Stator resistance calculation method and device, motor control equipment and storage medium

Abstract

The embodiment of the invention discloses a stator resistance calculation method and device, motor control equipment and a storage medium, and the method comprises the steps: obtaining a given stator current to obtain a given current, and obtaining a feedback stator current to obtain a first feedback current, a control voltage is calculated according to the given current and the first feedback current; acquiring injected low-frequency voltage, and performing current control on driving equipment according to the low-frequency voltage and the control voltage so as to enable the driving equipment to generate corresponding second feedback current; and obtaining low-frequency current according to the second feedback current, and calculating the resistance value of the stator resistor according to the low-frequency current and the low-frequency voltage. According to the invention, the resistance value of the stator resistor can be calculated, the accuracy of motor control is improved, and the stability of the motor is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a method and device for calculating stator resistance, a motor control device, and a storage medium. Background Art

[0002] A motor can complete the mutual conversion between electrical energy and mechanical energy and is widely used in industry, for example, in new energy electric vehicles. Currently, the motor control technology in new energy electric vehicles usually adopts vector control based on motor parameters, and the motor parameters will change with the change of the motor temperature, especially the stator resistance. The stator resistance will change drastically with the temperature of the motor. However, the stator resistance has a great influence on the accuracy and stability of vector control. Therefore, the correction of the stator resistance is particularly important. Currently, the errors of most correction methods for stator resistance are relatively large, resulting in low accuracy of vector control and reduced stability of the motor. Summary of the Invention

[0003] Embodiments of the present invention provide a method and device for calculating stator resistance, a motor control device, and a storage medium, aiming to solve the problem of large errors in the current correction method for stator resistance.

[0004] In a first aspect, embodiments of the present invention provide a method for calculating stator resistance, the method comprising:

[0005] Obtaining a given stator current to obtain a given current, and obtaining a feedback stator current to obtain a first feedback current, and calculating a control voltage based on the given current and the first feedback current;

[0006] Obtaining an injected low-frequency voltage, and performing current control on a driving device based on the low-frequency voltage and the control voltage to enable the driving device to generate a corresponding second feedback current;

[0007] Obtaining a low-frequency current based on the second feedback current, and calculating the resistance value of the stator resistance based on the low-frequency current and the low-frequency voltage.

[0008] In a second aspect, embodiments of the present invention further provide a device for calculating stator resistance, the device comprising:

[0009] A first obtaining unit, configured to obtain a given stator current to obtain a given current, and obtain a feedback stator current to obtain a first feedback current, and calculate a control voltage based on the given current and the first feedback current;

[0010] A second obtaining unit, configured to obtain an injected low-frequency voltage, and perform current control on a driving device based on the low-frequency voltage and the control voltage to enable the driving device to generate a corresponding second feedback current;

[0011] A first calculation unit, configured to obtain a low-frequency current according to the second feedback current, and calculate a resistance value of a stator resistance according to the low-frequency current and the low-frequency voltage.

[0012] In a third aspect, an embodiment of the present invention further provides a motor control device, which includes a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program, the above method is implemented.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the above method can be implemented.

[0014] An embodiment of the present invention provides a method, a device, a motor control device, and a storage medium for calculating a stator resistance. Among them, the method for calculating the stator resistance includes: obtaining a given stator current to obtain a given current, and obtaining a feedback stator current to obtain a first feedback current, and calculating a control voltage according to the given current and the first feedback current; obtaining an injected low-frequency voltage, and performing current control on a driving device according to the low-frequency voltage and the control voltage so that the driving device generates a corresponding second feedback current; obtaining a low-frequency current according to the second feedback current, and calculating a resistance value of the stator resistance according to the low-frequency current and the low-frequency voltage. The embodiment of the present invention can calculate a control voltage according to a given current and a first feedback current. At the same time, a low-frequency voltage can be injected, and a second feedback current can be obtained according to the control voltage and the low-frequency voltage. Then, a low-frequency current is obtained according to the second feedback current, and finally, the stator resistance is calculated according to the low-frequency voltage and the low-frequency current, improving the accuracy of motor control and ensuring the stability of the motor. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic flowchart of the method for calculating the stator resistance provided by the embodiment of the present invention;

[0017] Figure 2 is a logic diagram of current control in the prior art;

[0018] Figure 3 is a logic diagram of the method for calculating the stator resistance provided by the embodiment of the present invention;

[0019] Figure 4is a schematic block diagram of a stator resistance calculation device provided by an embodiment of the present invention; and

[0020] Figure 5 is a schematic block diagram of a motor control device provided by an embodiment of the present invention. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, operations, elements, components, and / or their combinations.

[0023] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. It should be further understood that the term " / and / " used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] Please refer to Figure 1 , Figure 1 is a schematic flowchart of a stator resistance calculation method provided by an embodiment of the present invention. The stator resistance calculation method in the embodiment of the present invention is applied to a motor control device, can calculate the stator resistance, and perform current control on the motor according to the stator resistance to ensure the stability of the motor. As Figure 1 shown, the method includes steps S110 to S130.

[0025] S110, obtain a given stator current to obtain a given current, and obtain a feedback stator current to obtain a first feedback current, and calculate a control voltage according to the given current and the first feedback current.

[0026] In the embodiment of the present invention, according to the vector control theory, when the change of the stator resistance causes inaccurate magnetic field orientation, a non-zero component will appear on the q-axis of the magnetic flux linkage. Under the steady-state model of the motor, this non-zero component is obtained by using other easily detectable variables, and then used for compensating the estimated value of the stator electrons in the vector control. AsFigure 2 As shown Figure 2 is a logic diagram of existing current control, Figure 2 where Id and Iq are the given currents, ACR_d and ACR_q are PI controllers, IPark is the inverse transformation of Park transformation, SVPWM is the PWM controller, the three-phase inverter is used to output three-phase currents to drive the motor to operate. At the same time, the three-phase currents output by the three-phase inverter are collected, and the three-phase currents ia, ib, and ic are transformed through Clark transformation and Park transformation to obtain the d-axis feedback current id and the q-axis feedback current iq. The difference between the given current Id and the feedback current id passes through the PI controller to obtain the voltage ud, and after the IPark transformation of ud, the control voltage uα is obtained. The motor controller adjusts the output three-phase currents according to the control voltage. In the above process, the equivalent models of the d-axis and q-axis of the motor are:

[0027]

[0028]

[0029] where Vd is the d-axis voltage, Id is the d-axis current, Iq is the q-axis current, Ld is the d-axis inductance, Lq is the q-axis inductance, We is the electromagnetic angular velocity of the motor, Rs is the stator resistance of the motor, and ψf is the magnetic flux of the motor permanent magnet. When the motor control is in a steady state, the equivalent model of the motor is:

[0030] Vd = Rs * Id - Lq * Iq * We (3)

[0031] Vq = Rs * Iq + Ld * Id * We + ψf * We (4)

[0032] As Figure 3 shown Figure 3 is the logic diagram of the stator resistance calculation method provided by the embodiment of the present invention, Figure 3 where Idref is the d-axis given current and Idfbk is the d-axis feedback current, and the control voltage Vd can be obtained according to the d-axis given current and the d-axis feedback current.

[0033] In some embodiments, such as this embodiment, the step S110 may include the following steps;

[0034] Input the given current and the first feedback current into the PI controller, and calculate the intermediate voltage through the PI controller;

[0035] Perform IPARK transformation on the intermediate voltage to obtain the control voltage.

[0036] In an embodiment of the present invention, the given current may be the d-axis given current, and the corresponding first feedback current is the first d-axis feedback current. The d-axis given current and the first d-axis feedback current are input into a PI controller, and an intermediate voltage is obtained through the PI controller. Then, an IPARK transformation is performed on the intermediate voltage to obtain a control voltage. As Figure 3 shown, Figure 3 in which Idref is the d-axis given current, Idfbk1 is the first d-axis feedback current, and Vd is the control voltage.

[0037] S120, obtain the injected low-frequency voltage, and perform current control on the drive device according to the low-frequency voltage and the control voltage so that the drive device generates a corresponding second feedback current.

[0038] In an embodiment of the present invention, the low-frequency voltage is injected into the current control by other devices. As Figure 3 shown, the low-frequency voltage can be injected after confirming the control voltage, and the low-frequency voltage and the control voltage are used as the adjustment voltage and input into the PWM controller SVM. The PWM controller then performs current control on the three-phase inverter according to the adjustment voltage, so as to control the three-phase current output by the three-phase inverter. Since the low-frequency voltage is injected, the three-phase current output by the three-phase inverter also changes accordingly. On the one hand, the three-phase current drives the permanent magnet synchronous motor (PMSM) to work. On the other hand, the three-phase current is sampled through a sampling circuit, and the sampled three-phase current is subjected to PARK transformation to obtain the second feedback current. As Figure 3 shown, Figure 3 in which, Idfbk2 is the second feedback current.

[0039] In some embodiments, such as this embodiment, the step S120 may include the following steps:

[0040] Perform current control on the drive device according to the low-frequency voltage and the control voltage so that the drive device generates three-phase current;

[0041] Perform Clark transformation and Park transformation on the three-phase current to obtain the second feedback current.

[0042] In an embodiment of the present invention, the drive device may be a three-phase inverter for driving a motor to work. The low-frequency voltage and the control voltage are used as the adjustment voltage to control the drive device, so that the drive device outputs corresponding three-phase current, and then Clark transformation and Park transformation are performed on the three-phase current to obtain the second feedback current.

[0043] S130, obtain the low-frequency current according to the second feedback current, and calculate the resistance value of the stator resistance according to the low-frequency current and the low-frequency voltage.

[0044] In the embodiments of the present invention, since a low-frequency voltage has been injected before, and the second feedback current is obtained by transforming three-phase currents, there is a low-frequency current corresponding to the low-frequency voltage in the second feedback current. The low-frequency current in the second feedback current is extracted, and the stator resistance is calculated according to the resistance calculation formula. The obtained stator resistance is the actual resistance value of the stator resistance in the current motor environment, and the resistance value of the obtained stator resistance can be used as a parameter to adjust the motor.

[0045] In some embodiments, such as this embodiment, the step S130 may include the following steps: filtering the second feedback current through a low-pass filter to obtain the low-frequency current.

[0046] In the embodiments of the present invention, the high-frequency current can be filtered out by a low-pass filter, so as to complete the extraction of the low-frequency current.

[0047] In some embodiments, such as this embodiment, the stator resistance calculation method further includes the following steps:

[0048] Obtaining a given d-axis stator current to obtain a d-axis given current, and obtaining a feedback d-axis stator current to obtain a first d-axis feedback current, and calculating a d-axis control voltage according to the d-axis given current and the first d-axis feedback current;

[0049] Obtaining an injected d-axis low-frequency voltage, and performing current control on a driving device according to the d-axis low-frequency voltage and the d-axis control voltage so that the driving device generates a corresponding second d-axis feedback current;

[0050] Obtaining a d-axis low-frequency current according to the second d-axis feedback current, and calculating the stator resistance according to the d-axis low-frequency current and the d-axis low-frequency voltage.

[0051] In the implementation of the present invention, when calculating the electronic resistance, a low-frequency voltage can be injected into the d-axis, so that the current in the d-axis changes accordingly, generating a d-axis current, and then calculating the stator resistance. As Figure 3 shown, Idref is the d-axis given current, Idfbk1 is the first d-axis feedback current, injecting the d-axis given current and the first d-axis feedback current into a PI controller to obtain a control voltage Vd, injecting a low-frequency voltage Vdinj while obtaining the control voltage, taking the control voltage and the low-frequency voltage as adjustment voltages and inputting them into a PWM controller SVM, thereby generating corresponding three-phase currents, performing a Park transformation on the three-phase currents to obtain a second d-axis feedback current Idfbk2, extracting the low-frequency current Idinj in the second d-axis feedback current through a low-pass filter BPF, this low-frequency current is the actual current generated by injecting the low-frequency voltage, and finally calculating the stator resistance Rscal according to the resistance calculation formula. The motor control model after injecting the low-frequency voltage is:

[0052] Vd + Vdinj = Rs * (Id + Idinj) - Lq * Iq * We (5)

[0053] Vdinj = VdinjM * cos(Wdinj * t) (6)

[0054] Wherein, Vdinj is the low-frequency voltage injected into the d-axis, VdinjM is the amplitude of the low-frequency voltage injected into the d-axis, and Wdinj is the low-frequency of the injected voltage.

[0055] In some embodiments, such as this embodiment, the step of calculating the d-axis control voltage according to the d-axis reference current and the first d-axis feedback current may include the following steps:

[0056] Input the d-axis reference current and the first d-axis feedback current into a PI controller, and calculate an intermediate voltage through the PI controller;

[0057] Perform an IPARK transformation on the intermediate voltage to obtain the control voltage.

[0058] In the embodiment of the present invention, by inputting the d-axis reference current and the first d-axis feedback current into a PI controller, an intermediate voltage can be calculated through the PI controller, and then an IPARK transformation is performed on the intermediate voltage to obtain the control voltage.

[0059] In some embodiments, such as this embodiment, the step of performing current control on a driving device according to the d-axis low-frequency voltage and the d-axis control voltage so that the driving device generates a corresponding second d-axis feedback current may include the following steps:

[0060] Perform current control on a driving device according to the d-axis low-frequency voltage and the control voltage so that the driving device generates three-phase currents;

[0061] Perform a Clark transformation and a Park transformation on the three-phase currents to obtain the second d-axis feedback current.

[0062] In the embodiment of the present invention, the d-axis low-frequency voltage and the control voltage are used as adjustment voltages to adjust the three-phase currents output by a driving device, so that the three-phase currents include currents corresponding to the d-axis low-frequency voltage, and then a Clark transformation and a Park transformation are performed on the three-phase currents to obtain the second d-axis feedback current.

[0063] Figure 4 It is a schematic block diagram of a stator resistance calculation device 100 provided by an embodiment of the present invention. As Figure 4As shown, corresponding to the above stator resistance calculation method, the present invention also provides a stator resistance calculation device 100. The stator resistance calculation device 100 includes units for performing the above stator resistance calculation method. Specifically, please refer to Figure 4 , the stator resistance calculation device 100 includes a first acquisition unit 110, a second acquisition unit 120, and a first calculation unit 130.

[0064] Among them, the first acquisition unit 110 is used to acquire a given stator current to obtain a given current, and acquire a feedback stator current to obtain a first feedback current, and calculate a control voltage based on the given current and the first feedback current; the second acquisition unit 120 is used to acquire an injected low-frequency voltage, and perform current control on a drive device based on the low-frequency voltage and the control voltage so that the drive device generates a corresponding second feedback current; the first calculation unit 130 is used to acquire a low-frequency current based on the second feedback current, and calculate the resistance value of the stator resistance based on the low-frequency current and the low-frequency voltage.

[0065] In some embodiments, for example, in this embodiment, the first acquisition unit 110 includes a second calculation unit and a first transformation unit.

[0066] Among them, the second calculation unit is used to input the given current and the first feedback current into a PI controller, and calculate an intermediate voltage through the PI controller; the first transformation unit is used to perform an IPARK transformation on the intermediate voltage to obtain the control voltage.

[0067] In some embodiments, for example, in this embodiment, the second acquisition unit 120 includes a first control unit and a second transformation unit.

[0068] Among them, the first control unit is used to perform current control on a drive device based on the low-frequency voltage and the control voltage so that the drive device generates three-phase currents; the second transformation unit is used to perform a Clark transformation and a Park transformation on the three-phase currents to obtain the second feedback current.

[0069] In some embodiments, for example, in this embodiment, the first calculation unit 130 includes a first filtering unit.

[0070] Among them, the first filtering unit is used to filter the second feedback current through a low-pass filter to obtain the low-frequency current.

[0071] Another embodiment of the present invention also provides a stator resistance calculation device. The stator resistance calculation device of this embodiment includes a third acquisition unit, a fourth acquisition unit, and a third calculation unit.

[0072] Among them, the third acquisition unit is used to acquire the given d-axis stator current to obtain the d-axis given current, and acquire the feedback d-axis stator current to obtain the first d-axis feedback current, and calculate the d-axis control voltage according to the d-axis given current and the first d-axis feedback current; the fourth acquisition unit is used to acquire the injected d-axis low-frequency voltage, and perform current control on the drive device according to the d-axis low-frequency voltage and the d-axis control voltage so that the drive device generates a corresponding second d-axis feedback current; the third calculation unit is used to acquire the d-axis low-frequency current according to the second d-axis feedback current, and calculate the stator resistance according to the d-axis low-frequency current and the d-axis low-frequency voltage.

[0073] In some embodiments, for example, in this embodiment, the third acquisition unit includes a fourth calculation unit and a third transformation unit.

[0074] Among them, the fourth calculation unit is used to input the d-axis given current and the first d-axis feedback current into a PI controller, and calculate an intermediate voltage through the PI controller; the third transformation unit is used to perform an IPARK transformation on the intermediate voltage to obtain the control voltage.

[0075] In some embodiments, for example, in this embodiment, the fourth acquisition unit includes a second control unit and a fourth transformation unit.

[0076] Among them, the second control unit is used to perform current control on the drive device according to the d-axis low-frequency voltage and the control voltage so that the drive device generates three-phase current; the fourth transformation unit is used to perform a Clark transformation and a Park transformation on the three-phase current to obtain the second d-axis feedback current.

[0077] It should be noted that those skilled in the art can clearly understand that the specific implementation processes of the above stator resistance calculation device and each unit can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated here.

[0078] The above stator resistance calculation device can be implemented in the form of a computer program, and this computer program can run on a motor control device as shown in Figure 5 .

[0079] Please refer to Figure 5 , Figure 5 which is a schematic block diagram of a motor control device provided by an embodiment of the present application. Referring to Figure 5 , the motor control device 500 includes a processor 502, a memory, and an interface 507 connected through a system bus 501. Among them, the memory may include a non-volatile storage medium 503 and an internal memory 504.

[0080] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, it can cause the processor 502 to execute a stator resistance calculation method.

[0081] The processor 502 is used to provide computing and control capabilities to support the operation of the entire motor control device 500.

[0082] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, it can cause the processor 502 to execute a stator resistance calculation method.

[0083] The interface 505 is used to communicate with other devices. Those skilled in the art can understand that Figure 5 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the motor control device 500 to which the solution of this application is applied. The specific motor control device 500 may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0084] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (FSP), application specific integrated circuits (ASIC), off-the-shelf programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0085] Those of ordinary skill in the art can understand that all or part of the processes in the methods of implementing the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a storage medium, and the storage medium is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above method.

[0086] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, it implements any of the embodiments of the above method for training a voice conversion model based on domain separation.

[0087] The storage medium may be a variety of computer-readable storage media such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a magnetic disk, or an optical disc, etc., which can store program codes.

[0088] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0089] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0090] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a motor control device to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0092] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailedly described in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations therein.

[0094] As described above, it is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for calculating stator resistance, characterized in that, comprising: Obtaining a given stator current to obtain a given current, and obtaining a feedback stator current to obtain a first feedback current, and calculating a control voltage according to the given current and the first feedback current; Obtaining an injected low-frequency voltage, and performing current control on a driving device according to the low-frequency voltage and the control voltage so that the driving device generates a corresponding second feedback current; Obtaining a low-frequency current according to the second feedback current, and calculating a resistance value of the stator resistance according to the low-frequency current and the low-frequency voltage.

2. The method according to claim 1, characterized in that, The step of performing current control on a driving device according to the low-frequency voltage and the control voltage so that the driving device generates a corresponding second feedback current includes: Performing current control on a driving device according to the low-frequency voltage and the control voltage so that the driving device generates three-phase currents; Performing Clark transformation and Park transformation on the three-phase currents to obtain the second feedback current.

3. The method according to claim 1, characterized in that, The step of obtaining a low-frequency current according to the second feedback current includes: Filtering the second feedback current through a low-pass filter to obtain the low-frequency current.

4. The method according to claim 1, characterized in that, The step of calculating a control voltage according to the given current and the first feedback current includes: Inputting the given current and the first feedback current into a PI controller, and calculating an intermediate voltage through the PI controller; Performing IPARK transformation on the intermediate voltage to obtain the control voltage.

5. The method according to claim 1, characterized in that, The method further includes: Obtaining a given d-axis stator current to obtain a d-axis given current, and obtaining a feedback d-axis stator current to obtain a first d-axis feedback current, and calculating a d-axis control voltage according to the d-axis given current and the first d-axis feedback current; Obtaining an injected d-axis low-frequency voltage, and performing current control on a driving device according to the d-axis low-frequency voltage and the d-axis control voltage so that the driving device generates a corresponding second d-axis feedback current; Obtaining a d-axis low-frequency current according to the second d-axis feedback current, and calculating the stator resistance according to the d-axis low-frequency current and the d-axis low-frequency voltage.

6. The method according to claim 5, characterized in that, The step of calculating a d-axis control voltage according to the d-axis given current and the first d-axis feedback current includes: Inputting the d-axis given current and the first d-axis feedback current into a PI controller, and calculating an intermediate voltage through the PI controller; Performing IPARK transformation on the intermediate voltage to obtain the control voltage.

7. The method according to claim 5, characterized in that, The step of performing current control on a driving device according to the d-axis low-frequency voltage and the d-axis control voltage so that the driving device generates a corresponding second d-axis feedback current includes: Perform current control on the drive device according to the d-axis low-frequency voltage and the control voltage so that the drive device generates three-phase currents; Perform Clark transformation and Park transformation on the three-phase currents to obtain the second d-axis feedback current.

8. A stator resistance calculation device, characterized in that, the device comprises: a first acquisition unit configured to acquire a given stator current to obtain a given current, and acquire a feedback stator current to obtain a first feedback current, and calculate a control voltage according to the given current and the first feedback current; a second acquisition unit configured to acquire an injected low-frequency voltage, and perform current control on the drive device according to the low-frequency voltage and the control voltage so that the drive device generates a corresponding second feedback current; a first calculation unit configured to obtain a low-frequency current according to the second feedback current, and calculate a resistance value of the stator resistance according to the low-frequency current and the low-frequency voltage.

9. A motor control device, characterized in that, the motor control device comprises a memory and a processor connected to the memory; the memory is used for storing a computer program; the processor is used for running the computer program stored in the memory to execute the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-7 can be implemented on a motor control device.

Images