Multi-model function water pump motor parameter estimation method and device and related equipment

Abstract

The embodiment of the invention relates to a multi-model function water pump motor parameter estimation method and device and related equipment. The method comprises the following steps: setting a first variable parameter and a second variable parameter for a d-axis voltage equation and a q-axis voltage equation of a motor respectively, and enabling the d-axis voltage equation and the q-axis voltage equation to simultaneously correspond to a single output quantity to obtain a d-axis voltage equation and a q-axis voltage equation; wherein the d-axis voltage equation and the q-axis voltage equation both comprise to-be-estimated parameters; substituting the multiple groups of motor operation data into the dq-axis voltage equations to obtain a corresponding number of dq-axis voltage equations with parameters; a first dq-axis voltage equation set with the parameter corresponding to the first variable parameter and a second dq-axis voltage equation set with the parameter corresponding to the second variable parameter are separated from the dq-axis voltage equation with the parameter, and the two equation sets form a system output equation set; and determining the residual square of each equation in the system output equation set, and determining the to-be-estimated parameter when the residual sum of squares is minimum as the water pump motor parameter.

Description

Technical Field

[0001] The present invention relates to the technical field of water pump control, and particularly to a method, device and related equipment for estimating parameters of a water pump motor with a multi-model function. Background Art

[0002] In a water pump driven by an electric motor, a sensorless motor is generally adopted, and the rotor position of the motor needs to be estimated for closed-loop control. And calculating the parameters of the water pump motor is required for controlling the water pump motor.

[0003] For a water pump control motor, according to the d-axis voltage equation of the motor: Through multiple sets of input data i d , i q , ω e and multiple sets of output data u d the parameters of the motor, namely the DC internal resistance R s , the direct-axis inductance L d and the quadrature-axis inductance L q can be estimated; similarly, for the q-axis voltage equation: Through multiple sets of input data i d , i q , ω e and multiple sets of output data u q the parameters of the motor, namely R s , L d and L q can also be estimated.

[0004] For the estimation of the parameters of a water pump control motor, the motor parameters estimated by can ensure that the matching d-axis voltage equation is optimal, but cannot ensure that the matching q-axis voltage equation is also an optimal matching parameter. Similarly, the motor parameters estimated by can ensure that the matching q-axis voltage equation is optimal, but cannot ensure that the matching d-axis voltage equation is also an optimal matching parameter.

[0005] The present invention provides a method, device, equipment and storage medium for estimating parameters of a water pump motor with a multi-model function, aiming to simultaneously estimate the optimal water pump motor parameters that satisfy the two voltage equations of the system by using the d-axis voltage equation and the q-axis voltage equation.

[0006] In a first aspect, an embodiment of the present invention provides a method for estimating parameters of a water pump motor with a multi-model function, including:

[0007] The first variable parameter and the second variable parameter are respectively set for the d-axis voltage equation and the q-axis voltage equation of the motor, and the d-axis voltage equation and the q-axis voltage equation are simultaneously corresponding to a single output quantity to obtain the dq-axis voltage equation; wherein the d-axis voltage equation and the q-axis voltage equation both contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance;

[0008] Substituting multiple sets of motor operation data into the dq axis voltage equation, a corresponding number of dq axis voltage equations with parameters are obtained;

[0009] Separate a first dq axis voltage equation group with parameters corresponding to the first variable parameter and a second dq axis voltage equation group with parameters corresponding to the second variable parameter from the dq axis voltage equation with parameters, and combine the two equation groups into a system output equation group;

[0010] The residual square of each equation in the system output equation group is determined, and the parameters to be estimated when the residual square sum reaches the minimum value are determined as the pump motor parameters.

[0011] In a second aspect, an embodiment of the present invention provides a pump motor parameter estimation device based on a multi-model function, comprising:

[0012] A voltage equation establishment module is used to set corresponding first variable parameters and second variable parameters for the d-axis voltage equation and q-axis voltage equation of the motor respectively, and to obtain a dq-axis voltage equation by combining the d-axis voltage equation and the q-axis voltage equation to correspond to a single output quantity; wherein both the d-axis voltage equation and the q-axis voltage equation contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance;

[0013] A parameterized voltage equation generation module is used to substitute multiple sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of parameterized dq axis voltage equations;

[0014] A system output equation group generating module is used to separate a first dq axis voltage equation group with parameters corresponding to the first variable parameter and a second dq axis voltage equation group with parameters corresponding to the second variable parameter from the dq axis voltage equation with parameters, and combine the two equation groups into a system output equation group;

[0015] The water pump motor parameter estimation module is used to determine the residual square of each equation in the system output equation group, and determine the parameter to be estimated when the residual square sum reaches the minimum value as the water pump motor parameter.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0017] one or more processors;

[0018] A memory for storing one or more programs;

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for estimating the parameters of the water pump motor with a multi-model function provided in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the method for estimating the parameters of the water pump motor with a multi-model function provided in any embodiment of the present invention when executed by a computer processor.

[0021] A method, device, equipment and storage medium for estimating the parameters of a water pump motor with a multi-model function provided by an embodiment of the present invention, by respectively setting corresponding first variable parameters and second variable parameters for the d-axis voltage equation and the q-axis voltage equation of the motor, converts the multi-input multi-model function output relational expression into a single-model function output relational expression, solves the problem that it is difficult to ensure that the parameters can match another voltage equation when estimating the parameters of the water pump motor through the d-axis voltage equation or the q-axis voltage equation, and realizes estimating the optimal water pump motor parameters that satisfy the two voltage equations of the system by simultaneously using the d-axis voltage equation and the q-axis voltage equation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flowchart of a method for estimating the parameters of a water pump motor with a multi-model function provided in Embodiment 1 of the present invention;

[0023] Figure 2 It is a schematic structural diagram of a device for estimating the parameters of a water pump motor with a multi-model function provided in Embodiment 2 of the present invention;

[0024] Figure 3 It is a schematic structural diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that only parts related to the present invention are shown in the drawings for the convenience of description, rather than all the structures.

[0026] For a system with m inputs (X m = {x1, x2,..., x m}), k parameters and n model function outputs, it can be represented by (where: y1, y2,..., y n are the outputs of the system and are linearly independent). The model function relational expression y iIn theory, we can collect enough input and output data and bring them into the relationship to establish an overdetermined system of equations, and then use the least squares method to find the optimal But the requested It can only guarantee the matching model function y i is optimal. It cannot be guaranteed that every model function relationship (y1, y2, ..., y n ) are the best.

[0027] In the scheme for estimating the parameters of the water pump motor involved in the present application, if the motor parameters estimated by the d-axis voltage equation can ensure that the matching d-axis voltage equation is optimal, it cannot be guaranteed that the matching q-axis voltage equation is also the optimal matching parameter. Similarly, the motor parameters estimated by the q-axis voltage equation can ensure that the matching q-axis voltage equation is optimal, but it cannot be guaranteed that the matching d-axis voltage equation is also the optimal matching parameter. Under the constraints of this prior art, the embodiment of the present application provides a method for estimating the parameters of the water pump motor.

[0028] Embodiment 1

[0029] Figure 1 This is a flow chart of a method for estimating parameters of a water pump motor using a multi-model function provided in Embodiment 1 of the present invention. This embodiment is applicable to estimating motor parameters in a water pump using a position sensorless motor. The method can be performed by a water pump motor parameter estimation device using a multi-model function. The device can be implemented by hardware and / or software and can generally be integrated in an electronic device, such as a computer device. The method specifically includes:

[0030] Step 110, respectively set corresponding first variable parameters and second variable parameters for the d-axis voltage equation and q-axis voltage equation of the motor, and jointly correspond the d-axis voltage equation and the q-axis voltage equation to a single output quantity to obtain the dq-axis voltage equation.

[0031] Among them, both the d-axis voltage equation and the q-axis voltage equation contain parameters to be estimated, including DC internal resistance, direct-axis inductance, and quadrature-axis inductance. The dq-axis voltage equation combines the d-axis voltage equation and the q-axis voltage equation at the same time. The pump motor parameters estimated on this basis can match the d-axis voltage equation and the q-axis voltage equation.

[0032] Step 120: Substitute multiple sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of dq axis voltage equations with parameters.

[0033] Among them, the motor operation data is the motor operation data collected when the water pump is controlled to reach the set working conditions. The motor operation data may include direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature-axis current and motor speed. For this embodiment, there are at least 3 parameters to be estimated, and the d-axis voltage equation and the q-axis voltage equation are 2 model functions, then the number of groups of motor operation data should be greater than the product of the number of water pump motor parameters to be estimated and 2. Exemplarily, the motor operation data can be 8-10 groups. The dq-axis voltage equation with parameters is a system function with parameters to be estimated.

[0034] Step 130, separating a first dq axis voltage equation group with parameters corresponding to the first variable parameter and a second dq axis voltage equation group with parameters corresponding to the second variable parameter from the dq axis voltage equation with parameters, and combining the two equation groups into a system output equation group.

[0035] By setting the values ​​of the first variable parameter and the second variable parameter, the first dq axis voltage equation group with parameters corresponding to the first variable parameter and the second dq axis voltage equation group with parameters corresponding to the second variable parameter can be separated from the dq axis voltage equation with parameters.

[0036] Step 140: determine the residual square of each equation in the system output equation group, and determine the parameter to be estimated when the residual square sum reaches a minimum value as the water pump motor parameter.

[0037] Among them, the number of output data of the system output equation group is twice the number of motor operation data groups. The output data of the system output equation group is used to calculate the residual square of each equation in the system output equation group, and then the residual square of each equation is summed to obtain the residual square sum. Based on the least squares theory, the parameters to be estimated when the residual square sum is minimized are determined as the pump motor parameters.

[0038] The technical solution of this embodiment, by respectively setting corresponding first variable parameters and second variable parameters for the d-axis voltage equation and q-axis voltage equation of the motor, converts the multi-input and multi-model function output relationship into a single model function output relationship, thereby solving the problem that it is difficult to ensure that the parameters can match the other voltage equation when estimating the water pump motor parameters through the d-axis voltage equation or the q-axis voltage equation, and realizes the simultaneous use of the d-axis voltage equation and the q-axis voltage equation to estimate the optimal water pump motor parameters that satisfy the two voltage equations of the system.

[0039] Optionally, the d-axis voltage equation and the q-axis voltage equation of the motor are respectively provided with corresponding first variable parameters and second variable parameters, and the d-axis voltage equation and the q-axis voltage equation are simultaneously provided with corresponding single output quantity to obtain the dq-axis voltage equation, including:

[0040] The d-axis voltage equation of the motor is: Set the first variable parameter x2 for the q-axis voltage equation: Set the second variable parameter x1;

[0041] Multiply the d-axis voltage equation expression by the first variable parameter x2, multiply the q-axis voltage equation expression by the second variable parameter x1 and take the sum to obtain the dq-axis voltage equation:

[0042]

[0043] Wherein, the DC internal resistance is R s , the direct-axis inductance is L d , the quadrature-axis inductance is L q , the direct-axis voltage is u d , the quadrature-axis voltage is u q , the set output is u dq , the electrical angular velocity of the motor is ω e , the back electromotive force is E f , E f = ω e ·K e , K e is the back electromotive force coefficient.

[0044] For an MIMO system with the output of n model functions, introduce n input variables (X N =[x m+1 , x m+2 , …, x m+n ) and a single output signal y. The relationship between the output signal y and the original output signal (Y = [y1, y2,..., y n ) is: y = X T ×Y. At this time, the system becomes a single-output (y) multi-input N system. system.

[0045] For the d, q-axis voltage equations of the pump control motor, introduce the input variables [x1, x2] and the output variable u dq , then the dq-axis voltage equation will be converted to

[0046]

[0047] Optionally, substituting multiple sets of motor operation data into the dq-axis voltage equation to obtain the corresponding number of dq-axis voltage equations with parameters includes:

[0048] Obtain p sets of motor operation data, where p is an integer greater than 1; the motor operation data includes the direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature-axis current, and motor speed;

[0049] Substitute the motor operation data of p groups into the dq-axis voltage equations to obtain p dq-axis voltage equations with parameters; among them, the p dq-axis voltage equations with parameters are:

[0050]

[0051] In the above dq-axis voltage equations with parameters, and successively represent the parameters to be estimated corresponding to R s 、L d 、L q and K e Under the condition of stable operation of the motor, the electrical angular velocity is proportional to the motor speed, because when the motor structure is determined, the corresponding electrical angular velocity can be determined by the motor speed.

[0052] Optionally, separating the first dq-axis voltage equation set corresponding to the first variable parameter and the second dq-axis voltage equation set corresponding to the second variable parameter from the dq-axis voltage equations with parameters, and combining the two equation sets into a system output equation set, including:

[0053] Set the first variable parameter x2 = 1 and the second variable parameter x1 = 0, and separate p first dq-axis voltage equations with parameters from the dq-axis voltage equations with parameters to form the first dq-axis voltage equation set;

[0054] Set the second variable parameter x1 = 1 and the first variable parameter x2 = 0, and separate p second dq-axis voltage equations with parameters from the dq-axis voltage equations with parameters to form the second dq-axis voltage equation set;

[0055] Combine the two equation sets into a system output equation set:

[0056] where i q and i d take the steady-state values, so the corresponding differential terms in the voltage equation are 0.

[0057] When X = [1, 0,..., 0], y = y1. Similarly, it can be obtained that: Therefore, when the introduced input variables select appropriate values, the transformed system is equivalent to the original system.

[0058] Optionally, determining the residual square of each equation in the system output equation set, and determining the parameters to be estimated when the sum of the residual squares reaches the minimum as the water pump motor parameters, including:

[0059] According to the direct-axis voltage and quadrature-axis voltage in the motor operation data, based on the least squares theory, calculate the sum of the residual squares of the equations in the system output equation set corresponding to 2p groups of motor operation data;

[0060] The DC internal resistance, direct-axis inductance and quadrature-axis inductance when the residual square sum reaches the minimum value are the parameters of the water pump motor.

[0061] For m inputs (X m ={x1, x2, ..., x m}), k parameters n system outputs of model functions. p·n groups of collected system output data: According to the least squares theory, the residual sum of squares is calculated for p·n groups of data. As the objective function, then the objective function takes the minimum value is the optimal estimated parameter of the system.

[0062] Optionally, before substituting the plurality of sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of dq axis voltage equations with parameters, the method further includes:

[0063] Control the water pump to operate according to the preset working conditions, and collect the motor operation data after the water pump reaches the preset working conditions and operates stably.

[0064] 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 include the direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature-axis current and motor speed. The direct-axis voltage, quadrature-axis voltage, direct-axis current and quadrature-axis current are all voltages and currents in the voltage-current transformation coordinate system.

[0065] Set different pump target speed conditions, make the pump run in steady state, and collect motor operation data under steady state. Set different pump load conditions, make the pump run in steady state, and collect motor operation data under steady state.

[0066] Embodiment 2

[0067] Figure 2 A schematic diagram of the structure of a pump motor parameter estimation device with multiple model functions provided in the second embodiment of the present invention is shown in FIG. Figure 2 As shown, the multi-model function water pump motor parameter estimation device includes: a voltage equation establishment module 210, a parameter voltage equation generation module 220, a system output equation group generation module 230 and a water pump motor parameter estimation module 240, wherein:

[0068] The voltage equation establishing module 210 is used to set corresponding first variable parameters and second variable parameters for the d-axis voltage equation and the q-axis voltage equation of the motor, respectively, and to obtain the dq-axis voltage equation by combining the d-axis voltage equation and the q-axis voltage equation to correspond to a single output quantity; wherein both the d-axis voltage equation and the q-axis voltage equation contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance;

[0069] The parameterized voltage equation generation module 220 is configured to substitute multiple sets of motor operation data into the dq-axis voltage equation to obtain a corresponding number of parameterized dq-axis voltage equations;

[0070] The system output equation set generation module 230 is configured to separate a first parameterized dq-axis voltage equation set corresponding to a first variable parameter and a second parameterized dq-axis voltage equation set corresponding to a second variable parameter from the parameterized dq-axis voltage equations, and form a system output equation set with the two equation sets;

[0071] The water pump motor parameter estimation module 240 is configured to determine the residual square of each equation in the system output equation set, and determine the parameter to be estimated when the sum of the residual squares reaches the minimum value as the water pump motor parameter.

[0072] Optionally, the voltage equation establishment module is configured to:

[0073] For the d-axis voltage equation of the motor: Set a first variable parameter x2, and for the q-axis voltage equation: Set a second variable parameter x1;

[0074] Multiply the d-axis voltage equation expression by the first variable parameter x2, multiply the q-axis voltage equation expression by the second variable parameter x1 and take the sum to obtain the dq-axis voltage equation:

[0075]

[0076] Wherein, the DC internal resistance is R s , the direct-axis inductance is L d , the quadrature-axis inductance is L q , the direct-axis voltage is u d , the quadrature-axis voltage is u q , the set output quantity is u dq , the electrical angular velocity of the motor is ω e , the back electromotive force is E f , E f = ω e · K e , K e Is the back electromotive force coefficient.

[0077] Optionally, the parameterized voltage equation generation module is configured to:

[0078] Obtain p sets of motor operation data, where p is an integer greater than 1; the motor operation data includes direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature-axis current, and motor speed;

[0079] Substitute the p sets of motor operation data into the dq-axis voltage equation to obtain p parameterized dq-axis voltage equations; among them, the p parameterized dq-axis voltage equations are:

[0080]

[0081] Optionally, a system output equation set generation module is used for:

[0082] Set the first variable parameter x2 = 1, set the second variable parameter x1 = 0, separate p first parameterized dq-axis voltage equations from the parameterized dq-axis voltage equation, and form a first parameterized dq-axis voltage equation set;

[0083] Set the second variable parameter x1 = 1, set the first variable parameter x2 = 0, separate p second parameterized dq-axis voltage equations from the parameterized dq-axis voltage equation, and form a second parameterized dq-axis voltage equation set;

[0084] Combine the two equation sets into a system output equation set:

[0085]

[0086] Optionally, a water pump motor parameter estimation module is used for:

[0087] According to the direct-axis voltage and quadrature-axis voltage in the motor operation data, based on the least squares theory, calculate the sum of squared residuals of the equations in the system output equation set corresponding to 2p groups of motor operation data;

[0088] The DC internal resistance, direct-axis inductance, and quadrature-axis inductance when the sum of squared residuals reaches the minimum value are the water pump motor parameters.

[0089] Optionally, the water pump motor parameter estimation device with a multi-model function further includes:

[0090] A motor operation data acquisition module is used for controlling the water pump to operate according to a preset working condition before substituting multiple groups of motor operation data into the dq-axis voltage equation to obtain the corresponding number of parameterized dq-axis voltage equations, and collecting the motor operation data after the water pump reaches the preset working condition and operates stably.

[0091] The water pump motor parameter estimation device with a multi-model function provided by the embodiments of the present invention can execute the water pump motor parameter estimation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0092] Embodiment III

[0093] Figure 3 FIG. is a schematic structural diagram of an electronic device provided by Embodiment III of the present invention. As Figure 3 shown, the electronic device includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of processors 310 in the electronic device can be one or more. Figure 3A processor 310 is taken as an example; the processor 310, the memory 320, the input device 330 and the output device 340 in the electronic device can be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0094] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the method for estimating the parameters of a water pump motor using multiple model functions in the embodiment of the present invention (for example, the voltage equation establishment module 210, the parameterized voltage equation generation module 220, the system output equation group generation module 230 and the water pump motor parameter estimation module 240 in the device for estimating the parameters of a water pump motor using multiple model functions). The processor 310 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 320, that is, implements the method for estimating the parameters of a water pump motor using multiple model functions.

[0095] The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0096] The input device 330 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 340 may include a display device such as a display screen.

[0097] Embodiment 4

[0098] Embodiment 4 of the present invention further provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute a method for estimating parameters of a water pump motor using a multi-model function when executed by a computer processor, including:

[0099] The first variable parameter and the second variable parameter are respectively set for the d-axis voltage equation and the q-axis voltage equation of the motor, and the d-axis voltage equation and the q-axis voltage equation are simultaneously corresponding to a single output quantity to obtain the dq-axis voltage equation; wherein the d-axis voltage equation and the q-axis voltage equation both contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance;

[0100] Substitute multiple sets of motor operation data into the dq-axis voltage equation to obtain the corresponding number of dq-axis voltage equations with parameters.

[0101] Separate the first set of dq-axis voltage equations with parameters corresponding to the first variable parameter and the second set of dq-axis voltage equations with parameters corresponding to the second variable parameter from the dq-axis voltage equations with parameters, and form a system output equation set with these two equation sets.

[0102] Determine the residual square of each equation in the system output equation set, and determine the parameter to be estimated when the sum of the residual squares reaches the minimum value as the water pump motor parameter.

[0103] Certainly, for a storage medium containing computer-executable instructions provided in an embodiment of the present invention, the computer-executable instructions are not limited to the method operations described above, and can also execute related operations in the method for estimating water pump motor parameters of the multi-model function provided in any embodiment of the present invention.

[0104] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0105] It should be noted that in the embodiments of the device for estimating water pump motor parameters of the above multi-model function, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0106] Although the present invention has been described in detail above with general descriptions, specific embodiments, and experiments, modifications or improvements can be made to it on the basis of the present invention, which is obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A method for estimating the parameters of a water pump motor with a multi-model function, characterized in that, include: The first variable parameter and the second variable parameter are respectively set for the d-axis voltage equation and the q-axis voltage equation of the motor, and the d-axis voltage equation and the q-axis voltage equation are simultaneously corresponding to a single output quantity to obtain the dq-axis voltage equation; wherein the d-axis voltage equation and the q-axis voltage equation both contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance; Substituting multiple sets of motor operation data into the dq axis voltage equation, a corresponding number of dq axis voltage equations with parameters are obtained; Separate a first dq axis voltage equation group with parameters corresponding to the first variable parameter and a second dq axis voltage equation group with parameters corresponding to the second variable parameter from the dq axis voltage equation with parameters, and combine the two equation groups into a system output equation group; The residual square of each equation in the system output equation group is determined, and the parameters to be estimated when the residual square sum reaches the minimum value are determined as the pump motor parameters.

2. The method according to claim 1, characterized in that The first variable parameter and the second variable parameter are respectively set for the d-axis voltage equation and the q-axis voltage equation of the motor, and the d-axis voltage equation and the q-axis voltage equation are combined to correspond to a single output quantity to obtain the dq-axis voltage equation, including: It is the d-axis voltage equation of the motor: Set the first variable parameter x2, which is the q-axis voltage equation: Set the second variable parameter x1; Multiply the d-axis voltage equation by the first variable parameter x2, multiply the q-axis voltage equation by the second variable parameter x1 and sum them to obtain the dq-axis voltage equation: Among them, the DC internal resistance is R s , the direct-axis inductance is L d , the quadrature-axis inductance is L q , the direct-axis voltage is u d , the quadrature-axis voltage is u q , the set output quantity is u dq , the electrical angular velocity of the motor is ω e , the back electromotive force is E f , E f = ω e ·K e , K e is the back electromotive force coefficient.

3. The method according to claim 2, wherein Substituting multiple sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of dq axis voltage equations with parameters includes: Obtain p groups of motor operation data, where p is an integer greater than 1; the motor operation data includes a direct-axis voltage, a quadrature-axis voltage, a direct-axis current, a quadrature-axis current, and a motor speed; Substitute p groups of motor operation data into the dq axis voltage equation to obtain p dq axis voltage equations with parameters; among which, the p dq axis voltage equations with parameters are:

4. The method according to claim 3, characterized in that, The method of separating a first dq axis voltage equation group with a first variable parameter and a second dq axis voltage equation group with a second variable parameter from the dq axis voltage equation with a parameter, and combining the two equation groups into a system output equation group includes: The first variable parameter x2 is set to 1, the second variable parameter x1 is set to 0, and p first dq axis voltage equations with parameters are separated from the dq axis voltage equations with parameters to form a first dq axis voltage equation group with parameters; The second variable parameter x1 is set to 1, the first variable parameter x2 is set to 0, and p second dq axis voltage equations with parameters are separated from the dq axis voltage equations with parameters to form a second dq axis voltage equation group with parameters; The two equations are combined into the system output equations:

5. The method according to claim 4, characterized in that, The method of determining the residual square of each equation in the system output equation group and determining the parameter to be estimated when the residual square sum obtains the minimum value as the water pump motor parameter includes: According to the direct-axis voltage and quadrature-axis voltage in the motor operation data, based on the least squares theory, the residual sum of squares of the equations in the system output equation group corresponding to the 2p groups of motor operation data is calculated; The DC internal resistance, direct-axis inductance and quadrature-axis inductance when the residual square sum reaches the minimum value are the parameters of the water pump motor.

6. The method according to any one of claims 1-5, characterized in that Before substituting multiple sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of parameterized dq axis voltage equations, it also includes: Control the water pump to operate according to the preset working conditions, and collect the motor operation data after the water pump reaches the preset working conditions and operates stably.

7. A device for estimating the parameters of a water pump motor with a multi-model function, characterized in that, include: A voltage equation establishment module is used to set corresponding first variable parameters and second variable parameters for the d-axis voltage equation and q-axis voltage equation of the motor respectively, and to obtain a dq-axis voltage equation by combining the d-axis voltage equation and the q-axis voltage equation to correspond to a single output quantity; wherein both the d-axis voltage equation and the q-axis voltage equation contain parameters to be estimated, and the parameters to be estimated include DC internal resistance, direct-axis inductance, and quadrature-axis inductance; A parameterized voltage equation generation module is used to substitute multiple sets of motor operation data into the dq axis voltage equation to obtain a corresponding number of parameterized dq axis voltage equations; A system output equation group generating module is used to separate a first dq axis voltage equation group with parameters corresponding to the first variable parameter and a second dq axis voltage equation group with parameters corresponding to the second variable parameter from the dq axis voltage equation with parameters, and combine the two equation groups into a system output equation group; The water pump motor parameter estimation module is used to determine the residual square of each equation in the system output equation group, and determine the parameter to be estimated when the residual square sum reaches the minimum value as the water pump motor parameter.

8. The device according to claim 7, characterized in that, The voltage equation building module is used to: It is the d-axis voltage equation of the motor: Set the first variable parameter x2, which is the q-axis voltage equation: Set the second variable parameter x1; Multiply the d-axis voltage equation by the first variable parameter x2, multiply the q-axis voltage equation by the second variable parameter x1 and sum them to obtain the dq-axis voltage equation: Among them, the DC internal resistance is R s , the direct-axis inductance is L d , the quadrature-axis inductance is L q , the direct-axis voltage is u d , the quadrature-axis voltage is u q , the set output quantity is u dq , the electrical angular velocity of the motor is ω e , the back electromotive force is E f .

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 water pump motor parameter estimation method based on the multi-model function as described in any one of claims 1-6.

10. A storage medium containing computer-executable instructions, characterized in that, When the computer executable instructions are executed by a computer processor, they are used to execute the water pump motor parameter estimation method based on the multi-model function as claimed in any one of claims 1 to 6.

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