Temperature model initial value estimation method and device, electronic equipment and storage medium

Abstract

The invention relates to a temperature model initial value estimation method and device, electronic equipment and a storage medium. The method comprises the following steps: when a power-off instruction of a motor controller is received, acquiring a first estimated temperature of each node output by a temperature model last time, and acquiring first time information when the motor controller is powered off; wherein the temperature model is used for estimating the temperature of each component of the motor controller; when it is detected that the motor controller is powered on, second time information when the motor controller is powered on is obtained; determining the power-off duration of the motor controller based on the first time information and the second time information; and if the power-off duration is smaller than the preset complete cooling duration of the motor controller, calculating a temperature model initial value when the motor controller is powered on based on the first estimated temperature of each node and a temperature model. The method can improve the estimation precision of the initial value of the temperature model.

Description

Technical Field

[0001] This application relates to the field of data processing application technology, and in particular to a method, apparatus, electronic device and storage medium for estimating the initial value of a temperature model. Background Technology

[0002] Motor controllers generate a lot of heat during operation. The accumulation of heat will cause the temperature to rise. When the temperature rises above the normal operating temperature range of the components, the motor controller is prone to overheating damage. Therefore, in practical engineering applications, it is necessary to monitor the temperature status of each component in the motor controller in real time and trigger the protection mechanism in time to avoid the risk of overheating failure and ensure the safe and stable operation of the equipment.

[0003] In existing technologies, temperature model estimation methods have become the mainstream method for monitoring temperature in motor controllers due to their wide applicability, fewer deployment restrictions, and the fact that they do not require additional sensor hardware costs. However, when using temperature models to estimate the temperature of various components in a motor controller, the accuracy of the initial value setting of the temperature model directly determines the accuracy of subsequent temperature estimations. Existing initial value setting methods have significant drawbacks and are difficult to meet the requirements of accurate temperature measurement. For example, existing initial value setting methods mainly adopt the following two schemes: one is to directly set the initial value to a fixed value, such as 60℃; the other is to add a fixed offset to the temperature of the directly measurable parts in the motor controller as the initial value of the temperature model, and this offset is actually determined based on bench calibration.

[0004] Therefore, neither of the above two initial value setting schemes can accurately set the initial value of the temperature model, resulting in the temperature calculation accuracy of the temperature model not meeting the design expectations. In actual use, there are cases where the initial value is set too high, causing the temperature model to estimate the temperature much higher than the actual temperature, thus causing the motor controller to over-protect and causing customer complaints; or there are cases where the initial value is set too low, causing the temperature model to estimate the temperature much lower than the actual temperature of the component, thus causing the motor controller to under-protect and resulting in over-temperature failure. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, device, electronic device, and storage medium for estimating the initial value of a temperature model to address the aforementioned technical problems. This would improve the estimation accuracy of the initial value of the temperature model, avoid over-protection or under-protection problems caused by inaccurate initial value settings, and enhance the accuracy and reliability of temperature model estimation to ensure the safe and stable operation of the motor controller.

[0006] According to a first aspect of certain exemplary embodiments of the present disclosure, a method for estimating the initial value of a temperature model is provided, comprising: when receiving a power-down command from a motor controller, acquiring the first estimated temperature of each node output by the previous temperature model, and acquiring first time information when the motor controller is powered down; wherein the temperature model is used to estimate the temperature of each component of the motor controller; when detecting that the motor controller is powered on, acquiring second time information when the motor controller is powered on; determining the power-down duration of the motor controller based on the first time information and the second time information; if the power-down duration is less than a preset complete cooling duration of the motor controller, calculating the initial value of the temperature model when the motor controller is powered on based on the first estimated temperature of each node and the temperature model.

[0007] According to certain exemplary embodiments of this disclosure, the first time information includes the absolute time and non-absolute time of the motor controller power-off, and the second time information includes the absolute time and non-absolute time of the motor controller power-on. Determining the power-off duration of the motor controller based on the first time information and the second time information includes: calculating the power-off duration of the motor controller based on the absolute time of the motor controller power-off and the absolute time of the motor controller power-on; or, determining the power-off duration of the motor controller based on the non-absolute time of the motor controller power-off and the non-absolute time of the motor controller power-on.

[0008] According to certain exemplary embodiments of this disclosure, a method for estimating the initial value of a temperature model further includes: acquiring a first ambient temperature when the motor controller is powered off and a first temperature of a target component when the motor controller is powered off, wherein the target component is a component in the motor controller that is naturally cooled under power-off conditions; acquiring a second ambient temperature when the motor controller is powered on and a second temperature of the target component when the motor controller is powered on; acquiring first time information when the motor controller is powered off, including: determining an average ambient temperature based on the first and second ambient temperatures; querying a preset cooling time table based on the average ambient temperature and the first temperature to obtain a non-absolute time when the motor controller is powered off, wherein the preset cooling time table stores a mapping relationship between different ambient temperatures, different temperatures of the target component, and the non-absolute time required for the target component to naturally cool from a preset over-temperature threshold to the corresponding temperature; acquiring second time information when the motor controller is powered on, including: querying the preset cooling time table based on the average ambient temperature and the second temperature to obtain a non-absolute time when the motor controller is powered on.

[0009] According to certain exemplary embodiments of this disclosure, a method for estimating the initial value of a temperature model further includes: in different preset ambient temperatures, when it is identified that the actual temperature of the target component reaches a preset over-temperature threshold, controlling the motor controller to enter a power-off state; collecting the temperature and cooling duration of the target component at each preset time point during the natural cooling process from the preset temperature threshold to the preset cooling temperature in each preset ambient temperature; and generating a preset cooling schedule based on each preset ambient temperature, the temperature of the target component at each preset time point under each preset ambient temperature, and the cooling duration.

[0010] According to certain exemplary embodiments of this disclosure, the temperature model is determined by the estimated temperature of each node output by the temperature model in the previous calculation cycle, the temperature change rate matrix of each node in the previous calculation cycle, and the time constant. The temperature change rate matrix is ​​related to the characteristic parameters of each node in the temperature model and the loss of each heat source in the temperature model. Before calculating the initial value of the temperature model at power-on based on the first estimated temperature of each node and the temperature model, a method for estimating the initial value of the temperature model further includes: setting the loss of each heat source in the temperature model to 0 to obtain an adjusted temperature change rate matrix; setting the time constant to a preset value and combining it with the adjusted temperature change rate matrix to obtain an adjusted temperature model, wherein the preset value is determined by the actual temperature change duration simulated in a single calculation of the adjusted temperature model; calculating the initial value of the temperature model at power-on based on the first estimated temperature of each node and the temperature model includes: inputting the first estimated temperature of each node into the adjusted temperature model for iterative calculation, outputting the second estimated temperature of each node after reaching a certain number of iterations, wherein the number of iterations is determined by the power-off duration and the preset value, and the initial value of the temperature model at power-on includes the second estimated temperature of each node.

[0011] According to certain exemplary embodiments of this disclosure, a method for estimating the initial value of a temperature model further includes: if the power-down duration is greater than or equal to a preset complete cooling duration, then setting the ambient temperature at the time of power-up of the motor controller as the initial value of the temperature model at the time of power-up.

[0012] According to certain exemplary embodiments of this disclosure, after the second estimated temperature of each node is output after reaching the number of iterations, a method for estimating the initial value of a temperature model further includes: converting the adjusted temperature model into a temperature model for estimating the temperature of each node of the motor controller under normal operating conditions based on the second estimated temperature of each node, the original value of the time constant, and the loss of each heat source in the actual operating conditions.

[0013] According to a second aspect of certain exemplary embodiments of the present disclosure, an apparatus for estimating the initial value of a temperature model is provided, characterized in that the apparatus comprises: a first acquisition module, configured to acquire, upon receiving a power-down command from a motor controller, the first estimated temperature of each node output by the previous temperature model, and acquire first time information when the motor controller is powered down; wherein the temperature model is used to estimate the temperature of each component of the motor controller; a second acquisition module, configured to acquire second time information when the motor controller is powered on, upon detecting that the motor controller is powered on; a determination module, configured to determine the power-down duration of the motor controller based on the first time information and the second time information; and a calculation module, configured to calculate the initial value of the temperature model when the motor controller is powered on, based on the first estimated temperature of each node and the temperature model, if the power-down duration is less than a preset complete cooling duration of the motor controller.

[0014] According to a third aspect of certain exemplary embodiments of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0015] According to a fourth aspect of certain exemplary embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above methods.

[0016] The aforementioned method, apparatus, electronic device, and storage medium for estimating the initial value of a temperature model, when receiving a power-down command from a motor controller, acquires the first estimated temperature of each node output by the previous temperature model, and acquires the first time information when the motor controller is powered down; wherein, the temperature model is used to estimate the temperature of each component of the motor controller; when the motor controller is detected to be powered on, the second time information when the motor controller is powered on is acquired; the power-down duration of the motor controller is determined based on the first and second time information; if the power-down duration is less than the preset complete cooling duration of the motor controller, the initial value of the temperature model when the motor controller is powered on is calculated based on the first estimated temperature of each node and the temperature model.

[0017] Therefore, upon receiving a power-down command from the motor controller, the system records the first estimated temperature of each node from the previous temperature model output and the first time information of the power-down moment. Upon detecting power-up of the motor controller, it obtains the second time information of the power-up moment. Based on these first and second time information, the power-down duration of the motor controller is accurately determined. If the calculated power-down duration is less than the preset complete cooling time, the initial value of the temperature model at the time of motor controller power-up is calculated based on the recorded first estimated temperature of each node and the temperature model. This method for estimating the initial value of the temperature model can accurately calculate the power-down duration of the motor controller. Furthermore, based on the correlation between the power-down duration and the historical temperature data of each node, combined with the threshold determination of the complete cooling time, it accurately matches the actual temperature state of each component at the moment of power-up, effectively improving the estimation accuracy of the initial value of the temperature model. This avoids both overprotection issues caused by setting the initial temperature model value too high and underprotection and over-temperature failures caused by setting the initial temperature model value too low, improving the accuracy and reliability of subsequent temperature estimations and ensuring the safe and stable operation of the motor controller. Attached Figure Description

[0018] Figure 1 A diagram illustrating the application environment of a method for estimating initial values ​​of a temperature model, as shown in some exemplary embodiments of this disclosure. Figure 2 This is a flowchart illustrating a method for estimating the initial value of a temperature model in some exemplary embodiments of this disclosure; Figure 3 This is a schematic diagram of the process for generating a preset cooling schedule in some exemplary embodiments of this disclosure; Figure 4 This is a structural block diagram of a device for estimating the initial value of a temperature model in some other exemplary embodiments of this disclosure; Figure 5 This is a diagram illustrating the internal structure of an electronic device in some other exemplary embodiments of this disclosure. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] The following detailed descriptions are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, electronic devices, storage media, and / or computer program products described herein. However, upon understanding the disclosure of this disclosure, various changes, modifications, and equivalents of the methods, apparatus, storage media, and / or computer program products described herein will become apparent. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding the disclosure of this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0021] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, electronic devices, and / or storage media described herein, many of which will become clear upon understanding this disclosure.

[0022] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof. Unless otherwise stated, “ / ” means “or,” for example, A / B can mean A or B; “and / or” in the text is merely a description of the relationship between related objects, indicating that three relationships can exist, for example, A and / or B can mean: A alone, A and B simultaneously, and B alone. Furthermore, in the description of embodiments of the invention, “multiple” means two or more.

[0023] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0024] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in some of the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0025] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0026] In the following description, embodiments will be described in detail with reference to the accompanying drawings. However, embodiments may be implemented in various forms and are not limited to the examples described herein.

[0027] The abbreviations and key terms in this disclosure are explained as follows: 1. Temperature Model: This refers to a mathematical model built based on parameters such as the thermal characteristics, heat dissipation laws, and operating conditions of various components of the motor controller. Its core function is to calculate, simulate, and estimate the real-time temperature of each key component (node) inside the motor controller, providing data support for the temperature monitoring and protection mechanism of the motor controller. 2. Motor Controller: Also known as Motor Control Unit (MCU), it is the core electronic component that controls the operation of the motor. It is responsible for receiving commands from the vehicle controller, collecting status signals of the motor and related systems, and realizing the motor's starting, acceleration, deceleration, and stopping actions by adjusting parameters such as voltage and current. At the same time, it needs to monitor its own temperature in real time to avoid damage from overheating. 3. Electrically Erasable Programmable Read-Only Memory (EEPROM): A non-volatile storage device that can be repeatedly erased and rewritten and whose data is not lost after power failure; 4. Complete cooling time: refers to the maximum time required for the motor controller to cool naturally from a preset over-temperature threshold (e.g., 85℃) to a temperature basically consistent with the ambient temperature. It is determined by bench testing and preset as the threshold.

[0028] This application provides a method for estimating the initial values ​​of a temperature model, applicable to, for example... Figure 1 The application environment shown. For example... Figure 1As shown, the application environment includes a vehicle 100 and a temperature model initial value estimation system 200. The vehicle 100 is equipped with a motor controller. The temperature model initial value estimation system 200 is used to execute a temperature model initial value estimation method according to this application. Specifically, when a power-down command is received from the motor controller, the system obtains the first estimated temperature of each node output by the previous temperature model, and obtains the first time information when the motor controller is powered down; wherein, the temperature model is used to estimate the temperature of each component of the motor controller; when the motor controller is detected to be powered on, the system obtains the second time information when the motor controller is powered on; the power-down duration of the motor controller is determined based on the first and second time information; if the power-down duration is less than the preset complete cooling duration of the motor controller, the initial temperature model value at power-on is calculated based on the first estimated temperature of each node and the temperature model.

[0029] In some exemplary embodiments of this disclosure, such as Figure 2 As shown, a method for estimating the initial values ​​of a temperature model is provided. Taking the application of this method to a temperature model initial value estimation system 200 as an example, the method includes the following steps: Step 201: When the power-down command of the motor controller is received, the first estimated temperature of each node output by the previous temperature model is obtained, as well as the first time information when the motor controller is powered down is obtained.

[0030] The temperature model is used to estimate the temperature of each component of the motor controller.

[0031] Specifically, when the temperature model initial value estimation system 200 receives the power-down command from the motor controller issued by the vehicle control system, it triggers a series of data acquisition processes. On the one hand, it retrieves and obtains the first estimated temperature of each node output by the previous temperature model calculation. Each node is the temperature measurement node of each component in the motor controller, and the first estimated temperature of each node can characterize the temperature state of each component before the motor controller is powered down. On the other hand, it obtains the time information of the moment when the motor controller responds to the power-down command and completes the power-down action, i.e., the first time information, and stores the collected first estimated temperature and first time information in a preset non-volatile storage module (such as EEPROM) for subsequent retrieval when the motor controller is detected to be powered up.

[0032] Step 202: When the power-on of the motor controller is detected, the second time information of the power-on of the motor controller is obtained.

[0033] Specifically, the temperature model initial value estimation system 200 continuously monitors the operating status of the motor controller. When it detects that the motor controller receives the power-on command sent by the vehicle control system and completes the power-on action, it collects and records the time information of the moment when the motor controller completes the power-on action, i.e., the second time information. This second time information and the first time information collected in step 201 are time data of the same time measurement dimension, which can be directly used for the calculation of the power-off duration of the motor controller.

[0034] Step 203: Determine the power-off duration of the motor controller based on the first time information and the second time information.

[0035] Specifically, the power-down duration is the interval between the completion of the power-down action and the completion of the power-on action by the motor controller. By calculating the time difference between the first time information and the second time information, the actual power-down duration of the motor controller can be accurately obtained. This power-down duration can intuitively reflect the shutdown cooling time of the motor controller and is the core basis for determining the temperature cooling status of each component of the motor controller.

[0036] Step 204: If the power-down time is less than the preset complete cooling time of the motor controller, calculate the initial value of the temperature model when the motor controller is powered on based on the first estimated temperature and temperature model of each node.

[0037] Specifically, the preset complete cooling time is a fixed threshold obtained through bench testing. It is the longest time required for the motor controller to naturally cool from a preset over-temperature threshold (e.g., 85°C) to a temperature where the temperature of each component is basically the same as the ambient temperature. When the calculated power-down time is less than this complete cooling time, it indicates that the components of the motor controller have not completed natural cooling, and the actual temperature of each node is still related to the temperature at the time of power-down. In this case, based on the first estimated temperature of each node that has been stored, the temperature model is used as the input data. Combined with the heat conduction and heat dissipation law calculation logic of the temperature model, the initial value of the temperature model adapted to the motor controller when it is powered on can be obtained after the calculation. If the power-down time is greater than or equal to the complete cooling time, it is determined that the components of the motor controller have cooled to the ambient temperature, and the ambient temperature can be directly used as the initial value of the temperature model.

[0038] The aforementioned method for estimating the initial value of a temperature model records the first estimated temperature of each node and the first time information of the power-down moment from the previous temperature model output when a power-down command is received from the motor controller. Upon detecting the power-up of the motor controller, it acquires the second time information of the power-up moment. Based on these first and second time information, the power-down duration of the motor controller is accurately determined. If the calculated power-down duration is less than the preset complete cooling time, the initial value of the temperature model at the time of motor controller power-up is calculated based on the recorded first estimated temperatures of each node and the temperature model. Therefore, this method can accurately calculate the power-down duration of the motor controller. Furthermore, by combining the correlation between the power-down duration and the historical temperature data of each node with the threshold determination of the complete cooling time, it accurately matches the actual temperature state of each component at the moment of power-up, effectively improving the estimation accuracy of the initial value of the temperature model. This avoids both overprotection issues caused by setting the initial temperature model value too high and underprotection and over-temperature failures caused by setting the initial temperature model value too low, thus improving the accuracy and reliability of subsequent temperature estimations and ensuring the safe and stable operation of the motor controller.

[0039] In some exemplary embodiments of this disclosure, based on the above embodiments, it is further explained that the first time information includes the absolute time and non-absolute time of the motor controller power-off, and the second time information includes the absolute time and non-absolute time of the motor controller power-on; the step 203 of determining the power-off duration of the motor controller based on the first time information and the second time information may specifically include the following steps: calculating the power-off duration of the motor controller based on the absolute time of the motor controller power-off and the absolute time of the motor controller power-on; or, determining the power-off duration of the motor controller based on the non-absolute time of the motor controller power-off and the non-absolute time of the motor controller power-on.

[0040] Specifically, absolute time is the actual physical time based on the system clock. By calculating the difference between the absolute time at power-on and the absolute time at power-off, the actual power-off time of the motor controller can be directly obtained. Non-absolute time is the relative cooling time based on the natural cooling process of the target components in the motor controller. By calculating the difference between the non-absolute time at power-on and the non-absolute time at power-off, the cooling time of the motor controller during the power-off phase can be obtained. The two time calculation methods can be executed independently and can accurately obtain the power-off time that represents the cooling time of the motor controller, adapting to different operating condition calculation needs.

[0041] In some exemplary embodiments of this disclosure, based on the above embodiments, a method for estimating the initial value of a temperature model further includes the following steps: obtaining a first ambient temperature when the motor controller is powered off and a first temperature of a target component when the motor controller is powered off, wherein the target component is a component in the motor controller that is naturally cooled under power-off conditions; obtaining a second ambient temperature when the motor controller is powered on and a second temperature of the target component when the motor controller is powered on; the step of obtaining the first time information when the motor controller is powered off in step 201 above may include the following steps: determining an average ambient temperature based on the first ambient temperature and the second ambient temperature; querying a preset cooling time table based on the average ambient temperature and the first temperature to obtain the non-absolute time when the motor controller is powered off, wherein the preset cooling time table stores a mapping relationship between different ambient temperatures, different temperatures of the target component, and the non-absolute time required for the target component to naturally cool from a preset over-temperature threshold to the corresponding temperature; the step of obtaining the second time information when the motor controller is powered on in step 202 above may include the following steps: querying a preset cooling time table based on the average ambient temperature and the second temperature to obtain the non-absolute time when the motor controller is powered on.

[0042] Specifically, since the system clock of the motor controller is easily affected by factors such as power outages and electromagnetic interference in most practical applications, making it impossible to reliably obtain accurate absolute time, this solution also introduces non-absolute time estimation logic to avoid dependence on the system clock and ensure the reliability of the power-down duration calculation of the motor controller. First, the ambient temperature at the moment the motor controller is powered down (i.e., the first ambient temperature) and the actual temperature of the target component at the moment of power-down (i.e., the first temperature) are collected. Then, the ambient temperature at the moment the motor controller is powered on (i.e., the second ambient temperature) and the actual temperature of the target component at the moment of power-on (i.e., the second temperature) are collected. The target component is a component inside the motor controller that is naturally cooled under power-down conditions and whose actual temperature can be directly read by a temperature sensor (such as the motor stator). The temperature sensor can accurately collect the actual temperature at the moment of power-down and power-on during the target period, providing data support for subsequent non-absolute time queries. Furthermore, the average ambient temperature is calculated by averaging the first and second ambient temperatures to obtain the average ambient temperature when the motor controller is in the power-off state. A matching query is performed between the average ambient temperature and the first temperature of the target component when the motor controller is powered off in a preset cooling time table to obtain the non-absolute time when the motor controller is powered off. Similarly, a matching query is performed between the average ambient temperature and the second temperature of the target component when the motor controller is powered on in a preset cooling time table to obtain the non-absolute time when the motor controller is powered on. The preset cooling time table stores a mapping relationship between different ambient temperatures, different temperatures of the target component, and the non-absolute time required for the target component to naturally cool from a preset over-temperature threshold to the corresponding temperature. By using the average ambient temperature instead of a single ambient temperature for matching queries, the influence of ambient temperature fluctuations on the determination of cooling time is weakened, improving the accuracy of the non-absolute time query. This non-absolute time reflects the cooling time required for the target component to cool from the preset over-temperature threshold to the first or second temperature. Therefore, based on the difference between the non-absolute time at power-off and the non-absolute time at power-on, the power-off time of the motor controller can be determined without relying on the system clock of the motor controller, thus improving the flexibility of calculating the power-off time.

[0043] In some exemplary embodiments of this disclosure, based on the above embodiments, further descriptions are provided, such as... Figure 3 As shown, a method for estimating the initial values ​​of a temperature model also includes the following steps: Step 301: In different preset ambient temperatures, when the actual temperature of the target component is identified to have reached the preset over-temperature threshold, the motor controller is controlled to enter the power-off state.

[0044] Step 302: Collect the actual temperature of the target component at each preset time point and the cooling time during the process of the target component naturally cooling from the preset temperature threshold to the preset cooling temperature in each preset ambient temperature.

[0045] Step 303: Generate a preset cooling schedule based on each preset ambient temperature, the temperature of the target component at each preset time point under each preset ambient temperature, and the cooling duration.

[0046] Specifically, the generation of a preset cooling schedule is the core data foundation for achieving non-absolute time estimation. The generation process of the preset cooling schedule needs to cover the entire temperature range scenario of the actual operation of the motor controller to ensure the accuracy of subsequent queries. First, the motor system, including the motor controller, is placed in temperature chambers with different preset ambient temperatures. For example, multiple temperature chambers with preset ambient temperatures are divided into preset temperature intervals (e.g., 5℃) within the temperature range of 0℃-85℃, and the temperature of each chamber is controlled to remain constant at the corresponding preset ambient temperature. Then, the motor system is controlled to operate under standard operating conditions with fixed speed, fixed torque, fixed coolant flow rate, and fixed coolant temperature, and continues to operate until the actual temperature of the target component (e.g., the motor) reaches a preset over-temperature threshold (e.g., 85℃). When the temperature sensor detects that the temperature of the target component has reached the preset over-temperature threshold, a power-down operation is immediately triggered. For example, the motor speed and torque are set to 0, the control bus voltage is reduced to 0V, the motor controller is switched to a power-down standby state, and the coolant flow rate is set to 0Lpm, thus simulating the real power-down cooling conditions. Furthermore, under each preset ambient temperature condition, starting from the moment the motor controller enters the power-off state until the temperature of the target component drops to the preset cooling temperature, temperature data and corresponding cooling duration of the target component (e.g., the motor) are collected at fixed time intervals (e.g., 1 second). This means collecting the actual temperature of the target component at each preset ambient temperature as it naturally cools from the preset temperature threshold to the preset cooling temperature, along with the temperature and cooling duration at each preset time point. The preset cooling temperature can be the ambient temperature + 10°C, and the preset time points are the collection times set at fixed time intervals (e.g., 1 second). Data collection stops when the temperature sensor reads that the target component's temperature has dropped to the preset cooling temperature, ensuring complete capture of the target component's entire cooling process from the preset over-temperature threshold to near ambient temperature.

[0047] Furthermore, the ambient temperature, the target component temperature at each time point, and the corresponding cooling time are collected under various preset ambient temperature conditions and summarized to generate a structured two-dimensional table with ambient temperature and target component temperature as two-dimensional coordinate axes and cooling time as the output, i.e., the preset cooling time table. The cooling time output in the table is not an absolute time, specifically referring to the cumulative cooling time required for the target component to cool from the preset over-temperature threshold to the temperature corresponding to the current table under natural cooling conditions at the current ambient temperature. This time data will serve as the core mapping basis for subsequent non-absolute time queries, providing data support for avoiding system clock dependence and ensuring the reliability of power-down time calculation.

[0048] In some exemplary embodiments of this disclosure, based on the above embodiments, it is further explained that the temperature model is determined by the estimated temperature of each node output by the temperature model in the previous calculation cycle, the temperature change rate matrix of each node in the previous calculation cycle, and the time constant. The temperature change rate matrix is ​​related to the characteristic parameters of each node in the temperature model and the loss of each heat source in the temperature model. Before the step 204 above, which calculates the initial value of the temperature model at power-on based on the first estimated temperature of each node and the temperature model, a method for estimating the initial value of the temperature model further includes: setting the loss of each heat source in the temperature model to 0 to obtain the adjusted temperature change rate. The matrix; the time constant is set to a preset value, and combined with the adjusted temperature change rate matrix, the adjusted temperature model is obtained. The preset value is determined by the actual temperature change duration simulated in a single calculation of the adjusted temperature model; the above step 204 is the step of calculating the initial value of the temperature model at power-on based on the first estimated temperature of each node and the temperature model, specifically including the following steps: input the first estimated temperature of each node into the adjusted temperature model for iterative calculation, and output the second estimated temperature of each node after reaching the number of iterations. The number of iterations is determined by the power-off duration and the preset value. The initial value of the temperature model at power-on includes the second estimated temperature of each node.

[0049] Specifically, to accurately match the actual temperature state of each component at the moment of power-on of the motor controller, and in cases where the power-off time of the motor controller is less than the preset complete cooling time (i.e., the target component is not fully cooled), this embodiment uses a reused temperature model to calculate the correlation between the temperature of each node and time during power-off, thereby achieving accurate estimation of the initial value of the temperature model. Since the temperature model reflects the change in node temperature over time based on the heat transfer law, it is determined by the estimated temperature of each node output from the temperature model of the previous calculation cycle, the temperature change rate matrix of each node in the previous calculation cycle, and the time constant. For example, the simplified expression of the temperature model is as follows: ; In the formula, T Now T represents the temperature matrix of each node in the temperature model. Lst This represents the temperature matrix of each node in the temperature model output for one calculation cycle. SampleTi is the temperature change rate matrix of each node in the temperature model over one calculation cycle. The temperature change rate matrix is ​​related to the characteristic parameters of each node in the temperature model and the loss of each heat source in the temperature model. SampleTi is the time constant of the temperature model calculation. This time constant represents the actual temperature change duration simulated by the temperature model in a single calculation, such as 1s, 1ms, etc.

[0050] Based on the above temperature model's operational logic, since no new heat source is generated after the motor controller is powered off, and each component cools down only through natural heat dissipation, before calculating the initial value of the temperature model, the loss of each heat source in the temperature model is first set to 0. At this time, the temperature change rate matrix is ​​determined only by the characteristic parameters of each node (such as heat capacity and thermal resistance) and the temperature difference between nodes, resulting in an adjusted temperature change rate matrix. Then, the time constant is set to a preset value, preferably 1s in this embodiment. This preset value is determined based on the fact that a single calculation of the adjusted temperature model can equivalently simulate the 1s temperature change duration during the actual power-off process. Combined with the adjusted temperature change rate matrix, an adjusted temperature model adapted to the power-off condition of the motor controller is obtained. Finally, by inputting the first estimated temperature of each node stored in the above steps into the adjusted temperature model, the number of iterations is determined according to the power-off duration and the preset value (number of iterations = power-off duration / preset value). After iterative calculation, the second estimated temperature of each node output by the adjusted temperature model is obtained. This second estimated temperature is the estimated actual temperature of each component when powered on, serving as the initial value of the temperature model. For example, assuming the power-down time of the motor controller is determined to be 100 seconds by querying a preset cooling schedule, and the time constant in the adjusted temperature model is 1 second, the calculation time required for one calculation by the adjusted temperature model is 1 ms. Then, the number of iterations = power-down time / preset value = 100 seconds / 1 second = 100 times. That is, after 100 iterations, the adjusted temperature model, with a total calculation time of 100 ms, can quickly and accurately calculate the second estimated temperature of each node at the moment of power-up of the motor controller. This estimated temperature is then used as the initial value for subsequent temperature models to monitor the temperature of various components inside the motor controller. Therefore, this embodiment does not require the separate development of a dedicated power-down temperature model; high-precision initial value estimation can be achieved simply by adjusting parameters, balancing algorithm simplicity and estimation accuracy.

[0051] In some exemplary embodiments of this disclosure, a method for estimating the initial value of a temperature model further includes the following step: if the power-down duration is greater than or equal to a preset complete cooling duration, then the ambient temperature at the time of power-up of the motor controller is set as the initial value of the temperature model at the time of power-up.

[0052] Specifically, after detecting that the motor controller has been powered on again and completed the power-off duration calculation, if the power-off duration is determined to be greater than or equal to the preset complete cooling duration, it indicates that the components of the motor controller have reached thermal equilibrium with the ambient temperature through natural heat dissipation. At this point, there is no need to simulate temperature changes through iterative calculations. In this case, the ambient temperature collected in real time during power-on is set as the initial value for each node of the temperature model. This simplifies the operation process, ensures the consistency between the initial value and the actual temperature state, and avoids redundant calculations that consume hardware resources.

[0053] Based on the above embodiments, after the second estimated temperature of each node is output after reaching the number of iterations, a method for estimating the initial value of a temperature model may further include the following steps: based on the second estimated temperature of each node, the original value of the time constant, and the loss of each heat source in the actual operating conditions, the adjusted temperature model is converted into a temperature model for estimating the temperature of each node of the motor controller under normal operating conditions.

[0054] Specifically, after calculating the second estimated temperature of each node at the moment of power-on of the motor controller using the adjusted temperature model, in order to ensure that the temperature model can adapt to the heating characteristics and real-time monitoring requirements of the motor controller during normal operation and to achieve seamless connection between the initial value estimation and the normal operating condition temperature estimation, it is necessary to reset and update the parameters of the adjusted temperature model to restore its temperature calculation logic under normal operating conditions. The specific steps are as follows: Set the second estimated temperature of each node as the initial temperature matrix (T) of the normal operating condition temperature model. Lst This ensures that the temperature reference at model startup is consistent with the actual temperature of each component at power-on; and the time constant is set from the preset value of the power-off condition (e.g., 1s) to the original value of the normal condition (e.g., 1ms) to match the real-time computing power of the MCU and the timeliness requirements of temperature monitoring; at the same time, the loss matrix of the temperature model is set from 0 to the actual loss data of each heat source in the actual operating condition to obtain a temperature change rate matrix that conforms to the normal operating heat generation law. The actual loss data can be obtained by real-time acquisition of current, voltage, and operating parameters, combined with a preset calibration formula, so that the temperature change rate matrix can truly reflect the balance between heat generation and heat dissipation during normal operation. Finally, through the above configuration, the adjusted temperature model will be completely converted into a temperature model adapted to normal operating conditions. Subsequently, the temperature of each node of the motor controller can be calculated in real time based on this model, providing accurate data support for control strategies such as over-temperature protection and derating operation. This ensures the continuity of temperature estimation and improves the reliability and practicality of the entire temperature control system.

[0055] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0056] In some exemplary embodiments of this disclosure, such as Figure 4 As shown, a device for estimating the initial value of a temperature model is provided, including a first acquisition module 401, a second acquisition module 402, a determination module 403, and a calculation module 404. The first acquisition module 401 is used to acquire the first estimated temperature of each node output by the previous temperature model and the first time information when the motor controller is powered down when a power-down command is received from the motor controller; wherein, the temperature model is used to estimate the temperature of each component of the motor controller. The second acquisition module 402 is used to acquire the second time information when the motor controller is powered on when a power-on is detected. The determination module 403 is used to determine the power-down duration of the motor controller based on the first and second time information. The calculation module 404 is used to calculate the initial value of the temperature model when the motor controller is powered on, based on the first estimated temperature of each node and the temperature model, if the power-down duration is less than a preset complete cooling time of the motor controller.

[0057] In one embodiment of this disclosure, the first time information includes the absolute time and non-absolute time of the motor controller power-off, and the second time information includes the absolute time and non-absolute time of the motor controller power-on. The determining module 403 is specifically used to: calculate the power-off duration of the motor controller based on the absolute time of the motor controller power-off and the absolute time of the motor controller power-on; or, determine the power-off duration of the motor controller based on the non-absolute time of the motor controller power-off and the non-absolute time of the motor controller power-on.

[0058] In one embodiment of this disclosure, a device for estimating the initial value of a temperature model further includes: a third acquisition module, used to acquire a first ambient temperature when the motor controller is powered off and a first temperature of a target component when the motor controller is powered off, wherein the target component is a component in the motor controller that is naturally cooled under power-off conditions; a fourth acquisition module, used to acquire a second ambient temperature when the motor controller is powered on and a second temperature of the target component when the motor controller is powered on; a first acquisition module 401, specifically used to: determine an average ambient temperature based on the first and second ambient temperatures; query a preset cooling time table based on the average ambient temperature and the first temperature to obtain a non-absolute time when the motor controller is powered off, wherein the preset cooling time table stores a mapping relationship between different ambient temperatures, different temperatures of the target component, and the non-absolute time required for the target component to naturally cool from a preset over-temperature threshold to the corresponding temperature; and a second acquisition module 402, specifically used to: query the preset cooling time table based on the average ambient temperature and the second temperature to obtain a non-absolute time when the motor controller is powered on.

[0059] In one embodiment of this disclosure, a device for estimating the initial value of a temperature model further includes: a control module, configured to control a motor controller to enter a power-off state when the actual temperature of a target component reaches a preset over-temperature threshold under different preset ambient temperatures; a data acquisition module, configured to acquire the temperature and cooling duration of the target component at each preset time point during the natural cooling process from the preset temperature threshold to the preset cooling temperature under each preset ambient temperature; and a generation module, configured to generate a preset cooling time schedule based on each preset ambient temperature, the temperature of the target component at each preset time point under each preset ambient temperature, and the cooling duration.

[0060] In one embodiment of this disclosure, the temperature model is determined by the estimated temperatures of each node output by the temperature model in the previous calculation cycle, the temperature change rate matrix of each node in the previous calculation cycle, and the time constant. The temperature change rate matrix is ​​related to the characteristic parameters of each node in the temperature model and the loss of each heat source in the temperature model. An estimation device for the initial value of the temperature model further includes: a first setting module, used to set the loss of each heat source in the temperature model to 0 to obtain an adjusted temperature change rate matrix; a second setting module, used to set the time constant to a preset value and combine it with the adjusted temperature change rate matrix to obtain an adjusted temperature model. The preset value is determined by the actual temperature change duration simulated in a single calculation of the adjusted temperature model; and a calculation module 404, specifically used to: input the first estimated temperature of each node into the adjusted temperature model for iterative calculation, and output the second estimated temperature of each node after reaching the required number of iterations. The number of iterations is determined by the power-off duration and the preset value. The initial value of the temperature model at power-on includes the second estimated temperature of each node.

[0061] In one embodiment of this disclosure, a device for estimating the initial value of a temperature model further includes: a third setting unit, configured to set the ambient temperature at the time of power-on of the motor controller to the initial value of the temperature model at the time of power-on if the power-off duration is greater than or equal to a preset complete cooling duration.

[0062] In one embodiment of this disclosure, a device for estimating the initial value of a temperature model further includes a conversion module, used to convert the adjusted temperature model into a temperature model for estimating the temperature of each node of the motor controller under normal operating conditions, based on the second estimated temperature of each node, the original value of the time constant, and the loss of each heat source in the actual operating conditions.

[0063] Specific limitations regarding the device for estimating the initial value of a temperature model can be found in the limitations regarding the method for estimating the initial value of a temperature model described above, and will not be repeated here. Each module in the aforementioned device for estimating the initial value of a temperature model can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in an electronic device, or stored in the memory of an electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0064] In some exemplary embodiments of this disclosure, an electronic device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this electronic device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data related to the temperature model. The network interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a method for estimating the initial values ​​of a temperature model.

[0065] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0066] In some exemplary embodiments of this disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of an estimation method for an initial value of a temperature model as described in any of the exemplary embodiments above.

[0067] In some exemplary embodiments of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for estimating the initial value of a temperature model as described in any of the exemplary embodiments above.

[0068] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0069] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for estimating the initial values ​​of a temperature model, characterized in that, The method includes: When a power-down command is received from the motor controller, the first estimated temperature of each node output by the previous temperature model is obtained, as well as the first time information when the motor controller is powered down; wherein, the temperature model is used to estimate the temperature of each component of the motor controller; When the power-on of the motor controller is detected, the second time information of the power-on of the motor controller is obtained; The power-off duration of the motor controller is determined based on the first time information and the second time information; If the power-down time is less than the preset complete cooling time of the motor controller, then the initial value of the temperature model when the motor controller is powered on is calculated based on the first estimated temperature of each node and the temperature model.

2. The method according to claim 1, characterized in that, The first time information includes the absolute time and the non-absolute time when the motor controller is powered off, and the second time information includes the absolute time and the non-absolute time when the motor controller is powered on. Determining the power-off duration of the motor controller based on the first time information and the second time information includes: The power-off duration of the motor controller is calculated based on the absolute time when the motor controller is powered off and the absolute time when the motor controller is powered on. Alternatively, the power-off duration of the motor controller can be determined based on the non-absolute time when the motor controller is powered off and the non-absolute time when the motor controller is powered on.

3. The method according to claim 2, characterized in that, The method further includes: The first ambient temperature and the first temperature of the target component when the motor controller is powered off are obtained, wherein the target component is the naturally cooled component in the motor controller under the power-off condition; The second ambient temperature when the motor controller is powered on and the second temperature of the target component when the motor controller is powered on are obtained. The step of obtaining the first time information when the motor controller is powered off includes: The average ambient temperature is determined by using the first ambient temperature and the second ambient temperature. The preset cooling time is obtained by querying the average ambient temperature and the first temperature to obtain the non-absolute time when the motor controller is powered off. The preset cooling time stores the mapping relationship between different ambient temperatures, different temperatures of the target component, and the non-absolute time required for the target component to cool naturally from a preset over-temperature threshold to the corresponding temperature. The step of obtaining the second time information when the motor controller is powered on includes: Based on the average ambient temperature and the second temperature, the preset cooling time schedule is queried to obtain the non-absolute time when the motor controller is powered on.

4. The method according to claim 3, characterized in that, The method further includes: In different preset ambient temperatures, when the actual temperature of the target component is detected to have reached the preset over-temperature threshold, the motor controller is controlled to enter the power-off state. The actual temperature of the target component at each preset ambient temperature is collected during the process of natural cooling from the preset temperature threshold to the preset cooling temperature, and the temperature and cooling time of the target component at each preset time point are collected. The preset cooling schedule is generated based on each preset ambient temperature, the temperature of the target component at each preset time point under each preset ambient temperature, and the cooling duration.

5. The method according to claim 1, characterized in that, The temperature model is determined by the estimated temperatures of each node output by the temperature model in the previous calculation cycle, the temperature change rate matrix of each node in the previous calculation cycle, and the time constant. The temperature change rate matrix is ​​related to the characteristic parameters of each node in the temperature model and the losses of each heat source in the temperature model. Before calculating the initial temperature model value at power-on based on the first estimated temperature of each node and the temperature model, the method further includes: By setting the loss of each heat source in the temperature model to 0, the adjusted temperature change rate matrix is ​​obtained. The time constant is set to a preset value, and combined with the adjusted temperature change rate matrix, an adjusted temperature model is obtained. The preset value is determined by the actual temperature change duration simulated in a single calculation using the adjusted temperature model. The calculation of the initial value of the temperature model at power-on based on the first estimated temperature of each node and the temperature model includes: The first estimated temperature of each node is input into the adjusted temperature model for iterative calculation. After reaching the required number of iterations, the second estimated temperature of each node is output. The number of iterations is determined by the power-down duration and the preset value. The initial value of the temperature model at power-on includes the second estimated temperature of each node.

6. The method according to claim 1, characterized in that, The method further includes: If the power-down time is greater than or equal to the preset complete cooling time, then the ambient temperature when the motor controller is powered on is set to the initial value of the temperature model when powered on.

7. The method according to claim 5, characterized in that, After reaching the required number of iterations and outputting the second estimated temperature for each node, the method further includes: Based on the second estimated temperature of each node, the original value of the time constant, and the loss of each heat source in the actual operating conditions, the adjusted temperature model is converted into a temperature model for estimating the temperature of each node of the motor controller under normal operating conditions.

8. A device for estimating the initial value of a temperature model, characterized in that, The device includes: The first acquisition module is used to acquire the first estimated temperature of each node output by the previous temperature model and the first time information when the motor controller is powered down when a power-down command is received from the motor controller; wherein, the temperature model is used to estimate the temperature of each component of the motor controller. The second acquisition module is used to acquire second time information when the motor controller is powered on when the power-on is detected. The determining module is used to determine the power-off duration of the motor controller based on the first time information and the second time information; The calculation module is used to calculate the initial value of the temperature model when the motor controller is powered on, based on the first estimated temperature of each node and the temperature model, if the power-down time is less than the preset complete cooling time of the motor controller.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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