A method and apparatus for controlling temperature of a motor rotor

Abstract

The application discloses a motor rotor temperature control method and equipment, and the method comprises the following steps: inputting actual d-axis voltage and actual q-axis voltage fed back by a motor into a rotor temperature estimation module; determining d-axis reference current and q-axis reference current based on a model reference adaptive method, and calculating a magnetic flux increment through parallel compound control; determining motor rotor estimated temperature according to the magnetic flux increment, and outputting the motor rotor estimated temperature to a torque processing module; and determining motor torque instruction according to a whole vehicle torque instruction and the motor rotor estimated temperature. The motor rotor temperature can be estimated in real time and accurately, the motor output torque precision is improved, and the whole vehicle acceleration and comfort are improved.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet synchronous motor technology, and in particular to a method and device for controlling the temperature of a motor rotor. Background Technology

[0002] Under load, the rotor temperature of a permanent magnet synchronous motor changes over time. This change in rotor temperature leads to a corresponding change in the magnetic flux linkage of the motor's permanent magnets, which in turn affects the accuracy of the motor's output torque.

[0003] Due to structural limitations, motor rotors cannot have built-in temperature sensors during the product development stage. Using wireless temperature sensors would be extremely costly. Even with a bench-calibrated current map, the inability to obtain rotor temperature means changes in motor flux linkage can affect torque accuracy. Therefore, an online rotor temperature estimation model is needed to estimate rotor temperature and then compensate for torque to improve accuracy. Existing rotor temperature estimation techniques mainly fall into two categories: one is based on thermal networks or loss models, using stator and rotor loss models combined with thermal capacity and thermal resistance networks to calculate rotor temperature rise. Some solutions utilize built-in rotor sensors to calibrate thermal parameters with the goal of minimizing the error between measured and estimated values, or solve only based on steady-state thermal resistance at a reference temperature. These methods either fail to adequately account for external heat dissipation boundaries such as cooling water, or treat the cooling water path merely as heat exchange with the stator core, neglecting transient thermal inertia transfer. This results in acceptable steady-state accuracy but large transient tracking deviations, and thermal capacity and thermal resistance calibration relies on built-in rotor sensors or steady-state assumptions. Another method is based on electrical flux linkage observation. This involves calculating the d / q axis voltage and current from the three-phase voltage and current, obtaining the flux linkage through the voltage equation, and then using the linear relationship between flux linkage and temperature to infer the rotor temperature. However, in engineering practice, the d / q axis voltage is not the true value in the ideal voltage equation. It is influenced by nonlinear factors such as IGBT switching losses, dead-time effects, and sampling delays, which introduce bias into the flux linkage observations and limit the accuracy of the temperature inverse calculation.

[0004] In summary, existing solutions that rely solely on thermal or electrical models cannot adequately balance transient response and steady-state accuracy. Furthermore, without built-in rotor sensors, they cannot achieve real-time rotor temperature tracking at low cost, thus limiting the temperature compensation effect of permanent magnet synchronous motor torque under load conditions. Summary of the Invention

[0005] This invention provides a method and device for controlling the rotor temperature of an electric motor, which can accurately estimate the rotor temperature of the motor in real time through a model, thereby improving the accuracy of the motor output torque and enhancing the acceleration and comfort of the vehicle.

[0006] In a first aspect, embodiments of the present invention provide a method for controlling the temperature of a motor rotor, comprising: The actual d-axis voltage value and the actual q-axis voltage value fed back by the motor are input into the rotor temperature estimation module; The rotor temperature estimation module determines the d-axis reference current and q-axis reference current based on the model reference adaptive method, and calculates the flux linkage increment through parallel composite control; The rotor temperature estimation module determines the estimated temperature of the motor rotor based on the flux linkage increment, and outputs the estimated temperature of the motor rotor to the torque processing module. The torque processing module determines the motor torque command based on the vehicle torque command and the estimated temperature of the motor rotor.

[0007] Optionally, the rotor temperature estimation module includes a model reference adaptive module, a controller module, and a temperature calculation module; The model reference adaptive module is constructed according to the following formula: ; ; ; ; ; ; Wherein, Ud is the actual d-axis voltage value, and Uq is the actual q-axis voltage value. Here, is the electrical angular velocity, Tststor is the estimated stator temperature, id is the d-axis current command value, iq is the q-axis current command value, id' is the d-axis current reference value, and iq' is the q-axis current reference value. This represents the d-axis flux linkage increment. Rs represents the q-axis flux linkage increment, Trotor represents the estimated rotor temperature of the motor; Rs represents the stator winding, Ld represents the d-axis inductance, and Lq represents the q-axis inductance. This represents the increase in the rotor flux linkage of the motor. The model reference adaptive module takes the actual d-axis voltage value, the actual q-axis voltage value, the electric angular velocity, the estimated temperature of the motor stator, the d-axis flux linkage increment, and the q-axis flux linkage increment as inputs, and outputs the d-axis current command value, the q-axis current command value, the d-axis current reference value, and the q-axis current reference value as outputs. The controller module takes the d-axis current command value, the q-axis current command value, the d-axis current reference value, and the q-axis current reference value as inputs, and outputs the d-axis flux linkage increment and the q-axis flux linkage increment. The temperature calculation module takes the d-axis current command value as input and outputs the estimated temperature of the motor rotor.

[0008] Optionally, the model reference adaptive module includes a motor stator winding processing unit, which includes a low-pass filter and a stator winding determination unit. After the estimated temperature of the motor stator is input into the low-pass filter, the stator winding is determined by looking up a table in the motor stator winding processing unit.

[0009] Optionally, the controller module includes a d-axis current processing unit, a q-axis current processing unit, and a parallel composite control unit; the parallel composite control unit includes a discrete time difference processing subunit and a parallel composite controller; The d-axis current processing unit performs difference processing on the d-axis current command value and the d-axis current reference value to determine the first d-axis current deviation. The q-axis current processing unit performs difference processing on the q-axis current command value and the q-axis current reference value to determine the first q-axis current deviation. The discrete-time difference processing subunit performs discrete-time difference processing on the first d-axis current deviation and the first q-axis current deviation to obtain the d-axis discrete-time current error and the q-axis discrete-time current error. The first d-axis current deviation, the first q-axis current deviation, the d-axis discrete-time current error, and the q-axis discrete-time current error are input to the parallel composite controller, which determines the d-axis flux linkage increment and the q-axis flux linkage increment through parallel composite control.

[0010] Optionally, the parallel composite controller includes a d-axis flux linkage increment determination unit and a q-axis flux linkage increment determination unit; The d-axis flux linkage increment determination unit includes a first fuzzy controller and a first PI controller, and the q-axis flux linkage increment determination unit includes a second fuzzy controller and a second PI controller. The parallel composite controller determines the d-axis flux linkage increment and the q-axis flux linkage increment through parallel composite control, including: The d-axis discrete-time current and the d-axis current deviation are input into the first fuzzy controller to obtain the d-axis fuzzy control flux correction amount, and the d-axis current deviation is input into the first PI controller to obtain the d-axis PI control correction amount; The d-axis fuzzy control flux correction amount and the d-axis PI control correction amount are superimposed to obtain the d-axis flux increment; The q-axis discrete-time current and the q-axis current deviation are input into the second fuzzy controller to obtain the q-axis fuzzy control flux correction amount, and the q-axis current deviation is input into the second PI controller to obtain the q-axis PI control correction amount; The q-axis fuzzy control flux correction amount and the q-axis PI control correction amount are superimposed to obtain the q-axis flux increment.

[0011] Optionally, inputting the actual d-axis voltage value and actual q-axis voltage value fed back from the motor into the rotor temperature estimation module includes: The three-phase voltage collected by the voltage sensor is obtained and converted into actual d-axis voltage value and actual q-axis voltage value through Clark transformation and Park transformation; The actual d-axis voltage value and the actual q-axis voltage value are input into the rotor temperature estimation module.

[0012] Optionally, the torque processing module includes a motor rotor flux linkage determination unit, a torque correction unit, and a motor torque command determination unit; The torque processing module determines the motor torque command based on the vehicle torque command and the estimated temperature of the motor rotor, including: The motor rotor flux linkage determination unit determines the corresponding motor rotor flux linkage by looking up a table based on the estimated temperature of the motor rotor. The motor rotor flux linkage is used as input, and the torque correction command is obtained through the torque correction table of the torque correction unit. The motor torque command determination unit adds the torque correction command and the vehicle torque command to obtain the motor torque command.

[0013] Optionally, after the motor torque command determination unit sums the torque correction command and the vehicle torque command to obtain the motor torque command, it further includes: The d-axis current command value and q-axis current command value of the motor are determined based on the motor torque command and the preset MAPA. Based on the three-phase current of the motor collected by the current sensor, determine the actual d-axis current value and the actual q-axis current value of the motor; The second d-axis current deviation and the second q-axis current deviation are determined based on the d-axis current command value and the q-axis current command value, as well as the actual d-axis current value and the actual q-axis current value fed back by the motor. PI adjustment is performed on the second d-axis current deviation and the second q-axis current deviation to determine the d-axis voltage adjustment amount and the q-axis voltage adjustment amount; After performing inverse Park transformation and sinusoidal pulse width modulation on the d-axis voltage regulation and the q-axis voltage regulation, the three-phase inverter outputs three-phase voltage to the motor, and the motor outputs three-phase current.

[0014] Optionally, based on the three-phase current of the motor collected by the current sensor, the actual d-axis current value and the actual q-axis current value of the motor are determined, including: The three-phase current of the motor collected by the current sensor is obtained and converted into the actual d-axis current value and the actual q-axis current value through Clark transformation and Park transformation.

[0015] Secondly, embodiments of the present invention also provide a motor rotor temperature control device, the motor rotor temperature control device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein... The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the motor rotor temperature control method described in the first aspect.

[0016] This invention discloses a method and device for controlling the rotor temperature of a motor. The method includes: inputting the actual d-axis voltage value and the actual q-axis voltage value fed back from the motor into a rotor temperature estimation module; the rotor temperature estimation module determines the d-axis reference current and the q-axis reference current based on a model reference adaptive method, and calculates the flux linkage increment through parallel composite control; the rotor temperature estimation module determines the estimated rotor temperature of the motor based on the flux linkage increment, and outputs the estimated rotor temperature of the motor to a torque processing module; the torque processing module determines the motor torque command based on the vehicle torque command and the estimated rotor temperature of the motor. This method can accurately estimate the motor rotor temperature in real time through a model, improving the accuracy of the motor output torque and enhancing the vehicle's acceleration and comfort.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0019] Figure 1 This is a flowchart of a method for controlling the rotor temperature of a motor provided in an embodiment of the present invention; Figure 2 This is a control block diagram provided by an embodiment of the present invention to improve the accuracy of rotor temperature estimation for a permanent magnet synchronous motor; Figure 3 This is a control block diagram of a rotor temperature estimation module provided in an embodiment of the present invention; Figure 4 This is a control block diagram of a stator winding processing unit provided in an embodiment of the present invention; Figure 5 This is a control block diagram of a controller module provided in an embodiment of the present invention; Figure 6This is a control block diagram of a d-axis flux linkage increment determination unit provided in an embodiment of the present invention; Figure 7 This is a control block diagram of a q-axis flux linkage increment determination unit provided in an embodiment of the present invention; Figure 8 This is a control block diagram of a torque processing module provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of a motor rotor temperature control device provided in an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 the invention described herein can be implemented in orders other than those illustrated or described herein. 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 comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Figure 1 This is a flowchart illustrating a method for controlling the rotor temperature of a motor according to an embodiment of the present invention. This embodiment can be applied to controlling the rotor temperature of a motor, such as... Figure 1 As shown, the method includes the following steps: S110. Input the actual d-axis voltage value and the actual q-axis voltage value fed back by the motor into the rotor temperature estimation module.

[0023] S120 The rotor temperature estimation module determines the d-axis reference current and q-axis reference current based on the model reference adaptive method, and calculates the flux linkage increment through parallel composite control.

[0024] S130 The rotor temperature estimation module determines the estimated temperature of the motor rotor based on the flux linkage increment and outputs the estimated temperature of the motor rotor to the torque processing module.

[0025] S140, the torque processing module determines the motor torque command based on the vehicle torque command and the estimated temperature of the motor rotor.

[0026] For example, Figure 2 This is a control block diagram provided by an embodiment of the present invention to improve the accuracy of rotor temperature estimation for a permanent magnet synchronous motor. (Refer to...) Figure 2 This invention employs rotor field-oriented vector control. Tcmd represents the vehicle torque command, Te represents the motor torque command, MTPA represents the relationship between the dq-axis current and motor torque calibrated on the test bench, Id and Iq represent the dq-axis current command values, Idref and Iqref represent the actual dq-axis current values, PI represents the PI controller, Udc represents the detected bus voltage value, Ia, Ib, and Ic represent the three-phase currents detected by the current sensors, and Clark+Park represents the coordinate transformation method for converting the three-phase current to the dq-axis current. The block diagram mainly describes how the dq-axis current command value is obtained after decoupling from the motor torque command, PI-regulated with the current value fed back from the motor, and then transformed before being input to the three-phase inverter. The three-phase inverter outputs three-phase voltage to the permanent magnet synchronous motor, outputting three-phase current, which is then transformed to obtain the actual dq-axis current. The output is the change value of the PI controller. It uses rotor field-oriented vector control. θrecord represents the motor position acquired by the motor resolver. Based on this, a three-phase voltage sensor is added to collect the three-phase voltages Ua, Ub and Uc. After Clark+Park transformation, the voltages are converted into dq-axis voltages and input to the rotor temperature estimation module. The estimated motor rotor temperature is then output to the torque processing module, which can improve the accuracy of motor torque output.

[0027] Understandably, the rotor temperature of a permanent magnet synchronous motor changes over time under load. This temperature change leads to corresponding changes in the magnetic flux linkage of the permanent magnets, which in turn affects the accuracy of the motor's output torque. Due to structural limitations, a built-in temperature sensor cannot be incorporated into the motor rotor during the production phase. Using a wireless temperature sensor would be extremely expensive. Even with a properly calibrated current map on a test bench, the inability to obtain rotor temperature means that changes in magnetic flux linkage will still affect the motor's torque accuracy. Therefore, an online rotor temperature estimation model is needed to estimate the rotor temperature and then compensate for the torque to improve accuracy. Compared to existing technologies, this invention uses the MRAS (Model Reference Adaptive System) method to calculate the d-axis and q-axis reference currents. It then calculates the dq-axis flux linkage increment through parallel composite control, determines the current estimated rotor temperature based on the flux linkage increment, and processes the torque command based on this temperature, thus improving torque output accuracy. This invention can accurately estimate the rotor temperature in real time using a model, improving the accuracy of the motor's output torque and enhancing vehicle acceleration and comfort.

[0028] Figure 3 This is a control block diagram of a rotor temperature estimation module provided in an embodiment of the present invention. Optionally, based on the above embodiment, refer to... Figure 3 The rotor temperature estimation module includes a model reference adaptive module, a controller module, and a temperature calculation module. The model reference adaptive module is constructed according to the following formula: ; ; ; ; ; ; Where Ud is the actual d-axis voltage value, and Uq is the actual q-axis voltage value. Here, is the electrical angular velocity, Tststor is the estimated stator temperature, id is the d-axis current command value, iq is the q-axis current command value, id' is the d-axis current reference value, and iq' is the q-axis current reference value. This represents the d-axis flux linkage increment. Rs represents the q-axis flux linkage increment, Trotor represents the estimated rotor temperature of the motor; Rs represents the stator winding, Ld represents the d-axis inductance, and Lq represents the q-axis inductance. This represents the increase in the rotor flux linkage of the motor. The model reference adaptive module takes the actual d-axis voltage value, actual q-axis voltage value, electric angular velocity, estimated motor stator temperature, d-axis flux linkage increment, and q-axis flux linkage increment as inputs, and outputs the d-axis current command value, q-axis current command value, d-axis current reference value, and q-axis current reference value as outputs. The controller module takes d-axis current command value, q-axis current command value, d-axis current reference value and q-axis current reference value as inputs, and outputs d-axis flux linkage increment and q-axis flux linkage increment. The temperature calculation module takes the d-axis current command value as input and outputs the estimated temperature of the motor rotor.

[0029] Optionally, based on the above embodiments, the model reference adaptive module includes a motor stator winding processing unit. Figure 4 This is a control block diagram of a stator winding processing unit provided in an embodiment of the present invention, with reference to... Figure 4 The stator winding processing unit includes a low-pass filter and a stator winding determination unit. After the estimated temperature of the motor stator is input into the low-pass filter, the stator winding is determined by looking up a table in the motor stator winding processing unit.

[0030] Figure 5 This is a control block diagram of a controller module provided in an embodiment of the present invention. Optionally, based on the above embodiment, refer to... Figure 5The controller module includes a d-axis current processing unit, a q-axis current processing unit, and a parallel composite control unit. The parallel composite control unit includes a discrete-time difference processing subunit and a parallel composite controller. The d-axis current processing unit performs difference processing on the d-axis current command value and the d-axis current reference value to determine the first d-axis current deviation Δid. The q-axis current processing unit performs difference processing on the q-axis current command value and the q-axis current reference value to determine the first q-axis current deviation Δiq. The discrete-time difference processing subunit performs discrete-time difference processing on the first d-axis current deviation and the first q-axis current deviation to obtain the d-axis discrete-time current error eid and the q-axis discrete-time current error eiq. The first d-axis current deviation, the first q-axis current deviation, the d-axis discrete-time current error, and the q-axis discrete-time current error are input to the parallel composite controller, which determines the d-axis flux linkage increment and the q-axis flux linkage increment through parallel composite control.

[0031] Optionally, based on the above embodiments, the parallel composite controller includes a d-axis flux linkage increment determination unit and a q-axis flux linkage increment determination unit; Figure 6 This is a control block diagram of a d-axis flux linkage increment determination unit provided in an embodiment of the present invention, for reference. Figure 6 The d-axis flux linkage increment determination unit includes a first fuzzy controller and a first PI controller. Figure 7 This is a control block diagram of a q-axis flux linkage increment determination unit provided in an embodiment of the present invention, for reference. Figure 7 The q-axis flux linkage increment determination unit includes a second fuzzy controller and a second PI controller. (Reference) Figure 6 and Figure 7 The parallel composite controller determines the d-axis flux linkage increment and q-axis flux linkage increment through parallel composite control, including: inputting the d-axis discrete-time current eid and d-axis current deviation Δid into the first fuzzy controller to obtain the d-axis fuzzy control flux linkage correction amount, and inputting the d-axis current deviation into the first PI controller to obtain the d-axis PI control correction amount; superimposing the d-axis fuzzy control flux linkage correction amount and the d-axis PI control correction amount to obtain the d-axis flux linkage increment; inputting the q-axis discrete-time current eiq and q-axis current deviation Δiq into the second fuzzy controller to obtain the q-axis fuzzy control flux linkage correction amount, and inputting the q-axis current deviation into the second PI controller to obtain the q-axis PI control correction amount; and superimposing the q-axis fuzzy control flux linkage correction amount and the q-axis PI control correction amount to obtain the q-axis flux linkage increment.

[0032] Optionally, based on the above embodiments, continue to refer to... Figure 2 The process of inputting the actual d-axis voltage value and actual q-axis voltage value fed back by the motor into the rotor temperature estimation module includes: acquiring the three-phase voltage collected by the voltage sensor, converting it into actual d-axis voltage value and actual q-axis voltage value through Clark transformation and Park transformation; and inputting the actual d-axis voltage value and actual q-axis voltage value into the rotor temperature estimation module.

[0033] Figure 8 This is a control block diagram of a torque processing module provided in an embodiment of the present invention. Optionally, based on the above embodiment, refer to... Figure 8 The torque processing module includes a motor rotor flux linkage determination unit, a torque correction unit, and a motor torque command determination unit. The torque processing module determines the motor torque command based on the vehicle torque command and the estimated motor rotor temperature. This includes: the motor rotor flux linkage determination unit looking up the corresponding motor rotor flux linkage in a table based on the estimated motor rotor temperature; using the motor rotor flux linkage as input, the torque correction unit obtains the torque correction command through its torque correction table; and the motor torque command determination unit sums the torque correction command with the vehicle torque command to obtain the motor torque command.

[0034] Optionally, based on the above embodiments, continue to refer to... Figure 2 After the motor torque command determination unit sums the torque correction command and the vehicle torque command to obtain the motor torque command, the process further includes: determining the d-axis current command value and q-axis current command value of the motor based on the motor torque command and the preset MAPA; determining the actual d-axis current value and actual q-axis current value of the motor based on the three-phase current of the motor collected by the current sensor; determining the second d-axis current deviation and the second q-axis current deviation based on the d-axis current command value and the q-axis current command value, as well as the actual d-axis current value and actual q-axis current value fed back by the motor; performing PI regulation on the second d-axis current deviation and the second q-axis current deviation to determine the d-axis voltage regulation amount and the q-axis voltage regulation amount; and after performing inverse Park transformation and sinusoidal pulse width modulation on the d-axis voltage regulation amount and the q-axis voltage regulation amount, the three-phase inverter outputs three-phase voltage to the motor, and the motor outputs three-phase current.

[0035] Optionally, based on the above embodiments, continue to refer to... Figure 2 The determination of the actual d-axis current value and actual q-axis current value of the motor based on the three-phase current of the motor collected by the current sensor includes: acquiring the three-phase current of the motor collected by the current sensor, and converting it into the actual d-axis current value and actual q-axis current value through Clark transformation and Park transformation.

[0036] Compared to existing technologies, this invention only requires the addition of a three-phase voltage sensor to significantly improve rotor temperature estimation accuracy, thereby enhancing overall vehicle driving comfort. In summary, this invention employs the MRAS (Model Reference Adaptive System) method to calculate the dq-axis reference current, calculates the dq-axis flux linkage increment through parallel composite control, determines the current motor rotor temperature based on the flux linkage increment, and then processes torque commands based on the motor rotor temperature, improving torque output accuracy. This invention can accurately estimate the motor rotor temperature in real time using a model, improving the accuracy of motor output torque and enhancing overall vehicle acceleration and comfort.

[0037] Figure 9 A schematic diagram of a motor rotor temperature control device 10, which can be used to implement embodiments of the present invention, is shown. The motor rotor temperature control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The motor rotor temperature control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0038] like Figure 9 As shown, the motor rotor temperature control device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the motor rotor temperature control device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0039] Multiple components in the motor rotor temperature control device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the motor rotor temperature control device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0040] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for controlling the temperature of a motor rotor.

[0041] In some embodiments, the method for controlling the motor rotor temperature may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed onto the motor rotor temperature control device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the motor rotor temperature control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the motor rotor temperature control method by any other suitable means (e.g., by means of firmware).

[0042] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0043] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0044] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0045] To provide user interaction, the systems and techniques described herein can be implemented on a motor rotor temperature control device, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the motor rotor temperature control device. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0046] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0047] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0048] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0049] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the temperature of a motor rotor, characterized in that, include: The actual d-axis voltage value and the actual q-axis voltage value fed back by the motor are input into the rotor temperature estimation module; The rotor temperature estimation module determines the d-axis reference current and q-axis reference current based on the model reference adaptive method, and calculates the flux linkage increment through parallel composite control; The rotor temperature estimation module determines the estimated temperature of the motor rotor based on the flux linkage increment, and outputs the estimated temperature of the motor rotor to the torque processing module. The torque processing module determines the motor torque command based on the vehicle torque command and the estimated temperature of the motor rotor.

2. The method for controlling the rotor temperature of a motor according to claim 1, characterized in that, The rotor temperature estimation module includes a model reference adaptive module, a controller module, and a temperature calculation module. The model reference adaptive module is constructed according to the following formula: ; ; ; ; ； ； Wherein, Ud is the actual d-axis voltage value, and Uq is the actual q-axis voltage value. Here, is the electrical angular velocity, Tststor is the estimated stator temperature, id is the d-axis current command value, iq is the q-axis current command value, id' is the d-axis current reference value, and iq' is the q-axis current reference value. This represents the d-axis flux linkage increment. Rs represents the q-axis flux linkage increment, Trotor represents the estimated rotor temperature of the motor; Rs represents the stator winding, Ld represents the d-axis inductance, and Lq represents the q-axis inductance. This represents the increase in the rotor flux linkage of the motor. The model reference adaptive module takes the actual d-axis voltage value, the actual q-axis voltage value, the electric angular velocity, the estimated temperature of the motor stator, the d-axis flux linkage increment, and the q-axis flux linkage increment as inputs, and outputs the d-axis current command value, the q-axis current command value, the d-axis current reference value, and the q-axis current reference value as outputs. The controller module takes the d-axis current command value, the q-axis current command value, the d-axis current reference value, and the q-axis current reference value as inputs, and outputs the d-axis flux linkage increment and the q-axis flux linkage increment. The temperature calculation module takes the d-axis current command value as input and outputs the estimated temperature of the motor rotor.

3. The method for controlling the rotor temperature of a motor according to claim 2, characterized in that, The model reference adaptive module includes a motor stator winding processing unit, which includes a low-pass filter and a stator winding determination unit. After the estimated temperature of the motor stator is input into the low-pass filter, the stator winding is determined by looking up a table in the motor stator winding processing unit.

4. The method for controlling the rotor temperature of a motor according to claim 2, characterized in that, The controller module includes a d-axis current processing unit, a q-axis current processing unit, and a parallel composite control unit; the parallel composite control unit includes a discrete time difference processing subunit and a parallel composite controller; The d-axis current processing unit performs difference processing on the d-axis current command value and the d-axis current reference value to determine the first d-axis current deviation. The q-axis current processing unit performs difference processing on the q-axis current command value and the q-axis current reference value to determine the first q-axis current deviation. The discrete-time difference processing subunit performs discrete-time difference processing on the first d-axis current deviation and the first q-axis current deviation to obtain the d-axis discrete-time current error and the q-axis discrete-time current error. The first d-axis current deviation, the first q-axis current deviation, the d-axis discrete-time current error, and the q-axis discrete-time current error are input to the parallel composite controller, which determines the d-axis flux linkage increment and the q-axis flux linkage increment through parallel composite control.

5. The method for controlling the rotor temperature of a motor according to claim 4, characterized in that, The parallel composite controller includes a d-axis flux linkage increment determination unit and a q-axis flux linkage increment determination unit; The d-axis flux linkage increment determination unit includes a first fuzzy controller and a first PI controller, and the q-axis flux linkage increment determination unit includes a second fuzzy controller and a second PI controller. The parallel composite controller determines the d-axis flux linkage increment and the q-axis flux linkage increment through parallel composite control, including: The d-axis discrete-time current and the d-axis current deviation are input into the first fuzzy controller to obtain the d-axis fuzzy control flux correction amount, and the d-axis current deviation is input into the first PI controller to obtain the d-axis PI control correction amount; The d-axis fuzzy control flux correction amount and the d-axis PI control correction amount are superimposed to obtain the d-axis flux increment; The q-axis discrete-time current and the q-axis current deviation are input into the second fuzzy controller to obtain the q-axis fuzzy control flux correction amount, and the q-axis current deviation is input into the second PI controller to obtain the q-axis PI control correction amount; The q-axis fuzzy control flux correction amount and the q-axis PI control correction amount are superimposed to obtain the q-axis flux increment.

6. The method for controlling the rotor temperature of a motor according to claim 1, characterized in that, The actual d-axis voltage value and actual q-axis voltage value fed back from the motor are input into the rotor temperature estimation module, including: The three-phase voltage collected by the voltage sensor is obtained and converted into actual d-axis voltage value and actual q-axis voltage value through Clark transformation and Park transformation; The actual d-axis voltage value and the actual q-axis voltage value are input into the rotor temperature estimation module.

7. The method for controlling the rotor temperature of a motor according to claim 1, characterized in that, The torque processing module includes a motor rotor flux linkage determination unit, a torque correction unit, and a motor torque command determination unit. The torque processing module determines the motor torque command based on the vehicle torque command and the estimated temperature of the motor rotor, including: The motor rotor flux linkage determination unit determines the corresponding motor rotor flux linkage by looking up a table based on the estimated temperature of the motor rotor. The motor rotor flux linkage is used as input, and the torque correction command is obtained through the torque correction table of the torque correction unit. The motor torque command determination unit adds the torque correction command and the vehicle torque command to obtain the motor torque command.

8. The method for controlling the rotor temperature of a motor according to claim 7, characterized in that, After the motor torque command determination unit sums the torque correction command and the vehicle torque command to obtain the motor torque command, the method further includes: The d-axis current command value and q-axis current command value of the motor are determined based on the motor torque command and the preset MAPA. Based on the three-phase current of the motor collected by the current sensor, determine the actual d-axis current value and the actual q-axis current value of the motor; The second d-axis current deviation and the second q-axis current deviation are determined based on the d-axis current command value and the q-axis current command value, as well as the actual d-axis current value and the actual q-axis current value fed back by the motor. PI adjustment is performed on the second d-axis current deviation and the second q-axis current deviation to determine the d-axis voltage adjustment amount and the q-axis voltage adjustment amount; After performing inverse Park transformation and sinusoidal pulse width modulation on the d-axis voltage regulation and the q-axis voltage regulation, the three-phase inverter outputs three-phase voltage to the motor, and the motor outputs three-phase current.

9. The method for controlling the rotor temperature of a motor according to claim 8, characterized in that, Based on the three-phase current of the motor collected by the current sensor, the actual d-axis current value and the actual q-axis current value of the motor are determined, including: The three-phase current of the motor collected by the current sensor is obtained and converted into the actual d-axis current value and the actual q-axis current value through Clark transformation and Park transformation.

10. A device for controlling the temperature of a motor rotor, characterized in that, The motor rotor temperature control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein... The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the motor rotor temperature control method according to any one of claims 1-9.

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