Motor rotor angle deviation estimation method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to a motor rotor angle deviation estimation method and device, equipment and a storage medium. The method comprises the steps of determining a motor voltage balance equation under the deviation of a rotor estimation angle and a rotor actual angle based on a voltage and current transformation coordinate system; according to a preset input variable and a preset output variable, establishing a function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage, and determining a to-be-estimated parameter of the function; wherein the preset input variable is a two-element variable; under the condition that the two elements of the preset input variable are alternately set to 0 and 1, multiple sets of preset water pump motor data collected under a preset working condition are input into the function, and the residual square corresponding to each set of preset water pump motor data is determined; and based on a least square method, taking the sum of the residual squares as a target function, and when the target function obtains a minimum value, determining the to-be-estimated parameter as an optimal parameter satisfying the function.

Description

Technical Field

[0001] The present invention relates to the technical field of canned motor pumps, and in particular to a method, device, equipment and storage medium for estimating an angle deviation of a motor rotor. Background Art

[0002] In electronic water pump control applications, permanent magnet motors are generally used as power input sources, and motor control requires real-time acquisition of the position of the motor rotor. However, considering structural installation and cost, electronic water pumps all use position sensorless solutions. In the position sensorless control solution, the rotor angle is calculated by a software observer. The accuracy of the rotor angle plays a vital role in system control.

[0003] At present, the estimation of rotor angle in the application of electronic water pump without position sensor depends on the performance of software observer and the accuracy of motor parameters. The deviation angle between the rotor position and the actual position cannot be estimated. If the deviation angle between the estimated rotor position and the actual position is too large, the system efficiency may be affected by the deviation of rotor angle estimation, the phase current is large, the controller and motor operate under high electrical stress, the reliability is reduced, and it is easy to trigger overcurrent and loss of step, and the control is unstable. Summary of the invention

[0004] The present invention provides a method, device, equipment and storage medium for estimating the angle deviation of a motor rotor, the purpose of which is to estimate the angle deviation between the rotor angle and the actual angle by collecting the running data of the motor.

[0005] In a first aspect, an embodiment of the present invention provides a method for estimating a motor rotor angle deviation, comprising:

[0006] Based on the voltage-current transformation coordinate system, determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system;

[0007] According to the preset input variable and the preset output variable, a function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage is established, and the parameters to be estimated of the function are determined; wherein the preset input variable is a two-element variable, and the parameters to be estimated include at least a deviation between an estimated rotor angle and an actual rotor angle;

[0008] In the case where two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each group of the preset water pump motor data;

[0009] Based on the least square method, the sum of the squares of the residuals is used as the objective function, and the parameters to be estimated when the objective function obtains a minimum value are determined as the optimal parameters that satisfy the function.

[0010] In a second aspect, an embodiment of the present invention provides a device for estimating a motor rotor angle deviation, comprising:

[0011] A voltage balance equation determination module is used to determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle based on the voltage-current transformation coordinate system; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system;

[0012] A function establishment module, used for establishing a function of the preset output variable and the preset input variable, the direct-axis voltage and the quadrature-axis voltage according to the preset input variable and the preset output variable, and determining the parameters to be estimated of the function; wherein the preset input variable is a two-element variable, and the parameters to be estimated at least include the deviation between the estimated rotor angle and the actual rotor angle;

[0013] A function residual square determination module, used for inputting a plurality of groups of preset water pump motor data collected under preset working conditions into the function when two elements of the preset input variable are alternately set to 0 and 1, and determining the residual square corresponding to each group of the preset water pump motor data;

[0014] The optimal parameter estimation module is used to take the residual square sum as the objective function based on the least square method, and determine the parameter to be estimated when the objective function obtains the minimum value as the optimal parameter that satisfies the function.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0016] one or more processors;

[0017] A memory for storing one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the motor rotor angle deviation estimation method provided by any embodiment of the present invention.

[0019] 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 motor rotor angle deviation estimation method as provided in any embodiment of the present invention.

[0020] An embodiment of the present invention provides a method, device, equipment and storage medium for estimating the angle deviation of a motor rotor. By collecting the runtime data of the motor, the angle deviation between the rotor angle and the actual angle is estimated according to a function of preset output variables and preset input variables, direct-axis voltage and quadrature-axis voltage, thereby solving the problem that the rotor angle estimation deviation affects the efficiency of the system and achieving the ability to estimate the angle deviation under position sensorless control by collecting the driver operation data without introducing additional testing equipment and sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of a method for estimating a motor rotor angle deviation provided in Embodiment 1 of the present invention;

[0022] Figure 2 A schematic diagram of a coordinate axis deviation angle in Embodiment 1 of the present invention;

[0023] Figure 3 A schematic diagram of the structure of a motor rotor angle deviation estimation device provided in Embodiment 2 of the present invention;

[0024] Figure 4 is an example comparison diagram of the collected values ​​and calculated values ​​of the shaft voltage and shaft current in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] Embodiment 1

[0028] Figure 1 This is a flow chart of a motor rotor angle deviation estimation method provided in Embodiment 1 of the present invention. This embodiment is applicable to a centrifugal pump driven by a motor, and the motor rotor angle is estimated. The method can be performed by a motor rotor angle deviation estimation device, 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:

[0029] Step 110: Determine the motor voltage balance equation under the deviation between the estimated rotor angle and the actual rotor angle based on the voltage-current transformation coordinate system.

[0030] Among them, the angle deviation between the motor rotor angle estimated by the water pump driver through the software and the actual motor is the deviation between the estimated rotor angle and the actual rotor angle, for example, an angle of θ. Then, the orthogonal axis coordinate system (dq′) of the software's transformation of the motor's three-phase voltage and three-phase current (Clark transformation and Park transformation) and the actual coordinate system (dq) also differ by an angle of θ (e.g. Figure 2 The voltage and current transformation coordinate system is the orthogonal axis coordinate system used by the software to transform the three-phase voltage and three-phase current of the motor. i d is the direct axis current, i q The motor voltage balance equation includes the direct axis voltage balance equation and the quadrature axis voltage balance equation of the voltage and current transformation coordinate system.

[0031] Step 120 : According to the preset input variable and the preset output variable, a function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage is established, and the parameters to be estimated of the function are determined.

[0032] The preset input variable is a two-element variable, and the parameter to be estimated includes at least the deviation between the estimated rotor angle and the actual rotor angle. The preset input variable can be a vector, which is multiplied by the vector composed of the direct-axis voltage represented by the direct-axis voltage balance equation and the quadrature-axis voltage represented by the quadrature-axis voltage balance equation, and is equal to the preset output variable, thereby forming a function. The deviation θ between the estimated rotor angle and the actual rotor angle in the function can be used as the parameter to be estimated, and the direct-axis inductance L can also be used as the parameter to be estimated. d , quadrature axis inductance L q , back electromotive force coefficient K f , DC internal resistance R s It is also used as a parameter to be estimated.

[0033] Step 130, when two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each group of the preset water pump motor data.

[0034] The two elements of the preset input variable are alternately set to 0 and 1, that is, the first element is set to 0 and the second element is set to 1, and then the first element is set to 1 and the second element is set to 0. Multiple groups of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each group of the preset water pump motor data.

[0035] Step 140: Based on the least square method, the sum of the squares of the residuals is used as the objective function, and the parameters to be estimated when the objective function obtains a minimum value are determined as the optimal parameters that satisfy the function.

[0036] The technical solution of this embodiment collects the runtime data of the motor and estimates the angular deviation between the rotor angle and the actual angle based on the function of preset output variables and preset input variables, direct-axis voltage and quadrature-axis voltage, thereby solving the problem that the rotor angle estimation deviation affects the efficiency of the system, and achieving the ability to estimate the angular deviation under position sensorless control by collecting the driver operation data without introducing additional testing equipment and sensors.

[0037] Optionally, determining the motor voltage balance equation under the deviation between the estimated rotor angle and the actual rotor angle based on the rotor angle estimation coordinate system includes:

[0038] The voltage balance equation of the d′ axis is:

[0039]

[0040] The voltage balance equation of the q′ axis is:

[0041]

[0042] Among them, the above motor voltage balance equation does not consider the excessive working condition The d′ axis is the direct axis of the voltage-current transformation coordinate system, the q′ axis is the quadrature axis of the voltage-current transformation coordinate system, and the u d ′ is the direct axis voltage in the voltage-current transformation coordinate system, i d ′ is the direct axis current in the voltage-current transformation coordinate system, u q ′ is the quadrature axis voltage in the voltage-current transformation coordinate system, i q ′ is the quadrature axis current in the voltage-current transformation coordinate system, N s is the motor speed, K e K is the conversion coefficient between the rotation speed and the original frequency. f is the back electromotive force coefficient, R s is the DC internal resistance, θ is the deviation between the estimated rotor angle and the actual rotor angle, L d is the direct-axis inductance, L q is the quadrature-axis inductance.

[0043] The step of establishing a function of the preset output variable, the preset input variable, the direct-axis voltage, and the quadrature-axis voltage according to the preset input variable and the preset output variable comprises:

[0044] Introduce the preset input variable X M = [x1, x2] and the preset output variable u dq′, so that u dq ′=X M [u′ d ,u q ′] T , where u dq ′ is about i′ d ,i q ′,N s , function of x1, x2, u dq ′The function is represented by f.

[0045] The step of determining the parameters to be estimated of the function comprises:

[0046] u dq 'The parameter L of the function d , L q , K f , R s Obtained through measurement, as a constant parameter, the deviation θ as the parameter to be estimated, u dq ′ function is represented by u dq ′=f (θ) (i′ d ,i′ q , N s , x1, x2);

[0047] or,

[0048] u dq ′Function parameter L d , L q , K f , R s , θ are all used as parameters to be estimated, u dq The function is expressed as In this case, it is necessary to ensure that the total number of equations obtained by inputting multiple sets of preset water pump motor data into the function is greater than the number of parameters to be estimated. In this way, the actual angle deviation of the position-free control method can be estimated based on the voltage, current and speed in the rotating coordinate system, and other motor parameters that the position-free observer depends on can also be estimated.

[0049] Before inputting a plurality of groups of preset water pump motor data collected under preset working conditions into the function and determining the residual square corresponding to each group of the preset water pump motor data, the method further includes:

[0050] The water pump is controlled to operate according to the preset working conditions, and the preset water pump motor data is collected; wherein the preset working conditions include the water pump target speed working conditions and the water pump load working conditions, and the preset water pump motor data include the direct-axis voltage, the quadrature-axis voltage, the direct-axis current, the quadrature-axis current and the motor speed. The direct-axis voltage, the quadrature-axis voltage, the direct-axis current and the quadrature-axis current are all voltages and currents in the voltage-current transformation coordinate system.

[0051] Set different target speed conditions for the water pump and make the water pump run in a steady state. Collect u d ′,u q ′,i d ′,i q ′,N s Set different water pump load conditions and make the water pump run in steady state conditions, collect u d ′,u q ′,i d ′,i q ′,N s data.

[0052] In the case where two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined, including:

[0053] Set the default input variable X M =[1,0], u dq ' is the direct axis voltage u of d' axis d '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is p groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i), i′ q (i), N s (i), 1, 0)) 2 ; The number of preset water pump motor data is p groups, where p is a positive integer.

[0054] Set the default input variable X M =[0,1], u dq ' is the direct axis voltage u of q' axis q '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is q groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i), i′ q (i), N s (i), 0, 1)) 2 The number of preset water pump motor data is q groups, where q is a positive integer.

[0055] Based on the least square method, the sum of the squares of the residuals is used as the objective function, and the parameters to be estimated when the objective function obtains a minimum value are determined as the optimal parameters that satisfy the function.

[0056] Based on the least squares method, the residual square sum is used as the objective function. When the objective function reaches the minimum value, that is: , corresponding to L d , L q , K f , R s , the θ parameter is the value that satisfies u dq ′The optimal parameters of the function. It can be understood that when determining the parameters to be estimated, if only the deviation θ is used as the parameter to be estimated, L d , L q , K f , R s , the other parameters in θ are treated as constants. If L d , L q , K f , R s , θ are determined as the parameters to be estimated, and L d , L q , K f , R s , θ are all estimated parameters. The selection of the initial value of the estimated parameter can be based on the range of the estimated parameter and / or the actual measured value.

[0057] After the residual square sum is used as the objective function based on the least squares method, and the parameter to be estimated when the objective function obtains the minimum value is determined as the optimal parameter that satisfies the function, the method further includes:

[0058] The optimal parameters are used to update the configuration of the motor parameters in the motor driver.

[0059] Update the estimated optimal parameters to the configuration of the motor parameters in the drive (L d , L q , K f , R s ), optimize the angle observation accuracy of the drive.

[0060] Embodiment 2

[0061] Figure 3 A schematic diagram of the structure of a motor rotor angle deviation estimation device provided in the second embodiment of the present invention is shown in FIG. Figure 3 As shown, the motor rotor angle deviation estimation device includes: a voltage balance equation determination module 310, a function establishment module 320, a function residual square determination module 330 and an optimal parameter estimation module 340, wherein:

[0062] A voltage balance equation determination module 310 is used to determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle based on the voltage-current transformation coordinate system; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system;

[0063] A function establishment module 320 is used to establish a function of the preset output variable and the preset input variable, the direct-axis voltage and the quadrature-axis voltage according to the preset input variable and the preset output variable, and determine the parameters to be estimated of the function; wherein the preset input variable is a two-element variable, and the parameters to be estimated at least include the deviation between the estimated rotor angle and the actual rotor angle;

[0064] A function residual square determination module 330 is used to input multiple groups of preset water pump motor data collected under preset working conditions into the function when two elements of the preset input variable are alternately set to 0 and 1, and determine the residual square corresponding to each group of the preset water pump motor data;

[0065] The optimal parameter estimation module 340 is used to use the residual square sum as the objective function based on the least square method, and determine the parameter to be estimated when the objective function obtains the minimum value as the optimal parameter that satisfies the function.

[0066] Optionally, the voltage balance equation determination module 310 is specifically configured to:

[0067] The voltage balance equation of the d′ axis is:

[0068]

[0069] The voltage balance equation of the q′ axis is:

[0070]

[0071] Among them, the d′ axis is the direct axis of the voltage-current transformation coordinate system, the q′ axis is the quadrature axis of the voltage-current transformation coordinate system, ud′ is the direct axis voltage in the voltage-current transformation coordinate system, id′ is the direct axis current in the voltage-current transformation coordinate system, and u q ′ is the quadrature axis voltage in the voltage-current transformation coordinate system, i q ′ is the quadrature axis current in the voltage-current transformation coordinate system, N s is the motor speed, K e K is the conversion coefficient between the rotation speed and the original frequency. f is the back electromotive force coefficient, R s is the DC internal resistance, θ is the deviation between the estimated rotor angle and the actual rotor angle, L d is the direct-axis inductance, L q is the quadrature-axis inductance.

[0072] Optionally, the function establishment module 320 is used to:

[0073] Introduce the preset input variable X M = [x1, x2] and the preset output variable u dq ′, so that u dq ′=X M [u′ d ,u q ′] T , where u dq ′ is about i′ d ,i q ′,N s , function of x1, x2, u dq ′The function is represented by f.

[0074] Optionally, the function establishment module 320 is used to:

[0075] u dq 'The parameter L of the function d , L q , K f , R s Obtained through measurement, as a constant parameter, the deviation θ as the parameter to be estimated, u dq ′ function is represented by u dq ′=f (θ) (i′ d , i′ q , N s , x1, x2);

[0076] or,

[0077] u dq ′Function parameter L d , L q , K f , R s , θ are all used as parameters to be estimated, u dq The function is expressed as

[0078] Optionally, the motor rotor angle deviation estimation device further includes:

[0079] The data acquisition module is used to input multiple groups of preset water pump motor data collected under preset working conditions into the function, and before determining the residual square corresponding to each group of the preset water pump motor data, control the water pump to operate according to the preset working conditions and collect the preset water pump motor data; wherein the preset working conditions include the water pump target speed working conditions and the water pump load working conditions, and the preset water pump motor data include the direct-axis voltage, the quadrature-axis voltage, the direct-axis current, the quadrature-axis current and the motor speed.

[0080] Optionally, the function residual square determination module 330 is used to:

[0081] Set the default input variable X M =[1,0], u dq ' is the direct axis voltage u of d' axis d '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is p groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i), i′ q (i), N s (i), 1, 0)) 2 ;

[0082] Set the default input variable X M = [0, 1], u dq ' is the direct axis voltage u of q' axis q '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is q groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i), i′ q (i), N s (i), 0, 1)) 2 .

[0083] Optionally, the motor rotor angle deviation estimation device further includes:

[0084] The motor parameter updating module is used to update the configuration of the motor parameters in the motor driver with the optimal parameters after the estimated parameters when the objective function obtains the minimum value are determined as the optimal parameters that satisfy the function based on the least squares method, taking the sum of the squared residuals as the objective function.

[0085] The motor rotor angle deviation estimation device provided in the embodiment of the present invention can execute the motor rotor angle deviation estimation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0086] Without introducing additional test equipment and sensors, the angle deviation and motor parameters under position sensorless control can be estimated by collecting drive operation data. The motor parameters and angle deviation are introduced into the mathematical model of the motor, and the shaft voltage and current are calculated under the same input, and the shaft voltage and current deviations collected are as follows: Figure 4 As shown (orange is the calculated value, blue is the collected value): the output deviation is very small, indicating that the mathematical model of the motor is accurate and the motor parameter estimation is accurate.

[0087] Embodiment 3

[0088] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention is shown in FIG. Figure 5 As shown, the electronic device includes a processor 510, a memory 520, an input device 530 and an output device 540; the number of the processor 510 in the electronic device can be one or more. Figure 5 A processor 510 is taken as an example; the processor 510, the memory 520, the input device 530 and the output device 540 in the electronic device can be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0089] The memory 520, 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 motor rotor angle deviation estimation method in the embodiment of the present invention (for example, the voltage balance equation determination module 310, the function establishment module 320, the function residual square determination module 330 and the optimal parameter estimation module 340 in the motor rotor angle deviation estimation device). The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 520, that is, realizes the above-mentioned motor rotor angle deviation estimation method.

[0090] The memory 520 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 520 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 520 may further include a memory remotely arranged relative to the processor 510, 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.

[0091] The input device 530 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 540 may include a display device such as a display screen.

[0092] Embodiment 4

[0093] 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 estimating a motor rotor angle deviation when executed by a computer processor, including:

[0094] Based on the voltage-current transformation coordinate system, determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system;

[0095] According to the preset input variable and the preset output variable, a function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage is established, and the parameters to be estimated of the function are determined; wherein the preset input variable is a two-element variable, and the parameters to be estimated include at least a deviation between an estimated rotor angle and an actual rotor angle;

[0096] In the case where two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each group of the preset water pump motor data;

[0097] Based on the least square method, the sum of the squares of the residuals is used as the objective function, and the parameters to be estimated when the objective function obtains a minimum value are determined as the optimal parameters that satisfy the function.

[0098] 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 motor rotor angle deviation estimation method provided in any embodiment of the present invention.

[0099] 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.

[0100] It is worth noting that in the above-mentioned embodiment of the motor rotor angle deviation estimation device, 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.

[0101] Although the present invention has been described in detail above by general description, specific implementation methods and experiments, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A method for estimating a motor rotor angle deviation, characterized in that: include: Based on the voltage-current transformation coordinate system, determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system; According to the preset input variable and the preset output variable, a function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage is established, and the parameters to be estimated of the function are determined; wherein the preset input variable is a two-element variable, and the parameters to be estimated include at least a deviation between an estimated rotor angle and an actual rotor angle; In the case where two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each group of the preset water pump motor data; Based on the least square method, the sum of the squares of the residuals is used as the objective function, and the parameters to be estimated when the objective function obtains a minimum value are determined as the optimal parameters that satisfy the function.

2. The method according to claim 1, characterized in that The motor voltage balance equation under the deviation between the estimated rotor angle and the actual rotor angle is determined based on the rotor angle estimation coordinate system, including: The voltage balance equation of the d′ axis is: The voltage balance equation of the q′ axis is: Among them, the d′ axis is the direct axis of the voltage-current transformation coordinate system, the q′ axis is the quadrature axis of the voltage-current transformation coordinate system, and the u d ′ is the direct axis voltage in the voltage-current transformation coordinate system, i d ′ is the direct axis current in the voltage-current transformation coordinate system, u q ′ is the quadrature axis voltage in the voltage-current transformation coordinate system, i q ′ is the quadrature axis current in the voltage-current transformation coordinate system, N s is the motor speed, K e K is the conversion coefficient between the rotation speed and the original frequency. f is the back electromotive force coefficient, R s is the DC internal resistance, θ is the deviation between the estimated rotor angle and the actual rotor angle, L d is the direct-axis inductance, L q is the quadrature-axis inductance.

3. The method according to claim 2, characterized in that The step of establishing a function of the preset output variable, the preset input variable, the direct-axis voltage, and the quadrature-axis voltage according to the preset input variable and the preset output variable comprises: Introduce the preset input variable X M = [x1, x2] and the preset output variable u dq ′, so that u dq ′=X M [u′ d ,u q ′] T , where u dq ′ is about i′ d ,i q ′,N s , function of x1, x2, u dq ′The function is represented by f.

4. The method according to claim 3, characterized in that The step of determining the parameters to be estimated of the function comprises: u dq 'The parameter L of the function d , L q , K f , R s Obtained through measurement, as a constant parameter, the deviation θ as the parameter to be estimated, u dq ′ function is represented by u dq ′=f (θ) (i′ d ,i′ q ,N s ,x1,x2); or, u dq ′Function parameter L d , L q , K f , R s , θ are all used as parameters to be estimated, u dq The function is expressed as 5. The method according to claim 4, characterized in that Before inputting a plurality of groups of preset water pump motor data collected under preset working conditions into the function and determining the residual square corresponding to each group of the preset water pump motor data, the method further includes: The water pump is controlled to operate according to preset working conditions, and preset water pump motor data is collected; wherein the preset working conditions include water pump target speed working conditions and water pump load working conditions, and the preset water pump motor data includes direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature-axis current and motor speed.

6. The method according to claim 4 or 5, characterized in that: In the case where two elements of the preset input variable are alternately set to 0 and 1, multiple groups of preset water pump motor data collected under preset working conditions are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined, including: Set the default input variable X M =[1,0], u dq ' is the direct axis voltage u of d' axis d '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is p groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i),i′ q (i),N s (i),1,0)) 2 ; Set the default input variable X M = [0, 1], u dq ' is the direct axis voltage u of q' axis q '; Input multiple sets of preset water pump motor data into u dq ′ function, the residual square is calculated for each of the multiple sets of preset water pump motor data collected. The preset water pump motor data is q groups, and the residual square of the i-th group is (u′ dq (i)-f(i′ d (i),i′ q (i),N s (i),0,1)) 2 .

7. The method according to claim 6, characterized in that After the residual square sum is used as the objective function based on the least squares method, and the parameter to be estimated when the objective function obtains the minimum value is determined as the optimal parameter that satisfies the function, the method further includes: The optimal parameters are used to update the configuration of the motor parameters in the motor driver.

8. A motor rotor angle deviation estimation device, characterized in that: include: A voltage balance equation determination module is used to determine the motor voltage balance equation under the deviation of the estimated rotor angle and the actual rotor angle based on the voltage-current transformation coordinate system; wherein the motor voltage balance equation includes the direct-axis voltage balance equation and the quadrature-axis voltage balance equation of the voltage-current transformation coordinate system; A function establishment module, used for establishing a function of the preset output variable and the preset input variable, the direct-axis voltage and the quadrature-axis voltage according to the preset input variable and the preset output variable, and determining the parameters to be estimated of the function; wherein the preset input variable is a two-element variable, and the parameters to be estimated at least include the deviation between the estimated rotor angle and the actual rotor angle; A function residual square determination module, used for inputting a plurality of groups of preset water pump motor data collected under preset working conditions into the function when two elements of the preset input variable are alternately set to 0 and 1, and determining the residual square corresponding to each group of the preset water pump motor data; The optimal parameter estimation module is used to take the residual square sum as the objective function based on the least square method, and determine the parameter to be estimated when the objective function obtains the minimum value as the optimal parameter that satisfies the function.

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 motor rotor angle deviation estimation method as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the motor rotor angle deviation estimation method as described in any one of claims 1 to 7.

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