gradient objective function and the electromagnetic torque formula, a gradient value of the first current value is determined, wherein the gradient value represents the gradient of the first current value.

[0131] Exemplarily, the calculation formula of the gradient value is:

[0132]

[0133] in, is the gradient value, f is the gradient objective function, i d is the d-axis current, i q is the q-axis current.

[0134] According to the gradient value, data updating processing is performed on the first current value to obtain a second current value.

[0135] Exemplarily, the calculation formula of the second current value is:

[0136]

[0137] The second current value includes i d n+1 and i q n+1 , f is the gradient objective function, i d is the d-axis current, i q is the q-axis current, i d n+1 i represents n+1 iterations d ,i q n+1 i represents n+1 iterations q .

[0138] In some embodiments, an embodiment of the present application provides a method for controlling a motor, establishing a gradient objective function of the motor, including:

[0139] Step S601, obtaining a first torque, a first speed, and a first heating power of a motor;

[0140] Step S602, normalizing the first torque, the first speed, and the first heating power respectively to obtain a second torque, a second speed, and a second heating power;

[0141] Step S603, establishing a gradient objective function according to the second torque, the second speed, the second heating power and the first current value.

[0142] In this embodiment, the first torque, the first speed and the first heating power of the motor are obtained, and the first torque, the first speed and the first heating power are normalized respectively to obtain the second torque, the second speed and the second heating power, wherein the second torque is the torque normalized by the first torque, the second speed is the speed normalized by the first speed, and the second heating power is the heating power normalized by the first heating power.

[0143] A gradient objective function is established according to the second torque, the second rotational speed, the second heating power and the first current value.

[0144] Exemplarily, the second torque may be a command torque, the second speed may be a command speed, and the second heating power may be a command heating power.

[0145] In some embodiments, Figure 3 As shown, in an embodiment of the present application, a motor control device 700 is provided, comprising:

[0146] An acquisition unit 702 is used to acquire a first current value of the motor and acquire a temperature estimation model of the motor;

[0147] The processing unit 704 is used to perform data processing on the first current value through a temperature estimation model to obtain a temperature value of the motor;

[0148] The processing unit 704 is further used to determine the resistance value, flux value and inductance value of the motor according to the temperature value;

[0149] The processing unit 704 is further configured to update the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value;

[0150] The control unit 706 is used to adjust the current of the motor to a second current value.

[0151] In this embodiment, a control device 700 for a motor is provided. During the operation of the motor, a first current value of the motor is estimated, wherein the first current value is an estimated current of the motor.

[0152] Exemplarily, the first current value includes an estimated d-axis current and a q-axis current.

[0153] A temperature estimation model corresponding to the motor is established, wherein the temperature estimation model is a mathematical model used to determine the temperature of the motor.

[0154] Exemplarily, the temperature estimation model may be a LPTN model (Lumped Parameter Thermal Network Model).

[0155] The first current value is processed by a temperature estimation model to determine a temperature value of the motor, wherein the temperature value is the temperature of the motor.

[0156] Exemplarily, the first current value includes an estimated d-axis current and a q-axis current, and the temperature values ​​corresponding to the d-axis current and the q-axis current are predicted by a temperature estimation model.

[0157] The resistance value, flux linkage value and inductance value of the motor are determined according to the temperature value, wherein the resistance value is the resistance of the motor, the flux linkage value is the flux linkage of the permanent magnet of the motor, and the inductance value is the inductance of the motor.

[0158] Exemplarily, the resistance value may be the resistance of the motor under a temperature value condition.

[0159] Exemplarily, the flux linkage value may be the permanent magnet flux linkage of the motor under a temperature value condition.

[0160] Exemplarily, the inductance value may be the inductance of the motor under a temperature value condition.

[0161] The first current value is updated according to the resistance value, the flux linkage value and the inductance value to obtain a second current value, and the current of the motor is adjusted to the second current value, wherein the second current value is a target current value of the motor.

[0162] Exemplarily, the second current value includes a target d-axis current and a target q-axis current of the motor.

[0163] Exemplarily, the d-axis current of the motor is adjusted to the target d-axis current, and the q-axis current of the motor is adjusted to the target q-axis current.

[0164] Exemplarily, the first current value is iteratively processed according to the resistance value, the flux linkage value and the inductance value to obtain the second current value.

[0165] It should be noted that this embodiment first estimates the first current value of the motor, and then updates the first current value to an accurate second current value based on parameters such as the resistance value, magnetic flux value and inductance value of the motor, thereby ensuring the data accuracy of the second current value and thereby improving the control accuracy of the motor.

[0166] The motor control device 700 in this embodiment performs data processing on the first current value through a temperature estimation model to determine the temperature value of the motor, and then determines the resistance value, magnetic flux value and inductance value of the motor based on the temperature value. According to the resistance value, magnetic flux value and inductance value, iterative data processing is performed on the first current value to obtain the second current value, thereby ensuring the data accuracy of the second current value and further ensuring the control accuracy of the motor.

[0167] In some embodiments, an embodiment of the present application provides a motor control device 700, further comprising:

[0168] The processing unit 704 is further used to perform parameter detection on the motor to obtain a first torque, a first speed and a first heating power of the motor;

[0169] The processing unit 704 is further configured to determine a first current value according to the first torque, the first rotational speed and the first heating power.

[0170] In some embodiments, an embodiment of the present application provides a motor control device 700, further comprising:

[0171] The processing unit 704 is further used to obtain a plurality of power loss values ​​corresponding to the motor, and obtain thermal resistance value data and thermal capacity value data of the motor;

[0172] The processing unit 704 is further used to establish a state transfer matrix and an input matrix according to the thermal resistance value data and the thermal capacitance value data;

[0173] The processing unit 704 is further configured to establish a temperature estimation model based on the multiple power loss values, the state transition matrix and the input matrix.

[0174] In some embodiments, an embodiment of the present application provides a motor control device 700, further comprising:

[0175] The processing unit 704 is further used to obtain the preset resistance, preset inductance, residual magnetic density and magnetic permeability data corresponding to the motor;

[0176] The processing unit 704 is further used to perform data processing on the preset resistance and temperature value to obtain the resistance value;

[0177] The processing unit 704 is further used to perform data processing on the preset inductance and temperature values ​​to obtain the inductance value;

[0178] The processing unit 704 is further used to process the residual magnetic density, the magnetic permeability data and the temperature value to obtain the flux linkage value.

[0179] In some embodiments, an embodiment of the present application provides a motor control device 700, further comprising:

[0180] The processing unit 704 is also used to establish a gradient objective function of the motor;

[0181] The processing unit 704 is further used to determine the electromagnetic torque formula of the motor according to the resistance value, the flux linkage value and the inductance value;

[0182] The processing unit 704 is further used to determine the gradient value of the first current value according to the gradient objective function and the electromagnetic torque formula;

[0183] The processing unit 704 is further configured to perform data update processing on the first current value according to the gradient value to obtain a second current value.

[0184] In some embodiments, an embodiment of the present application provides a motor control device 700, further comprising:

[0185] The processing unit 704 is further used to obtain a first torque, a first speed, and a first heating power of the motor;

[0186] The processing unit 704 is further used to perform normalization processing on the first torque, the first speed and the first heating power respectively to obtain a second torque, a second speed and a second heating power;

[0187] The processing unit 704 is further used to establish a gradient objective function according to the second torque, the second rotation speed, the second heating power and the first current value.

[0188] In some embodiments, Figure 4 As shown, a motor control device 800 is proposed, and the motor control device 800 includes a processor 802 and a memory 804. The memory 804 stores a computer program, and when the computer program is executed by the processor 802, the steps of the motor control method in any of the above embodiments are implemented. Therefore, the motor control device 800 has all the beneficial effects of the motor control method in any of the above embodiments, which will not be repeated here.

[0189] In some embodiments, a readable storage medium is provided on which a program is stored. When the program is executed by a processor, the steps of the motor control method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the motor control method in any of the above embodiments.

[0190] In some embodiments, a vehicle is proposed, comprising: a control device for a motor as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, and thus having all the beneficial technical effects of the control device for a motor as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, which will not be elaborated upon herein.

[0191] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0192] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0193] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0194] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0195] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0196] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the motor control method.

[0197] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application 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 devices. 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, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (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 store or a data storage device such as a server or a data center that includes one or more available media integration. 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 drive (SSD)), etc.

[0198] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0199] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0200] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0201] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0202] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0203] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0204] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0205] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for controlling a motor, characterized in that: The method comprises: Acquire a first current value of the motor, and acquire a temperature estimation model of the motor; Performing data processing on the first current value by using the temperature estimation model to obtain a temperature value of the motor; Determining the resistance value, flux linkage value and inductance value of the motor according to the temperature value; updating the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value; The current of the motor is adjusted to the second current value.

2. The method according to claim 1, characterized in that The obtaining of the first current value of the motor includes: Performing parameter detection on the motor to obtain a first torque, a first speed, and a first heating power of the motor; The first current value is determined according to the first torque, the first rotational speed, and the first heating power.

3. The method according to claim 1, characterized in that The step of obtaining a temperature estimation model of the motor includes: Acquire multiple power loss values ​​corresponding to the motor, and acquire thermal resistance value data and thermal capacity value data of the motor; Establishing a state transfer matrix and an input matrix according to the thermal resistance value data and the thermal capacitance value data; The temperature estimation model is established based on the plurality of power loss values, the state transition matrix and the input matrix.

4. The method according to claim 1, characterized in that Determining the resistance value, flux linkage value and inductance value of the motor according to the temperature value includes: Obtaining preset resistance, preset inductance, residual magnetic density and magnetic permeability data corresponding to the motor; Performing data processing on the preset resistance and the temperature value to obtain the resistance value; Performing data processing on the preset inductance and the temperature value to obtain the inductance value; The residual magnetic density, the magnetic permeability data and the temperature value are processed to obtain the flux linkage value.

5. The method according to any one of claims 1 to 4, characterized in that The updating the first current value to a second current value according to the resistance value, the magnetic flux value and the inductance value includes: Establishing a gradient objective function of the motor; Determining an electromagnetic torque formula of the motor according to the resistance value, the flux linkage value and the inductance value; Determining a gradient value of the first current value according to the gradient objective function and the electromagnetic torque formula; According to the gradient value, data updating processing is performed on the first current value to obtain the second current value.

6. The method according to claim 5, characterized in that The step of establishing the gradient objective function of the motor comprises: Obtaining a first torque, a first speed, and a first heating power of the motor; Normalizing the first torque, the first speed, and the first heating power respectively to obtain a second torque, a second speed, and a second heating power; The gradient objective function is established according to the second torque, the second rotational speed, the second heating power and the first current value.

7. A control device for a motor, characterized in that: The device comprises: an acquisition unit, configured to acquire a first current value of the motor and acquire a temperature estimation model of the motor; a processing unit, configured to perform data processing on the first current value through the temperature estimation model to obtain a temperature value of the motor; The processing unit is further used to determine the resistance value, flux linkage value and inductance value of the motor according to the temperature value; The processing unit is further configured to update the first current value to a second current value according to the resistance value, the flux linkage value and the inductance value; A control unit is used to adjust the current of the motor to the second current value.

8. A control device for a motor, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the motor control method according to any one of claims 1 to 6 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the motor control method according to any one of claims 1 to 6 are implemented.

10. A vehicle, characterized in that: include: The control device of the motor as claimed in claim 7 or 8; and / or The readable storage medium as claimed in claim 9.

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