Motor parameter calibration method, calibration equipment and storage medium

Abstract

The invention relates to the technical field of motor calibration, and discloses a motor parameter calibration method, calibration equipment and a storage medium, and the method comprises the steps: setting a target motor on a test bench, setting the bus voltage of a motor controller as a preset voltage, and setting the synchronous frequency of a stator winding of the target motor as a preset frequency; different first test currents are given to the target motor in a preset test current given mode, and second test currents are given to be zero; wherein the first test current is one of torque current or exciting current under a T1 type circuit of the target motor; and obtaining a parameter value of a preset type parameter of the target motor under the first test current, and determining the inductance of the target motor based on the parameter value so as to establish a corresponding relationship between the first test current and the inductance. Therefore, by controlling the first test current and the second test current under the T1 type circuit, decoupling of the test current is realized, stable system control can be ensured, calibration accuracy is improved, and the calibration process is simple and convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor calibration, in particular to a motor parameter calibration method, a calibration device and a storage medium. BACKGROUND

[0002] A new energy vehicle realizes driving of the vehicle through a driving motor. Before use, various parameters of the driving motor, such as inductance, flux linkage, current and the like, need to be calibrated, so as to facilitate control through the calibrated parameters during use of the driving motor.

[0003] At present, in the traditional calibration method of the driving motor, a large number of parameters are involved in the calibration process, and the calibration process is relatively complex. Moreover, the test currents in the calibration process will affect each other, resulting in unstable system control and low calibration accuracy. SUMMARY

[0004] In view of the above problems, the present application provides a motor parameter calibration method, a calibration device and a storage medium. By controlling the first test current and the second test current under the T1 circuit, the decoupling of the test current is realized, the system control stability is ensured, and the calibration accuracy is improved, and the calibration process is simple.

[0005] The first aspect of the present application provides a motor parameter calibration method, comprising: setting a target motor on a test bench, and setting a bus voltage of a motor controller to a preset voltage and a synchronous frequency of a stator winding of the target motor to a preset frequency; wherein the motor controller is used to control the target motor; giving different first test currents to the target motor through a preset test current giving mode, and giving a second test current of zero; wherein the first test current is one of a torque current or an excitation current of the target motor under a T1 circuit, and the second test current is the other; obtaining a parameter value of a preset type parameter of the target motor under the first test current, and determining an inductance of the target motor based on the parameter value to establish a corresponding relationship between the first test current and the inductance.

[0006] In some specific embodiments, the step of giving different first test currents to the target motor through the preset test current giving mode comprises: giving a torque current to the target motor through a current increasing mode; wherein the difference between adjacent two torque currents is less than a first preset current, and the difference between adjacent two torque currents is greater than or equal to the first preset current; the step of determining the inductance of the target motor based on the parameter value to establish the corresponding relationship between the first test current and the inductance comprises: determining a leakage inductance of the target motor based on the parameter value to establish a corresponding relationship between the torque current and the leakage inductance.

[0007] In some embodiments, the step of applying different first test currents to the target motor by preset test current application mode comprises: applying excitation currents to the target motor by current increasing mode; wherein the difference between two adjacent excitation currents is smaller than the second preset current, and the difference between two adjacent excitation currents is larger than or equal to the second preset current; the step of determining the inductance of the target motor based on the parameter value to establish the corresponding relationship between the first test current and the inductance comprises: determining the main inductance of the target motor based on the parameter value, and establishing the corresponding relationship between the excitation current and the main inductance.

[0008] In some embodiments, the preset type parameters include the voltage fundamental value and the current fundamental value of the same phase of the target motor, the power factor angle of the voltage and the current of the target motor, and the stator synchronous frequency of the target motor.

[0009] In some embodiments, after the step of placing the target motor on the test bench, the method further comprises: applying a desired torque to the target motor, adjusting the flux linkage of the target motor, and obtaining the current torque of the target motor during the flux linkage adjustment process; taking the flux linkage corresponding to the maximum current torque during the flux linkage adjustment process as the optimal flux linkage, and establishing the corresponding relationship between the desired torque and the optimal flux linkage.

[0010] In some embodiments, after the step of applying a desired torque to the target motor, adjusting the flux linkage of the target motor, and obtaining the current torque of the target motor during the flux linkage adjustment process, the method further comprises: taking the flux linkage corresponding to the maximum current torque during the flux linkage adjustment process as the optimal flux linkage, determining the slip angular velocity based on the optimal flux linkage, the desired torque corresponding to the optimal flux linkage, and the preset fixed parameters of the target motor; and establishing the corresponding relationship between the desired torque, the optimal flux linkage, and the slip angular velocity.

[0011] In some embodiments, the step of determining the slip angular velocity based on the optimal flux linkage, the desired torque corresponding to the optimal flux linkage, and the preset fixed parameters of the target motor comprises: determining the target torque current corresponding to the target motor based on the optimal flux linkage, the desired torque corresponding to the optimal flux linkage, and the number of motor pole pairs of the target motor; and determining the slip angular velocity based on the optimal flux linkage, the target torque current, and the rotor resistance of the target motor.

[0012] In some embodiments, after the step of taking the flux linkage corresponding to the maximum current torque during the flux linkage adjustment process as the optimal flux linkage, and determining the slip angular velocity based on the optimal flux linkage, the desired torque corresponding to the optimal flux linkage, and the preset fixed parameters of the target motor, the method further comprises: obtaining the rotor electrical angular velocity of the target motor; taking the sum of the rotor electrical angular velocity and the slip angular velocity as the stator electrical angular velocity, and integrating the stator electrical angular velocity to obtain the stator position of the target motor.

[0013] The second aspect of the present application provides a calibration device, comprising a controller, the controller being configured to implement the motor parameter calibration method of any one of the above.

[0014] The present application provides a computer readable storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the motor parameter calibration method of any one of the above.

[0015] The present application has at least the following beneficial technical effects: based on the motor parameter calibration method, calibration device and storage medium provided by the present application, the method comprises: setting a target motor on a test bench, and setting the bus voltage of a motor controller to a preset voltage, and the synchronous frequency of the stator winding of the target motor to a preset frequency; wherein the motor controller is configured to control the target motor; a different first test current is given to the target motor through a preset test current giving mode, and a second test current is given to zero; wherein the first test current is one of the torque current or the excitation current of the target motor under a T1 type circuit, and the second test current is the other; the parameter value of the preset type parameter of the target motor under the first test current is obtained, and the inductance of the target motor is determined based on the parameter value, to establish the corresponding relationship between the first test current and the inductance. Therefore, by controlling the first test current and the second test current under the T1 type circuit, the decoupling of the test current is realized, the system control stability is ensured, the calibration accuracy is improved, and the calibration process is simple.

[0016] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments, and are not considered as limiting the present application. Moreover, the same reference signs are used to represent the same parts throughout the drawings. In the drawings: Figure 1 is a flowchart of an embodiment of the motor parameter calibration method provided by the present application; Figure 2 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 3 is a relationship diagram of torque current and leakage inductance; Figure 4 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 5 is a relationship diagram of excitation current and main inductance; Figure 6is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 7 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 8 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 9 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application; Figure 10 is a structural framework diagram of an embodiment of the computer readable storage medium 40 provided by the present application. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present application will be described in detail with reference to the drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0019] If the present application embodiments involve descriptions of "first", "second", etc., the "first", "second", etc. descriptions are only for description purposes and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B schemes. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those of ordinary skill in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0020] The first aspect of the present application provides a motor parameter calibration method, Figure 1 is a flowchart of an embodiment of the motor parameter calibration method provided by the present application. In combination with Figure 1 , this method comprises the following steps: S101: Set the target motor on the test bench, and set the bus voltage of the motor controller to the preset voltage and the synchronous frequency of the stator winding of the target motor to the preset frequency; wherein the motor controller is used to control the target motor.

[0021] It should be understood that the test bench is a motor test bench. Motor test benches are special equipment used to evaluate the performance, reliability, and safety of drive motors. They are widely used in motor research and development, production and manufacturing, quality control, and new energy vehicles. Motor test benches generally include mechanical structures, power and control systems, and safety and protection modules. The mechanical structure includes a main frame, an installation adapter module, and a load device, which are used to realize the assembly of the drive motor and load simulation. The power and control system includes a drive system, a data acquisition system, and control software, which can realize test control and data acquisition in automated testing. The safety protection module is equipped with overload protection, short circuit protection, overheating protection and other functions to ensure the safety of equipment and operators.

[0022] In some application scenarios, the target motor can be an asynchronous motor, which is also called an induction motor. It is the most widely used type of AC motor in industry and daily life. Its rotor speed is always lower than the synchronous speed of the rotating magnetic field, and energy conversion is achieved through electromagnetic induction. The target motor is the drive motor to be tested in the embodiment of the present application. The motor controller is connected to the target motor and can power the target motor through the motor controller to achieve control of the target motor. At this time, the bus voltage has a certain relationship with the three-phase voltage of the drive motor. The setting of the bus voltage determines the voltage of the target motor. Therefore, the preset voltage can be set according to the calibration test requirements of the target motor.

[0023] The stator winding's synchronous frequency is the preset frequency. This frequency is the frequency of the rotating magnetic field generated when the stator winding is energized. It is equal to the power supply frequency and, together with the number of motor pole pairs, determines the motor's synchronous speed. The preset frequency is also set based on the target motor's calibration and testing requirements. In some applications, it can be set to 50 Hz.

[0024] S102: giving different first test currents to the target motor through a preset test current setting method, and giving the second test current to zero; wherein the first test current is one of the torque current or the excitation current under the T1 type circuit of the target motor, and the second test current is the other.

[0025] It should be understood that the T1 type circuit generally refers to a motor control logic based on a timer module, which is commonly used in microcontrollers (such as STM32). The T type circuit generally refers to a three-phase inverter topology composed of power switching devices (such as IGBT, MOSFET), which is named after its structure resembling the letter "T". In motor control, the T type circuit is the "heart" of the motor drive, responsible for power conversion and current regulation. The T1 type circuit is the "brain" of the control logic, which realizes timing generation and dynamic optimization. The T type and T1 type circuits often work together. In this embodiment, the T1 type circuit and the T type circuit can be regarded as two control modes of driving the motor. In the T type circuit, the control current of the target motor includes the stator d-axis current, the stator q-axis current, the rotor d-axis current, and the rotor q-axis current. In the T1 type circuit, the control current of the target motor only includes the excitation current and the torque current. At this time, the excitation current and the torque current are actually two parts of the stator current of the motor drive, and the excitation current actually accounts for the stator d-axis current and the rotor d-axis current in the T type circuit, and the torque current actually accounts for the stator q-axis current and the rotor q-axis current in the T type circuit. Therefore, the excitation current and the torque current can be described as the excitation current id of the motor stator and the torque current iq of the motor stator, respectively.

[0026] In combination with the above, the first test current in this embodiment is one of the torque current or the excitation current in the T1 type circuit of the target motor, that is, the target motor adopts the control mode of the T1 type circuit, and the input current parameter is one of the torque current or the excitation current in the control mode of the T1 type circuit. In this embodiment, since the second test current is zero, in fact, only the first test current is input.

[0027] It should be understood that in the related art, multiple currents among the stator d-axis current, the stator q-axis current, the rotor d-axis current, and the rotor q-axis current need to be controlled simultaneously in the test process, but the multiple currents may interact with each other, resulting in control difficulty, poor stability of the test system, and thus reducing the accuracy of the test. In contrast, in this embodiment, the input test current is one of the torque current or the excitation current in the T1 type circuit, the second test current can be controlled to zero while the first test current is input, the decoupling of the first test circuit and the second test current can be realized, and thus the independent control of the first test current and the second test current can be realized, avoiding the mutual influence of the two, which can improve the stability of the test system, and thus improve the accuracy of the test result.

[0028] S103: Obtain a parameter value of a pre-set type parameter of the target motor under the first test current, and determine the inductance of the target motor based on the parameter value, to establish a corresponding relationship between the first test current and the inductance.

[0029] The preset type parameter can be set according to test requirements, and the preset type parameter can be multiple. In some application scenarios, a power analyzer can be used to collect voltage and current data of three-phase lines of the target motor, and parameter values of some preset type parameters can be indirectly obtained according to the data.

[0030] Based on the above steps, parameter values of the preset type parameters under many different first test currents can be obtained, and the inductance of the corresponding target motor under each first test current can be determined based on the parameter values. At this time, the corresponding relationship between the first test current and the inductance includes the corresponding relationship between the plurality of different first test currents and the corresponding inductances.

[0031] Figure 2 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application.

[0032] In combination with Figure 2 In some specific embodiments, the step of giving the target motor different first test currents by a preset test current giving mode includes that the above step S102 includes: S201: giving the target motor a torque current by increasing the current; wherein the difference between two adjacent torque currents when the torque current is less than a first preset current is less than the difference between two adjacent torque currents when the torque current is greater than or equal to the first preset current.

[0033] In this embodiment, the first test current is the torque current, the second test current is the excitation current, and the calibrated inductance is the leakage inductance. The leakage inductance is a component of the inductance in the stator winding of the motor due to the incomplete coupling of the magnetic flux to the rotor through the air gap.

[0034] The preset test current giving mode is that the torque current is continuously increased, and the difference between two adjacent torque currents when the torque current is less than a first preset current is less than the difference between two adjacent torque currents when the torque current is greater than or equal to the first preset current. In order to achieve good calibration effect, after the target motor is set on the test bench, the motor rotor is prevented from rotating by using mechanical blocking.

[0035] Figure 3 is a relationship diagram of the torque current and the leakage inductance.

[0036] In combination with Figure 3 The abscissa represents the torque current in amperes, the ordinate represents the leakage inductance in henries, and the points on the relationship curve L1 represent the test points, and the corresponding abscissa represents the torque current. Figure 3The figure shows that when the torque current is less than 200 A, the difference between two adjacent torque currents is less than 200 A, and when the torque current is greater than or equal to 200 A, the difference between two adjacent torque currents is greater than 200 A. Therefore, in this application scenario, the first preset current is 200 A, and of course, in other embodiments, it is not limited to this.

[0037] It should be understood that, by the preset test current given manner of this embodiment, the key points in the relationship curve L1 can be measured sufficiently, and then the accurate relationship curve can be obtained, and then the accurate calibration relationship can be obtained.

[0038] The step of determining the inductance of the target motor based on the parameter value to establish the corresponding relationship between the first test current and the inductance includes that the above-mentioned step S103 includes: S202: determining the leakage inductance of the target motor based on the parameter value to establish the corresponding relationship between the torque current and the leakage inductance.

[0039] The way of determining the leakage inductance of the target motor based on the parameter value of the preset type parameter can be set in advance according to the test requirements. After the given torque current is obtained in the above-mentioned step, the leakage inductance of the target motor can be determined based on the obtained parameter value of the preset type parameter, and then the corresponding relationship between the torque current and the leakage inductance can be established.

[0040] It should be understood that after the above-mentioned relationship curve L1 is obtained, in addition to the corresponding relationship between the given torque current and the corresponding leakage inductance, the corresponding relationship between other torque currents and the corresponding leakage inductances on the relationship curve L1 can also be obtained according to the fitting manner.

[0041] It should be understood that in this embodiment, by giving the torque current and obtaining the related parameters, the calibration of the leakage inductance can be realized, and compared with the multiple types of calibration of the leakage inductance in the related art, the complexity of the calibration is reduced under the condition that the calibration effect does not change.

[0042] Figure 4 is a flow diagram of another embodiment of the motor parameter calibration method provided by the present application.

[0043] In combination with Figure 4 In some specific embodiments, the step of giving different first test currents to the target motor by the preset test current given manner includes that the above-mentioned step S102 includes: S301: giving an excitation current to the target motor by increasing the current; wherein the difference between two adjacent excitation currents is less than the second preset current, and the difference between two adjacent excitation currents is greater than or equal to the second preset current.

[0044] In this embodiment, the first test current is the field current, the second test current is the torque current, and the calibrated inductance is the main inductance. The main inductance is an inductance component generated by the main magnetic circuit (air gap magnetic field) in the motor, which reflects the electromagnetic coupling strength between the stator winding and the rotor magnetic field.

[0045] The preset test current is given in the following manner: the field current is continuously increased, and the difference between adjacent two torque currents when the field current is less than the second preset current is less than the difference between adjacent two torque currents when the field current is greater than or equal to the second preset current.

[0046] Figure 5 is a schematic diagram of the relationship between the field current and the main inductance.

[0047] In combination with Figure 3 , the abscissa represents the field current in amperes, the ordinate represents the main inductance in henries, and the points on the relationship curve L2 represent the test points, and the corresponding abscissa represents the field current as the test current. Figure 5 It is shown in that when the field current is less than 81A, the difference between adjacent two field currents is less than 81A, and when the field current is greater than or equal to 81A, the difference between adjacent two field currents is greater than or equal to 81A. Therefore, in this application scenario, the second preset current is 81A, and of course, in other embodiments, it is not limited to this.

[0048] Similarly, by the preset test current given manner of this embodiment, the key points in the relationship curve L2 can be fully measured, and then the accurate relationship curve can be obtained, and then the accurate calibration relationship The step of determining the inductance of the target motor based on the parameter values to establish the corresponding relationship between the first test current and the inductance includes, that is, the above-mentioned step S103 includes: S302: determining the main inductance of the target motor based on the parameter values, and establishing the corresponding relationship between the field current and the main inductance.

[0049] In this embodiment, by setting the first test current as the field current, the test obtained is the main inductance, and then the corresponding relationship between the field current and the main inductance is obtained. In order to achieve good calibration effect, after the target motor is set on the test bench, the target motor can be dragged to rotate by the bench dynamometer.

[0050] In combination with the above, in some specific embodiments, the preset type parameters can include the voltage fundamental value and the current fundamental value under the same phase of the target motor, the power factor angle of the voltage and the current of the target motor, and the stator synchronous frequency of the target motor.

[0051] Wherein, the voltage fundamental value in the same phase can be the voltage fundamental value in phase A and the current fundamental value, which can be represented by Ua and Ia respectively. The power factor angle of the voltage and current of the target motor can be represented by φ, and the stator synchronous frequency of the target motor can be represented by f. Based on these specific preset type parameters, the leakage inductance in the above embodiment is The calculation formula of the leakage inductance is as follows: The main inductance in the above embodiment is The calculation formula of the main inductance is as follows: Figure 6 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application.

[0052] In combination with Figure 6 In some specific embodiments, after the step of placing the target motor on the test bench, the method further comprises: S401: A desired torque is given to the target motor, the flux linkage of the target motor is adjusted, and the current torque of the target motor in the flux linkage adjustment process is obtained.

[0053] The desired torque can be multiple, that is, the corresponding relationship between the desired torque and the optimal flux linkage under multiple desired torques can be obtained. After the desired torque is given to the target motor, the current torque of the target motor will change when the flux linkage of the target motor is adjusted, and the current torque of the target motor in the adjustment process will be obtained at this time.

[0054] S402: The flux linkage corresponding to the maximum current torque in the flux linkage adjustment process is taken as the optimal flux linkage, and the corresponding relationship between the desired torque and the optimal flux linkage is established.

[0055] In the flux linkage adjustment process, the current torque of the target motor will change and reach a maximum value, which is the maximum current torque. At this time, the maximum current torque will correspond to a flux linkage, which is the optimal flux linkage.

[0056] Figure 7 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application.

[0057] In combination with Figure 7 In some specific embodiments, after the step of giving a desired torque to the target motor, adjusting the flux linkage of the target motor, and obtaining the current torque of the target motor in the flux linkage adjustment process, that is, after the above step S401, it comprises: S501: Take the flux linkage corresponding to the maximum current torque in the flux linkage adjustment process as the optimal flux linkage, and determine the slip angular velocity according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and preset fixed parameters of the target motor.

[0058] In this embodiment, the type of preset fixed parameters is pre-set, and a preset mode of determining the slip angular velocity according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and preset fixed parameters of the target motor is set, so that after the optimal flux linkage and the corresponding expected torque are obtained, the slip angular velocity can be directly determined according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, preset fixed parameters of the target motor, and the preset mode.

[0059] S502: Establish a corresponding relationship among the expected torque, the optimal flux linkage, and the slip angular velocity.

[0060] After the slip angular velocity is obtained, a corresponding relationship can be established according to the slip angular velocity, the corresponding expected torque, and the optimal flux linkage, and then a corresponding relationship among the expected torque, the optimal flux linkage, and the slip angular velocity is obtained.

[0061] It should be understood that since the number of expected torques is multiple, the corresponding relationship among the expected torque, the optimal flux linkage, and the slip angular velocity obtained is also multiple.

[0062] Figure 8 is a flowchart of another embodiment of the motor parameter calibration method provided by the present application.

[0063] In combination with Figure 8 and the above, in some specific embodiments, the step of determining the slip angular velocity according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and preset fixed parameters of the target motor includes: S601: Determine the target torque current corresponding to the target motor according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and the number of pole pairs of the motor of the target motor.

[0064] Let the optimal flux linkage be , the expected torque be , the number of pole pairs of the motor of the target motor be , and the target torque current be , then they satisfy the following formula: Based on the above formula, after the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and the number of pole pairs of the motor of the target motor are obtained, the target torque current can be obtained.

[0065] S602: Determine the slip angular velocity according to the optimal flux linkage, the target torque current, and the rotor resistance of the target motor.

[0066] Let the rotor resistance of the target motor be , and the slip angular velocity be , then the optimal flux, the target torque current, the rotor resistance of the target motor and the slip angular velocity satisfy the following formula: Based on the above formula, the optimal flux, the target torque current and the rotor resistance of the target motor are substituted to determine the slip angular velocity.

[0067] Figure 9 is a flowchart of another embodiment of the motor parameter calibration method provided by the application.

[0068] In combination with Figure 9 , in some specific embodiments, the flux corresponding to the maximum current torque in the flux adjustment process is taken as the optimal flux, and after the step of determining the slip angular velocity according to the optimal flux, the expected torque corresponding to the optimal flux and the preset fixed parameters of the target motor, i.e., after the above step S501, the method comprises: S701: obtaining the rotor electric angular velocity of the target motor.

[0069] Specifically, the rotor electric angular velocity can be observed by a speed sensorless, and the rotor electric angular velocity corresponds to the above-mentioned slip angular velocity.

[0070] S702: taking the sum of the rotor electric angular velocity and the angular velocity difference as the stator electric angular velocity, and integrating the stator electric angular velocity to obtain the stator position of the target motor.

[0071] Let the rotor electric angular velocity be , and the stator electric angular velocity be , then Let the stator position of the target motor be , and the stator electric angular velocity be obtained, then .

[0072] The second aspect of the application provides a calibration device, comprising a controller, the controller being used to implement the motor parameter calibration method in any of the above embodiments. For specific description of the motor parameter calibration method, please refer to the related content of the above embodiments, which will not be repeated here.

[0073] The third aspect of the application provides a computer readable storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the motor parameter calibration method in any of the above embodiments.

[0074] Figure 10 is a structural framework diagram of an embodiment of the computer readable storage medium 40 provided by the application.

[0075] In combination Figure 10 The computer readable storage medium 40 stores a computer program 41, which, when executed by the processor, implements the motor parameter calibration method in any of the above embodiments.

[0076] It should be noted that the computer readable medium 40 shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable computer programs. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit programs for use by or in conjunction with an instruction execution system, device or apparatus. The computer programs contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0077] In summary, based on the motor parameter calibration method, the calibration device and the storage medium provided in the present application, the method comprises: setting a target motor on a test bench, setting the bus voltage of a motor controller to a preset voltage, and setting the synchronous frequency of the stator winding of the target motor to a preset frequency; wherein the motor controller is used to control the target motor; a different first test current is given to the target motor through a preset test current given mode, and a second test current is given as zero; wherein the first test current is one of the torque current or the excitation current of the target motor under a T1 type circuit, and the second test current is the other one; the parameter value of the preset type parameter of the target motor under the first test current is obtained, and the inductance of the target motor is determined based on the parameter value, so as to establish the corresponding relationship between the first test current and the inductance. Therefore, through the control of the first test current and the second test current under the T1 type circuit, the decoupling of the test current is realized, the system control stability can be ensured, the calibration accuracy is improved, and the calibration process is simple.

[0078] The above is only a preferred exemplary embodiment of the present application, and is not intended to limit the implementation of the present application. Those skilled in the art can easily make corresponding modifications or changes according to the main idea and spirit of the present application, and the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A motor parameter calibration method, characterized in that: include: The target motor is placed on a test bench, and the bus voltage of the motor controller is set to a preset voltage, and the synchronous frequency of the stator winding of the target motor is set to a preset frequency; wherein the motor controller is used to control the target motor; Different first test currents are given to the target motor by a preset test current setting method, and a second test current is set to zero; wherein the first test current is one of the torque current or the excitation current under the T1 type circuit of the target motor, and the second test current is the other; A parameter value of a preset type parameter of the target motor under the first test current is obtained, and the inductance of the target motor is determined based on the parameter value to establish a corresponding relationship between the first test current and the inductance.

2. The motor parameter calibration method according to claim 1, characterized in that: The step of providing a different first test current to the target motor by using a preset test current providing method includes: The target motor is given a torque current by increasing the current; wherein the difference between two adjacent torque currents when the torque current is less than a first preset current is less than the difference between two adjacent torque currents when the torque current is greater than or equal to the first preset current; The step of determining the inductance of the target motor based on the parameter value to establish a corresponding relationship between the first test current and the inductance includes: The leakage inductance of the target motor is determined based on the parameter value to establish a corresponding relationship between the torque current and the leakage inductance.

3. The motor parameter calibration method according to claim 1, characterized in that: The step of providing a different first test current to the target motor by using a preset test current providing method includes: The target motor is given an excitation current by increasing the current; wherein the difference between two adjacent excitation currents when the excitation current is less than a second preset current is less than the difference between two adjacent excitation currents when the excitation current is greater than or equal to the second preset current; The step of determining the inductance of the target motor based on the parameter value to establish a corresponding relationship between the first test current and the inductance includes: The main inductance of the target motor is determined based on the parameter value, and a corresponding relationship between the excitation current and the main inductance is established.

4. The motor parameter calibration method according to any one of claims 1 to 3, characterized in that: The preset type parameters include the voltage fundamental wave value and the current fundamental wave value at the same phase of the target motor, the power factor angle of the voltage and current of the target motor, and the stator synchronous frequency of the target motor.

5. The motor parameter calibration method according to claim 1, characterized in that: After the step of placing the target motor on the test bench, the method further includes: giving a desired torque to the target motor, adjusting the flux of the target motor and obtaining a current torque of the target motor during the flux adjustment process; The flux corresponding to the maximum current torque in the flux adjustment process is taken as the optimal flux, and a corresponding relationship between the expected torque and the optimal flux is established.

6. The motor parameter calibration method according to claim 5, characterized in that: After the steps of setting a desired torque for the target motor, adjusting the flux of the target motor, and obtaining the current torque of the target motor during the flux adjustment process, the method includes: taking the flux corresponding to the maximum current torque during the flux adjustment process as the optimal flux, and determining the slip angular velocity according to the optimal flux, the desired torque corresponding to the optimal flux, and preset fixed parameters of the target motor; A corresponding relationship among the desired torque, the optimal flux linkage, and the slip angular velocity is established.

7. The motor parameter calibration method according to claim 6, characterized in that: The step of determining the slip angular velocity according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and the preset fixed parameters of the target motor includes: Determining a target torque current corresponding to the target motor according to the optimal flux linkage, the expected torque corresponding to the optimal flux linkage, and the number of motor pole pairs of the target motor; The slip angular velocity is determined according to the optimal flux linkage, the target torque current, and the rotor resistance of the target motor.

8. The motor parameter calibration method according to claim 6, characterized in that: After the step of taking the flux corresponding to the maximum current torque during the flux adjustment process as the optimal flux, and determining the slip angular velocity according to the optimal flux, the expected torque corresponding to the optimal flux, and the preset fixed parameters of the target motor, the method includes: Obtaining the rotor electrical angular velocity of the target motor; The sum of the rotor electrical angular velocity and the rotational angle difference velocity is used as the stator electrical angular velocity, and the stator electrical angular velocity is integrated to obtain the stator position of the target motor.

9. A calibration device, characterized in that: The method comprises a controller, wherein the controller is used to implement the motor parameter calibration method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the motor parameter calibration method according to any one of claims 1 to 8.

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