Driving motor magnetic steel temperature estimation method and device and storage medium

Abstract

The invention provides a driving motor magnetic steel temperature estimation method and device and a storage medium, and the method comprises the steps: building a thermal model of a driving motor, and dividing a rotor of the driving motor into a plurality of regions with magnetic steel as boundaries; collecting actually measured temperature data of each working point in the real machine test of the driving motor; obtaining the heat capacity and loss of each part, and determining the calculation temperature data of each working point of the driving motor in combination with a preset temperature change model; determining the thermal conductivity among all parts in the thermal model to obtain a perfect thermal model; generating loss distribution according to the loss of each part; and estimating the magnetic steel temperature of the driving motor under the real-time operation condition by using the improved thermal model and the loss distribution. By estimating the temperature of the magnetic steel, a carbon brush and a slip ring do not need to be additionally arranged on the motor rotating shaft, an oil seal for blocking lubricating oil at the sliding part of the slip ring is omitted, the size of the motor can be reduced, and the design structure is further simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving motor magnetic steel temperature management, and in particular to a driving motor magnetic steel temperature estimation method and device and storage medium. BACKGROUND

[0002] In the working process of the motor, it is usually necessary to detect the temperature of the magnetic steel inside the driving motor rotor in real time.

[0003] The existing method for detecting the temperature of the magnetic steel needs to increase the device of the carbon brush and the slip ring on the motor rotating shaft, which will complicate the structure design; if the motor is an oil-cooled motor, the sliding part of the slip ring will be attached with lubricating oil, which cannot be accurately measured, and an oil seal is needed to block the lubricating oil, which will increase the size of the motor. SUMMARY

[0004] The present application provides a driving motor magnetic steel temperature estimation method, device and storage medium to solve the above technical problems in the prior art.

[0005] According to a first aspect of the present application, a driving motor magnetic steel temperature estimation method is provided, which comprises:

[0006] establishing a thermal model of the driving motor, wherein the thermal model divides the driving motor rotor into a plurality of regions with the magnetic steel as the boundary;

[0007] collecting measured temperature data of each working point in the driving motor real machine test, wherein the parts include the region where the magnetic steel is located and the plurality of regions with the magnetic steel as the boundary;

[0008] obtaining the heat capacity of each part, and obtaining the loss of each part, and determining the calculated temperature data of each working point of the driving motor according to the heat capacity of each part, the loss of each part, and a preset temperature change model;

[0009] based on the calculated temperature data and the measured temperature data, determining the thermal conductivity between each part in the thermal model to obtain a perfected thermal model;

[0010] generating a loss distribution according to the loss of each part;

[0011] using the perfected thermal model and the loss distribution to estimate the temperature of the magnetic steel of the driving motor under real-time running conditions.

[0012] In some embodiments, the regions of the driving motor rotor divided by the steel slot where the magnetic steel is located include a first region and a third region: the first region is the region between the air gap and the magnetic steel, and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow passage or magnetic barrier.

[0013] In some embodiments, the magnetic steels are arranged in a multi-layer manner along the radial direction of the drive motor rotor; the first region includes a first sub-region between the air gap and the first layer of magnetic steels and a second sub-region sandwiched by adjacent layers of magnetic steels; and the third region is a region between the magnetic steels and the air gap provided for the purpose of oil flow passage or magnetic barrier.

[0014] In some embodiments, the obtaining of the losses of the parts includes: collecting alternating current current waveforms of each working point of the drive motor; and obtaining the losses of each part of the drive motor rotor by analog simulation based on the alternating current current waveforms.

[0015] In some embodiments, the losses of the parts include: magnetic steel eddy current loss and iron loss; the magnetic steel eddy current loss includes: magnetic steel eddy current loss of the first magnetic steel and the second magnetic steel; and the iron loss includes: iron loss of the multiple regions bounded by the magnetic steels.

[0016] In some embodiments, the determining of the thermal conductivities between the parts in the thermal model based on the calculated temperature data and the measured temperature data to obtain the perfected thermal model includes: keeping the calculated temperature data and the measured temperature data of each working point consistent in temperature change, and determining the thermal conductivities between the parts in the thermal model under the condition of consistent temperature change to obtain the perfected thermal model.

[0017] In some embodiments, the determining of the thermal conductivities between the parts in the thermal model includes: determining a conductivity K1 between the air gap and the drive motor rotor core; determining a conductivity K2 between the drive motor rotor core and the drive motor rotor magnetic steels; and determining a conductivity K3 between the drive motor rotor core and the cooling oil of the oil flow passage.

[0018] In some embodiments, the thermal conductivities between the parts of the drive motor rotor are positively correlated with the contact areas.

[0019] According to a second aspect of the present application, a drive motor magnetic steel temperature estimation device is provided, which includes:

[0020] a region division unit configured to establish a thermal model of the drive motor, the thermal model dividing the drive motor rotor into multiple regions bounded by magnetic steels;

[0021] a temperature collection unit configured to collect measured temperature data of each working point in a real machine test of the drive motor, the parts including a region where the magnetic steels are located and multiple regions bounded by the magnetic steels;

[0022] The computing temperature data unit is configured to obtain thermal capacities of the parts, and obtain losses of the parts, and determine computing temperature data of each working point of the driving motor according to the thermal capacities of the parts, the losses of the parts, and a preset temperature change model;

[0023] The completed thermal model unit is configured to determine thermal conductivities between the parts in the thermal model based on the computing temperature data and the measured temperature data, to obtain a completed thermal model;

[0024] The loss distribution generating unit is configured to generate a loss distribution according to the losses of the parts;

[0025] The temperature estimating unit is configured to estimate a temperature of the magnetic steel of the driving motor under a real-time running condition by using the completed thermal model and the loss distribution.

[0026] According to a third aspect of the present application, a driving motor magnetic steel temperature estimation system is provided, which comprises the driving motor magnetic steel temperature estimation device.

[0027] According to a fourth aspect of the present application, an electronic device is provided, which comprises a processor and a memory storing computer program instructions; and the processor executes the computer program instructions to implement any of the driving motor magnetic steel temperature estimation methods.

[0028] According to a fifth aspect of the present application, a computer readable storage medium is provided, which stores computer program instructions; and the computer program instructions are executed by a processor to implement any of the driving motor magnetic steel temperature estimation methods.

[0029] In summary, the driving motor magnetic steel temperature estimation method, device and storage medium provided by the present application have at least the following beneficial effects:

[0030] The present application can establish a thermal model of the driving motor, divide the rotor of the driving motor into multiple regions with the magnetic steel as a boundary, collect measured temperature data of each working point in a real machine test of the driving motor, obtain thermal capacities and losses of the parts, determine computing temperature data of each working point of the driving motor in combination with a preset temperature change model, determine thermal conductivities between the parts in the thermal model to obtain a completed thermal model, generate a loss distribution according to the losses of the parts, and estimate a temperature of the magnetic steel of the driving motor under a real-time running condition by using the completed thermal model and the loss distribution. The present application can accurately estimate the temperature of the magnetic steel of the driving motor by using the thermal model, without the need to add a carbon brush and a slip ring device to the rotor shaft of the motor, further save the oil seal for blocking lubricating oil in the sliding part of the slip ring, reduce the size of the motor, and further simplify the design structure. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed in the specific embodiments or the prior art description will be briefly introduced in combination with the drawings. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings or solutions can also be obtained without creative labor.

[0032] Figure 1 A flow chart of a driving motor magnetic steel temperature estimation method provided for an embodiment of the present application;

[0033] Figure 2 A schematic diagram of a driving motor rotor core divided into multiple regions provided for an embodiment of the present application;

[0034] Figure 3 A table of heat capacity calculation of each part of the driving motor rotor core provided for an embodiment of the present application;

[0035] Figure 4 A schematic diagram of a thermal model provided for an embodiment of the present application;

[0036] Figure 5 A structural diagram of a driving motor magnetic steel temperature estimation device provided for an embodiment of the present application;

[0037] Figure 6 A structural diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the above and other features and advantages of the present application clearer, the present application will be further described below in combination with the drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation and are only exemplary, but are not limiting.

[0039] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without specific details, or with an equivalent effect. In other instances, well-known steps or operations are not described in detail in order to avoid obscuring the present application.

[0040] The driving motor magnetic steel temperature estimation method provided by the embodiments of the present application can be executed by the driving motor magnetic steel temperature estimation device provided by the embodiments of the present application, and the device can be configured in an electronic device.

[0041] The driving motor magnetic steel temperature estimation method described in the embodiments of the present application, as shown in Figure 1 includes the following steps.

[0042] S11, a thermal model of the driving motor is established, the thermal model divides the driving motor rotor into multiple regions which are divided by the magnetic steel.

[0043] In one embodiment, the regions of the driving motor rotor divided by the steel slot where the magnetic steel is located include a first region and a third region: the first region is the region between the air gap and the magnetic steel, and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow channel or magnetic barrier.

[0044] In one embodiment, the magnetic steel is arranged in multiple layers along the radial direction of the driving motor rotor; the first region includes a first sub-region between the air gap and the first layer of magnetic steel and a second sub-region clamped by adjacent layers of magnetic steel; and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow channel or magnetic barrier.

[0045] The multiple regions are divided by the slot where the magnetic steel is installed, the air gap set for the purpose of oil flow channel or magnetic barrier, and the weight reduction slot, and a thermal model is constructed. Taking two layers of magnetic steel as an example, the second sub-region is the region between the first layer of magnetic steel and the second layer of magnetic steel; as shown in Figure 2 and Figure 4 1 / [thermal resistance] is used to connect the multiple regions divided in the driving motor rotor core; in the part of the first sub-region in contact with the air inside the driving motor, the part of the second sub-region in contact with the air inside the driving motor, the part of the third region in contact with the air inside the driving motor, and the part of the third region in contact with the oil flowing inside the driving motor, the corresponding 1 / [thermal resistance] is used to connect with the air and the oil; when the multiple regions divided in the driving motor rotor core are bridged by thin electromagnetic steel plates, i.e. the first sub-region and the second sub-region, and the second sub-region and the third region are bridged, the corresponding 1 / [thermal resistance] is used to connect with the bridge.

[0046] S12, collecting the measured temperature data of each working point in the driving motor real machine test, the parts include the region where the magnetic steel is located and the multiple regions divided by the magnetic steel.

[0047] Taking two layers of magnetic steel as an example, Figure 2 as shown, the multiple parts include the part of the region where the first layer of magnetic steel is located, the part of the region where the second layer of magnetic steel is located, and the part of the first sub-region, the part of the second sub-region and the part of the third region divided by the first layer of magnetic steel and the second layer of magnetic steel.

[0048] In one embodiment, the measured temperature data of each working point is collected by driving motor test, and the driving motor test is to collect the temperature of each working point under each working condition in real-time operation when the driving motor is actually running. The measured temperature data of each part is obtained by multiple tests, and the measured temperature data of each part is used as the basis temperature data for subsequent calculation of consistent temperature data.

[0049] S13, the heat capacity of each part is obtained, and the loss of each part is obtained. According to the heat capacity of each part, the loss of each part, and the preset temperature change model, the calculation temperature data of each working point of the driving motor is determined.

[0050] In one embodiment, the heat capacity of each part is calculated by the specific heat and weight of each magnetic steel and the material of each region contained in each part. Figure 3

[0051] In one embodiment, the loss of each part includes magnetic steel eddy current loss and iron loss. The magnetic steel eddy current loss includes the magnetic steel eddy current loss of the first magnetic steel and the second magnetic steel. The iron loss includes the iron loss of the multiple regions bounded by the magnetic steel. Specifically, taking two layers of magnetic steel as an example, the magnetic steel eddy current loss includes the magnetic steel eddy current loss of the first layer of magnetic steel and the second layer of magnetic steel, and the iron loss includes the iron loss of the first sub-region and the second sub-region, and the third region.

[0052] In one embodiment, when obtaining the loss of each part, the alternating current waveform including harmonic components of each working point should be collected. The harmonic refers to the non-sinusoidal waveform component of current and voltage, which will cause additional energy loss. The alternating current waveform also has an impact on the loss in terms of distortion and frequency change. The distortion of the alternating current waveform will cause an increase in the loss, and the increase in frequency will also cause an increase in the loss, so that the calculated heat generation and temperature are lower than the actual value, which affects the calculation of the loss.

[0053] S14, based on the calculation temperature data and the measured temperature data, the thermal conductivity between each part in the thermal model is determined to obtain the perfected thermal model.

[0054] In one embodiment, determining the thermal conductivity between each part in the thermal model includes: determining the conductivity K1 between the air gap and the driving motor rotor core; determining the conductivity K2 between the driving motor rotor core and the driving motor rotor magnetic steel; and determining the conductivity K3 between the driving motor rotor core and the cooling oil of the oil flow channel. For example, referring to Figure 4 ​determining the thermal conductivity K1 between the air gap and the first sub-region of the driving motor rotor core; determining the thermal conductivity K2 between the first sub-region of the driving motor rotor core and the first layer of magnetic steel of the driving motor rotor, the thermal conductivity K2 between the first layer of magnetic steel and the second sub-region of the driving motor rotor core, the thermal conductivity K2 between the second sub-region and the second layer of magnetic steel of the driving motor rotor core, and the thermal conductivity K2 between the second layer of magnetic steel and the second sub-region of the driving motor rotor core; and determining the thermal conductivity K3 between the third region of the driving motor rotor core and the cooling oil of the oil flow channel.

[0055] In some embodiments, the thermal conductivity between the parts of the driving motor rotor is positively correlated with the contact area.

[0056] In one embodiment, the calculated temperature data of the working points of the driving motor is consistent with the measured temperature data of the working points, so as to determine the thermal conductivity between the parts in the thermal model; the thermal capacity of the parts is repeatedly obtained, and the loss of the parts is obtained, so as to determine the final thermal conductivity, and to obtain the improved thermal model.

[0057] S15, generating a loss distribution according to the loss of the parts.

[0058] In one embodiment, the AC waveform including the harmonic component of the working points is obtained by simulation, and the loss of the working points is obtained; and the loss distribution of the parts is made by taking the speed, the torque and the power voltage as the coordinates.

[0059] S16, estimating the temperature of the magnetic steel of the driving motor in the real-time running condition by using the improved thermal model and the loss distribution.

[0060] In one embodiment, the improved thermal model and the loss distribution are stored in the motor controller; and the calculation is performed at a certain time interval, so as to estimate the accurate temperature of the magnetic steel.

[0061] The application can establish a thermal model of the driving motor, divide the driving motor rotor into multiple regions with the magnetic steel as the boundary, collect the measured temperature data of each working point in the driving motor real machine test, obtain the thermal capacity and loss of each part, determine the calculation temperature data of each working point of the driving motor in combination with the preset temperature change model, determine the thermal conductivity between each part in the thermal model to obtain the improved thermal model, generate the loss distribution according to the loss of each part, and estimate the magnetic steel temperature of the driving motor under the real-time running condition by using the improved thermal model and the loss distribution. The application can accurately estimate the temperature of the magnetic steel of the driving motor by using the thermal model, does not need to add the carbon brush and slip ring device on the motor rotating shaft, further saves the oil seal for blocking the lubricating oil of the sliding part of the slip ring, can reduce the size of the motor, and further simplifies the design structure.

[0062] According to the application, a driving motor magnetic steel temperature estimation device is provided, as shown in the accompanying drawings, which comprises a region division unit 510, a temperature collection unit 520, a calculation temperature data unit 530, a complete thermal model calculation unit 540, a loss distribution generation unit 550, and a temperature estimation unit 560. Figure 5

[0063] The region division unit 510 is configured to establish a thermal model of the driving motor, and the thermal model divides the driving motor rotor into multiple regions with the magnetic steel as the boundary.

[0064] In one embodiment, the regions divided by the steel slot of the driving motor rotor with the magnetic steel as the boundary include a first region and a third region, the first region is the region between the air gap and the magnetic steel, and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow channel or magnetic barrier.

[0065] In one embodiment, the magnetic steel is arranged in multiple layers along the radial direction of the driving motor rotor, the first region includes a first sub-region between the air gap and the first layer of magnetic steel and a second sub-region clamped by the adjacent layer of magnetic steel, and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow channel or magnetic barrier.

[0066] The multiple regions are divided by the slot for installing the magnetic steel, the air gap set for the purpose of oil flow channel or magnetic barrier, and the weight reduction slot, and a thermal model is constructed, as shown in Figure 2 and Figure 4 ​As shown, the 1 / [thermal resistance] is connected between the multiple regions divided by the rotor core of the driving motor; the 1 / [thermal resistance] is connected with the air and the oil in the corresponding part of the first sub-region, the second sub-region, the third region, and the part of the third region in contact with the oil flowing in the driving motor; when the multiple regions divided by the rotor core of the driving motor are bridged by the thin electromagnetic steel plates, i.e. the first sub-region and the second sub-region, the second sub-region and the third region, the 1 / [thermal resistance] is connected with the bridge.

[0067] The temperature acquisition unit 520 is configured to acquire the measured temperature data of each working point in the driving motor real machine test.

[0068] In one embodiment, the temperature acquisition unit 520 is configured to acquire the measured temperature data of each working point, and the measured temperature of each part is used as the consistent basic temperature data for subsequent calculation of the temperature data.

[0069] The temperature calculation unit 530 is configured to acquire the heat capacity of each part, acquire the loss of each part, and determine the calculation temperature data of each working point of the driving motor according to the heat capacity of each part, the loss of each part, and a preset temperature change model.

[0070] In one embodiment, the temperature calculation unit 530 can acquire the heat capacity of each part by the specific heat and weight of each magnetic steel and the material of each region contained in each part.

[0071] In one embodiment, the loss of each part includes magnetic steel eddy current loss and iron loss; the magnetic steel eddy current loss includes the magnetic steel eddy current loss of the first magnetic steel and the second magnetic steel; and the iron loss includes the iron loss of the multiple regions bounded by the magnetic steel.

[0072] In one embodiment, when the temperature calculation unit 530 acquires the loss of each part, the alternating current waveform including the harmonic component of each working point should be acquired; the harmonic refers to the non-sinusoidal waveform component of the current and voltage, which will cause additional energy loss; and the alternating current waveform also has an impact on the loss in terms of distortion and frequency change, the distortion of the alternating current waveform will cause the increase of the loss, and the increase of the frequency will also cause the increase of the loss, so that the calculated heat and temperature are lower than the actual ones, which affects the calculation of the loss.

[0073] In one embodiment, the temperature calculation unit 530 determines the calculation temperature data of each working point of the driving motor according to the heat capacity and the loss of each part, and a preset temperature change model.

[0074] The complete thermal model calculation unit 540 is configured to determine the thermal conductivities between the parts in the thermal model based on the calculated temperature data and the measured temperature data, so as to obtain a completed thermal model.

[0075] In one embodiment, the complete thermal model calculation unit 540 determines the thermal conductivities between the parts in the thermal model, including: determining the thermal conductivity K1 between the air gap and the driving motor rotor core; determining the thermal conductivity K2 between the driving motor rotor core and the driving motor rotor magnet; and determining the thermal conductivity K3 between the driving motor rotor core and the cooling oil in the oil flow channel. For example, referring to FIG. 2, the complete thermal model calculation unit 540 determines the thermal conductivity K1 between the air gap and the first sub-region of the driving motor rotor core; the thermal conductivities K2 between the first sub-region of the driving motor rotor core and the first layer of the driving motor rotor magnet, between the first layer of the driving motor rotor magnet and the second sub-region of the driving motor rotor core, between the second sub-region of the driving motor rotor core and the second layer of the driving motor rotor magnet, and between the second layer of the driving motor rotor magnet and the second sub-region of the driving motor rotor core; and the thermal conductivity K3 between the third region of the driving motor rotor core and the cooling oil in the oil flow channel. Figure 4

[0076] In some embodiments, the thermal conductivities between the parts of the driving motor rotor are positively correlated with the contact areas.

[0077] In one embodiment, the complete thermal model calculation unit 540 determines the thermal conductivities between the parts in the thermal model by keeping the calculated temperature data of each working point of the driving motor consistent with the measured temperature data of each working point, so as to determine the final thermal conductivities and obtain the completed thermal model. The calculated temperature data of each working point of the driving motor is determined by repeatedly obtaining the thermal capacities of the parts and the losses of the parts, and keeping the calculated temperature data of each working point consistent with the measured temperature data of each working point.

[0078] The loss distribution generation unit 550 is configured to generate a loss distribution according to the losses of the parts.

[0079] In one embodiment, the loss distribution generation unit 550 uses the AC waveform including the harmonic components of each working point collected by the calculated temperature data unit 530 to obtain the losses of each working point by simulation, and generates the loss distribution of each part by taking the speed, torque, and power supply voltage as the coordinates of the losses of each working point under each working condition.

[0080] The temperature estimation unit 560 is configured to estimate the magnet temperature of the driving motor under a real-time running working condition by using the completed thermal model and the loss distribution.

[0081] ​In one embodiment, the improved thermal model and the loss distribution can be stored in a motor controller. During calculation, the calculation is performed at certain time intervals to estimate the accurate magnet temperature.

[0082] In summary, the present application can establish a thermal model of the driving motor, divide the driving motor rotor into multiple regions with the magnet as the boundary, collect the measured temperature data of each working point in the driving motor real machine test, obtain the thermal capacity and loss of each part, determine the calculation temperature data of each working point of the driving motor in combination with the preset temperature change model, and determine the thermal conductivity between the air gap in the thermal model and the driving motor rotor core, the driving motor rotor core and the driving motor rotor magnet, and the driving motor rotor magnet and the cooling oil in the oil flow channel, wherein the thermal conductivity between each part of the driving motor rotor is positively correlated with the contact area, to obtain an improved thermal model. A loss distribution is generated according to the loss of each part. The improved thermal model and the loss distribution are used to estimate the magnet temperature of the driving motor under real-time operating conditions. The present application accurately estimates the temperature of the driving motor magnet by using the thermal model, does not need to add a carbon brush and a slip ring device to the motor shaft, further eliminates the oil seal for blocking the lubricating oil in the sliding part of the slip ring, can reduce the size of the motor, and further simplifies the design structure.

[0083] It should be understood that the specific features, operations and details described above with respect to the method of the present application can also be similarly applied to the device and system of the present application, or vice versa. In addition, each step of the method of the present application described above can be performed by the corresponding components or units of the device or system of the present application.

[0084] It should be understood that each module / unit of the device of the present application can be realized in whole or in part by software, hardware, firmware or a combination thereof. Each module / unit can be embedded in a processor of an electronic device in hardware or firmware form or independent of the processor, or can be stored in a memory of the electronic device in software form to be invoked by the processor to perform the operations of each module / unit. Each module / unit can be realized as an independent component or module, or two or more modules / units can be realized as a single component or module.

[0085] The present application also provides a driving motor magnet temperature estimation system, which comprises the driving motor magnet temperature estimation device of any one of the above-mentioned embodiments.

[0086] As Figure 6As shown, the present application provides an electronic device 600, which includes a processor 601 and a memory 602 storing computer program instructions. Wherein, the processor 601 implements each step of the motor magnetic steel temperature estimation method described above when executing the computer program instructions. The electronic device 600 can be a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities in a broad sense.

[0087] In one embodiment, the electronic device 600 can include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the electronic device 600 can be used to provide necessary computing, processing and / or control capabilities. The memory of the electronic device 600 can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system, a computer program, etc. The internal memory can provide an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface and the communication interface of the electronic device 600 can be used to connect and communicate with external devices through a network. The computer program is executed by the processor to perform the steps of the method of the present application.

[0088] In addition, the present application provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions are executed by the processor to implement the motor magnetic steel temperature estimation method described above.

[0089] Those skilled in the art can understand that the steps of the method of the present application can be instructed by a computer program to complete the relevant hardware such as the electronic device 600 or the processor, and the computer program can be stored in a non-transitory computer readable storage medium, which is executed to cause the steps of the present application to be executed. According to the circumstances, any reference to memory, storage or other medium herein can include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0090] The technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by the present description, as long as there is no contradiction in such combination.

[0091] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for estimating the temperature of a drive motor magnet, characterized in that, The method comprises: establishing a thermal model of the drive motor, the thermal model dividing the drive motor rotor into a plurality of regions demarcated by the magnetic steel; collecting measured temperature data of each working point in the drive motor actual machine test, the parts including the region where the magnetic steel is located and the plurality of regions demarcated by the magnetic steel; obtaining the heat capacity of each part, and obtaining the loss of each part, and determining the calculated temperature data of each working point of the drive motor according to the heat capacity of each part, the loss of each part, and a preset temperature change model; based on the calculated temperature data and the measured temperature data, determining the thermal conductivity between each part in the thermal model to obtain a perfected thermal model; generating a loss distribution according to the loss of each part; using the perfected thermal model and the loss distribution to estimate the magnetic steel temperature of the drive motor under real-time operating conditions.

2. The method of claim 1, wherein, The regions of the drive motor rotor demarcated by the steel slot where the magnetic steel is located include a first region and a third region: the first region is the region between the air gap and the magnetic steel, and the third region is the region between the magnetic steel and the air gap set for the purpose of oil flow passage or magnetic barrier.

3. The method of claim 2, wherein, The magnetic steel is arranged in a multi-layer manner along the radial direction of the drive motor rotor; The first region includes a first sub-region between the air gap and the first layer of magnetic steel and a second sub-region clamped by adjacent layers of magnetic steel; The third region is the region between the magnetic steel and the air gap set for the purpose of oil flow passage or magnetic barrier.

4. The method of claim 1, wherein, The obtaining of the loss of each part comprises: collecting alternating current current waveforms of each working point of the drive motor; obtaining the loss of each part of the drive motor rotor by analog simulation of the alternating current current waveforms.

5. The method of claim 1, wherein, The loss of each part includes magnetic steel eddy current loss and iron loss; The magnetic steel eddy current loss includes the magnetic steel eddy current loss of the first magnetic steel and the second magnetic steel; The iron loss includes the iron loss of the plurality of regions demarcated by the magnetic steel.

6. The method of claim 1, wherein, The determination of the thermal conductivity between each part in the thermal model based on the calculated temperature data and the measured temperature data to obtain the perfected thermal model comprises: making the calculated temperature data and the measured temperature data of each working point consistent in temperature change, determining the thermal conductivity between each part in the thermal model under the condition that the temperature change is consistent, and obtaining the perfected thermal model.

7. The method of claim 2, wherein, The determination of the thermal conductivity between each part in the thermal model comprises: determining the conductivity K1 between the air gap and the drive motor rotor core; determining the conductivity K2 between the drive motor rotor core and the drive motor rotor magnetic steel; determining the conductivity K3 between the drive motor rotor core and the cooling oil of the oil flow passage.

8. The method of claim 7, wherein, The thermal conductivity between each part of the drive motor rotor is positively correlated with the contact area.

9. A driving motor magnetic steel temperature estimation device, characterized by, It comprises: a region division unit for establishing a thermal model of the drive motor, the thermal model dividing the drive motor rotor into a plurality of regions demarcated by the magnetic steel; a temperature collection unit for collecting measured temperature data of each working point in the drive motor actual machine test, the parts including the region where the magnetic steel is located and the plurality of regions demarcated by the magnetic steel; The computing temperature data unit is configured to obtain thermal capacities of the parts, and obtain losses of the parts, and determine computing temperature data of each working point of the drive motor according to the thermal capacities of the parts, the losses of the parts, and a preset temperature change model; The complete thermal model unit is configured to determine thermal conductivities between the parts in the thermal model based on the computing temperature data and the measured temperature data, so as to obtain a completed thermal model; The loss distribution generating unit is configured to generate a loss distribution according to the losses of the parts; The temperature estimating unit is configured to estimate the magnet temperature of the drive motor under a real-time running condition by using the completed thermal model and the loss distribution. 10.A drive motor magnet temperature estimation system, comprising the drive motor magnet temperature estimation device according to claim 9.

11. An electronic device comprising a memory and a processor, said memory having stored thereon computer instructions, characterized in that, The computer instructions, when executed by the processor, perform the method of drive motor magnet temperature estimation according to any one of claims 1-8.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, performs the method of drive motor magnet temperature estimation according to any one of claims 1-8.

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