Motor driver output current sampling evaluation method and device and storage medium

Abstract

The invention discloses a motor driver output current sampling evaluation method and device and a storage medium, and the method comprises the steps: modulating and outputting a test voltage through PWM waves by using a motor driver, and controlling the test voltage to be gradually increased until a to-be-tested output current reaches a set value, and then keeping constant output; continuously collecting the data of the output current to be measured at a fixed frequency after the motor stops rotating, and obtaining a multi-cycle current sampling value sequence of the current output current to be measured; and then calculating a periodic root-mean-square error value for each current sampling value in the multi-period current sampling value sequence, and evaluating data noise of a periodic signal according to comparison between the periodic root-mean-square error value and a set condition value so as to quantitatively evaluate the current sampling performance of the motor driver. Finally, the current sampling performance under the condition that the motor driver outputs the current can be effectively, simply, quickly and quantitatively evaluated according to the size of the periodic root-mean-square error value without the help of external equipment.

Description

Technical Field

[0001] The present invention relates to the field of power electronics technology, and particularly to a method, device, and storage medium for evaluating the output current sampling of a motor driver. Background Art

[0002] With the development and progress of technology, motor drivers have witnessed rapid development and have a wide range of application markets and development spaces. Especially in recent years, there has been a blowout development in the demands of equipment electrification, energy storage, new energy vehicles, intelligent robots, etc. As a mechanism for converting electrical energy into kinetic energy, the motor driver is a key factor in realizing the basic motion function of equipment. The quality of current sampling performance is an important factor determining the control performance of the motor driver. Currently, there are mainly two traditional current sampling evaluation methods. One is to collect the current when the motor driver has no output and use the noise situation of the current as the evaluation standard. However, this method is only suitable for evaluating the current sampling performance in the case of no current. When there is current, for a motor driver that realizes the modulation of the motor input voltage through the switching action of power switching devices, since the output voltage generally uses PWM wave modulation and the actual current of the motor is a sawtooth wave, there is no suitable method to quantitatively evaluate it. The other is to input an external constant current into the motor driver device and use the collected current noise situation as the evaluation standard. However, this method requires an additional high-precision current source device, the test process is complex, and since there is no switching action of the power devices of the motor driver during the process, it cannot truly reflect the real situation during the operation of the motor driver. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides a method for evaluating the output current sampling of a motor driver. The motor driver is electrically connected to a motor and includes the following steps: Control the motor driver to output a test voltage through PWM wave modulation, and control the test voltage to gradually increase until the measured output current reaches a set value and then maintain a constant output; after the motor stops rotating, continuously collect the measured output current data at a fixed frequency to obtain a multi-period current sampling value sequence of the current measured output; Calculate the period root mean square error value for each current sampling value in the multi-period current sampling value sequence, and evaluate the current sampling performance of the motor driver based on the comparison between the period root mean square error value and the set condition value.

[0004] Preferably, the motor is a three-phase motor, and three current sensors are respectively installed on the three-phase output lines of the motor driver for collecting corresponding phase current data; in the step, the motor driver is controlled to modulate and output a test voltage through a PWM wave, and the test voltage is controlled to gradually increase until the measured output current reaches a set value and then remains constant; after the motor stops rotating, the measured output current data is continuously collected at a fixed frequency to obtain a multi-period current sampling value sequence of the current to be measured, specifically including: The motor driver is respectively controlled to modulate and output a vector voltage in the same direction as each measured phase current through a PWM wave, and the vector voltage is controlled to gradually increase until the measured phase current reaches a preset value and then remains constant; After the motor stops rotating, the measured phase current data is continuously collected at a fixed frequency to obtain a multi-period current sampling value sequence of the current to be measured for the current phase.

[0005] Preferably, the period root mean square error value is calculated for each current sampling value in the multi-period current sampling value sequence, and the current sampling performance of the motor driver is evaluated according to the comparison between the period root mean square error value and the set condition value, specifically including: The period root mean square error value is calculated for the phase current sampling values in the three multi-period current sampling value sequences corresponding to different phases respectively obtained, and the current sampling performance of the motor driver is evaluated according to the comparison between the three obtained period root mean square error values and the set condition value.

[0006] Preferably, the period root mean square error value is calculated for each current sampling value in the multi-period current sampling value sequence, and the current sampling performance of the motor driver is evaluated according to the comparison between the period root mean square error value and the set condition value, specifically including: by comparing the period root mean square error values of the multi-period current sampling value sequences respectively collected when the motor driver is not in the condition of the device under test and when it is in the condition of the device under test, the interference degree of the condition of the device under test on the current sampling performance of the motor driver is evaluated.

[0007] Preferably, the period root mean square error value is calculated for each current sampling value in the multi-period current sampling value sequence, specifically including: The period root mean square error value w is calculated for each current sampling value in the multi-period current sampling value sequence: , where , is the average value of the sequence , is the number of samples required in each PWM output period, is the total number of PWM output periods to be collected, is the i-th sampled value in the j-th PWM output period. Preferably, calculating the periodic root mean square error value for each current sampled value in the multi-period current sampled value sequence specifically includes: Save the current sampled value sequence of the first PWM output period as the reference sequence; Initialize the variables and to zero, and update the corresponding variables when data is collected: , , until the last sampled value , where is the i-th sampled value in the 1st PWM output period, is the i-th sampled value in the j-th PWM output period; Calculate the periodic root mean square error value w of the current sampled value: , where is the number of samples required in each PWM output period, is the total number of PWM output periods to be collected.

[0008] The present invention also discloses a device for evaluating the output current sampling of a motor driver, including a controller, a motor driver, and a motor. The motor driver is electrically connected to the motor. The controller can communicate with the motor driver. The controller is configured to control the motor driver to modulate and output a test voltage through a PWM wave, and control the test voltage to gradually increase until the measured output current reaches a set value and then maintain a constant output; after monitoring that the motor stops rotating, continuously collect the measured output current data at a fixed frequency to obtain a multi-period current sampled value sequence of the current measured output current; calculate the periodic root mean square error value for each current sampled value in the multi-period current sampled value sequence, and evaluate the current sampling performance of the motor driver according to the comparison between the periodic root mean square error value and the set condition value.

[0009] Preferably, the motor is a three-phase motor. The controller is configured to respectively control the motor driver to modulate and output a vector voltage in the same direction as each measured phase current through a PWM wave, and control the vector voltage to gradually increase until the measured phase current reaches a preset value and then maintain a constant output; after the motor stops rotating, continuously collect the measured phase current data at a fixed frequency to obtain a multi-period current sampled value sequence of the current measured phase.

[0010] Preferably, the controller is configured to calculate a periodic root mean square error value for phase current sampling values ​​obtained in three multi-period current sampling value sequences corresponding to different phases, and evaluate the current sampling performance of the motor driver based on a comparison between the three periodic root mean square error values ​​obtained and set condition values.

[0011] The present invention also discloses a computer-readable storage medium, on which a motor driver output current sampling and evaluation program is stored. When the motor driver output current sampling and evaluation program is executed by a processor, the steps of the motor driver output current sampling and evaluation method described in any of the above items are implemented.

[0012] The motor driver output current sampling evaluation method, device and storage medium disclosed in the present invention, by introducing the concept of periodic mean square error, using the motor driver to modulate the output test voltage through PWM wave, and controlling the test voltage to gradually increase until the output current to be measured reaches the set value and maintains a constant output; after the motor stops rotating, the output current data to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured; then the periodic root mean square error value is calculated for each current sampling value in the multi-cycle current sampling value sequence, and the data noise of the periodic signal is evaluated according to the comparison between the periodic root mean square error value and the set condition value, so as to quantitatively evaluate the current sampling performance of the motor driver. Finally, the current sampling performance of the motor driver output current can be effectively, simply and quickly quantitatively evaluated according to the size of the periodic root mean square error value without the help of external equipment.

[0013] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 The present invention is a schematic diagram of a specific flow chart of a method for sampling and evaluating a motor driver output current disclosed in an embodiment of the present invention.

[0015] Figure 2 A schematic diagram of the connection of a motor driver disclosed in an embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of a specific flow chart of step S1 disclosed in one embodiment of the present invention.

[0017] Figure 4Schematic diagram of the structure of the output current sampling and evaluation device for a motor driver disclosed in an embodiment of the present invention. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of 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 described embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings as understood by those of ordinary skill in the art to which the present invention pertains. The terms "first", "second", and similar terms used in the specification and claims of this patent application for the present invention do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "an" and the like do not denote a limitation of quantity, but mean that there is at least one.

[0020] As a mechanism for converting electrical energy into kinetic energy, a motor driver is a key device for realizing the basic function of equipment movement. The quality of the analog sampling performance therein is an important factor determining the control performance of the motor driver. With fierce market competition, "cost reduction" has become an important factor in enhancing the competitiveness of motor driver products. This has led to a conflict between cost requirements and product performance. In product design, it is necessary to balance cost and performance. Currently, there are relatively mature methods for quantifying costs, while the quantitative evaluation method for current sampling performance is still lacking. The output current sampling evaluation method for a motor driver disclosed in this embodiment proposes the concept of periodic mean square error for a periodic sawtooth wave, which can effectively evaluate the data noise of a periodic signal and can quantitatively evaluate the current sampling performance when the output current of the motor driver is sampled simply and quickly without the aid of external equipment. Specifically, as shown in the appendix Figure 1 As shown, the output current sampling evaluation method for the motor driver may specifically include the following contents.

[0021] Step S1, controlling the motor driver to output a test voltage through PWM wave modulation, and controlling the test voltage to gradually increase until the output current to be measured reaches a set value and then maintaining a constant output; after the motor stops rotating, continuously collecting the output current data to be measured at a fixed frequency to obtain a multi-period current sampling value sequence of the current output to be measured. The above-mentioned motor may be a three-phase motor or a DC motor, and this output current sampling evaluation method can be applied to various devices that rely on PWM waves to control power switch devices to control the output voltage and thus control the current output of the device, such as energy storage devices and power supply devices.

[0022] In a specific embodiment, as shown in the appendix Figure 2 shown, it is used to sample and evaluate the output current of a motor driver connected to a three-phase motor. Three current sensors are respectively installed on the three-phase output lines of the motor driver to collect corresponding phase current data. As shown in the appendix Figure 3 shown, step S1 may specifically include the following content.

[0023] Step S11: Control the motor driver to output a vector voltage in the same direction as each phase current to be measured through PWM wave modulation, and control the vector voltage to gradually increase until the phase current to be measured reaches a preset value and then maintain a constant output.

[0024] Specifically, first obtain the current test requirements, where the test requirements include the set directions and magnitudes of the phase currents to be measured, that is, determine the directions and magnitudes of the vector currents to be output , when measuring the performance of the A-phase current sensor, the direction of the vector current is configured to be in the same direction as A.

[0025] By controlling the motor driver to output a vector voltage in the same direction through PWM wave modulation, the voltage magnitude starts from 0, and the vector voltage gradually increases. When it is detected that the vector current reaches , the vector voltage remains constant and continues to be output.

[0026] Step S12: Continuously collect the phase current data to be measured at a fixed frequency after the motor stops rotating, and obtain a multi-period current sampling value sequence of the current phase to be measured.

[0027] Specifically, after waiting for a period of time until the motor speed drops to 0 and waiting for the phase current output to stabilize, start collecting the corresponding phase current sequence through the current sensor located in the current phase to be measured. The PWM output period can be preset as , and the number of sampling times set within each PWM output period is , then the time interval between two sampling points is , the total number of collection periods set is , that is, the total number of sampling data required is ones, and finally the sequence containing the current sampling values of each period of the current phase to be measured collected is .

[0028] Step S2: Calculate the period root mean square error value for each current sampling value in the multi-period current sampling value sequence, and evaluate the current sampling performance of the motor driver according to the comparison between the period root mean square error value and the set condition value.

[0029] In this embodiment, by using the concept of the root mean square error value of the period of the periodic waveform, the error condition of the periodic signal is effectively evaluated. In this embodiment, the root mean square error value w of the period is calculated for each current sampling value in the multi-period current sampling value sequence: , where , is the average value of the sequence , is the number of samples required for each PWM output period, is the total number of PWM output periods to be collected, is the i-th sampling value of the j-th PWM output period.

[0030] After obtaining the root mean square error value of the period of the current multi-period current sampling value sequence, look up the preset condition value for judgment and comparison of the measured output current corresponding to the multi-period current sampling value sequence in the memory. If the root mean square error value of the period is lower than the set condition value, the current sampling performance evaluation passes; otherwise, the current sampling performance evaluation fails. This method judges the quality of the device's current sampling performance by comparing the root mean square error value data of the device. The lower the root mean square error value of the period, the higher the performance.

[0031] In this embodiment, in order to effectively reduce the calculation memory space, an iterative method can be used to calculate the root mean square error of the period in the above step S2, which specifically includes the following content.

[0032] Step S101, save the current sampling value sequence of the first PWM output period as the reference sequence.

[0033] Step S102, initialize the variables and to zero, and update the corresponding variables when the data is collected: ; ; until the last sampling value , where is the i-th sampling value of the first PWM output period, is the i-th sampling value of the j-th PWM output period.

[0034] Step S103, calculate the root mean square error value w of the current sampling value of the period: , where is the number of samples required for each PWM output period, is the total number of PWM output cycles that need to be collected.

[0035] Specifically, first save the current data in the first PWM output cycle To variable ,Right now: , The variable and Initialized to 0, when data is collected hour( ), update the corresponding variables: , Until the last sample value , and finally the periodic root mean square error of the signal is calculated as: .

[0036] After obtaining the cycle root mean square error value of the current multi-cycle current sampling value sequence by using the iteration method, the set condition value corresponding to the multi-cycle current sampling value sequence for judgment and comparison is searched in the memory. If the cycle root mean square error value is lower than the set condition value, its current sampling performance evaluation meets the set requirements, otherwise its current sampling performance evaluation does not meet the requirements. This method judges the quality of the current sampling performance of the device by comparing the cycle root mean square error value data of the device, wherein the lower the cycle root mean square error value, the higher the performance.

[0037] In this embodiment, step S2 may also include: calculating the periodic root mean square error value of the phase current sampling values ​​in the three multi-period current sampling value sequences corresponding to different phases, and evaluating the current sampling performance of the motor driver according to the comparison between the three periodic root mean square error values ​​obtained and the set condition value. The current sampling performance of the motor driver is comprehensively evaluated by analyzing and comparing the periodic root mean square error values ​​calculated from the output current sampling value data of the three current sensors respectively located on the three-phase output circuits of the motor driver. For example, by comparing the three periodic root mean square error values ​​w corresponding to the three-phase output current, the performance difference of each phase sensor is judged. If the output current w value of one phase is significantly higher than the output current w value of other phases, it can be determined that the phase sensor or circuit is abnormal.

[0038] In this embodiment, the interference degree of the device under test condition on the current sampling performance of the motor driver can also be evaluated by comparing the periodic root mean square error values ​​of the multi-period current sampling value sequences respectively acquired when the motor driver is not in the device under test condition and in the device under test condition. For example, by obtaining the periodic root mean square error value change △w before and after the motor driver is in the device under test condition or the interference condition, where △w=w 1 -w2 , w 1 is the cycle RMS error value obtained when the motor driver is not in interference conditions, w 2 The periodic RMS error value is collected when the motor driver is under interference conditions. By evaluating whether the change in the periodic RMS error value △w exceeds the set threshold, the influence of the interference condition on the current sampling is judged, thereby guiding the anti-interference design optimization of the motor driver.

[0039] The motor driver output current sampling and evaluation method disclosed in the above embodiment, by introducing the concept of periodic mean square error, uses the motor driver to modulate the output test voltage through PWM wave, and controls the test voltage to gradually increase until the output current to be measured reaches the set value and maintains a constant output; after the motor stops rotating, the output current data to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured; then the periodic root mean square error value is calculated for each current sampling value in the multi-cycle current sampling value sequence, and the data noise of the periodic signal is evaluated according to the comparison between the periodic root mean square error value and the set condition value, so as to quantitatively evaluate the current sampling performance of the motor driver. Finally, the current sampling performance of the motor driver output current can be effectively, simply and quickly quantitatively evaluated according to the size of the periodic root mean square error value without the help of external equipment. At the same time, in order to save storage space and avoid space waste caused by too much sampling data, the periodic root mean square error is further calculated by using an iterative method to quickly and quantitatively evaluate the current sampling performance.

[0040] In another embodiment, a motor driver output current sampling and evaluation device is also disclosed, as shown in the attached Figure 4 As shown, it includes a controller 1, a motor driver 2 and a motor 3, wherein the motor driver 2 is electrically connected to the motor 3, and the controller 1 can communicate with the motor driver 2. The controller is configured to control the motor driver to output a test voltage through PWM wave modulation, and control the test voltage to gradually increase until the output current to be measured reaches a set value and then maintains a constant output; after monitoring that the motor stops rotating, the output current data to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured; the cycle root mean square error value is calculated for each current sampling value in the multi-cycle current sampling value sequence, and the current sampling performance of the motor driver is evaluated according to the comparison between the cycle root mean square error value and the set condition value.

[0041] In this embodiment, the motor 3 can be a three-phase motor. The controller is configured to control the motor driver to output a vector voltage in the same direction as the current of each phase to be measured through PWM wave modulation, and control the vector voltage to gradually increase until the current of the phase to be measured reaches a preset value and then maintain a constant output. After the motor stops rotating, the current data of the phase to be measured is continuously collected at a fixed frequency to obtain a multi-period current sampling value sequence of the current phase to be measured.

[0042] In this embodiment, the controller 1 is configured to calculate the periodic root mean square error values of the phase current sampling values in the three multi-period current sampling value sequences corresponding to different phases respectively obtained, and evaluate the current sampling performance of the motor driver according to the comparison between the three obtained periodic root mean square error values and the set condition values.

[0043] The functions of the controller of the above motor driver output current sampling evaluation device basically correspond to the steps of the motor driver output current sampling evaluation method disclosed in the previous embodiments. Therefore, the description will not be elaborated in detail here. For details, reference can be made to the embodiments of the motor driver output current sampling evaluation method disclosed above. It should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0044] Wherein, if the motor driver output current sampling evaluation method or the controller of the above motor driver output current sampling evaluation device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various embodiments of the method for classifying goods data can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention.

[0046] In summary, the above are only the preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims

1. A method for sampling and evaluating the output current of a motor driver, wherein the motor driver is electrically connected to a motor, characterized in that: The steps include: Control the motor driver to output a test voltage through PWM wave modulation, and control the test voltage to gradually increase until the output current to be measured reaches a set value and then maintains a constant output; after the motor stops, continuously collect the output current data to be measured at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured; A periodic root mean square error value is calculated for each current sampling value in the multi-period current sampling value sequence, and the current sampling performance of the motor driver is evaluated based on a comparison between the periodic root mean square error value and a set condition value.

2. The motor driver output current sampling and evaluation method according to claim 1, characterized in that: The motor is a three-phase motor, and three current sensors are respectively installed on the three-phase output circuits of the motor driver to collect corresponding phase current data; The steps control the motor driver to output a test voltage through PWM wave modulation, and control the test voltage to gradually increase until the output current to be measured reaches a set value and then maintains a constant output; after the motor stops, the output current data to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured, specifically including: Control the motor drivers to output vector voltages with the same direction as the phase currents to be measured through PWM wave modulation, and control the vector voltages to gradually increase until the phase currents to be measured reach a preset value and then maintain a constant output; After the motor stops, the current data of the phase to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current phase to be measured.

3. The motor driver output current sampling and evaluation method according to claim 2, characterized in that: Calculating a periodic root mean square error value for each current sampling value in the multi-period current sampling value sequence, and evaluating the current sampling performance of the motor driver according to a comparison between the periodic root mean square error value and a set condition value, specifically including: The periodic root mean square error value is calculated for the phase current sampling values ​​in the three multi-period current sampling value sequences corresponding to different phases, and the current sampling performance of the motor driver is evaluated based on the comparison between the three periodic root mean square error values ​​and the set condition values.

4. The motor driver output current sampling and evaluation method according to any one of claims 1 to 3, characterized in that: Calculating a periodic root mean square error value for each current sampling value in the multi-period current sampling value sequence, and evaluating the current sampling performance of the motor driver according to a comparison between the periodic root mean square error value and a set condition value, specifically including: By comparing the periodic root mean square error values ​​of the multi-period current sampling value sequences respectively acquired when the motor driver is not in the device under test condition and in the device under test condition, the interference degree of the device under test condition on the current sampling performance of the motor driver is evaluated.

5. The motor driver output current sampling and evaluation method according to claim 4, characterized in that: Calculating a periodic root mean square error value for each current sampling value in the multi-period current sampling value sequence specifically includes: The periodic root mean square error value w is calculated for each current sampling value in the multi-period current sampling value sequence: ， in , For sequence The average value of The number of samples required for each PWM output cycle, is the total number of PWM output cycles that need to be collected, is the i-th sampling value of the j-th PWM output cycle.

6. The motor driver output current sampling and evaluation method according to claim 5, characterized in that: Calculating a periodic root mean square error value for each current sampling value in the multi-period current sampling value sequence specifically includes: Save the current sampling value sequence of the first PWM output cycle As a benchmark sequence; Initialize variables and to zero, and update the corresponding variables when data is collected: ， ， Until the last sample value ,in is the i-th sampling value of the first PWM output cycle, is the i-th sampling value of the j-th PWM output cycle; The periodic root mean square error w of the current sampling value is calculated: ， in The number of samples required for each PWM output cycle, is the total number of PWM output cycles that need to be collected.

7. A motor driver output current sampling and evaluation device, comprising a controller, a motor driver and a motor, wherein the motor driver is electrically connected to the motor, and the controller is capable of communicating with the motor driver, characterized in that: The controller is configured to control the motor driver to output a test voltage through PWM wave modulation, and control the test voltage to gradually increase until the output current to be measured reaches a set value and then maintain a constant output; after monitoring that the motor has stopped, continuously collect the output current data to be measured at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current output current to be measured; calculate the cycle root mean square error value for each current sampling value in the multi-cycle current sampling value sequence, and evaluate the current sampling performance of the motor driver based on the comparison between the cycle root mean square error value and the set condition value.

8. The motor driver output current sampling and evaluation device according to claim 7, characterized in that: The motor is a three-phase motor, and the controller is configured to control the motor driver to output a vector voltage with the same direction as the current of each phase to be measured through PWM wave modulation, and control the vector voltage to gradually increase until the current of the phase to be measured reaches a preset value and then maintain a constant output; after the motor stops, the current data of the phase to be measured is continuously collected at a fixed frequency to obtain a multi-cycle current sampling value sequence of the current phase to be measured.

9. The motor driver output current sampling and evaluation device according to claim 8, characterized in that: The controller is configured to calculate a periodic root mean square error value for phase current sampling values ​​in three multi-period current sampling value sequences corresponding to different phases, and evaluate the current sampling performance of the motor driver based on a comparison between the three periodic root mean square error values ​​obtained and a set condition value.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a motor driver output current sampling and evaluation program, wherein when the motor driver output current sampling and evaluation program is executed by a processor, the steps of the motor driver output current sampling and evaluation method as described in any one of claims 1 to 6 are implemented.

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