Speed prediction method and device, calibration system and storage medium

Abstract

The invention provides a speed prediction method and device, a calibration system and a storage medium, and the method comprises the steps: determining a fundamental component and voltage loss, the voltage loss is used for representing the voltage loss in a process of transmitting a bus voltage from a battery to a PMSM, and the voltage loss comprises a conduction voltage drop, a resistance voltage drop and an inductance voltage drop; and predicting the turning speed of the PMSM based on the fundamental component and the voltage loss. According to the method provided by the invention, the prediction efficiency of the turning speed of the motor can be improved.

Description

Technical Field

[0001] The present application relates to the automotive field, and in particular to a speed prediction method, device, calibration system and storage medium. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is a high-efficiency, high-performance, and high-reliability motor that is widely used in industries such as industry, transportation, and aviation. The turning speed of PMSM refers to the speed point at which the motor changes from the constant torque operation area to the constant power operation area. The turning speed is an important parameter for motor performance testing and control. In the constant torque operation area, the motor can output the maximum torque; in the constant power operation area, the motor can output the maximum power. Therefore, predicting the turning speed of PMSM is of great significance for optimizing the control strategy of the motor and improving the efficiency, stability, and controllability of the motor.

[0003] In the related art, the commonly used method for calibrating the motor turning speed is to increase the speed gradually with a certain step length on the dynamometer bench and manually find the turning speed. This method has low test efficiency and requires multiple adjustments to the dynamometer speed and the motor torque. In addition, the test accuracy is poor due to the influence of the speed step length. Summary of the invention

[0004] The embodiments of the present application provide a speed prediction method, device, calibration system and storage medium, which are helpful to improve the prediction efficiency of motor turning speed.

[0005] In a first aspect, an embodiment of the present application provides a speed prediction method, which is applied to a calibration system, wherein the calibration system includes a permanent magnet synchronous motor (PMSM), including: determining a fundamental component and a voltage loss, wherein the voltage loss is used to characterize the voltage loss during the transmission of the bus voltage from a battery to the PMSM, wherein the voltage loss includes a conduction voltage drop, a resistance voltage drop, and an inductance voltage drop; and predicting a turning speed of the PMSM based on the fundamental component and the voltage loss.

[0006] In one possible implementation, the conduction voltage drop is determined by a first voltage drop and a second voltage drop, wherein the first voltage drop is a voltage drop of an insulated gate bipolar transistor IGBT chip, and the second voltage drop is a voltage drop of a freewheeling diode FWD chip.

[0007] In one possible implementation, the first voltage drop is linearly related to the current flowing through the IGBT chip, and the second voltage drop is linearly related to the current flowing through the FWD chip.

[0008] In one possible implementation manner, the inductor voltage drop is determined by a turning speed of the PMSM.

[0009] In one possible implementation, the predicting the turning speed of the PMSM based on the fundamental component and the voltage loss includes: obtaining the no-load back electromotive force of the PMSM at the turning speed; predicting the turning speed of the PMSM based on the fundamental component, the no-load back electromotive force of the PMSM at the turning speed, and the voltage loss.

[0010] In one possible implementation, determining the fundamental component includes: acquiring a signal, wherein the signal is a voltage signal or a current signal output by a controller, and the controller is used to control the PMSM; preprocessing the signal, wherein the preprocessing includes at least filtering and denoising; converting the signal into a frequency domain signal; determining the fundamental frequency of the signal; and determining the fundamental component in the frequency domain signal based on the fundamental frequency.

[0011] In a second aspect, an embodiment of the present application provides a speed prediction device, comprising one or more functional modules, wherein the one or more functional modules are used to execute the speed prediction method as described in the first aspect.

[0012] In a third aspect, an embodiment of the present application provides a calibration system, comprising: a processor and a memory, wherein the memory is used to store a computer program; the processor is used to run the computer program to implement the speed prediction method as described in the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a readable storage medium, in which a program is stored. When the program is run on a calibration system, the calibration system implements the speed prediction method as described in the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a program, which, when executed on a processor of a calibration system, enables the calibration system to execute the speed prediction method as described in the first aspect.

[0015] In one possible design, the program in the fifth aspect may be stored in whole or in part on a storage medium packaged together with the processor, or may be stored in whole or in part on a memory not packaged together with the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the architecture of a calibration system provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of a flow chart of an embodiment of a speed prediction method provided by the present application;

[0018] Figure 3 A schematic flow chart of another embodiment of the speed prediction method provided by the present application;

[0019] Figure 4 A schematic diagram of the structure of a speed prediction device provided in an embodiment of the present application;

[0020] Figure 5 A schematic diagram of the structure of the calibration system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the embodiments of the present application, unless otherwise specified, the character " / " indicates that the objects before and after the association are in an or relationship. For example, A / B can represent A or B. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0022] It should be pointed out that the words "first", "second", etc. involved in the embodiments of the present application are only used to distinguish the description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor can they be understood as indicating or implying order.

[0023] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. In addition, "at least one of the following" or similar expressions refers to any combination of these items, which may include any combination of single items or plural items. For example, at least one of A, B, or C may represent: A, B, C, A and B, A and C, B and C, or A, B and C. Among them, each of A, B, and C may be an element itself, or a set containing one or more elements.

[0024] In the embodiments of the present application, "exemplary", "in some embodiments", "in another embodiment", etc. are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0025] In the embodiments of the present application, "of", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are consistent. In the embodiments of the present application, communication and transmission can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are consistent. For example, transmission can include sending and / or receiving, which can be a noun or a verb.

[0026] The equal to involved in the embodiments of the present application can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. It should be noted that when equal to is used in conjunction with greater than, it cannot be used in conjunction with less than; when equal to is used in conjunction with less than, it cannot be used in conjunction with greater than.

[0027] Permanent Magnet Synchronous Motor (PMSM) is a high-efficiency, high-performance, and high-reliability motor that is widely used in industries such as industry, transportation, and aviation. The turning speed of PMSM refers to the speed point at which the motor changes from the constant torque operation area to the constant power operation area. The turning speed is an important parameter for motor performance testing and control. In the constant torque operation area, the motor can output the maximum torque; in the constant power operation area, the motor can output the maximum power. Therefore, predicting the turning speed of PMSM is of great significance for optimizing the control strategy of the motor and improving the efficiency, stability, and controllability of the motor.

[0028] In the related art, the commonly used method for calibrating the motor turning speed is to increase the speed gradually with a certain step length on the dynamometer bench and manually find the turning speed. This method has low test efficiency and requires multiple adjustments to the dynamometer speed and the motor torque. In addition, the test accuracy is poor due to the influence of the speed step length.

[0029] Based on the above problems, the present application provides a speed prediction method, which helps to improve the prediction efficiency of motor turning speed.

[0030] Figure 1 A schematic diagram of the architecture of the calibration system provided in an embodiment of the present application.

[0031] refer to Figure 1 The calibration system may include a battery 11 , a controller 12 and a motor 13 .

[0032] The battery 11 is used to supply power to the controller 11 and the motor 13 , and the voltage provided by the battery 11 can be considered as the bus voltage.

[0033] The controller 12 is used to control the motor 13 .

[0034] The motor 13 is used to provide torque and driving force to the tires so that the vehicle can travel or turn.

[0035] It can be understood that the motor in the present application can be a PMSM.

[0036] Figure 2 The flow chart of an embodiment of the speed prediction method provided in the present application includes the following steps:

[0037] Step 201, determining the fundamental wave component and voltage loss, where the voltage loss includes conduction voltage drop, resistance voltage drop and inductance voltage drop.

[0038] Specifically, voltage loss refers to the voltage loss of the bus voltage during the transmission process, that is, the voltage loss of the bus voltage during the transmission process from the battery to the motor.

[0039] Among them, the fundamental wave component can be extracted from the composite wave output by the controller.

[0040] In practical applications, the AC voltage output by the controller is not an ideal sine wave, but a composite wave containing fundamental and harmonic waves. The fundamental wave refers to a sine wave with a frequency corresponding to the electrical angular velocity of the motor, and the harmonic refers to a sine wave with an integer multiple of the fundamental frequency. Under sinusoidal steady-state conditions, active power is transferred only between fundamental components, while the power transfer between higher harmonics is zero. Therefore, extracting the fundamental component helps to calculate and analyze the power flow and loss in the system.

[0041] The on-state voltage drop may be a on-state voltage drop of a controller, and the on-state voltage drop may include a first voltage drop and a second voltage drop.

[0042] It can be understood that the controller may include an insulated gate bipolar transistor (IGBT) chip and a freewheeling diode (FWD) chip, the first voltage drop may be the voltage drop of the IGBT chip, and the second voltage drop may be the voltage drop of the FWD chip.

[0043] Exemplarily, the conduction voltage drop=the first voltage drop+the second voltage drop.

[0044] In order to simplify the calculation, the relationship between the first voltage drop and the line current flowing through the IGBT can be approximately considered as a linear relationship, and the relationship between the second voltage drop and the line current flowing through the FWD can be approximately considered as a linear relationship.

[0045] The specific calculation method of the first pressure drop and the second pressure drop can be referred to the description in the related art, which will not be repeated here.

[0046] Resistive voltage drop refers to the voltage drop caused by the resistance of the wire, and inductive voltage drop refers to the voltage drop caused by the inductance of the wire.

[0047] Among them, the wire refers to the wire between the battery and the motor.

[0048] It can be understood that according to Ohm's law, the resistance voltage drop U R It can be determined by the current passing through the wire and the wire resistance. The wire resistance can be calculated from the wire length, wire cross-sectional area and resistivity.

[0049] For example, the resistance voltage drop U R It can be calculated by the following formula:

[0050] U R =I×R;

[0051] R = ρl / S;

[0052] Among them, I is the wire current, R is the wire resistance, ρ is the resistivity, l is the wire length, and S is the wire cross-sectional area.

[0053] Inductor voltage drop U Z It can be calculated by the following formula:

[0054] U Z =I×2πfL;

[0055] Among them, I is the wire current, f is the signal frequency, and L is the wire inductance.

[0056] It can be understood that L refers to the ratio of the induced electromotive force generated by the current change to the current change rate, which reflects the resistance of the wire to the current change. L can be calculated by the following formula:

[0057] L=(μ0l / 2π)×(ln(2l / r)-0.75);

[0058] Where μ0 is the magnetic permeability of vacuum, l is the length of the wire, and r is the radius of the wire.

[0059] Step 202 , predicting the turning speed of the motor based on the fundamental wave component and the voltage loss.

[0060] Specifically, the relationship of the voltage transmission process can be established according to the above voltage loss:

[0061] XV CE -V F -U R -U Z – E = U;

[0062] Among them, V CE is the first voltage drop, V F is the second pressure drop.

[0063] By solving this relationship, the turning speed n can be obtained.

[0064] Among them, X is the effective value of the fundamental phase voltage, which can be obtained by converting the fundamental amplitude in the fundamental component into the effective value of the fundamental phase voltage, E is the no-load back electromotive force at the motor turning speed, and U is the motor phase voltage.

[0065] It will be appreciated that f can be determined by the motor turning speed.

[0066] Exemplarily, the calculation formula of f is as follows:

[0067] f = 4n / 60;

[0068] Where n is the motor turning speed.

[0069] It can be understood that E can be obtained by the following calculation formula:

[0070] E = K × n;

[0071] Wherein, K is the proportional coefficient between the back EMF and the rotation speed.

[0072] The embodiment of the present application provides a method for predicting the turning speed more quickly. Through accurate mathematical models and calculation methods, the prediction efficiency of the motor turning speed can be improved. The speed prediction method provided in the embodiment of the present application can be applied to PMSMs of different models and specifications and is universal.

[0073] Figure 3 This is a flow chart of another embodiment of the speed prediction method provided by the present application. The method for determining the fundamental wave component in step 201 may include the following steps:

[0074] Step 301, collecting signals.

[0075] Specifically, the collected signal may be a voltage signal or a current signal output by the controller.

[0076] The collection method may be through a sensor, or may be collected through other methods, and the embodiments of the present application do not specifically limit this.

[0077] Step 302: pre-process the collected signal.

[0078] Specifically, preprocessing may include but is not limited to filtering, denoising and other processing to reduce interference components in the signal.

[0079] Step 303: convert the preprocessed signal into a frequency domain signal.

[0080] Specifically, the preprocessed signal may be converted into a frequency domain signal by Fast Fourier Transform (FFT), or by other methods, which is not particularly limited in the embodiments of the present application.

[0081] Step 304, determining the fundamental frequency.

[0082] Specifically, after the frequency domain signal is acquired, a non-zero frequency point with the largest amplitude can be found in the frequency domain signal, and the non-zero frequency point with the largest amplitude can be considered as the fundamental frequency.

[0083] Step 305: determine the fundamental wave component in the frequency domain signal based on the fundamental wave frequency.

[0084] Specifically, according to the fundamental frequency, the amplitude corresponding to the fundamental frequency can be extracted from the frequency domain signal, and the amplitude can be considered as the fundamental component.

[0085] Figure 4 A schematic diagram of the structure of a speed prediction device provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the speed prediction device 40 is applied to a calibration system, and the calibration system includes a permanent magnet synchronous motor PMSM. The speed prediction device 40 may include: a determination module 41 and a prediction module 42; wherein,

[0086] A determination module 41, used to determine a fundamental component and a voltage loss, wherein the voltage loss is used to characterize the voltage loss during the transmission of the bus voltage from the battery to the PMSM, and the voltage loss includes a conduction voltage drop, a resistance voltage drop, and an inductance voltage drop;

[0087] The prediction module 42 is used to predict the turning speed of the PMSM based on the fundamental component and the voltage loss.

[0088] In one possible implementation, the conduction voltage drop is determined by a first voltage drop and a second voltage drop, wherein the first voltage drop is a voltage drop of an insulated gate bipolar transistor IGBT chip, and the second voltage drop is a voltage drop of a freewheeling diode FWD chip.

[0089] In one possible implementation, the first voltage drop is linearly related to the current flowing through the IGBT chip, and the second voltage drop is linearly related to the current flowing through the FWD chip.

[0090] In one possible implementation manner, the inductor voltage drop is determined by a turning speed of the PMSM.

[0091] In one possible implementation, the prediction module 42 is further used to obtain the no-load back electromotive force of the PMSM at the turning speed;

[0092] A turning speed of the PMSM is predicted based on the fundamental component, the no-load back EMF of the PMSM at the turning speed, and the voltage loss.

[0093] In one possible implementation, the determination module 41 is further used to collect a signal, where the signal is a voltage signal or a current signal output by a controller, and the controller is used to control the PMSM;

[0094] Preprocessing the signal, wherein the preprocessing includes at least filtering and denoising;

[0095] Converting the signal into a frequency domain signal;

[0096] determining a fundamental frequency of the signal;

[0097] A fundamental component is determined in the frequency domain signal based on the fundamental frequency.

[0098] Figure 4 The speed prediction device 40 provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment illustrated in the present application, and its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0099] It should be understood that the division of the various modules of the above speed prediction device 40 is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. For example, the detection module can be a separately established processing element, or it can be integrated in a chip of a terminal device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. In the implementation process, each step of the above method or the above modules can be completed by the hardware integrated logic circuit in the processor element or the instructions in the form of software.

[0100] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0101] Figure 5 The present invention provides a structural diagram of a calibration system 500 provided in an embodiment of the present invention. The calibration system 500 may include: at least one processor; and at least one memory in communication with the processor. The memory stores program instructions executable by the processor. The processor in the calibration system 500 calls the program instructions to execute the actions performed in the speed prediction method provided in the embodiment of the present invention.

[0102] like Figure 5 As shown, the calibration system 500 is in the form of a general purpose computing device. The components of the calibration system 500 may include, but are not limited to: one or more processors 510, a memory 520, a communication bus 540 connecting different system components (including the memory 520 and the processor 510), and a communication interface 530.

[0103] The communication bus 540 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0104] The calibration system 500 typically includes a variety of computer system readable media, which can be any available media that can be accessed by the terminal device, including volatile and non-volatile media, removable and non-removable media.

[0105] The memory 520 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The terminal device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Figure 5Not shown, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 540 via one or more data medium interfaces. The memory 520 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0106] A program / utility having a set (at least one) of program modules may be stored in memory 520, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules typically perform the functions and / or methods of the embodiments described herein.

[0107] The calibration system 500 may also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), one or more devices that enable a user to interact with the terminal device, and / or any device that enables the terminal device to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via the communication interface 530. Furthermore, the calibration system 500 may also communicate with the network adapter ( Figure 5 The network adapter can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through the communication bus 540. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with the calibration system 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Drives; hereinafter referred to as: RAID) systems, tape drives, and data backup storage systems.

[0108] The processor 510 executes various functional applications and data processing by running the programs stored in the memory 520, such as implementing the method provided in the embodiment of the present application.

[0109] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present application is only a schematic illustration and does not constitute a structural limitation on the calibration system 500. In other embodiments of the present application, the calibration system 500 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0110] In the above embodiments, the processor involved may include, for example, a CPU, a DSP, a microcontroller or a digital signal processor, and may also include a GPU, an embedded neural network processor (Neural-network Process Units; hereinafter referred to as: NPU) and an image signal processor (Image Signal Processing; hereinafter referred to as: ISP). The processor may also include necessary hardware accelerators or logic processing hardware circuits, such as ASIC, or one or more integrated circuits for controlling the execution of the program of the technical solution of the present application. In addition, the processor may have the function of operating one or more software programs, and the software programs may be stored in a storage medium.

[0111] An embodiment of the present application also provides a readable storage medium, in which a program is stored. When the program is run on a calibration system, the calibration system executes the method provided by the embodiment shown in the present application.

[0112] An embodiment of the present application also provides a program product, which includes a program. When the program product is run on a calibration system, the calibration system executes the method provided by the embodiment shown in the present application.

[0113] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0114] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0115] 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.

[0116] In several embodiments provided in the present application, if any function 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, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for 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 method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk, and other media that can store program codes.

[0117] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A speed prediction method, characterized in that: Applied to a calibration system, the calibration system includes a permanent magnet synchronous motor (PMSM), and the method includes: Determine a fundamental component and a voltage loss, wherein the voltage loss is used to characterize the voltage loss during the transmission of the bus voltage from the battery to the PMSM, and the voltage loss includes a conduction voltage drop, a resistance voltage drop, and an inductance voltage drop; A turning speed of the PMSM is predicted based on the fundamental component and the voltage loss.

2. The method according to claim 1, characterized in that The conduction voltage drop is determined by a first voltage drop and a second voltage drop, wherein the first voltage drop is a voltage drop of an insulated gate bipolar transistor IGBT chip, and the second voltage drop is a voltage drop of a freewheeling diode FWD chip.

3. The method according to claim 2, characterized in that The first voltage drop is linearly related to the current flowing through the IGBT chip, and the second voltage drop is linearly related to the current flowing through the FWD chip.

4. The method according to claim 1, characterized in that: The inductor voltage drop is determined by the turning speed of the PMSM.

5. The method according to claim 1, characterized in that The predicting the turning speed of the PMSM based on the fundamental component and the voltage loss includes: Obtaining the no-load back electromotive force of the PMSM at the turning speed; A turning speed of the PMSM is predicted based on the fundamental component, the no-load back EMF of the PMSM at the turning speed, and the voltage loss.

6. The method according to any one of claims 1 to 5, characterized in that: Determining the fundamental wave component comprises: Acquiring a signal, wherein the signal is a voltage signal or a current signal output by a controller, wherein the controller is used to control the PMSM; Preprocessing the signal, wherein the preprocessing includes at least filtering and denoising; Converting the signal into a frequency domain signal; determining a fundamental frequency of the signal; A fundamental component is determined in the frequency domain signal based on the fundamental frequency.

7. A power supply control device, characterized in that: Applied to a calibration system, the calibration system includes a permanent magnet synchronous motor PMSM, and the device includes: A determination module, used to determine a fundamental component and a voltage loss, wherein the voltage loss is used to characterize the voltage loss during the transmission of the bus voltage from the battery to the PMSM, and the voltage loss includes a conduction voltage drop, a resistance voltage drop, and an inductance voltage drop; A prediction module is used to predict the turning speed of the PMSM based on the fundamental component and the voltage loss.

8. A calibration system, characterized in that: include: A processor and a memory, wherein the memory is used to store a program; and the processor is used to run the program to implement the speed prediction method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is run on the calibration system, the speed prediction method according to any one of claims 1 to 6 is implemented.

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