A motor rotor angle deviation estimation method, device, equipment and storage medium

Abstract

Embodiments of the present application relate to a motor rotor angle deviation estimation method, device, equipment and storage medium. The method comprises: determining the motor voltage balance equation under the rotor estimated angle and the rotor actual angle deviation based on the voltage current transformation coordinate system; establishing a function of the preset output variable and the preset input variable, the direct axis voltage and the cross axis voltage according to the preset input variable and the preset output variable, and determining the to-be-estimated parameters of the function; wherein the preset input variable is a two-element variable; in the case of alternately setting 0 and 1 of the two elements of the preset input variable, inputting a plurality of groups of preset water pump motor data collected under the preset working condition into the function, determining the residual square corresponding to each group of the preset water pump motor data; based on the least square method, summing the residual squares as the objective function, and when the objective function reaches the minimum value, the to-be-estimated parameters are determined as the optimal parameters satisfying the function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shielding pumps, in particular to a motor rotor angle deviation estimation method, device, equipment and storage medium. BACKGROUND

[0002] In electronic water pump control applications, permanent magnet motors are generally used as power input sources. The control of the motor needs to obtain the position of the motor rotor in real time. However, considering the structure installation and cost, electronic water pumps all adopt a position sensorless scheme. In the position sensorless control scheme, the rotor angle is calculated by a software observer. The accuracy of the rotor angle plays a crucial role in system control.

[0003] At present, in the application of electronic water pump position sensorless, the estimation of the rotor angle depends on the performance of the software observer and the accuracy of the motor parameters. The rotor position and the actual position deviation angle cannot be estimated. If the rotor position and the actual position deviation angle are estimated too large, the efficiency of the system may be affected due to the rotor angle estimation deviation, the phase current is large, the controller and the motor run under high electrical stress, the reliability is reduced, and overcurrent and step loss are easily triggered, and the control is unstable. SUMMARY

[0004] The present application provides a motor rotor angle deviation estimation method, device, equipment and storage medium, which aims 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, the present application provides a motor rotor angle deviation estimation method, comprising:

[0006] Based on the voltage-current transformation coordinate system, a motor voltage balance equation under the deviation between the rotor estimated angle and the rotor actual angle is determined; wherein the motor voltage balance equation includes a direct-axis voltage balance equation and a 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 and the preset input variable, direct-axis voltage and quadrature-axis voltage is established, and the to-be-estimated parameters of the function are determined; wherein the preset input variable is a two-element variable, and the to-be-estimated parameters at least include the deviation between the rotor estimated angle and the rotor actual angle;

[0008] In the case that the two elements of the preset input variable are alternately set to 0 and 1, a plurality of groups of preset water pump motor data collected under the preset working condition are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined.

[0009] The least square method is used to take the residual square sum as a target function, and the to-be-estimated parameter when the target function reaches a minimum value is determined as an optimal parameter satisfying the function.

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

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

[0012] A function establishment module is configured to establish a function of a preset output variable and a preset input variable, a direct-axis voltage and a quadrature-axis voltage according to the preset input variable and the preset output variable, and determine a to-be-estimated parameter of the function; wherein the preset input variable is a two-element variable, and the to-be-estimated parameter at least comprises a rotor estimated angle and a rotor actual angle deviation;

[0013] A function residual square determination module is configured to input a plurality of groups of preset pump motor data collected under a preset working condition into the function under a condition that two elements of the preset input variable are alternately set to 0 and 1, and determine a residual square corresponding to each group of the preset pump motor data.

[0014] An optimal parameter estimation module is configured to use the least square method to take a residual square sum as a target function, and determine a to-be-estimated parameter when the target function reaches a minimum value as an optimal parameter satisfying the function.

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

[0016] One or more processors;

[0017] A memory is configured to store one or more programs;

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

[0019] In a fourth aspect, an embodiment of the present application provides a storage medium containing computer executable instructions, which are used to execute the motor rotor angle deviation estimation method provided by any embodiment of the present application when executed by a computer processor.

[0020] The motor rotor angle deviation estimation method, device, equipment and storage medium provided by the embodiment of the present application can estimate the angle deviation between the rotor angle and the actual angle by collecting the operation data of the motor, according to the function of the preset output variable, the preset input variable, the direct-axis voltage and the quadrature-axis voltage, solve the problem that the rotor angle estimation deviation affects the efficiency of the system, and realize the estimation of the angle deviation under the position sensorless control by collecting the operation data of the driver without introducing additional test equipment and sensors. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A flowchart of a motor rotor angle deviation estimation method provided by the embodiment one of the present application;

[0022] Figure 2 A schematic diagram of a coordinate axis deviation angle in the embodiment one of the present application;

[0023] Figure 3 A structural schematic diagram of a motor rotor angle deviation estimation device provided by the embodiment two of the present application;

[0024] Figure 4 An example comparison diagram of the collected value and the calculated value of the axis voltage and the axis current in the embodiment of the present application;

[0025] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment five of the present application. DETAILED DESCRIPTION

[0026] The present application will be further described below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0027] Embodiment one

[0028] Figure 1 The flowchart of the motor rotor angle deviation estimation method provided by the embodiment one of the present application, the embodiment can be applicable to the centrifugal pump driven by the motor, and the motor rotor angle is estimated, the method can be executed by the motor rotor angle deviation estimation device, the device can be realized by hardware and / or software, and generally can be integrated in the electronic device, such as computer equipment, the method specifically includes:

[0029] In step 110, the motor voltage balance equation under the deviation of the rotor estimated angle and the rotor actual angle is determined based on the voltage current transformation coordinate system.

[0030] Wherein, the deviation between the rotor estimated angle and the actual rotor angle estimated by the water pump driver through software is, for example, the deviation between the actual rotor angle and the rotor estimated angle θ , and the deviation between the actual coordinate system ( ) and the orthogonal axis coordinate system ( dq ) of the software transformation of the three-phase voltage and three-phase current of the motor (Clark transformation and Park transformation) is θ , for example, the voltage and current transformation coordinate system. In the case of not considering excessive working conditions ( Figure 2 , , , is the direct-axis current, and is the quadrature-axis current), the motor voltage balance equation about the deviation between the rotor estimated angle and the actual rotor angle can be recalculated based on the θ axis. 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 and the preset input variable, direct-axis voltage and quadrature-axis voltage is established, and the to-be-estimated parameters of the function are determined.

[0032] Wherein, the preset input variable is a two-element variable, and the to-be-estimated parameters at least include the deviation between the rotor estimated 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, equal to the preset output variable, thereby forming the function. The deviation between the rotor estimated angle and the actual rotor angle in the function θ can also be taken as the to-be-estimated parameter. The direct-axis inductance , the quadrature-axis inductance , the back electromotive force coefficient , and the direct current resistance can also be taken as the to-be-estimated parameter.

[0033] Step 130, in the case of alternately setting 0 and 1 of the two elements of the preset input variable, a plurality of groups of preset water pump motor data collected under the preset working condition are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined.

[0034] Wherein, 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, then the first element is set to 1 and the second element is set to 0. The plurality of groups of preset water pump motor data collected under the preset working condition are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined.

[0035] Step 140, based on the least square method, the residual square is summed as the objective function, and the to-be-estimated parameter when the objective function reaches the minimum value is determined as the optimal parameter satisfying the function.

[0036] The technical scheme of the embodiment, by collecting the running data of the motor, estimating the angle deviation of the rotor angle and the actual angle according to the function of the preset output variable and the preset input variable, the direct-axis voltage and the quadrature-axis voltage, solves the problem that the rotor angle estimation deviation affects the efficiency of the system, and realizes that the angle deviation under the position sensorless control can be estimated by collecting the running data of the driver without introducing additional test equipment and sensors.

[0037] Optionally, the motor voltage balance equation under the voltage-current conversion coordinate system when the rotor estimated angle and the rotor actual angle deviate includes:

[0038] The direct-axis voltage balance equation is

[0039]

[0040] The quadrature-axis voltage balance equation is

[0041]

[0042] Wherein, the above motor voltage balance equation is under the condition of not considering excessive working conditions (the rotor estimated angle and the rotor actual angle deviate ). The direct-axis is the direct-axis of the voltage-current conversion coordinate system, The quadrature-axis is the quadrature-axis of the voltage-current conversion coordinate system, The direct-axis voltage under the voltage-current conversion coordinate system is The direct-axis current under the voltage-current conversion coordinate system is The quadrature-axis voltage under the voltage-current conversion coordinate system is The quadrature-axis current under the voltage-current conversion coordinate system is The motor speed is The conversion coefficient of the speed and the original frequency is The back electromotive force coefficient is The direct current resistance is θ The deviation of the rotor estimated angle and the rotor actual angle is ​​​is the direct axis inductance, is the quadrature axis inductance.

[0043] The function of the preset output variable and the preset input variable, the direct axis voltage and the quadrature axis voltage is established according to the preset input variable and the preset output variable, comprising:

[0044] introducing the preset input variable and the preset output variable , so that , wherein is a function of , the function is expressed as f .

[0045] The function of the preset output variable and the preset input variable, the direct axis voltage and the quadrature axis voltage is established according to the preset input variable and the preset output variable, comprising:

[0046] The parameters of the function are obtained by measurement as constant parameters, and the deviation θ is taken as an estimated parameter, the function is expressed as .

[0047] Or,

[0048] The function parameters are all taken as estimated parameters, the function is expressed as . In this case, it is necessary to ensure that the total number of equations obtained by inputting the collected multiple sets of preset water pump motor data into the function is greater than the number of estimated parameters. In this way, the actual angle deviation of the position control mode is estimated according to the voltage and current in the rotating coordinate system and the speed, and other motor parameters relied on by the position observer can also be estimated.

[0049] Before inputting the multiple sets of preset water pump motor data collected under the preset working condition into the function and determining the residual square corresponding to each set of preset water pump motor data, the method further comprises:

[0050] controlling the water pump to operate according to the preset working condition to collect preset water pump motor data; wherein the preset working condition comprises a water pump target speed working condition and a water pump load working condition, and the preset water pump motor data comprises a direct axis voltage, a quadrature axis voltage, a direct axis current, a quadrature axis current and a 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 and current transformation coordinate system.

[0051] Different water pump target speed working conditions are set, and the water pump is operated in a steady state working condition to collect data under the steady state working condition. Different water pump load working conditions are set, and the water pump is operated in a steady state working condition to collect data.

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

[0053] Set the preset input variables hour, for Direct axis voltage ; Input multiple sets of preset water pump motor data In the function, the residual square is calculated for each set of data in 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 ; The preset number of water pump motor data is p groups, where p is a positive integer.

[0054] Set the preset input variables hour, for Direct axis voltage ; Input multiple sets of preset water pump motor data In the function, the residual square is calculated for each set of data in 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 The number of preset water pump motor data is q groups, where q is a positive integer.

[0055] Based on the least squares 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 sum of the squares of the residuals is used as the objective function. When the objective function reaches the minimum value, that is: , corresponding to The parameters are satisfied The optimal parameters of the function, it can be understood that when determining the parameters to be estimated, if only the deviation θ As the parameter to be estimated, The other parameters in are treated as constants. If are all determined as parameters to be estimated, and the objective function takes the minimum value The initial values ​​of the estimated parameters can be selected based on the range of the estimated parameters and / or the actual measured values.

[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] updating the configuration of the motor parameters in the motor driver with the optimal parameters.

[0059] updating the configuration of the motor parameters in the driver with the estimated optimal parameters , optimizing the angle observation accuracy of the driver.

[0060] Embodiment Two

[0061] Figure 3 A structural schematic diagram of a motor rotor angle deviation estimation device provided for Embodiment Two of the present application is shown in FIG. 3, which comprises 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, Figure 3

[0062] The voltage balance equation determination module 310 is configured to determine a motor voltage balance equation under a rotor estimated angle and a rotor actual angle deviation based on a voltage-current conversion coordinate system; wherein the motor voltage balance equation comprises a direct-axis voltage balance equation and a quadrature-axis voltage balance equation of the voltage-current conversion coordinate system.

[0063] The function establishment module 320 is configured to establish a function of a preset output variable and a preset input variable, a direct-axis voltage, and a quadrature-axis voltage according to the preset input variable and the preset output variable, and determine an estimated parameter of the function; wherein the preset input variable is a two-element variable, and the estimated parameter at least comprises a rotor estimated angle and a rotor actual angle deviation.

[0064] The function residual square determination module 330 is configured to input a plurality of groups of preset water pump motor data collected under a preset working condition into the function under a condition that two elements of the preset input variable are alternately set to 0 and 1, and determine a residual square corresponding to each group of the preset water pump motor data.

[0065] The optimal parameter estimation module 340 is configured to determine an estimated parameter when a target function obtained by summing the residual squares as the target function reaches a minimum value as the optimal parameter satisfying the function based on a least square method.

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

[0067] The direct-axis voltage balance equation is

[0068]

[0069] The quadrature-axis voltage balance equation is ​​

[0070] ;

[0071] wherein, is a direct axis of the voltage-current transformation coordinate system, is a quadrature axis of the voltage-current transformation coordinate system, is a direct axis voltage under the voltage-current transformation coordinate system, is a direct axis current under the voltage-current transformation coordinate system, is a quadrature axis voltage under the voltage-current transformation coordinate system, is a quadrature axis current under the voltage-current transformation coordinate system, is a motor speed, is a conversion coefficient of the speed and the original frequency, is a back electromotive force coefficient, is a direct current resistance, θ is a deviation between a rotor estimated angle and a rotor actual angle, is a direct axis inductance, is a quadrature axis inductance.

[0072] Optionally, the function establishing module 320 is configured to:

[0073] introduce preset input variables and preset output variables , so that wherein, is a function about , and the function is expressed as f .

[0074] Optionally, the function establishing module 320 is configured to:

[0075] parameters of the function are obtained by measurement, as constant parameters, and the deviation θ is taken as an estimated parameter, the function is expressed as .

[0076] Alternatively,

[0077] parameters of the function are all taken as estimated parameters, the function is expressed as .

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

[0079] The data acquisition module is configured to control the water pump to operate according to the preset working condition to acquire the preset water pump motor data before inputting a plurality of groups of preset water pump motor data acquired under the preset working condition into the function and determining the residual square corresponding to each group of the preset water pump motor data, wherein the preset working condition comprises a water pump target rotating speed working condition and a water pump load working condition, and the preset water pump motor data comprises direct-axis voltage, cross-axis voltage, direct-axis current, cross-axis current and motor rotating speed.

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

[0081] set the preset input variable , is the direct-axis voltage of the motor shaft; input a plurality of groups of preset water pump motor data into the function, and calculate the residual square for each group of data in the plurality of groups of preset water pump motor data, wherein the preset water pump motor data is p groups, and the residual square of the i-th group is .

[0082] set the preset input variable , is the direct-axis voltage of the motor shaft; input a plurality of groups of preset water pump motor data into the function, and calculate the residual square for each group of data in the plurality of groups of preset water pump motor data, wherein the preset water pump motor data is q groups, and the residual square of the i-th group is .

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

[0084] The motor parameter updating module is configured to, after determining the to-be-estimated parameter when the target function reaches the minimum value as the optimal parameter satisfying the function based on the least square method, update the optimal parameter to configure the motor parameter in the motor driver.

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

[0086] The motor rotor angle deviation estimation device can estimate the angle deviation and the motor parameter under the position sensorless control by acquiring the driver operation data without introducing additional test equipment and sensors, and can bring the motor parameter and the angle deviation into the mathematical model of the motor, calculate the shaft voltage and current under the same input, and calculate the deviation of the acquired shaft voltage and current, such as Figure 4 ​​The deviation of the output is small, indicating that the mathematical model of the motor is accurate and the motor parameter estimation is accurate. Embodiment three

[0087] Figure 5 A structural schematic diagram of an electronic device provided for embodiment three of the present application is shown in the figure (orange is the calculated value, and blue is the collected value). The electronic device includes a processor 510, a memory 520, an input device 530, and an output device 540. The number of processors 510 in the electronic device can be one or more, and an example of the processor 510 is shown in the figure. Figure 5 The processor 510 in the electronic device can be connected to the memory 520, the input device 530, and the output device 540 through a bus or other means. Figure 5 The processor 510 in the electronic device can be connected to the memory 520, the input device 530, and the output device 540 through a bus or other means. Figure 5 The processor 510 in the electronic device can be connected to the memory 520, the input device 530, and the output device 540 through a bus or other means.

[0088] The memory 520 is a computer readable storage medium, which 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 application (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 the software programs, instructions, and modules stored in the memory 520, thereby performing various functions and data processing of the electronic device, i.e., implementing the above-mentioned motor rotor angle deviation estimation method.

[0089] The memory 520 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 520 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 520 can further include a memory remotely arranged with respect to the processor 510, which can be connected to the electronic device through 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 a combination thereof.

[0090] The input device 530 can 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 can include a display device such as a display screen.

[0091] Embodiment four

[0092] The fourth embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a motor rotor angle deviation estimation method when executed by a computer processor, comprising:

[0093] The motor voltage balance equation under the rotor estimated angle and the rotor actual angle deviation is determined based on a voltage-current conversion coordinate system, wherein the motor voltage balance equation comprises a direct-axis voltage balance equation and a quadrature-axis voltage balance equation of the voltage-current conversion coordinate system;

[0094] According to the preset input variable and the preset output variable, a function of the preset output variable and the preset input variable, the direct-axis voltage and the quadrature-axis voltage is established, and the to-be-estimated parameters of the function are determined, wherein the preset input variable is a two-element variable, and the to-be-estimated parameters at least include the rotor estimated angle and the rotor actual angle deviation;

[0095] In the case that the two elements of the preset input variable are alternately set to 0 and 1, a plurality of groups of preset water pump motor data collected under a preset working condition are input into the function, and the residual square corresponding to each group of the preset water pump motor data is determined;

[0096] Based on the least square method, the sum of the residual squares is taken as a target function, and the to-be-estimated parameters when the target function reaches a minimum value are determined as optimal parameters satisfying the function.

[0097] Of course, the computer executable instructions of the storage medium provided by the embodiment of the present application are not limited to the method operations described above, and can also perform related operations in the motor rotor angle deviation estimation method provided by any embodiment of the present application.

[0098] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk or an optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0099] It is worth noting that the above-mentioned motor rotor angle deviation estimation device embodiment, including each unit and module is only divided according to the function logic, but is not limited to the above division, as long as the corresponding function can be realized; In addition, the specific name of each functional unit is only for easy to distinguish each other, and is not used to limit the protection scope of the present application.

[0100] Although the present application has been described in detail with general description, specific embodiments and experiments, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, all belong to the scope of the present application claimed.

Claims

1. A method for estimating a motor rotor angle deviation, characterized in that: include: 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; 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 a preset input variable and a 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 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; When two elements of the preset input variable are alternately set to 0 and 1, multiple sets of preset water pump motor data collected under preset working conditions are input into the function to determine the residual square corresponding to each set of the preset water pump motor data; Based on the least squares 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 In the voltage-current transformation coordinate system, the motor voltage balance equation under the deviation between the estimated rotor angle and the actual rotor angle is determined, including: The shaft voltage balance is ； The shaft voltage balance equation is ； in, Axis is the direct axis of the voltage-current transformation coordinate system, Axis is the cross axis of voltage and current transformation coordinate system, is the direct axis voltage in the voltage-current transformation coordinate system, is the direct axis current in the voltage-current transformation coordinate system, is the quadrature axis voltage in the voltage-current transformation coordinate system, is the quadrature axis current in the voltage-current transformation coordinate system, is the motor speed, is the conversion coefficient between the rotation speed and the original frequency, is the back electromotive force coefficient, is the DC internal resistance, θ is the deviation between the estimated rotor angle and the actual rotor angle, is the direct-axis inductance, 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: Introducing preset input variables and preset output variables , making ,in, It's about function, Function f express.

4. The method according to claim 3, characterized in that Determining the parameters to be estimated of the function includes: Function parameters Obtained by measurement, as a constant parameter, the deviation θ As the parameter to be estimated, The function is expressed as ; or, Function parameters ,θ are all used as parameters to be estimated, The function is expressed as .

5. The method according to claim 4, characterized in that Before inputting multiple sets of preset water pump motor data collected under preset working conditions into the function and determining the residual square corresponding to each set 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 the water pump target speed working condition and the water pump load working condition, and the preset water pump motor data includes the 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 sets of preset water pump motor data collected under preset working conditions are input into the function, and the residual square corresponding to each set of the preset water pump motor data is determined, including: Set the preset input variables hour, for Direct axis voltage ; Input multiple sets of preset water pump motor data In the function, the residual square is calculated for each set of data in 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 ; Set the preset input variables hour, for Direct axis voltage ; Input multiple sets of preset water pump motor data In the function, the residual square is calculated for each set of data in 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 .

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 between 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, configured to establish, based on preset input variables and preset output variables, a function of the preset output variable, the preset input variable, the direct-axis voltage, and the quadrature-axis voltage, and determine parameters to be estimated for the function; 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; a function residual square determination module, configured to input a plurality of sets of preset water pump motor data collected under preset working conditions into the function, with two elements of the preset input variable alternately set to 0 and 1, and determine the residual square corresponding to each set of the preset water pump motor data; The optimal parameter estimation module is used to use the sum of the squared residuals as the objective function based on the least squares method, and determine the parameters to be estimated when the objective function obtains the minimum value as the optimal parameters that meet 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 to 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 perform the motor rotor angle deviation estimation method according to any one of claims 1 to 7.

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