Offline estimation method, device, equipment and storage medium for water pump control motor parameters

Abstract

This application relates to an offline estimation method, apparatus, device, and storage medium for water pump control motor parameters. The method includes: inputting a preset voltage vector DC voltage to the water pump motor via a driver; the water pump motor rotor rotates to a specified preset angle under the action of the DC voltage and maintains a fixed rotor position; determining the DC internal resistance based on the read three-phase current and DC voltage of the water pump motor; 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 frequencies and preset amplitudes; acquiring the three-phase current through a driver to obtain the direct-axis current component and quadrature-axis current component; calculating the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and direct-axis current component; and calculating the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC voltage and quadrature-axis current component. The technical solution of this application embodiment can accurately obtain control motor parameters, making the established motor mathematical model more precise and the control more stable.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to an offline estimation method, apparatus, equipment, and storage medium for water pump control motor parameters. Background Technology

[0002] In water pump control applications, sensorless control is commonly used. This requires estimating the rotor position of the motor based on its mathematical model and input / output signals for closed-loop control. Therefore, the accuracy of the mathematical model and the accuracy of the input / output signal measurements have a significant impact on the stability of the control, the pump's operating efficiency, and the pump's performance.

[0003] 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 digital bridge as the basis for building the mathematical model of the motor; and then estimate the rotor angle based on the actual detected three-phase voltage and current signals of the motor.

[0004] Currently, the measurement of water pump motor parameters has the following drawbacks: Due to differences in manufacturing processes and deviations in boundary conditions, the motor parameters calculated by motor simulation software deviate from the actual motor parameters. Due to different rotor positions, the motor parameters (or converted parameters) measured by the digital bridge deviate from the actual motor parameters. Due to sensor acquisition errors, actuator control errors, and the influence of the driver circuit on the motor phase voltage and phase current, the voltage and current data used in the motor's mathematical model deviate from the actual acquired voltage and current data. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for offline estimation of pump control motor parameters, with the aim of solving at least one of the above problems.

[0006] In a first aspect, embodiments of the present invention provide an offline estimation method for the parameters of a water pump control motor, including:

[0007] A DC voltage with a preset voltage vector is input to the water pump motor by the 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.

[0008] The DC internal resistance is determined based on the read three-phase current of the water pump motor and the DC voltage.

[0009] According to the preset frequency and preset amplitude, the corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage are input to the direct axis and quadrature axis respectively. The driver collects the three-phase current to obtain the direct-axis current component and the quadrature-axis current component.

[0010] The direct-axis inductance and DC internal resistance are calculated based on the direct-axis high-frequency AC voltage and the direct-axis current component, and the quadrature-axis inductance and DC internal resistance are calculated based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

[0011] Secondly, embodiments of the present invention provide an offline estimation device for water pump control motor parameters, comprising:

[0012] The DC voltage input module is used to input a DC voltage with a preset voltage vector to the water pump motor through the 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.

[0013] The internal resistance determination module is used to determine the DC internal resistance based on the read three-phase current of the water pump motor and the DC voltage;

[0014] The current component acquisition module is 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, and to acquire three-phase current through the driver to obtain direct-axis current component and quadrature-axis current component.

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

[0016] Thirdly, embodiments of the present invention provide an electronic device, including:

[0017] One or more processors;

[0018] Memory, used to store 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 offline estimation method for water pump control motor parameters as provided in any embodiment of the present invention.

[0020] Fourthly, embodiments of the present invention provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an offline estimation method for water pump control motor parameters as provided in any embodiment of the present invention.

[0021] This invention provides an offline estimation method, apparatus, device, and storage medium for water pump control motor parameters. By using a real motor and a real driver to determine the motor's characteristic parameters, it reduces the deviation between calculated and actual parameters, as well as the error in the actual acquired signals. This results in a more accurate mathematical model of the motor and more stable control. Attached Figure Description

[0022] Figure 1 This is a flowchart of an offline estimation method for water pump control motor parameters provided in Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of an offline estimation device for water pump control motor parameters provided in Embodiment 2 of the present invention;

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

[0025] Figure 4 This is a hardware schematic diagram of offline estimation of water pump control motor parameters in an embodiment of the present invention;

[0026] Figure 5 This is a graph showing the actual amplitude and phase of voltage and current in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the vector superposition relationship in an embodiment of the present invention. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0029] Example 1

[0030] Figure 1 This is a flowchart of an offline estimation method for water pump control motor parameters provided in Embodiment 1 of the present invention, as shown below. Figure 4 As shown, a host computer sends a command to the water pump driver to inject a specified voltage vector into the water pump motor. Under different voltage vector injection conditions, the operating data of the water pump motor is read, and the motor parameters are estimated based on this data. This method can be executed by an offline parameter estimation device for the water pump control motor. This device can be implemented by hardware and / or software and is generally integrated into electronic devices, such as computer equipment. Specifically, the method includes:

[0031] Step 110: Input a DC voltage with a preset voltage vector to the water pump motor through the 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] In this process, a DC voltage is input to the water pump motor via a driver configured within the pump. For a three-phase AC motor, the DC voltage U_d is output to the pump motor after inverse Park and Clark transformations. The rotor's angle is the direct-axis position. A preset voltage vector of DC voltage U_d is input, and the preset angle depends on the rotor's position during parameter estimation. The preset voltage vector of DC voltage U_d must ensure that, under the current pump load conditions, the pump rotor can rotate to the specified preset angle following the applied DC voltage U_d. Once the pump motor rotor has rotated to the specified preset angle under the action of DC voltage U_d, one approach is to externally fix the rotor angle to maintain a fixed rotor position, at which point the DC voltage U_d can be released. Another approach 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 based on the read three-phase current of the water pump motor and the DC voltage.

[0034] In this process, after the water pump motor rotor rotates to a predetermined angle under the action of DC voltage U_d, the magnitude of the three-phase current is read by the driver, and after Clark and Park transformations, the DC current component I_d is obtained, and the DC internal resistance Rs = U_d / I_d is calculated. Whether to release the DC voltage U_d after determining the internal resistance depends on whether the direct shaft of the water pump motor is saturated. If the DC current I_d causes the direct shaft to saturate, the DC voltage U_d should be reduced until it is completely released. After obtaining the DC internal resistance, it can be judged whether the calculated internal resistance is reasonable. If it is unreasonable, steps 110 and 120 can be re-executed by changing the DC parameters.

[0035] Step 130: Input the 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 preset amplitude, and collect the three-phase current through the driver to obtain the direct-axis current component and quadrature-axis current component.

[0036] Among them, the direct axis and the quadrature axis are set according to a preset frequency (ω) and a preset amplitude (U). amp Inject direct-axis high-frequency AC voltage U_ad=U respectively amp cos(ωt) and quadrature-axis high-frequency AC voltage U_aq=U amp sin(ωt), after inverse Park and inverse Clark transformations, is applied to the three phases of the motor. The frequency (ω) and amplitude (U) of the high-frequency AC voltage... amp The selection of the appropriate type of motor rotor needs to prevent the motor rotor from vibrating under high-frequency voltage signals.

[0037] Three-phase current is acquired via a driver and subjected to Clark and Park transforms to obtain the direct-axis current component I_ad and the quadrature-axis current component I_aq. Bandpass filtering is then applied to the direct-axis current component I_ad, the quadrature-axis current component I_aq, and the direct-axis high-frequency AC voltage U_ad and the quadrature-axis high-frequency AC voltage U_aq. The passband center frequency of the bandpass filter is the preset frequency (ω) of the injected high frequency. The stopband frequency of the bandpass filter is below the pump speed frequency.

[0038] Step 140: Calculate the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component; calculate the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

[0039] 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 onto the direct axis at different times, and U_aq is the projection of the voltage space vector onto the quadrature axis at different times, therefore:

[0040] For the collected data U_ad, U_aq, and θ, estimate U using the least squares method. amp , ψ ud , ψ ud The phase of a direct-axis voltage is estimated using the least squares method by taking the collected data to determine the magnitude and phase of the trigonometric function.

[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, for the collected data I_ad, I_aq, and θ, the least squares method is used to estimate I. amp , ψ id , ψ id It is the phase of the direct-axis current, ψ iq It is the phase of the quadrature-axis current.

[0042] U amp , ψ ud I amp , ψ id It should satisfy the following vector superposition relationship (e.g. 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 The direct-axis inductance (Ld) and Rs are calculated based on the amplitude and phase difference of U_ad and I_ad. id It is the phase of the direct-axis current, ψ ud It is the phase of the direct-axis voltage.

[0043] Similarly, 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 It is the phase of the quadrature-axis current, ψ uq This is the phase of the quadrature-axis voltage. This yields the direct-axis inductance, quadrature-axis inductance, and DC internal resistance, which control the motor parameters. 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 in this embodiment uses a real motor and a real driver to determine the motor's characteristic parameters, reducing the deviation between calculated and actual parameters and the error in the actual acquired signals. This results in a more accurate mathematical model of the motor and more stable control.

[0045] The effects of motor parameter measurement / simulation errors and controller signal detection deviations were eliminated. The least squares method was used to estimate control parameters based on actual data, reducing the impact of random interference during testing. Offline estimation of motor parameters using the target controller, and their input into the motor's mathematical model, resulted in enhanced control stability and smaller angle deviations.

[0046] The actual amplitude and phase of voltage and current within one cycle are as follows: Figure 5 As shown (blue circles represent current sampling values, red lines represent current curves matched based on sampling data, and blue lines represent voltage values).

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

[0048] A DC voltage with a preset voltage vector is input at a preset angle position of the stator coil. After the DC voltage undergoes inverse Park transformation and Clark transformation, the three-phase voltage is output to the water pump motor through the driver.

[0049] After 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 based on the read three-phase current of the water pump motor and the DC voltage includes:

[0051] The magnitude of the three-phase current is read by the driver, and the DC current is obtained by 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 based on the read three-phase current of the water pump motor and the DC voltage, the method further includes:

[0054] If the DC current causes direct-axis saturation, then reduce the DC voltage until the DC voltage is completely released.

[0055] Optionally, the step 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 a preset frequency and a preset amplitude, and acquiring three-phase current through the driver to obtain the direct-axis current component and the quadrature-axis current component, includes:

[0056] The direct axis and quadrature axis are injected with high-frequency AC voltage U_ad = U according to preset frequency and preset amplitude, respectively. 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 acquired by a driver and then subjected to Clark and Park transformations to obtain the direct-axis current component and the quadrature-axis current component. The direct-axis current component is I_ad and the quadrature-axis current component is I_aq.

[0058] Optionally, the step of calculating the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component, and calculating the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC 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] Based on the formula U_aq=Rs·I_aq+jωLq, the quadrature-axis inductance and 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] Example 2

[0062] Figure 2 This is a schematic diagram of the structure of an offline estimation device for water pump control motor parameters provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the offline estimation device for the parameters of the water pump control motor 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] The DC voltage input module 210 is used to input a DC voltage with a preset voltage vector to the water pump motor through the 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.

[0064] The internal resistance determination module 220 is used to determine the DC internal resistance based on the read three-phase current of the water pump motor and the DC voltage;

[0065] The current component acquisition module 230 is 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, and to acquire three-phase current through the driver to obtain direct-axis current component and quadrature-axis current component.

[0066] The inductance calculation module 240 is used to calculate the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component, and to calculate the quadrature-axis inductance and DC internal resistance based on 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 with a preset voltage vector is input at a preset angle position of the stator coil. After the DC voltage undergoes inverse Park transformation and Clark transformation, the three-phase voltage is output to the water pump motor through the driver.

[0069] After 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] Optional, the internal resistance determination module 220 is specifically used for:

[0071] The magnitude of the three-phase current is read by the driver, and the DC current is obtained by 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 offline estimation device for water pump control motor parameters also includes:

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

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

[0076] The direct axis and quadrature axis are injected with high-frequency AC voltage U_ad = U according to preset frequency and preset amplitude, respectively. 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 acquired by a driver and then subjected to Clark and Park transformations to obtain the direct-axis current component and the quadrature-axis current component. The direct-axis current component is I_ad and the quadrature-axis current component is I_aq.

[0078] Optional, 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] Based on the formula U_aq=Rs·I_aq+jωLq, the quadrature-axis inductance and 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 offline estimation device for water pump control motor parameters provided in this embodiment of the invention can execute the offline estimation method for water pump control motor parameters provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0082] Example 3

[0083] Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention, as shown below. 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 processors 310 in the electronic device can be one or more. Figure 3 Taking a processor 310 as an example; the processor 310, memory 320, input device 330, and output device 340 in the electronic device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0084] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the offline estimation method for water pump control motor parameters in this embodiment of the invention (e.g., the DC voltage input module 210, internal resistance determination module 220, current component acquisition module 230, and inductance calculation module 240 in the offline estimation device for 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, thereby realizing the aforementioned offline estimation method for water pump control motor parameters.

[0085] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0087] Example 4

[0088] Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an offline estimation method for water pump control motor parameters, including:

[0089] A DC voltage with a preset voltage vector is input to the water pump motor by the 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.

[0090] The DC internal resistance is determined based on the read three-phase current of the water pump motor and the DC voltage.

[0091] According to the preset frequency and preset amplitude, the corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage are input to the direct axis and quadrature axis respectively. The driver collects the three-phase current to obtain the direct-axis current component and the quadrature-axis current component.

[0092] The direct-axis inductance and DC internal resistance are calculated based on the direct-axis high-frequency AC voltage and the direct-axis current component, and the quadrature-axis inductance and DC internal resistance are calculated based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component.

[0093] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the offline estimation method for water pump control motor parameters provided in any embodiment of the present invention.

[0094] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This 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, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0095] It is worth noting that in the embodiments of the above-mentioned offline estimation device for water pump control motor parameters, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation 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 with general descriptions, specific embodiments, and experiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for offline estimation of parameters of a water pump control motor, characterized in that, include: A DC voltage with a preset voltage vector is input to the water pump motor by the 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. The DC internal resistance is determined based on the read three-phase current of the water pump motor and the DC voltage. According to the preset frequency and preset amplitude, the corresponding direct-axis high-frequency AC voltage and quadrature-axis high-frequency AC voltage are input to the direct axis and quadrature axis respectively. The driver collects the three-phase current to obtain the direct-axis current component and the quadrature-axis current component. Calculating the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component, and calculating the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component; wherein, the calculation of the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component, and the calculation of the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component, includes: according to U_ad = Rs · I_ad + jωLd ,in accordance with The amplitude and phase difference are used to calculate the direct-axis inductance and DC internal resistance, where, DC internal resistance, j The imaginary unit, Ld It is a direct-axis inductor. ω For preset frequency, It is the projection of the voltage space vector onto the direct axis at different times, and the direct-axis current component is... ; according to U_aq = Rs · I_aq + jωLq ,in accordance with and The amplitude and phase difference are used to calculate the quadrature-axis inductance and DC internal resistance, where, Lq It is a quadrature axis inductor. It is the projection of the voltage space vector onto the cross axis at different times, and the cross-axis current component is... .

2. The method according to claim 1, characterized in that, The process of inputting a preset voltage vector to the water pump motor via a driver, causing the water pump motor rotor to rotate to a specified preset angle under the action of the DC voltage and maintain a fixed rotor position, includes: A DC voltage with a preset voltage vector is input at a preset angle position of the stator coil. After the DC voltage undergoes inverse Park transformation and Clark transformation, the three-phase voltage is output to the water pump motor through the driver. After 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 based on the read three-phase current of the water pump motor and the DC voltage includes: The magnitude of the three-phase current is read by the driver, and the DC current is obtained by Clark transformation and Park transformation. Calculate the DC internal resistance, where, , DC internal resistance, DC voltage It is direct current.

4. The method according to claim 1, characterized in that, After determining the DC internal resistance based on the read three-phase current and DC voltage of the water pump motor, the process further includes: If the DC current causes direct-axis saturation, then reduce the DC voltage until the DC voltage is completely released.

5. The method according to claim 1 or 4, characterized in that, The process involves inputting corresponding direct-axis high-frequency AC voltages and quadrature-axis high-frequency AC voltages to the direct-axis and quadrature-axis axes respectively according to preset frequencies and preset amplitudes, and acquiring three-phase currents through the driver to obtain direct-axis current components and quadrature-axis current components, including: Direct-axis and quadrature-axis are injected with high-frequency AC voltages at preset frequencies and preset amplitudes, respectively. and quadrature axis high frequency AC voltage The preset frequency is ω The preset amplitude is t is time; Three-phase current is acquired through a driver and then subjected to Clark and Park transforms to obtain the direct-axis and quadrature-axis current components. The direct-axis current component is... The quadrature-axis current component is .

6. An offline parameter estimation device for a water pump control motor, characterized in that, include: The DC voltage input module is used to input a DC voltage with a preset voltage vector to the water pump motor through the 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. The internal resistance determination module is used to determine the DC internal resistance based on the read three-phase current of the water pump motor and the DC voltage; The current component acquisition module is 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, and to acquire three-phase current through the driver to obtain direct-axis current component and quadrature-axis current component. The inductance calculation module is used to calculate the direct-axis inductance and DC internal resistance based on the direct-axis high-frequency AC voltage and the direct-axis current component, and to calculate the quadrature-axis inductance and DC internal resistance based on the quadrature-axis high-frequency AC voltage and the quadrature-axis current component; specifically, the inductance calculation module is used for: according to U_ad = Rs · I_ad + jωLd ,in accordance with and The amplitude and phase difference are used to calculate the direct-axis inductance and DC internal resistance, where, DC internal resistance, j The imaginary unit, Ld It is a direct-axis inductor. ω For preset frequency, It is the projection of the voltage space vector onto the direct axis at different times, and the direct-axis current component is... ; according to U_aq = Rs · I_aq + jωLq ,in accordance with and The amplitude and phase difference are used to calculate the quadrature-axis inductance and DC internal resistance, where, Lq It is a quadrature axis inductor. It is the projection of the voltage space vector onto the cross axis at different times, and the cross-axis current component is... .

7. The apparatus according to claim 6, characterized in that, The DC voltage input module is specifically used for: A DC voltage with a preset voltage vector is input at a preset angle position of the stator coil. After the DC voltage undergoes inverse Park transformation and Clark transformation, the three-phase voltage is output to the water pump motor through the driver. After 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.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store 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 offline estimation method for water pump control motor parameters as described in any one of claims 1-5.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the offline estimation method for water pump control motor parameters as described in any one of claims 1-5.

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