Motor parameter off-line calibration dynamic compensation method and device and vehicle

Abstract

The invention provides a motor parameter off-line calibration dynamic compensation method and device and a vehicle, and relates to the technical field of motor control, and the method comprises the steps: obtaining experiment data of a motor experiment under different currents; performing fitting analysis on the experimental data to obtain a dynamic parameter calibration result of the motor; the direct-axis current and the quadrature-axis current of the motor are determined through a voltage utilization rate closed-loop algorithm, and then the voltage utilization rate is optimized according to the direct-axis current and the quadrature-axis current; and obtaining a temperature compensation value according to a pre-stored temperature calibration relationship and a rotor temperature, and carrying out three-dimensional dynamic compensation on the dynamic parameter calibration result by taking the voltage utilization rate as a constraint based on the temperature compensation value and a motor operation parameter until a motor performance index meets a preset condition, the temperature calibration relation comprises the calibration relation of the rotor temperature and the dynamic parameters and is used for improving the dynamic adaptive capacity of motor control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a motor parameter offline calibration dynamic compensation method and device and vehicle. BACKGROUND

[0002] Motors are widely used in new energy vehicles, industrial drives and other fields. During the operation of the motor, the motor parameters change in real time with the change of the current, thereby affecting the responsiveness and stability of the control In related technologies, the calibration of motor parameters usually relies on online identification methods, but such methods are limited by real-time performance and noise interference, making it difficult to ensure the accuracy of the parameters and affecting the control accuracy of the motor. In order to ensure the accuracy of the motor parameters, related technologies usually perform static compensation on the motor parameters, but the traditional static compensation method cannot adapt to changes in dynamic conditions, resulting in insufficient robustness of motor control. SUMMARY

[0003] The problem solved by the present application is how to improve the dynamic adaptability of motor control.

[0004] To solve the above problems, the present application provides a motor parameter offline calibration dynamic compensation method and device and vehicle.

[0005] In a first aspect, the present application provides a motor parameter offline calibration dynamic compensation method, comprising: Obtaining experimental data obtained by experiments on the motor under different currents; Performing fitting analysis on the experimental data to obtain a dynamic parameter calibration result of the motor; Determining the direct-axis current and the quadrature-axis current of the motor through a voltage utilization rate closed-loop algorithm, and then optimizing the voltage utilization rate according to the direct-axis current and the quadrature-axis current; Obtaining a temperature compensation value according to a pre-stored temperature calibration relationship and a rotor temperature, and performing three-dimensional dynamic compensation on the dynamic parameter calibration result based on the temperature compensation value and motor operating parameters, with the voltage utilization rate as a constraint, until the motor performance index meets a preset condition, wherein the temperature calibration relationship includes a calibration relationship between the rotor temperature and the dynamic parameters.

[0006] Optionally, the dynamic parameter calibration result includes a flux linkage calibration result and an inductance calibration result; the experimental data includes at least one of voltage, phase resistance and torque; and the fitting analysis on the experimental data to obtain the dynamic parameter calibration result comprises: Constructing a voltage equation, a torque equation and a flux linkage equation based on a DQ coordinate system; Fitting the experimental data with the voltage equation, the torque equation and the flux linkage equation obtains the flux linkage calibration result and the inductance calibration result, wherein the flux linkage calibration result is used to characterize the relationship between the flux linkage and the motor current, and the inductance calibration result is used to characterize the relationship between the direct-axis inductance, the quadrature-axis inductance and the motor current.

[0007] Optionally, the determining the direct-axis current and the quadrature-axis current of the motor by the voltage utilization rate closed-loop algorithm comprises: performing PID adjustment according to the difference between the actual voltage and the target voltage of the motor to obtain a direct-axis current variation; obtaining the direct-axis current according to the direct-axis current variation and a feedforward direct-axis current; determining the quadrature-axis current based on the torque equation and the voltage equation according to the actual voltage, the requested torque, the direct-axis current and the dynamic parameter calibration result.

[0008] Optionally, the determining the quadrature-axis current based on the torque equation and the voltage equation according to the actual voltage, the requested torque, the direct-axis current and the dynamic parameter calibration result comprises: determining the requested torque by the acceleration intention, and determining the direct-axis current by the requested torque; obtaining a to-be-verified quadrature-axis current by inverse solution of the torque equation based on the direct-axis current and the dynamic parameter calibration result; when the direct-axis current and the to-be-verified quadrature-axis current satisfy the quantity relationship indicated by the voltage equation, taking the to-be-verified quadrature-axis current as the quadrature-axis current.

[0009] Optionally, the motor operating parameters comprise rotor temperature, torque and rotating speed. the three-dimensional dynamic compensation of the dynamic parameter calibration result based on the temperature compensation value and motor operating parameters with the voltage utilization rate as a constraint until the motor performance index meets a preset condition comprises: jointly adjusting the motor temperature, the target torque and the target rotating speed by the temperature compensation value with the voltage utilization rate and the current size as constraints, dynamically compensating the dynamic parameters under different motor currents in the dynamic parameter calibration result until the motor performance index meets the preset condition, wherein the motor performance index comprises at least one of the torque accuracy, the torque fluctuation range, the current jitter amplitude and the voltage utilization rate, and the preset condition comprises that the motor performance index is within a preset index range.

[0010] Optionally, the temperature compensation value and the rotor temperature have a linear relationship.

[0011] Optionally, before the step of performing experiments on the motor under different currents according to the constructed current test specification to obtain experimental data, the method further comprises the steps of: determining the peak current, the current step and the current test point of the motor according to the obtained rotor temperature change curve; setting a test order according to the current test point according to the current step as the current test specification with the peak current as a constraint.

[0012] Optionally, before the step of determining the peak current, the current step and the current test point of the motor according to the obtained rotor temperature change curve, the method further comprises the steps of: obtaining the rotor temperature at the maximum speed of the motor in the constant torque interval to construct the rotor temperature change curve.

[0013] In a second aspect, the present application provides a motor parameter offline calibration dynamic compensation device, comprising: an experiment module configured to obtain experimental data of experiments on the motor under different currents; a dynamic parameter calibration module configured to perform fitting analysis on the experimental data to obtain a dynamic parameter calibration result of the motor; a current determination module configured to determine direct-axis current and quadrature-axis current of the motor through a voltage utilization rate closed-loop algorithm, and to optimize voltage utilization rate according to the direct-axis current and the quadrature-axis current; a compensation module configured to obtain a temperature compensation value according to a pre-stored temperature calibration relationship and rotor temperature, and to perform three-dimensional dynamic compensation on the dynamic parameter calibration result based on the temperature compensation value and motor operating parameters with the voltage utilization rate as a constraint until a motor performance index meets a preset condition, wherein the temperature calibration relationship comprises a calibration relationship between the rotor temperature and the dynamic parameter.

[0014] In a third aspect, the present application provides a vehicle comprising a memory and a processor; the memory is configured to store a computer program; the processor is configured to implement the motor parameter offline calibration dynamic compensation method according to the first aspect when executing the computer program.

[0015] The motor parameter offline calibration dynamic compensation method has the following advantages: Experiments were conducted under different currents to collect dynamic parameter calibration results showing how dynamic parameters change with current. These calibration results are directly related to the motor's electromagnetic torque and voltage distribution strategy, laying the foundation for subsequent dynamic compensation. Simultaneously, experiments were conducted according to a pre-built current testing specification to ensure experimental safety and accuracy. A closed-loop algorithm for voltage utilization was used to determine the quadrature-axis current and direct-axis current, thereby determining and optimizing voltage utilization. Combining temperature compensation values, dynamic parameter calibration results, and motor operating parameters, with voltage utilization as a constraint, the motor's control parameters were optimized through cross-dimensional (current, temperature, voltage) collaborative compensation. This ensured the motor maintained the robustness of the control strategy under complex operating conditions and improved the dynamic adaptability of the motor control. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the offline calibration and dynamic compensation method for motor parameters according to an embodiment of the present invention. Figure 2 This is an example diagram of the magnetic flux linkage calibration results according to an embodiment of the present invention; Figure 3 This is an example diagram showing the inductor calibration results of an embodiment of the present invention; Figure 4 This is an example diagram of another inductance calibration result according to an embodiment of the present invention; Figure 5 This is an example diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0017] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0018] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0019] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0020] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0021] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0022] This embodiment provides a method, device, and vehicle for offline calibration and dynamic compensation of motor parameters.

[0023] like Figure 1 As shown in the figure, an embodiment of the present invention provides a method for offline calibration and dynamic compensation of motor parameters, comprising: Step S100: Obtain experimental data of the motor under different currents.

[0024] During the offline testing phase, experiments were conducted at different currents according to the test methods and test points specified in the current test specifications, and the corresponding data of the motor during operation were collected as experimental data.

[0025] In one embodiment, an advanced host computer control system is used to complete the motor characteristic parameter scanning process, obtain comprehensive experimental data, and provide multi-dimensional data support for subsequent analysis.

[0026] Step S200: Perform fitting analysis on the experimental data to obtain the dynamic parameter calibration results of the motor.

[0027] In the offline testing phase, discrete experimental data are fitted to obtain dynamic parameter calibration results with current as the abscissa and dynamic parameters as the ordinate. Specifically, the flux linkage calibration results are represented as calibration results with current as the abscissa and permanent magnet flux linkage Psim as the ordinate; the inductance calibration results are represented as direct-axis inductance calibration results with current as the abscissa and direct-axis inductance as the ordinate, and quadrature-axis inductance calibration results with current as the abscissa and quadrature-axis inductance as the ordinate.

[0028] Step S300: Determine the direct-axis current and quadrature-axis current of the motor using a voltage utilization closed-loop algorithm, and then optimize the voltage utilization based on the direct-axis current and the quadrature-axis current.

[0029] In one embodiment, the dynamic parameter calibration results are stored in a coordinate system of direct-axis current Id and quadrature-axis current Iq, and written into the motor controller as the basic control variables for motor control. When the requested torque is obtained in the online compensation stage, the basic control variables are controlled by the voltage utilization closed-loop algorithm to calculate the direct-axis current Id and quadrature-axis current Iq, thereby optimizing the voltage utilization.

[0030] Step S400: Obtain a temperature compensation value based on the pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation value and motor operating parameters, and with the voltage utilization rate as a constraint, perform three-dimensional dynamic compensation on the dynamic parameter calibration result until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

[0031] In this embodiment, the dynamic parameters include flux linkage and inductance. During the online compensation stage, the temperature compensation value is determined based on the calibration relationship between rotor temperature and dynamic parameters, and then coupled with speed and torque. This can cover various conditions of the motor, such as high speed, low speed, heavy load, and light load. With voltage utilization rate as a constraint, dynamic compensation is performed on flux linkage and inductance until the motor performance indicators meet the preset conditions, enabling the motor to achieve dynamic parameter compensation under different temperature, speed, and torque conditions.

[0032] In the embodiments of this invention, by analyzing the characteristics of rotor temperature change over time, test conditions under different currents are determined. The test specifications cover the thermal response range of the motor under different loads, enabling experimental data to reflect the impact of temperature on dynamic performance during actual operation. Through experiments at different currents, dynamic parameter calibration results are collected, showing the dynamic parameters changing with current. These calibration results are directly related to the motor's electromagnetic torque and voltage distribution strategy, laying the foundation for subsequent dynamic compensation. A closed-loop algorithm based on voltage utilization rate is used to determine the quadrature-axis current and direct-axis current, thereby determining and optimizing the voltage utilization rate. Combining temperature compensation values, dynamic parameter calibration results, and motor operating parameters, with voltage utilization rate as a constraint, the motor's control parameters are optimized through cross-dimensional (current, temperature, voltage) collaborative compensation. This ensures the robustness of the control strategy under complex operating conditions and improves the dynamic adaptability of motor control.

[0033] Optionally, the dynamic parameter calibration results include flux linkage calibration results and inductance calibration results; the experimental data includes at least one of voltage, phase resistance, and torque; the fitting analysis of the experimental data to obtain the dynamic parameter calibration results of the motor includes: Construct voltage equations, torque equations, and flux linkage equations based on the DQ coordinate system; During the offline testing phase, the experimental data is fitted with the voltage equation, the torque equation, and the flux linkage equation to obtain the flux linkage calibration result and the inductance calibration result. The flux linkage calibration result is used to characterize the relationship between flux linkage and motor current, and the inductance calibration result is used to characterize the relationship between direct-axis inductance, quadrature-axis inductance, and motor current.

[0034] The three core equations of the mathematical model system based on the DQ coordinate system, the voltage equation, are expressed as follows: , in, Represents the direct-axis voltage component. Represents the quadrature-axis voltage component. Indicates stator resistance. Represents the direct-axis current component. Represents the quadrature-axis current component. Represents electric angular velocity. Indicates direct-axis inductance. Indicates quadrature axis inductance. This represents the flux linkage of a permanent magnet. The voltage equation is used to describe the relationship between the motor terminal voltage, current, and flux linkage.

[0035] The torque equation is expressed as: , in, Indicates electromagnetic torque. Represents the extreme logarithm. This represents the flux linkage of the permanent magnet. The torque equation is used to reflect the relationship between the motor's output torque and parameters such as current and speed.

[0036] The flux linkage equation is expressed as: , in, Indicates direct-axis magnetic flux linkage. Indicates cross-axis magnetic flux linkage. This represents the flux linkage of a permanent magnet. The flux linkage equation is used to characterize the relationship between the internal magnetic field state of a motor and its operating parameters.

[0037] The voltage, phase resistance, and torque obtained from experiments according to the current testing specifications are fitted with the voltage equation, the torque equation, and the flux linkage equation to complete the precise calibration of dynamic parameters such as the permanent magnet flux linkage Psim and inductances Ld and Lq (Ld-Lq). This yields the flux linkage calibration results and the inductance calibration results, as shown below. Figures 2-4 As shown. Figure 2 This indicates the calibration results between magnetic flux and direct-axis current;Figure 3 This indicates the calibration results between the direct-axis inductance and the direct-axis current. Figure 4 This indicates the calibration results between the quadrature axis inductance and the quadrature axis current.

[0038] Optionally, determining the direct-axis current and quadrature-axis current of the motor using a voltage utilization closed-loop algorithm includes: The change in direct-axis current is obtained by performing PID control based on the difference between the actual voltage and the target voltage of the motor. The direct-axis current is obtained based on the change in the direct-axis current and the feedforward direct-axis current. The quadrature axis current is determined based on the actual voltage, the requested torque, the direct axis current, and the dynamic parameter calibration results, using the torque equation and the voltage equation.

[0039] The calibration results are stored according to the Id and Iq coordinate system and written into the motor controller as the basic control variable. The difference between the actual voltage obtained in the online compensation stage and the target voltage is adjusted by PID to obtain the change in direct-axis current ΔId. This change is added to the feedforward direct-axis current to obtain the requested direct-axis current, i.e., Id = ΔId + feedforward Id.

[0040] Using the obtained actual voltage, requested torque, and direct-axis current as input parameters, and combining them with the stored flux linkage calibration results and inductance calibration results, the quadrature-axis current is obtained by substituting them into the torque and voltage equations. The calculation of these direct-axis and quadrature-axis currents takes into account the actual voltage, requested torque, and direct-axis current. The obtained direct-axis and quadrature-axis currents can be used to obtain the voltage utilization rate, and during the online compensation phase, the voltage utilization rate serves as a constraint to ensure the safety and stability of the dynamic compensation results.

[0041] In one embodiment, by dynamically adjusting the ratio of direct-axis current to quadrature-axis current, voltage utilization can be maximized, that is, within the voltage limit ellipse constraint, the output torque can be increased as much as possible. The constant power operating range of the motor can be extended by field weakening control, and voltage deviation can be quickly corrected by PID regulation to avoid performance degradation caused by parameter drift or load change.

[0042] Optionally, determining the quadrature-axis current based on the torque equation and the voltage equation according to the actual voltage, the requested torque, the direct-axis current, and the dynamic parameter calibration results includes: The requested torque is determined by the acceleration intention, and the direct-axis current is determined by the requested torque; Based on the direct-axis current and the dynamic parameter calibration results, the quadrature-axis current to be verified is obtained by inverse solving of the torque equation. When the direct-axis current and the quadrature-axis current to be verified satisfy the quantitative relationship indicated by the voltage equation, the quadrature-axis current to be verified is taken as the quadrature-axis current.

[0043] In one embodiment, the requested torque refers to the target electromagnetic torque command derived from the vehicle's acceleration intention. This requested torque characterizes the drive system's desired value for the motor's output torque, and its magnitude directly reflects the driver's demand for acceleration performance. The direct-axis current represents the current component along the permanent magnet flux linkage in the synchronous rotating coordinate system (dq coordinate system). This current component does not directly generate electromagnetic torque, but its amplitude can be adjusted to change the internal magnetic circuit state of the motor, thereby affecting the magnitude of the back electromotive force. In this embodiment, the direct-axis current is initially determined by the requested torque combined with the motor's operating point and serves as the basis for subsequent quadrature-axis current calculations. The quadrature-axis current to be verified represents the candidate value of the quadrature-axis current obtained by inverse solving the electromagnetic torque equation using the requested torque and the current direct-axis current.

[0044] The quantitative relationship indicated by the voltage equation refers to the voltage u along the d-axis. d With q-axis voltage u q The resulting voltage amplitude does not exceed the voltage limit that the inverter can provide. When the combined voltage amplitude calculated by substituting the direct-axis current and the quadrature-axis current to be verified into the voltage equation does not exceed the voltage limit, it indicates that the current command can be executed under the current bus voltage conditions. At this time, the quadrature-axis current to be verified is determined as the final quadrature-axis current.

[0045] Optionally, the motor operating parameters include rotor temperature, torque, and speed; The step of performing three-dimensional dynamic compensation on the dynamic parameter calibration results based on the temperature compensation value and motor operating parameters, with the voltage utilization rate as a constraint, until the motor performance indicators meet the preset conditions includes: With the voltage utilization rate and the current magnitude as constraints, the motor temperature, the target torque, and the target speed are jointly adjusted using the temperature compensation value. Dynamic compensation is performed on the dynamic parameters under different motor currents in the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The motor performance indicators include at least one of the torque accuracy, torque fluctuation range, current jitter amplitude, and voltage utilization rate. The preset conditions include the motor performance indicators being within a preset indicator range.

[0046] In one embodiment, flux linkage and inductance are compensated by calibrating different rotor temperatures, i.e., a mapping model between rotor temperature and flux linkage / inductance is established. The temperature compensation value is linearly related to the temperature value. The calibrated temperature range is the normal operating temperature range of the motor, for example, 20-140℃. Coupled with speed and torque, the temperature compensation value can cover the motor's operating conditions under various circumstances (high speed, low speed, light load, heavy load), thereby achieving joint adjustment of the motor's rotor temperature, torque, and speed.

[0047] Specifically, during the online compensation phase, the rotor temperature is acquired, and the coupling relationship between the temperature compensation value under rotor temperature and the speed and torque is obtained. A three-dimensional dynamic compensation matrix of temperature-speed-torque is constructed, that is, a compensation parameter mapping table under the coupling of temperature, speed, and torque is established. In the temperature dimension, it covers the entire temperature range of motor operation; in the speed dimension, it covers the entire speed range of the motor; and in the torque dimension, it covers the entire torque range of the motor. The compensation coefficients of flux linkage and inductance under each temperature-speed-torque combination are constructed.

[0048] The corrected flux linkage and inductance are substituted into the voltage utilization closed-loop algorithm, with torque accuracy as the primary control objective. Under constraints of voltage utilization and current magnitude, real-time requested direct-axis and quadrature-axis currents are generated. The voltage utilization for the next online compensation stage is calculated using the real-time requested direct-axis and quadrature-axis currents, achieving closed-loop feedback. Finally, the adjusted motor power, controller power, system power, torque accuracy, current jitter amplitude, and voltage utilization jitter amplitude are compared to confirm the effectiveness of the control parameters. For example, the control accuracy needs to meet the following requirements: the fluctuation between requested torque and actual output torque is within 3%, the torque fluctuation range is less than 3%, the current jitter amplitude is ±50A, and the voltage utilization jitter range is within 5%.

[0049] Optionally, the temperature compensation value has a linear relationship with the rotor temperature.

[0050] Optionally, before conducting experiments on the motor at different currents according to the established current testing specifications to obtain experimental data, the method further includes: The peak current, current step size, and current test point of the motor are determined based on the obtained rotor temperature change curve. Using the peak current as a constraint, and according to the current step size, the test sequence is set according to the current test points and the current magnitude, which serves as the current test specification.

[0051] In one embodiment, during the offline testing phase, to ensure the effectiveness and repeatability of the experimental conditions, a corresponding current testing specification is developed based on the rotor temperature change curve of the motor. The current testing specification needs to cover all operating conditions of the motor to ensure that motor data is acquired under different current conditions.

[0052] Specifically, the current testing specifications include determining the current testing range and current testing points based on the rotor temperature change curve of the motor; it also includes the testing sequence and testing plan, etc., to obtain more accurate experimental data.

[0053] In one embodiment, the current step size can be determined based on the range of rotor temperature variation. Each current test point is determined based on the peak current, the range of variation, and the current step size. To reduce temperature fluctuations, the current test points are interleaved in order of magnitude. For example, if the motor peak current is 600A and the motor current range is 0-600A, then 50A is used as the current step size, and the test order of the first four current test points is 600A, 0A, 550A, and 50A.

[0054] Optionally, before determining the peak current, current step size, and current test point of the motor based on the acquired rotor temperature change curve, the method further includes: At the maximum speed within the constant torque range of the motor, the rotor temperature is obtained, and the rotor temperature change curve is constructed.

[0055] High-precision measuring equipment is used to measure motor parameters under static conditions to prepare for the development of current testing specifications. For example, insulation resistance, phase resistance, and drag torque are measured under static conditions using devices such as LCR meters and current sensors. Based on the motor's no-load and load states, the DOE (Design of Experiments) method is used to conduct parameter sweep tests on the permanent magnet synchronous motor. At the maximum speed within the motor's constant torque range, the rotor temperature change over time is collected to generate data covering all voltage points in subsequent voltage and speed processing.

[0056] Based on the rotor temperature change curve, current testing specifications were developed to ensure the effectiveness and reproducibility of experimental conditions. The peak current of the motor was used as a constraint to determine the current step size. The current step size was determined based on the peak current and the motor's operating current range; the larger the operating current range and the larger the peak current, the larger the current step size. Based on the determined current step size and operating current range, current test points were further determined. Based on the current test points and their temperatures, the tests were performed alternately according to the current magnitude to determine the testing sequence, ensuring that the temperature fluctuation at each current test point was not excessive.

[0057] The host computer control system completes the motor characteristic parameter scanning process to obtain comprehensive motor operating characteristic data. Under different current conditions, according to current test specifications, corresponding parameters such as voltage, phase resistance, and torque are collected to construct voltage equations, torque equations, and flux linkage equations, providing multi-dimensional data support for subsequent analysis.

[0058] This invention provides a dynamic compensation device for offline calibration of motor parameters, comprising: The experimental module is used to acquire experimental data for testing the motor under different currents. The dynamic parameter calibration module is used to perform fitting analysis on the experimental data to obtain the dynamic parameter calibration results of the motor. The current determination module is used to determine the direct-axis current and quadrature-axis current of the motor through a voltage utilization closed-loop algorithm, and then optimize the voltage utilization based on the direct-axis current and the quadrature-axis current. The compensation module is used to obtain a temperature compensation value based on a pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation value and motor operating parameters, and with the voltage utilization rate as a constraint, the module performs three-dimensional dynamic compensation on the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

[0059] like Figure 5 As shown, an embodiment of the present invention provides a vehicle 500, including a memory 510 and a processor 520; the memory 510 is used to store a computer program; the processor 520 is used to implement the motor parameter offline calibration dynamic compensation method as described above when the computer program is executed.

[0060] Alternatively, a vehicle 500 includes a memory 510 and a processor 520 coupled to the memory 510; the memory 510 is configured to store a computer program; the processor 520 is configured to perform the following operations when the computer program is executed: To obtain experimental data on the motor under different currents; The experimental data were fitted and analyzed to obtain the dynamic parameter calibration results of the motor. The direct-axis current and quadrature-axis current of the motor are determined by a closed-loop algorithm for voltage utilization, and then the voltage utilization is optimized based on the direct-axis current and the quadrature-axis current. Temperature compensation values ​​are obtained based on the pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation values ​​and motor operating parameters, and with the voltage utilization rate as a constraint, three-dimensional dynamic compensation is performed on the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

[0061] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the motor parameter offline calibration dynamic compensation method as described above.

[0062] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: To obtain experimental data on the motor under different currents; The experimental data were fitted and analyzed to obtain the dynamic parameter calibration results of the motor. The direct-axis current and quadrature-axis current of the motor are determined by a closed-loop algorithm for voltage utilization, and then the voltage utilization is optimized based on the direct-axis current and the quadrature-axis current. Temperature compensation values ​​are obtained based on the pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation values ​​and motor operating parameters, and with the voltage utilization rate as a constraint, three-dimensional dynamic compensation is performed on the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

[0063] Vehicle 500, which can serve as a server or client of the present invention, is now described as an example of a hardware device that can include aspects of the present invention. Vehicle 500 includes various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Vehicle 500 may also include various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0064] Vehicle 500 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0065] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0066] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A dynamic compensation method for motor parameter calibration, characterized in that, include: To obtain experimental data on the motor under different currents; The experimental data were fitted and analyzed to obtain the dynamic parameter calibration results of the motor. The direct-axis current and quadrature-axis current of the motor are determined by a closed-loop algorithm for voltage utilization, and then the voltage utilization is optimized based on the direct-axis current and the quadrature-axis current. Temperature compensation values ​​are obtained based on the pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation values ​​and motor operating parameters, and with the voltage utilization rate as a constraint, three-dimensional dynamic compensation is performed on the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

2. The offline calibration and dynamic compensation method for motor parameters according to claim 1, characterized in that, The dynamic parameter calibration results include flux linkage calibration results and inductance calibration results; the experimental data includes at least one of voltage, phase resistance, and torque; the fitting analysis of the experimental data to obtain the dynamic parameter calibration results of the motor includes: Construct voltage equations, torque equations, and flux linkage equations based on the DQ coordinate system; The experimental data are fitted with the voltage equation, the torque equation, and the flux linkage equation to obtain the flux linkage calibration result and the inductance calibration result. The flux linkage calibration result is used to characterize the relationship between flux linkage and motor current, and the inductance calibration result is used to characterize the relationship between direct-axis inductance, quadrature-axis inductance, and motor current.

3. The offline calibration and dynamic compensation method for motor parameters according to claim 2, characterized in that, The determination of the direct-axis current and quadrature-axis current of the motor using a voltage utilization closed-loop algorithm includes: The change in direct-axis current is obtained by performing PID control based on the difference between the actual voltage and the target voltage of the motor. The direct-axis current is obtained based on the change in the direct-axis current and the feedforward direct-axis current. The quadrature axis current is determined based on the actual voltage, the requested torque, the direct axis current, and the dynamic parameter calibration results, using the torque equation and the voltage equation.

4. The offline calibration and dynamic compensation method for motor parameters according to claim 3, characterized in that, The step of determining the quadrature-axis current based on the torque equation and voltage equation according to the actual voltage, the requested torque, the direct-axis current, and the dynamic parameter calibration results includes: The requested torque is determined by the acceleration intention, and the direct-axis current is determined by the requested torque; Based on the direct-axis current and the dynamic parameter calibration results, the quadrature-axis current to be verified is obtained by inverse solving of the torque equation. When the direct-axis current and the quadrature-axis current to be verified satisfy the quantitative relationship indicated by the voltage equation, the quadrature-axis current to be verified is taken as the quadrature-axis current.

5. The method for offline calibration and dynamic compensation of motor parameters according to any one of claims 1-4, characterized in that, The motor operating parameters include rotor temperature, torque, and speed; The step of performing three-dimensional dynamic compensation on the dynamic parameter calibration results based on the temperature compensation value and motor operating parameters, with the voltage utilization rate as a constraint, until the motor performance indicators meet the preset conditions includes: With the voltage utilization rate and the current magnitude as constraints, the motor temperature, the target torque, and the target speed are jointly adjusted using the temperature compensation value. Dynamic compensation is performed on the dynamic parameters under different motor currents in the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The motor performance indicators include at least one of the torque accuracy, torque fluctuation range, current jitter amplitude, and voltage utilization rate. The preset conditions include the motor performance indicators being within a preset indicator range.

6. The offline calibration and dynamic compensation method for motor parameters according to claim 5, characterized in that, The temperature compensation value has a linear relationship with the rotor temperature.

7. The offline calibration and dynamic compensation method for motor parameters according to claim 1, characterized in that, Before obtaining experimental data by conducting experiments on the motor under different currents according to the established current testing specifications, the following steps are also included: The peak current, current step size, and current test point of the motor are determined based on the obtained rotor temperature change curve. Using the peak current as a constraint, and according to the current step size, the test sequence is set according to the current test points and the current magnitude, which serves as the current test specification.

8. The offline calibration and dynamic compensation method for motor parameters according to claim 7, characterized in that, Before determining the peak current, current step size, and current test point of the motor based on the acquired rotor temperature change curve, the method further includes: At the maximum speed within the constant torque range of the motor, the rotor temperature is obtained, and the rotor temperature change curve is constructed.

9. A dynamic compensation device for offline calibration of motor parameters, characterized in that, include: The experimental module is used to acquire experimental data for testing the motor under different currents. The dynamic parameter calibration module is used to perform fitting analysis on the experimental data to obtain the dynamic parameter calibration results of the motor. The current determination module is used to determine the direct-axis current and quadrature-axis current of the motor through a voltage utilization closed-loop algorithm, and then optimize the voltage utilization based on the direct-axis current and the quadrature-axis current. The compensation module is used to obtain a temperature compensation value based on a pre-stored temperature calibration relationship and rotor temperature. Based on the temperature compensation value and motor operating parameters, and with the voltage utilization rate as a constraint, the module performs three-dimensional dynamic compensation on the dynamic parameter calibration results until the motor performance indicators meet the preset conditions. The temperature calibration relationship includes the calibration relationship between the rotor temperature and the dynamic parameters.

10. A vehicle, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the offline calibration dynamic compensation method for motor parameters as described in any one of claims 1-8 when executing the computer program.

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