Water pump control motor parameter off-line estimation method, device and equipment and storage medium

Abstract

The invention relates to a water pump control motor parameter off-line estimation method and device, equipment and a storage medium. The method comprises the steps that direct-current voltage of a preset voltage vector is input into a water pump motor through a driver, a water pump motor rotor rotates to a specified preset angle under the effect of the direct-current voltage, and the position of the rotor is kept fixed; determining DC internal resistance according to the read three-phase current and DC voltage of the water pump motor; respectively inputting corresponding direct-axis high-frequency alternating-current voltage and quadrature-axis high-frequency alternating-current voltage to a direct axis and a quadrature axis according to a preset frequency and a preset amplitude, and acquiring three-phase current through a driver to obtain a direct-axis current component and a quadrature-axis current component; calculating direct-axis inductance and direct-current internal resistance according to the direct-axis high-frequency alternating-current voltage and the direct-axis current component, and calculating quadrature-axis inductance and direct-current internal resistance according to the quadrature-axis high-frequency alternating-current voltage and the quadrature-axis current component. According to the technical scheme of the embodiment of the invention, the control motor parameters can be accurately obtained, the established motor mathematical model is more accurate, and the control is more stable.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a method, device, equipment and storage medium for off-line estimation of parameters of a water pump control motor. Background Art

[0002] In water pump control applications, position sensorless control is commonly used. It is necessary to estimate the motor rotor position based on the motor mathematical model and the motor input and output signals for closed-loop control. Therefore, the accuracy of the mathematical model and the accuracy of the input and output signal measurement have an important impact on the control stability, water pump operation efficiency, and water pump performance.

[0003] At present, the common practice in the field of electronic water pumps is to use the motor parameters calculated by motor simulation software or the parameters measured by a digital bridge as the basis for building a motor mathematical model; and then estimate the rotor angle based on the actual detected voltage and current signals of the three phases of the motor.

[0004] At present, the measurement of water pump motor parameters has the following shortcomings: due to differences in manufacturing processes and deviations in boundary conditions, there are deviations between the motor parameters calculated by the motor simulation software and the actual motor parameters. Due to different rotor positions, there are deviations between the motor parameters (or converted parameters) measured by the digital bridge and the actual motor parameters; due to the acquisition error of the sensor, the control error of the actuator, and the influence of the driver circuit on the motor phase voltage and phase current, there are deviations between the voltage and current data used in the motor mathematical model and the actual collected voltage and current data. Summary of the invention

[0005] The present application provides a method, device, equipment and storage medium for offline estimation of water pump control motor parameters, aiming to solve at least one of the above problems.

[0006] In a first aspect, an embodiment of the present invention provides a method for offline estimating parameters of a water pump control motor, comprising:

[0007] A DC voltage of a preset voltage vector is input to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed;

[0008] Determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage;

[0009] Inputting corresponding direct-axis high-frequency alternating voltage and quadrature-axis high-frequency alternating voltage to the direct-axis and quadrature-axis respectively according to preset frequencies and preset amplitudes, collecting three-phase currents through the driver, and obtaining direct-axis current components and quadrature-axis current components;

[0010] The direct-axis inductance and the direct-axis internal resistance are calculated according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and the quadrature-axis inductance and the direct-axis internal resistance are calculated according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component.

[0011] In a second aspect, an embodiment of the present invention provides a device for offline estimating parameters of a water pump control motor, comprising:

[0012] A DC voltage input module, used for inputting a DC voltage of a preset voltage vector to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed;

[0013] An internal resistance determination module, used to determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage;

[0014] A current component acquisition module, used to input corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to a preset frequency and a preset amplitude, collect three-phase current through the driver, and obtain direct-axis current component and quadrature-axis current component;

[0015] The inductance calculation module is used to calculate the direct-axis inductance and the DC internal resistance according to the direct-axis high-frequency AC voltage and the direct-axis current component, and to calculate the quadrature-axis inductance and the DC internal resistance according to the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0017] one or more processors;

[0018] A memory for storing one or more programs;

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for offline estimation of parameters of a water pump control motor as provided in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute a method for offline estimation of parameters of a water pump control motor as provided in any embodiment of the present invention.

[0021] The embodiments of the present invention provide a method, device, equipment and storage medium for off-line estimation of pump control motor parameters, which use a real motor and a real driver to measure the characteristic parameters of the motor, thereby reducing the deviation between the calculated parameters and the actual parameters and the error of the actual collected signal, thereby making the established motor mathematical model more accurate and the control more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flow chart of a method for offline estimation of parameters of a water pump control motor provided in the first embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of an off-line estimation device for parameters of a water pump control motor provided in the second embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention;

[0025] Figure 4 A hardware schematic diagram of off-line estimation of parameters of a water pump control motor in an embodiment of the present invention;

[0026] Figure 5 is a curve diagram of the actual amplitude and phase of voltage and current in an embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the vector superposition relationship in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] Embodiment 1

[0030] Figure 1 A flow chart of a method for offline estimation of pump control motor parameters provided in the first embodiment of the present invention is shown in FIG. Figure 4 As shown, a command is sent to the water pump driver by the host computer so that the driver injects a specified voltage vector into the water pump motor. Under the condition of injecting different voltage vectors, the operation data of the water pump motor is read, and the parameters of the motor are estimated based on the data. The method can be executed by an offline estimation device for the parameters of the water pump control motor, which can be implemented by hardware and / or software and can generally be integrated in an electronic device, such as a computer device. The method specifically includes:

[0031] Step 110: Input a DC voltage of a preset voltage vector to the water pump motor through a driver. Under the action of the DC voltage, the rotor of the water pump motor rotates to a specified preset angle and keeps the rotor position fixed.

[0032] Among them, a DC voltage is input to the water pump motor through the driver of the motor configured in the water pump. For a three-phase AC motor, the DC voltage U_d is output to the water pump motor after the inverse Park transformation and Clark transformation. The angle of the rotor is the direct axis position, and the DC voltage U_d of the preset voltage vector is input. The setting of the preset angle depends on the position of the rotor angle of the water pump motor during parameter estimation. The setting of the DC voltage U_d of the preset voltage vector needs to ensure that the water pump rotor can follow the loaded DC voltage U_d to the specified preset angle under the current water pump load condition. When the water pump motor rotor rotates to the specified preset angle under the action of the DC voltage U_d, one way is to fix the rotor angle externally to keep the rotor position fixed, and the DC voltage U_d can be released at this time; another way is to maintain the DC voltage U_d and keep the rotor position fixed without external intervention.

[0033] Step 120: Determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage.

[0034] Among them, when the rotor of the water pump motor rotates to the specified preset angle under the action of the DC voltage U_d, the magnitude of the three-phase current is read by the driver, and after Clark transformation and Park transformation, the DC current component I_d at this time is obtained, and the DC internal resistance Rs=U_d / I_d is calculated. As for whether the DC voltage U_d is released after determining the internal resistance, it depends on whether the direct axis of the water pump motor is saturated. If the DC current I_d causes the direct axis to be saturated, the DC voltage U_d should be reduced until the DC voltage U_d is completely released. After obtaining the DC internal resistance, it can be determined whether the calculated internal resistance is reasonable. If it is unreasonable, the DC parameters can be changed and steps 110 and 120 can be re-executed.

[0035] Step 130 , inputting corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to preset frequency and preset amplitude, collecting three-phase current through the driver, and obtaining direct-axis current component and quadrature-axis current component.

[0036] The direct axis and quadrature axis are set at a preset frequency (ω) and a preset amplitude (U amp ) respectively injects direct-axis high-frequency AC voltage U_ad=U amp cos(ωt) and quadrature-axis high-frequency AC voltage U_aq=U amp sin(ωt), after inverse Park transform and inverse Clark transform, is loaded into the three phases of the motor. The frequency (ω) and amplitude (U amp ) is selected to prevent the motor rotor from shaking under high-frequency voltage signals.

[0037] The three-phase current is collected by the driver, and after Clark transformation and Park transformation, the direct axis current component I_ad and the quadrature axis current component I_aq are obtained, and the direct axis current component I_ad and the quadrature axis current component I_aq as well as the direct axis high frequency AC voltage U_ad and the quadrature axis high frequency AC voltage U_aq signals are band-pass filtered. The passband center frequency of the band-pass filter is the injected high frequency preset frequency (ω). The stopband frequency of the band-pass filter is below the pump speed frequency.

[0038] Step 140: Calculate the direct-axis inductance and the direct-axis internal resistance according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and calculate the quadrature-axis inductance and the direct-axis internal resistance according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component.

[0039] Among them, the collected U_ad and U_aq should satisfy the following relationship: U_ad=U amp cos(θ+ψ ud ), U_aq=U amp sin(θ+ψ uq ), since U_ad is the projection of the voltage space vector on the direct axis at different times, and U_aq is the projection of the voltage space vector on the quadrature axis at different times, therefore:

[0040] The collected data U_ad, U_aq, θ are estimated using the least squares method. amp , ψ ud , ψ ud The phase of the direct-axis voltage, the purpose of the least squares method is to estimate the amplitude and phase of the trigonometric function based on the collected data.

[0041] The collected I_ad and I_aq should satisfy the following relationship: I_ad=I amp cos(θ+ψ id ), I_aq=I amp sin(θ+ψ iq ) Similarly, the collected data I_ad, I_aq, θ are estimated using the least squares method. amp , ψ id , ψ id is the phase of the direct axis current, ψ iq is the phase of the quadrature-axis current.

[0042] U amp , ψ ud , I amp , ψ id , should satisfy the following vector superposition relationship (such as Figure 6 ): U_ad=Rs·I_ad+jωLd, that is, U amp cos(ψ ud -ψid )=R s I amp , U amp sin(ψ ud -ψ id )=ωL d I amp , calculate the direct axis inductance (Ld) and Rs based on the amplitude and phase difference of U_ad and I_ad. id is the phase of the direct axis current, ψ ud is the phase of the direct-axis voltage.

[0043] In the same way, U_aq=Rs·I_aq+jωLq, that is, U amp sin(ψ uq -ψ iq )=RsI amp , U amp cos(ψ uq -ψ iq )=ωLqI amp , the quadrature-axis inductance (Lq) and Rs can be calculated based on the amplitude and phase difference of U_aq and I_aq. iq is the phase of the quadrature-axis current, ψ uq is the phase of the quadrature axis voltage. In this way, the direct axis inductance, quadrature axis inductance, and DC internal resistance of the control motor parameters are obtained. After obtaining the direct axis inductance and quadrature axis inductance, it can be determined whether the calculated direct axis inductance and quadrature axis inductance are reasonable. If not, the AC parameters can be changed and steps 130 and 140 can be re-executed.

[0044] The technical solution of this embodiment uses a real motor and a real driver to measure the characteristic parameters of the motor, thereby reducing the deviation between the calculated parameters and the actual parameters and the error of the actual collected signal, thereby making the established motor mathematical model more accurate and the control more stable.

[0045] The influence of motor parameter measurement error / simulation error is eliminated; the influence of controller signal detection deviation is eliminated; the control parameters are estimated based on actual data using the least squares method, reducing the influence of random interference in the test process. The motor parameters are estimated offline using the target controller and introduced into the mathematical model of the motor, which enhances control stability and reduces angle deviation.

[0046] The actual amplitude and phase of voltage and current in one cycle are as follows: Figure 5 As shown (the blue circle is the current sampling value, the red line is the current curve matched according to the sampling data, and the blue line is the voltage value).

[0047] Optionally, the step of inputting a DC voltage of a preset voltage vector to the water pump motor through the driver, and the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed, includes:

[0048] A DC voltage of a preset voltage vector is input at a preset angle position of the stator coil, and the DC voltage is subjected to an inverse Park transformation and a Clark transformation, and then outputs a three-phase voltage to the water pump motor through a driver;

[0049] When the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage, the rotor is fixed by an external rotor fixing device to keep the rotor position fixed, or the preset DC voltage is maintained to keep the rotor position fixed.

[0050] Optionally, determining the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage includes:

[0051] The three-phase current is read by the driver, and the DC current is obtained through Clark transformation and Park transformation.

[0052] Calculate the DC internal resistance, where Rs=U_d / I_d, Rs is the DC internal resistance, U_d is the DC voltage, and I_d is the DC current.

[0053] Optionally, after determining the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage, the method further includes:

[0054] If the DC current causes the direct axis to saturate, the DC voltage is reduced to completely release the DC voltage.

[0055] Optionally, inputting corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to a preset frequency and a preset amplitude, collecting three-phase current through the driver, and obtaining the direct-axis current component and the quadrature-axis current component, comprises:

[0056] The direct axis and the quadrature axis are respectively injected with a direct axis high frequency AC voltage U_ad=U according to a preset frequency and a preset amplitude. amp cos(ωt) and quadrature-axis high-frequency AC voltage U_aq=U amp sin(ωt), where the preset frequency is ω and the preset amplitude is U amp , t is time;

[0057] The three-phase current is collected by the driver, and after Clark transformation and Park transformation, the direct-axis current component and the quadrature-axis current component are obtained, wherein the direct-axis current component is I_ad and the quadrature-axis current component is I_aq.

[0058] Optionally, the calculating of the direct-axis inductance and the direct-axis internal resistance according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and the calculating of the quadrature-axis inductance and the direct-axis internal resistance according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component, includes:

[0059] According to U_ad=Rs·I_ad+jωLd, the direct-axis inductance and DC internal resistance are calculated based on the amplitude and phase difference of U_ad and I_ad, where Rs is the DC internal resistance, j is the imaginary unit, and Ld is the direct-axis inductance;

[0060] According to U_aq=Rs·I_aq+jωLq, the quadrature-axis inductance and the DC internal resistance are calculated according to the amplitude and phase difference of U_aq and I_aq, where Lq is the quadrature-axis inductance.

[0061] Embodiment 2

[0062] Figure 2 A schematic diagram of the structure of an off-line estimation device for parameters of a water pump control motor provided in the second embodiment of the present invention is shown in FIG. Figure 2 As shown, the pump control motor parameter offline estimation device includes: a DC voltage input module 210, an internal resistance determination module 220, a current component acquisition module 230 and an inductance calculation module 240, wherein:

[0063] A DC voltage input module 210 is used to input a DC voltage of a preset voltage vector to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed;

[0064] An internal resistance determination module 220, configured to determine a DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage;

[0065] A current component acquisition module 230, for inputting corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to a preset frequency and a preset amplitude, collecting three-phase current through the driver, and obtaining direct-axis current components and quadrature-axis current components;

[0066] The inductance calculation module 240 is used to calculate the direct-axis inductance and the direct-axis internal resistance according to the direct-axis high-frequency AC voltage and the direct-axis current component, and to calculate the quadrature-axis inductance and the direct-axis internal resistance according to the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

[0067] Optionally, the DC voltage input module is specifically used for:

[0068] A DC voltage of a preset voltage vector is input at a preset angle position of the stator coil, and the DC voltage is subjected to an inverse Park transformation and a Clark transformation, and then outputs a three-phase voltage to the water pump motor through a driver;

[0069] When the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage, the rotor is fixed by an external rotor fixing device to keep the rotor position fixed, or the preset DC voltage is maintained to keep the rotor position fixed.

[0070] Optionally, the internal resistance determination module 220 is specifically configured to:

[0071] The three-phase current is read by the driver, and the DC current is obtained through Clark transformation and Park transformation.

[0072] Calculate the DC internal resistance, where Rs=U_d / I_d, Rs is the DC internal resistance, U_d is the DC voltage, and I_d is the DC current.

[0073] Optionally, the device for estimating parameters of a water pump control motor offline further includes:

[0074] The DC voltage release module is used to reduce the DC voltage to completely release the DC voltage after determining the DC internal resistance based on the read three-phase current of the water pump motor and the DC voltage, if the DC current causes direct-axis saturation.

[0075] Optionally, the current component acquisition module 230 is specifically used for:

[0076] The direct axis and the quadrature axis are respectively injected with a direct axis high frequency AC voltage U_ad=U according to a preset frequency and a preset amplitude. amp cos(ωt) and quadrature-axis high-frequency AC voltage U_aq=U amp sin(ωt), where the preset frequency is ω and the preset amplitude is U amp , t is time;

[0077] The three-phase current is collected by the driver, and after Clark transformation and Park transformation, the direct-axis current component and the quadrature-axis current component are obtained, wherein the direct-axis current component is I_ad and the quadrature-axis current component is I_aq.

[0078] Optionally, the inductance calculation module 240 is specifically used for:

[0079] According to U_ad=Rs·I_ad+jωLd, the direct-axis inductance and DC internal resistance are calculated based on the amplitude and phase difference of U_ad and I_ad, where Rs is the DC internal resistance, j is the imaginary unit, and Ld is the direct-axis inductance;

[0080] According to U_aq=Rs·I_aq+jωLq, the quadrature-axis inductance and the DC internal resistance are calculated according to the amplitude and phase difference of U_aq and I_aq, where Lq is the quadrature-axis inductance.

[0081] The device for estimating parameters of a water pump control motor provided in an embodiment of the present invention can execute the method for estimating parameters of a water pump control motor provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0082] Embodiment 3

[0083] Figure 3 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention is shown in FIG. Figure 3 As shown, the electronic device includes a processor 310, a memory 320, an input device 330 and an output device 340; the number of the processor 310 in the electronic device can be one or more. Figure 3 A processor 310 is taken as an example; the processor 310, the memory 320, the input device 330 and the output device 340 in the electronic device can be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0084] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the method for offline estimation of water pump control motor parameters in the embodiment of the present invention (for example, the DC voltage input module 210, the internal resistance determination module 220, the current component acquisition module 230 and the inductance calculation module 240 in the device for offline estimation of water pump control motor parameters). The processor 310 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 320, that is, realizes the above-mentioned method for offline estimation of water pump control motor parameters.

[0085] The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0086] The input device 330 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 340 may include a display device such as a display screen.

[0087] Embodiment 4

[0088] Embodiment 4 of the present invention further provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute a method for offline estimating parameters of a water pump control motor when executed by a computer processor, including:

[0089] A DC voltage of a preset voltage vector is input to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed;

[0090] Determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage;

[0091] Inputting corresponding direct-axis high-frequency alternating voltage and quadrature-axis high-frequency alternating voltage to the direct-axis and quadrature-axis respectively according to preset frequencies and preset amplitudes, collecting three-phase currents through the driver, and obtaining direct-axis current components and quadrature-axis current components;

[0092] The direct-axis inductance and the direct-axis internal resistance are calculated according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and the quadrature-axis inductance and the direct-axis internal resistance are calculated according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component.

[0093] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the offline estimation method for water pump control motor parameters provided in any embodiment of the present invention.

[0094] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0095] It is worth noting that in the above-mentioned embodiment of the offline estimation device for the parameters of the water pump control motor, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0096] Although the present invention has been described in detail above by means of general description, specific implementation methods and tests, it is obvious to those skilled in the art that some modifications or improvements may be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A method for offline estimation of pump control motor parameters, characterized in that: include: A DC voltage of a preset voltage vector is input to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed; Determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage; Inputting corresponding direct-axis high-frequency alternating voltage and quadrature-axis high-frequency alternating voltage to the direct-axis and quadrature-axis respectively according to preset frequencies and preset amplitudes, collecting three-phase currents through the driver, and obtaining direct-axis current components and quadrature-axis current components; The direct-axis inductance and the direct-axis internal resistance are calculated according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and the quadrature-axis inductance and the direct-axis internal resistance are calculated according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component.

2. The method according to claim 1, characterized in that The step of inputting a DC voltage of a preset voltage vector to the water pump motor through the driver, and rotating the water pump motor rotor to a specified preset angle and keeping the rotor position fixed under the action of the DC voltage, comprises: A DC voltage of a preset voltage vector is input at a preset angle position of the stator coil, and the DC voltage is subjected to an inverse Park transformation and a Clark transformation, and then outputs a three-phase voltage to the water pump motor through a driver; When the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage, the rotor is fixed by an external rotor fixing device to keep the rotor position fixed, or the preset DC voltage is maintained to keep the rotor position fixed.

3. The method according to claim 2, characterized in that The step of determining the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage comprises: The three-phase current is read by the driver, and the DC current is obtained through Clark transformation and Park transformation. Calculate the DC internal resistance, where Rs=U_d / I_d, Rs is the DC internal resistance, U_d is the DC voltage, and I_d is the DC current.

4. The method according to claim 1, characterized in that: After determining the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage, the method further includes: If the DC current causes the direct axis to saturate, the DC voltage is reduced to completely release the DC voltage.

5. The method according to claim 1 or 4, characterized in that: The method of inputting corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to the preset frequency and the preset amplitude, collecting three-phase current through the driver, and obtaining the direct-axis current component and the quadrature-axis current component comprises: The direct axis and the quadrature axis are respectively injected with a direct axis high frequency AC voltage U_ad=U according to a preset frequency and a preset amplitude. amp cos(ωt) and quadrature-axis high-frequency AC voltage U_aq=U amp sin(ωt), where the preset frequency is ω and the preset amplitude is U amp , t is time; The three-phase current is collected by the driver, and after Clark transformation and Park transformation, the direct-axis current component and the quadrature-axis current component are obtained, wherein the direct-axis current component is I_ad and the quadrature-axis current component is I_aq.

6. The method according to claim 5, characterized in that The calculating of the direct-axis inductance and the direct-axis internal resistance according to the direct-axis high-frequency alternating voltage and the direct-axis current component, and the calculating of the quadrature-axis inductance and the direct-axis internal resistance according to the quadrature-axis high-frequency alternating voltage and the quadrature-axis current component, comprises: According to U_ad=Rs·I_ad+jωLd, the direct-axis inductance and DC internal resistance are calculated based on the amplitude and phase difference of U_ad and I_ad, where Rs is the DC internal resistance, j is the imaginary unit, and Ld is the direct-axis inductance; According to U_aq=Rs·I_aq+jωLq, the quadrature-axis inductance and the DC internal resistance are calculated according to the amplitude and phase difference of U_aq and I_aq, where Lq is the quadrature-axis inductance.

7. A device for off-line estimation of pump control motor parameters, characterized in that: include: A DC voltage input module, used for inputting a DC voltage of a preset voltage vector to the water pump motor through a driver, and the rotor of the water pump motor rotates to a specified preset angle under the action of the DC voltage and keeps the rotor position fixed; An internal resistance determination module, used to determine the DC internal resistance according to the read three-phase current of the water pump motor and the DC voltage; A current component acquisition module, used to input corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage to the direct-axis and quadrature-axis respectively according to a preset frequency and a preset amplitude, collect three-phase current through the driver, and obtain direct-axis current component and quadrature-axis current component; The inductance calculation module is used to calculate the direct-axis inductance and the DC internal resistance according to the direct-axis high-frequency AC voltage and the direct-axis current component, and to calculate the quadrature-axis inductance and the DC internal resistance according to the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

8. The device according to claim 7, characterized in that The DC voltage input module is specifically used for: A DC voltage of a preset voltage vector is input at a preset angle position of the stator coil, and the DC voltage is subjected to an inverse Park transformation and a Clark transformation, and then outputs a three-phase voltage to the water pump motor through a driver; When the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage, the rotor is fixed by an external rotor fixing device to keep the rotor position fixed, or the preset DC voltage is maintained to keep the rotor position fixed.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the water pump control motor parameter offline estimation method as described in any one of claims 1-6.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the off-line estimation method for parameters of a water pump control motor as described in any one of claims 1 to 6 when executed by a computer processor.

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