Parameter updating method and device of motor, medium and air conditioner

Abstract

The application discloses a motor parameter updating method and device, a medium and an air conditioner. The reference flux linkage is determined by acquiring the stator electrical parameters, and the estimated flux linkage is determined by combining the stator electrical parameters with the to-be-observed parameters containing the rotor operating state parameters and the stator electromagnetic parameters. The to-be-observed parameters are iteratively updated by calculating the deviation of the reference flux linkage and the estimated flux linkage. In the scheme, the rotor operating state parameters and the stator electromagnetic parameters participate in the calculation of the flux linkage deviation and complete the dynamic updating based on the flux linkage deviation, thereby realizing the closed-loop optimization of "observation-updating", breaking the vicious cycle of the mutual restriction that the observation of the operating state parameters in the traditional sensorless control depends on the fixed electromagnetic parameters, and the accurate identification of the electromagnetic parameters needs the known operating state parameters, realizing the synchronous and accurate observation and dynamic calibration of the operating state parameters and the electromagnetic parameters, and effectively improving the control precision and stability of the motor under adverse working conditions such as low speed and load mutation.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a method, apparatus, medium, and air conditioner for updating motor parameters. Background Technology

[0002] The prerequisite for stable motor operation is the accurate acquisition of core operating parameters such as rotor angle and angular velocity. In sensorless control scenarios, these operating parameters need to be estimated based on the inherent electromagnetic parameters of the stator, such as resistance and inductance.

[0003] However, during actual motor operation, these electromagnetic parameters drift with temperature fluctuations and load changes, inevitably leading to deviations in the operating state parameters estimated using fixed parameter values. Accurate calibration of the drifted electromagnetic parameters requires accurate operating state parameters as the basis for calculation, creating a vicious cycle where inaccurate electromagnetic parameters lead to distorted observations of operating state parameters, which in turn exacerbates electromagnetic parameter identification errors. Ultimately, this results in a significant decrease in the control accuracy and stability of the motor under complex operating conditions such as low-speed operation and sudden load changes. Summary of the Invention

[0004] Therefore, it is necessary to provide methods, devices, media, and air conditioners for updating motor parameters to solve the problem that in sensorless control of motors, the observation of operating status parameters such as rotor angle and angular velocity depends on fixed electromagnetic parameters, while the accurate identification of electromagnetic parameters requires known operating status parameters. The two restrict each other and form a vicious cycle, resulting in insufficient motor control accuracy and stability under harsh operating conditions.

[0005] In a first aspect, embodiments of this application provide a method for updating the parameters of a motor, the method comprising: Obtain the electrical parameters of the stator; Based on the electrical parameters, the reference flux linkage of the stator is determined; Based on the electrical parameters and the parameters to be observed, the estimated flux linkage of the stator is determined; wherein, the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; The difference between the reference flux linkage and the estimated flux linkage is calculated to obtain the flux linkage deviation; The observed parameters are updated based on the magnetic flux deviation to obtain the updated observed parameters.

[0006] In some embodiments of this application, the electrical parameters include a first stator voltage and a first stator current in the αβ coordinate system, and determining the reference flux linkage of the stator based on the electrical parameters includes: Subtracting the sum of the first stator current and the estimated resistance of the stator from the first stator voltage yields the first calculated value; Integrating the first calculated value yields the reference flux linkage of the stator.

[0007] In some embodiments of this application, the electrical parameters include the second stator current in the dq coordinate system, the electromagnetic parameters of the stator include the estimated direct-axis inductance and the estimated quadrature-axis inductance in the dq coordinate system, the rotor operating state parameters include the estimated angle of the rotor, and the estimated flux linkage includes the first flux linkage of the α coordinate axis and the second flux linkage of the β coordinate axis. The step of determining the estimated flux linkage of the stator based on the electrical parameters and the parameters to be observed includes: Based on the estimated angle, the second stator current is projected onto the αβ coordinate system to obtain the first estimated projected current along the α axis and the second estimated projected current along the β axis. Perform trigonometric function calculations on the estimated angle and multiply it with the rotor flux linkage to obtain a second calculated value; Based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the first magnetic flux linkage of the α coordinate axis is determined; Based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the second magnetic flux linkage of the β coordinate axis is determined.

[0008] In some embodiments of this application, the first estimated projection current includes a first estimated sub-projection current of the d-axis on the α-axis and a second estimated projection current of the q-axis on the α-axis, and the second calculated value includes a first sub-calculated value determined based on a cosine function; The step of determining the first flux linkage of the α coordinate axis based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value includes: The product of the estimated direct-axis inductance and the first estimated sub-projected current is subtracted from the product of the estimated quadrature-axis inductance and the second estimated sub-projected current, and then added to the first sub-operation value to obtain the first magnetic flux linkage of the α coordinate axis.

[0009] In some embodiments of this application, the second estimated projection current includes a third estimated sub-projection current of the d-axis on the β-axis and a fourth estimated sub-projection current of the q-axis on the β-axis, and the second calculated value includes a second sub-calculated value determined based on a sine function; The step of determining the second flux linkage of the β coordinate axis based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value includes: The product of the estimated direct-axis inductance and the third estimator projected current is added to the product of the estimated quadrature-axis inductance and the fourth estimator projected current, and then added to the second sub-operation value to obtain the second magnetic flux linkage of the β coordinate axis.

[0010] In some embodiments of this application, the flux linkage deviation includes a first deviation on the α-axis and a second deviation on the β-axis, the electromagnetic parameters of the stator include the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the estimated resistance in the dq coordinate system, and the operating state parameters of the rotor include the estimated angular velocity and the estimated angle. The process of updating the observed parameters based on the magnetic flux deviation to obtain the target parameters includes: Based on the first deviation, the second deviation, and the first gain coefficient, an adaptive law operation is performed on the estimated resistance to obtain an updated estimated resistance. Based on the first deviation, the second deviation, and the second gain coefficient, an adaptive law operation is performed on the estimated direct-axis inductance to obtain the updated estimated direct-axis inductance. Based on the first deviation, the second deviation, and the third gain coefficient, an adaptive law operation is performed on the estimated quadrature inductance to obtain the updated estimated quadrature inductance. Based on the first deviation, the second deviation, and the fourth gain coefficient, an adaptive law operation is performed on the estimated angular velocity to obtain an updated estimated angular velocity; wherein, the fourth gain coefficient is greater than the first gain coefficient, and the first gain coefficient is greater than the second gain coefficient and the third gain coefficient; The updated estimated angular velocity is integrated to obtain the third calculated value; The third calculated value is added to the initial angle to obtain the updated estimated angle.

[0011] In some embodiments of this application, the electromagnetic parameters of the stator include the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the estimated resistance in the dq coordinate system. After updating the observed parameters based on the flux linkage deviation to obtain the updated observed parameters, the method further includes: Obtain the current imbalance and calculate the ratio between the updated estimated direct-axis inductance and the updated estimated quadrature-axis inductance to obtain the fourth calculated value; If the updated estimated motor resistance is greater than the resistance threshold, a stator winding short-circuit fault is determined in the motor; and / or, When the fluctuation amplitude of the fourth calculated value exceeds the first fluctuation threshold, it is determined that the motor has an air gap misalignment fault; and / or, When the fluctuation range of the fourth calculated value is greater than the second fluctuation threshold and the current imbalance is greater than the first imbalance threshold, it is determined that the motor has a stator winding open circuit fault.

[0012] Secondly, embodiments of this application also provide a parameter updating device for a motor, the parameter updating device for the motor comprising: The acquisition module is used to acquire the electrical parameters of the stator; A flux linkage determination module is used to determine a reference flux linkage of the stator based on the electrical parameters; and to determine an estimated flux linkage of the stator based on the electrical parameters and parameters to be observed; wherein the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; The deviation calculation module is used to calculate the difference between the reference flux linkage and the estimated flux linkage to obtain the flux linkage deviation. The parameter update module is used to update the observed parameters based on the magnetic flux deviation to obtain the updated observed parameters.

[0013] Thirdly, this application also provides an air conditioner, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps in the above-described method for updating the parameters of the motor.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the above-described method for updating the parameters of a motor.

[0015] Fifthly, embodiments of this application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described in embodiments of this application.

[0016] This invention provides a method, apparatus, medium, and air conditioner for updating motor parameters. It determines a reference flux linkage by acquiring stator electrical parameters, and then determines an estimated flux linkage by combining the stator electrical parameters with observed parameters including rotor operating state parameters and stator electromagnetic parameters. The observed parameters are iteratively updated by calculating the deviation between the reference flux linkage and the estimated flux linkage. In this scheme, the rotor operating state parameters and stator electromagnetic parameters not only participate in the calculation of flux linkage deviation but also perform their own dynamic updates based on the flux linkage deviation. This achieves closed-loop optimization of "observation-update," breaking the vicious cycle in traditional sensorless control where the observation of operating state parameters depends on fixed electromagnetic parameters, while accurate identification of electromagnetic parameters requires known operating state parameters. This invention achieves synchronous and accurate observation and dynamic calibration of operating state parameters and electromagnetic parameters, effectively improving the control accuracy and stability of the motor under harsh conditions such as low speed and sudden load changes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] in: Figure 1 A flowchart illustrating the method for updating motor parameters; Figure 2 A schematic diagram of the parameter updating device for the motor; Figure 3 This is a structural block diagram of an air conditioner. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This invention provides a method, apparatus, medium, and air conditioner for updating motor parameters. In some embodiments of this application, the provided method for updating motor parameters can be applied to an air conditioner. Specifically, the air conditioner can be applied to different scenarios, including but not limited to industrial air conditioners or household air conditioners. In some embodiments of this application, the air conditioner can be a single unit, such as a cabinet air conditioner or a wall-mounted air conditioner; in some embodiments of this application, the air conditioner can also be a central air conditioning system composed of multiple air conditioner units, such as a multi-split air conditioner, an air-cooled heat pump system, or an air conditioning system with heat recovery function.

[0023] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for updating motor parameters provided in an embodiment of this application. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the figures. Specifically, the flowchart of this method for updating motor parameters includes S101-S105, as follows: S101, obtain the electrical parameters of the stator.

[0024] Among them, the electrical parameters of the stator refer to the electrical physical quantities that can be directly detected or indirectly calculated on the stator side of the motor, including but not limited to the phase voltage and phase current of the stator.

[0025] Optionally, the method for obtaining electrical parameters specifically includes: firstly, acquiring the three-phase stator current on the stator side of the motor in real time through a signal acquisition module to obtain the detected values ​​of the three-phase stator current. Then, the coordinate transformation module completes the conversion of electrical quantities in multiple coordinate systems, and the collected three-phase stator current is converted into the actual electrical quantity. Converted to a current signal in the αβ stationary coordinate system according to the Clark transform rule Based on the estimated rotor angle, the current signal in the αβ stationary coordinate system is then... According to the Park transformation rule, it is further converted into a current signal in the dq rotating coordinate system. Simultaneously, the coordinate transformation module will also, based on the estimated rotor angle, transform the voltage signal output from the current loop in the dq rotating coordinate system. Converted into a voltage signal in the αβ stationary coordinate system according to the inverse Park transform rule This is how the stator electrical parameters are obtained.

[0026] S102, based on electrical parameters, determines the stator's reference flux linkage.

[0027] The reference flux linkage is the theoretical baseline value of the flux linkage of the specified element, which serves as a standard reference for subsequent comparison and judgment of parameter deviations.

[0028] In some embodiments of this application, the electrical parameters include the first stator voltage and the first stator current in the αβ coordinate system. S102 determines the reference flux linkage of the stator based on the electrical parameters, specifically including the following steps: subtracting the sum between the first stator voltage and the estimated resistance of the stator from the first stator voltage to obtain a first calculated value; performing an integral operation on the first calculated value to obtain the reference flux linkage of the stator.

[0029] Alternatively, the formula for calculating the reference flux linkage can be expressed as:

[0030] In the above formula, The reference flux linkage is the α-axis; The reference flux linkage is the β-axis; The first stator voltage along the α axis; The first stator voltage along the β axis; The first stator current along the α axis; The first stator current along the β axis; This is the estimated resistance of the stator.

[0031] Optionally, the estimated resistance can be initially obtained using the DC injection method, specifically using the following formula: This refers to the DC voltage injected into the stator side of the motor. This represents the DC current when the motor reaches steady state after DC voltage is injected. The estimated resistance obtained in this way is only used for reference flux calculation during the initial startup phase of the motor. After the motor enters the normal operation phase, this estimated resistance will be dynamically corrected in real time by an adaptive law to match the parameter changes during motor operation.

[0032] The above-mentioned calculation process of the reference flux relies only on the first stator voltage and the first stator current, which can be directly detected and measured or obtained through coordinate transformation in the αβ stationary coordinate system. It does not require the introduction of unknown operating state parameters such as the estimated angle and angular velocity of the rotor, nor does it rely on easily drifting electromagnetic parameters such as the inductance of the stator. The accuracy and stability of the reference flux are guaranteed from the calculation data source, providing a reliable reference signal for the subsequent calculation of flux deviation.

[0033] S103, based on electrical parameters and parameters to be observed, determines the estimated flux linkage of the stator.

[0034] The parameters to be observed include the electromagnetic parameters of the stator and the operating parameters of the rotor. The electromagnetic parameters of the stator refer to the inherent electromagnetic characteristics of the stator. The operating parameters of the rotor refer to the actual parameters of the motor rotor during operation. The estimated flux linkage is an estimate of the stator flux linkage.

[0035] In some embodiments of this application, the electrical parameters include the second stator current in the dq coordinate system, the electromagnetic parameters of the stator include the estimated direct-axis inductance and the estimated quadrature-axis inductance in the dq coordinate system, the rotor operating state parameters include the estimated rotor angle, and the estimated flux linkage includes the first flux linkage on the α coordinate axis and the second flux linkage on the β coordinate axis.

[0036] S103 determines the estimated flux linkage of the stator based on electrical parameters and parameters to be observed, specifically including the following steps: performing trigonometric function calculations on the estimated angle and multiplying it with the rotor flux linkage to obtain a second calculated value; determining the first flux linkage of the α coordinate axis based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value; and determining the second flux linkage of the β coordinate axis based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value.

[0037] Alternatively, the process of projecting the second stator current onto the αβ coordinate system can be expressed by the following formula:

[0038] In the above formula, The first estimated projected current represents the first estimated sub-projected current of the d-axis on the α-axis; Let be the first estimated projected current, and let be the second estimated sub-projected current of the q-axis on the α-axis; The second estimated projected current represents the third estimated sub-projected current of the d-axis on the β-axis; The second estimated projected current represents the fourth estimated sub-projected current of the q-axis on the β-axis; , The second stator current in the dq coordinate system; , This is the third operation value.

[0039] Optionally, the fourth operand can be or , The rotor flux linkage is an inherent parameter of the motor and can be calculated using a professional formula based on the rated parameters marked on the motor's nameplate. The calculated rotor flux linkage is a fixed value.

[0040] In some embodiments of this application, the first estimated projected current includes a first estimated sub-projected current of the d-axis on the α-axis and a second estimated projected current of the q-axis on the α-axis, and the second calculated value includes a first sub-calculated value determined based on a cosine function.

[0041] Based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the first magnetic flux linkage of the α coordinate axis is determined, specifically including the following steps: subtract the product of the estimated direct-axis inductance and the first estimated sub-projected current from the product of the estimated quadrature-axis inductance and the second estimated sub-projected current, and add it to the first calculated value to obtain the first magnetic flux linkage of the α coordinate axis.

[0042] Alternatively, the calculation process for the first magnetic flux linkage along the α-axis can be expressed by the following formula:

[0043] In the above formula, The first magnetic flux linkage along the α-axis; To estimate the direct-axis inductance; The first estimator projection current of the d-axis onto the α-axis; To estimate the quadrature axis inductance; The second estimator projection current of the q-axis onto the α-axis; This is the first suboperation value determined based on the cosine function.

[0044] In some embodiments of this application, the second estimated projection current includes a third estimated sub-projection current of the d-axis on the β-axis and a fourth estimated sub-projection current of the q-axis on the β-axis, and the second calculated value includes a second sub-calculated value determined based on a sine function.

[0045] Based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second operational value, the second magnetic flux linkage of the β-axis is determined. Specifically, the following steps are included: the product between the estimated direct-axis inductance and the third estimated sub-projected current is added to the product between the estimated quadrature-axis inductance and the fourth estimated sub-projected current, and then added to the second operational value to obtain the second magnetic flux linkage of the β-axis.

[0046] Alternatively, the calculation process for the second magnetic flux linkage along the β-axis can be expressed by the following formula:

[0047] In the above formula, The second magnetic flux linkage is the β-coordinate axis; The third estimator projection current of the d-axis onto the β-axis; The fourth estimator projection current of the q-axis onto the β-axis; This is the second sub-operation value determined based on the sine function.

[0048] In the above embodiments, all the parameters to be observed, such as stator electromagnetic parameters (estimated direct-axis inductance and estimated quadrature-axis inductance) and rotor operating state parameters (estimated angle), are made into important parameters for determining the estimated flux linkage. This achieves deep coupling between the parameters to be observed and the calculation of the estimated flux linkage, providing a realistic numerical basis for subsequent accurate updates of all parameters to be observed based on flux linkage deviation.

[0049] S104, calculate the difference between the reference flux linkage and the estimated flux linkage to obtain the flux linkage deviation.

[0050] Among them, flux linkage deviation refers to the numerical difference obtained by calculating the difference between the stator reference flux linkage and the estimated flux linkage. Its magnitude and direction intuitively reflect the degree of estimation deviation of the observed parameter.

[0051] Alternatively, the calculation process for flux linkage deviation can be expressed as follows:

[0052] In the above formula, This is the first deviation from the α-axis; This is the second deviation from the β-axis.

[0053] S105, update the observed parameters based on the magnetic flux deviation to obtain the updated observed parameters.

[0054] In some embodiments of this application, the flux linkage deviation includes a first deviation on the α-axis and a second deviation on the β-axis. The stator's electromagnetic parameters include the estimated direct-axis inductance, estimated quadrature-axis inductance, and estimated resistance in the dq coordinate system. The rotor's operating state parameters include the estimated angular velocity and estimated angle. S105 updates the observed parameters based on the flux linkage deviation to obtain the target parameters, specifically including the following steps: Based on the first deviation, the second deviation, and the first gain coefficient, perform an adaptive law operation on the estimated resistance to obtain an updated estimated resistance. Based on the first deviation, the second deviation, and the second gain coefficient, perform an adaptive law operation on the estimated direct-axis inductance to obtain an updated estimated direct-axis inductance. Based on the first deviation, the second deviation, and the third gain coefficient, perform an adaptive law operation on the estimated quadrature-axis inductance to obtain an updated estimated quadrature-axis inductance. Based on the first deviation, the second deviation, and the fourth gain coefficient, perform an adaptive law operation on the estimated angular velocity to obtain an updated estimated angular velocity. Integrate the updated estimated angular velocity to obtain a third calculated value. Add the third calculated value to the initial angle to obtain the updated estimated angle.

[0055] Among them, the fourth gain coefficient is greater than the first gain coefficient, and the first gain coefficient is greater than the second and third gain coefficients.

[0056] Optionally, to ensure the estimated stator resistance Estimate the direct-axis inductance Estimate quadrature axis inductance Rotor estimated angle With estimated angular velocity These observed parameters can achieve synchronous convergence, avoiding the imbalance problem of some parameters converging too quickly and others converging too slowly. Parameter updates can be performed using the following adaptive law operation method: Among them, stator resistance As a slow variable, the update process must be guaranteed to converge smoothly, and its adaptive law is as follows:

[0057] Direct-axis inductor As a slow variable, it needs to have good anti-interference ability, and its adaptive law is:

[0058] quadrature axis inductor As a slow variable, it needs to be adapted to the field weakening operating region of the motor, and its adaptive law is:

[0059] angular velocity As a fast variable, it needs to achieve rapid tracking of the actual speed of the motor, and its adaptive law is:

[0060] Rotor angle The angular velocity is obtained by integrating the estimated angular velocity, and its calculation formula is as follows:

[0061] In the above formula, The first gain coefficient; This is the second gain coefficient; This is the third gain coefficient; This is the fourth gain coefficient; The initial angle can be set to 0.

[0062] Optionally, considering the differences in the dynamic characteristics of each observed parameter, the numerical relationship of each gain coefficient is set, with the gain relationship being: Y4>aY1>Y2≈Y3, where a can be set to a value between 2 and 3. The specific value range of each gain coefficient can be as follows: The first gain coefficient Y1 has a value range of 10 to 50. This value keeps the convergence speed of the corresponding parameter moderate and effectively prevents oscillation problems during parameter update. The second gain coefficient Y2 and the third gain coefficient Y3 have the same value, both ranging from 5 to 20. This value allows the updates of the direct-axis inductance and quadrature-axis inductance to converge smoothly, while improving the anti-interference capability of the parameters. The fourth gain coefficient Y4 has a value range of 100 to 500. This value allows the update of angular velocity to achieve rapid response and accurate tracking to sudden changes in motor speed.

[0063] Optionally, after completing a single update operation of the observed parameter, the convergence status of the updated observed parameter, the magnitude of the flux deviation, and the number of parameter update iterations can be used as indicators to determine whether to continue the parameter update. If the determination result is that the stop loop condition is not met, it means that the current observed parameter has not yet reached the expected accuracy requirement. At this time, the process will return to execute S101 and subsequent steps to carry out the next round of parameter iteration update. If the determination result is that the stop loop condition is met, it means that the updated observed parameter has converged to the preset accuracy range and can match the sensorless control requirements of the motor. At this time, the parameter update loop will be stopped, and the observed parameter after this update will be directly used as the final target parameter. In the subsequent motor operation control process, relevant control operations will be carried out based on this set of target parameters.

[0064] Optionally, based on the convergence state of the updated observed parameters, the condition for stopping the parameter loop can be determined when all observed parameters, such as estimated resistance, estimated direct-axis inductance, estimated quadrature-axis inductance, estimated angular velocity, and estimated angle, converge to a preset parameter threshold range, and the parameter values ​​do not fluctuate significantly within multiple consecutive calculation cycles. Based on the magnitude of the flux linkage deviation, the condition for stopping the parameter loop can be determined when the absolute values ​​of the first deviation of the α-axis and the second deviation of the β-axis are both less than a preset deviation threshold, or when the rate of change of the flux linkage deviation decreases to a set range. Based on the number of parameter update iterations, a maximum iteration threshold for parameter updates can be preset. When the actual number of parameter update cycles reaches this threshold, regardless of whether the parameter has fully converged, the condition for stopping the loop is determined.

[0065] Optionally, after completing the parameter update cycle and determining the final target parameters, subsequent motor control actions can be executed based on the precisely updated set of observed parameters, thereby implementing the parameter update results into the actual operation control of the motor. Typical actions may include generating an adapted PWM signal based on the observed target parameters, transmitting this PWM signal to the inverter's drive module, and adjusting the on / off state of the inverter's switching transistors through the pulse width modulation characteristics of the PWM signal. This allows for precise control of the voltage, current amplitude, and frequency output from the inverter to the motor, thereby achieving precise regulation of the motor's speed, torque, and other operating states, driving the motor to operate stably according to preset control requirements.

[0066] In some embodiments of this application, the electromagnetic parameters of the stator include the estimated direct-axis inductance, estimated quadrature-axis inductance, and estimated resistance in the dq coordinate system. After updating the observed parameters based on the flux linkage deviation in step S105 and obtaining the updated observed parameters, the following steps can be performed: obtain the current imbalance and calculate the ratio between the updated estimated direct-axis inductance and the updated estimated quadrature-axis inductance to obtain a fourth calculated value. When the updated estimated motor resistance is greater than the resistance threshold, a stator winding short-circuit fault is determined to occur in the motor. And / or, when the fluctuation amplitude of the fourth calculated value is greater than the first fluctuation threshold, an air gap eccentricity fault is determined to occur in the motor. And / or, when the fluctuation amplitude of the fourth calculated value is greater than the second fluctuation threshold and the current imbalance is greater than the first imbalance threshold, a stator winding open-circuit fault is determined to occur in the motor.

[0067] Optionally, the detected values ​​of the three-phase stator current can be acquired in real time through a signal acquisition module on the stator side of the motor. Then, the current imbalance is calculated using the following formula: ,in, for The maximum current value in, for The minimum current value in the range. The fourth operational value can be expressed as: .

[0068] Optionally, the resistance threshold can be set to b. b is the adjustment coefficient, for example, b=1.2; The rated resistance value; the first fluctuation threshold can be set to 15%; the second fluctuation threshold can be set to 20%; the first unbalance threshold can be set to 5%.

[0069] In the above embodiments, the current imbalance degree, which reflects the uniformity of the three-phase current distribution, is first obtained, and a fourth calculated value, which reflects the distribution characteristics of the stator and rotor air gap magnetic field, is calculated simultaneously. Since a short circuit in the stator winding will cause an increase in the equivalent resistance of the winding, a short circuit fault can be directly determined when the updated estimated motor resistance exceeds the resistance threshold. Air gap eccentricity will cause uneven distribution of the stator and rotor air gaps, which will lead to fluctuations in the inductance ratio. Therefore, when the fluctuation amplitude of the fourth calculated value exceeds the first fluctuation threshold, an air gap eccentricity fault is determined. A stator winding open circuit will not only cause a serious imbalance in the three-phase current, but also cause magnetic circuit distortion, resulting in a large fluctuation in the inductance ratio. Therefore, an open circuit fault is determined only when the corresponding dual threshold indicators are met simultaneously. Through threshold determination of single or combined indicators, accurate and reliable diagnosis of three types of common motor faults can be achieved.

[0070] In the above embodiment, a reference flux linkage is determined by acquiring stator electrical parameters. Then, an estimated flux linkage is determined by combining the stator electrical parameters with the observed parameters, including rotor operating state parameters and stator electromagnetic parameters. The observed parameters are iteratively updated by calculating the deviation between the reference flux linkage and the estimated flux linkage. In this scheme, both the rotor operating state parameters and the stator electromagnetic parameters participate in the calculation of flux linkage deviation and can also dynamically update themselves based on the flux linkage deviation. This achieves closed-loop optimization of "observation-update," breaking the vicious cycle in traditional sensorless control where the observation of operating state parameters depends on fixed electromagnetic parameters, while accurate identification of electromagnetic parameters requires known operating state parameters. This achieves synchronous and accurate observation and dynamic calibration of operating state parameters and electromagnetic parameters, effectively improving the control accuracy and stability of the motor under harsh conditions such as low speed and sudden load changes.

[0071] To facilitate better implementation of the motor parameter update method of this application, this application also provides a motor parameter update device based on the above-described motor parameter update method. The meanings of the terms used are the same as in the above-described motor parameter update method, and specific implementation details can be found in the description of the method embodiments.

[0072] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of the motor parameter updating device provided in the embodiments of this application, which may specifically include: Module 201 is used to acquire the electrical parameters of the stator; The flux linkage determination module 202 is used to determine the reference flux linkage of the stator based on electrical parameters; and to determine the estimated flux linkage of the stator based on electrical parameters and parameters to be observed; wherein the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; The deviation calculation module 203 is used to calculate the difference between the reference flux and the estimated flux to obtain the flux deviation. The parameter update module 204 is used to update the observed parameters based on the magnetic flux deviation to obtain the updated observed parameters.

[0073] In the above embodiment, the flux linkage determination module 202 is used to determine the reference flux linkage by acquiring stator electrical parameters, and then combine the stator electrical parameters with the observed parameters including rotor operating state parameters and stator electromagnetic parameters to determine the estimated flux linkage. The deviation calculation module 203 is used to calculate the deviation between the reference flux linkage and the estimated flux linkage. The parameter update module 204 is used to iteratively update the observed parameters based on the flux linkage deviation. In this scheme, the rotor operating state parameters and stator electromagnetic parameters not only participate in the calculation of flux linkage deviation, but also complete their own dynamic updates based on the flux linkage deviation. This achieves closed-loop optimization of "observation-update", breaking the vicious cycle of mutual constraint between the observation of operating state parameters and fixed electromagnetic parameters in traditional sensorless control, and the need for known operating state parameters for accurate identification of electromagnetic parameters. This realizes synchronous and accurate observation and dynamic calibration of operating state parameters and electromagnetic parameters, effectively improving the control accuracy and stability of the motor under harsh conditions such as low speed and sudden load changes.

[0074] In some embodiments of this application, the electrical parameters include the first stator voltage and the first stator current in the αβ coordinate system. The flux linkage determination module 202 determines the stator reference flux linkage based on these electrical parameters, including: Subtracting the sum of the first stator current and the estimated stator resistance from the first stator voltage yields the first calculated value; Integrating the first calculated value yields the stator's reference flux linkage.

[0075] In some embodiments of this application, the electrical parameters include the second stator current in the dq coordinate system, the electromagnetic parameters of the stator include the estimated direct-axis inductance and the estimated quadrature-axis inductance in the dq coordinate system, the rotor operating state parameters include the estimated rotor angle, and the estimated flux linkage includes the first flux linkage on the α coordinate axis and the second flux linkage on the β coordinate axis. The flux linkage determination module 202 determines the estimated flux linkage of the stator based on electrical parameters and parameters to be observed, including: Based on the estimated angle, the second stator current is projected onto the αβ coordinate system to obtain the first estimated projected current along the α axis and the second estimated projected current along the β axis. The estimated angle is calculated using trigonometric functions and then multiplied with the rotor flux linkage to obtain the second calculated value. Based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the first magnetic flux linkage of the α coordinate axis is determined. Based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the second magnetic flux linkage of the β coordinate axis is determined.

[0076] In some embodiments of this application, the first estimated projection current includes a first estimated sub-projection current of the d-axis on the α-axis and a second estimated projection current of the q-axis on the α-axis, and the second calculated value includes a first sub-calculated value determined based on a cosine function; The flux linkage determination module 202 determines the first flux linkage along the α-axis based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, including: The first flux linkage of the α-axis is obtained by subtracting the product of the estimated direct-axis inductance and the first estimator projected current from the product of the estimated quadrature-axis inductance and the second estimator projected current, and then adding the product to the first suboperation value.

[0077] In some embodiments of this application, the second estimated projection current includes a third estimated sub-projection current of the d-axis on the β-axis and a fourth estimated sub-projection current of the q-axis on the β-axis, and the second calculated value includes a second sub-calculated value determined based on a sine function; The flux linkage determination module 202 determines the second flux linkage along the β-axis based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, including: The product of the estimated direct-axis inductance and the projected current of the third estimator is added to the product of the estimated quadrature-axis inductance and the projected current of the fourth estimator, and then added to the second suboperation value to obtain the second magnetic flux linkage of the β coordinate axis.

[0078] In some embodiments of this application, the flux linkage deviation includes a first deviation on the α-axis and a second deviation on the β-axis; the electromagnetic parameters of the stator include the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the estimated resistance in the dq coordinate system; and the operating state parameters of the rotor include the estimated angular velocity and the estimated angle. Parameter update module 204 updates the observed parameters based on magnetic flux deviation to obtain target parameters, including: Based on the first deviation, the second deviation, and the first gain coefficient, an adaptive law operation is performed on the estimated resistance to obtain the updated estimated resistance. Based on the first deviation, the second deviation, and the second gain coefficient, an adaptive law operation is performed on the estimated direct-axis inductance to obtain the updated estimated direct-axis inductance. Based on the first deviation, the second deviation, and the third gain coefficient, an adaptive law operation is performed on the estimated quadrature-axis inductance to obtain the updated estimated quadrature-axis inductance. Based on the first deviation, the second deviation, and the fourth gain coefficient, an adaptive law operation is performed on the estimated angular velocity to obtain the updated estimated angular velocity; wherein, the fourth gain coefficient is greater than the first gain coefficient, and the first gain coefficient is greater than the second and third gain coefficients; The updated estimated angular velocity is integrated to obtain the third calculated value; Add the third calculated value to the initial angle to obtain the updated estimated angle.

[0079] In some embodiments of this application, the electromagnetic parameters of the stator include the estimated direct-axis inductance, estimated quadrature-axis inductance, and estimated resistance in the dq coordinate system. The parameter update module 204 updates the parameters to be observed based on the flux linkage deviation. After obtaining the updated parameters to be observed, it is further used for: Obtain the current imbalance and calculate the ratio between the updated estimated direct-axis inductance and the updated estimated quadrature-axis inductance to obtain the fourth calculated value; If the updated estimated motor resistance is greater than the resistance threshold, a stator winding short-circuit fault is determined in the motor; and / or, When the fluctuation range of the fourth calculated value exceeds the first fluctuation threshold, the motor is determined to have an air gap misalignment fault; and / or, When the fluctuation range of the fourth calculated value is greater than the second fluctuation threshold and the current imbalance is greater than the first imbalance threshold, it is determined that the motor has a stator winding open circuit fault.

[0080] In addition, this application also provides an air conditioner, such as Figure 3 As shown, it illustrates the structural diagram of the air conditioner involved in this application, specifically: The air conditioner may include components such as a processor 301 with one or more processing cores, a memory 302 with one or more computer-readable storage media, a power supply 303, and an input unit 304. Those skilled in the art will understand that... Figure 3 The air conditioner structure shown does not constitute a limitation on the air conditioner and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein: The processor 301 is the control center of the air conditioner. It connects to various parts of the air conditioner via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 302, and by calling data stored in the memory 302, it performs various functions and processes data, thereby providing overall monitoring of the air conditioner. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 301.

[0081] The memory 302 can be used to store software programs and modules. The processor 301 executes various functional applications and data processing by running the software programs and modules stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the air conditioner, etc. In addition, the memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 302 may also include a memory controller to provide the processor 301 with access to the memory 302.

[0082] The air conditioner also includes a power supply 303 that supplies power to various components. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 303 may also include one or more DC or AC power supplies, recharging systems, power equipment debugging circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0083] The air conditioner may also include an input unit 304, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0084] Although not shown, the air conditioner may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 301 in the air conditioner will load the executable files corresponding to the processes of one or more application programs into the memory 302 according to the following instructions, and the processor 301 will run the application programs stored in the memory 302 to realize the steps in any of the motor parameter update methods provided in this application embodiment: obtaining the electrical parameters of the stator; determining the reference flux linkage of the stator based on the electrical parameters; determining the estimated flux linkage of the stator based on the electrical parameters and the parameters to be observed; wherein, the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; calculating the difference between the reference flux linkage and the estimated flux linkage to obtain the flux linkage deviation; updating the parameters to be observed based on the flux linkage deviation to obtain the updated parameters to be observed.

[0085] In the above embodiment, a reference flux linkage is determined by acquiring stator electrical parameters. Then, an estimated flux linkage is determined by combining the stator electrical parameters with the observed parameters, including rotor operating state parameters and stator electromagnetic parameters. The observed parameters are iteratively updated by calculating the deviation between the reference flux linkage and the estimated flux linkage. In this scheme, both the rotor operating state parameters and the stator electromagnetic parameters participate in the calculation of flux linkage deviation and can also dynamically update themselves based on the flux linkage deviation. This achieves closed-loop optimization of "observation-update," breaking the vicious cycle in traditional sensorless control where the observation of operating state parameters depends on fixed electromagnetic parameters, while accurate identification of electromagnetic parameters requires known operating state parameters. This achieves synchronous and accurate observation and dynamic calibration of operating state parameters and electromagnetic parameters, effectively improving the control accuracy and stability of the motor under harsh conditions such as low speed and sudden load changes.

[0086] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0087] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0088] Therefore, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps in any of the motor parameter update methods provided in this application.

[0089] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0090] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0091] Since the instructions stored in the computer-readable storage medium can execute the steps in any of the motor parameter update methods provided in this application, the beneficial effects that any of the motor parameter update methods provided in this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0092] The foregoing has provided a detailed description of a method, apparatus, air conditioner, and computer-readable storage medium for updating motor parameters provided in this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for updating the parameters of a motor, characterized in that, The method includes: Obtain the electrical parameters of the stator; Based on the electrical parameters, the reference flux linkage of the stator is determined; Based on the electrical parameters and the parameters to be observed, the estimated flux linkage of the stator is determined; wherein, the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; The difference between the reference flux linkage and the estimated flux linkage is calculated to obtain the flux linkage deviation; The observed parameters are updated based on the magnetic flux deviation to obtain the updated observed parameters.

2. The method for updating the parameters of a motor according to claim 1, characterized in that, The electrical parameters include the first stator voltage and the first stator current in the αβ coordinate system. Determining the reference flux linkage of the stator based on these electrical parameters includes: Subtracting the sum of the first stator current and the estimated resistance of the stator from the first stator voltage yields the first calculated value; Integrating the first calculated value yields the reference flux linkage of the stator.

3. The method for updating the parameters of a motor according to claim 1, characterized in that, The electrical parameters include the second stator current in the dq coordinate system, the electromagnetic parameters of the stator include the estimated direct-axis inductance and the estimated quadrature-axis inductance in the dq coordinate system, the rotor operating state parameters include the estimated angle of the rotor, and the estimated flux linkage includes the first flux linkage on the α coordinate axis and the second flux linkage on the β coordinate axis. The step of determining the estimated flux linkage of the stator based on the electrical parameters and the parameters to be observed includes: Based on the estimated angle, the second stator current is projected onto the αβ coordinate system to obtain the first estimated projected current along the α axis and the second estimated projected current along the β axis. Perform trigonometric function calculations on the estimated angle and multiply it with the rotor flux linkage to obtain a second calculated value; Based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the first magnetic flux linkage of the α coordinate axis is determined; Based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value, the second magnetic flux linkage of the β coordinate axis is determined.

4. The method for updating the parameters of a motor according to claim 3, characterized in that, The first estimated projected current includes a first estimated sub-projected current of the d-axis on the α-axis and a second estimated projected current of the q-axis on the α-axis, and the second calculated value includes a first sub-calculated value determined based on a cosine function; The step of determining the first flux linkage of the α coordinate axis based on the first estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value includes: The product of the estimated direct-axis inductance and the first estimated sub-projected current is subtracted from the product of the estimated quadrature-axis inductance and the second estimated sub-projected current, and then added to the first sub-operation value to obtain the first magnetic flux linkage of the α coordinate axis.

5. The method for updating the parameters of a motor according to claim 3, characterized in that, The second estimated projected current includes the third estimated sub-projected current of the d-axis on the β-axis and the fourth estimated sub-projected current of the q-axis on the β-axis, and the second calculated value includes the second sub-calculated value determined based on the sine function; The step of determining the second flux linkage of the β coordinate axis based on the second estimated projected current, the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the second calculated value includes: The product of the estimated direct-axis inductance and the third estimator projected current is added to the product of the estimated quadrature-axis inductance and the fourth estimator projected current, and then added to the second sub-operation value to obtain the second magnetic flux linkage of the β coordinate axis.

6. The method for updating the parameters of a motor according to claim 1, characterized in that, The flux linkage deviation includes a first deviation on the α-axis and a second deviation on the β-axis; the stator's electromagnetic parameters include the estimated direct-axis inductance, the estimated quadrature-axis inductance, and the estimated resistance in the dq coordinate system; and the rotor's operating state parameters include the estimated angular velocity and the estimated angle. The process of updating the observed parameters based on the magnetic flux deviation to obtain the target parameters includes: Based on the first deviation, the second deviation, and the first gain coefficient, an adaptive law operation is performed on the estimated resistance to obtain an updated estimated resistance. Based on the first deviation, the second deviation, and the second gain coefficient, an adaptive law operation is performed on the estimated direct-axis inductance to obtain the updated estimated direct-axis inductance. Based on the first deviation, the second deviation, and the third gain coefficient, an adaptive law operation is performed on the estimated quadrature-axis inductance to obtain the updated estimated quadrature-axis inductance. Based on the first deviation, the second deviation, and the fourth gain coefficient, an adaptive law operation is performed on the estimated angular velocity to obtain an updated estimated angular velocity; wherein, the fourth gain coefficient is greater than the first gain coefficient, and the first gain coefficient is greater than the second gain coefficient and the third gain coefficient; The updated estimated angular velocity is integrated to obtain the third calculated value; The third calculated value is added to the initial angle to obtain the updated estimated angle.

7. The method for updating the parameters of a motor according to claim 1, characterized in that, The electromagnetic parameters of the stator include the estimated direct-axis inductance, estimated quadrature-axis inductance, and estimated resistance in the dq coordinate system. After updating the observed parameters based on the flux linkage deviation to obtain the updated observed parameters, the process further includes: Obtain the current imbalance and calculate the ratio between the updated estimated direct-axis inductance and the updated estimated quadrature-axis inductance to obtain the fourth calculated value; If the updated estimated motor resistance is greater than the resistance threshold, a stator winding short-circuit fault is determined in the motor; and / or, When the fluctuation range of the fourth calculated value exceeds the first fluctuation threshold, it is determined that the motor has an air gap misalignment fault; and / or, When the fluctuation range of the fourth calculated value is greater than the second fluctuation threshold and the current imbalance is greater than the first imbalance threshold, it is determined that the motor has a stator winding open circuit fault.

8. A parameter updating device for a motor, characterized in that, The parameter updating device for the motor includes: The acquisition module is used to acquire the electrical parameters of the stator; A flux linkage determination module is used to determine a reference flux linkage of the stator based on the electrical parameters; and to determine an estimated flux linkage of the stator based on the electrical parameters and parameters to be observed; wherein the parameters to be observed include the electromagnetic parameters of the stator and the operating state parameters of the rotor; The deviation calculation module is used to calculate the difference between the reference flux linkage and the estimated flux linkage to obtain the flux linkage deviation. The parameter update module is used to update the observed parameters based on the magnetic flux deviation to obtain the updated observed parameters.

9. A computer-readable storage medium, characterized in that, The device stores a computer program that, when executed by a processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. An air conditioner, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

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