A motor control method and device, electronic equipment and storage medium

Abstract

The application provides a motor control method and device, electronic equipment and storage medium, relates to the technical field of motor control, and collects motor operation signals; determines a speed interval in which a vehicle speed signal in the motor operation signal is located, the speed interval including a first speed interval, a second speed interval and a third speed interval; in the first speed interval, high-frequency voltage is injected into a direct axis of the motor, a high-frequency current component is extracted to observe and estimate a rotor position, a high-frequency injection position estimation value is obtained; in the third speed interval, a rotor position is estimated through an observation control strategy based on a voltage flux linkage model, a flux linkage observation position estimation value is obtained; in the second speed interval, the high-frequency injection position estimation value and the flux linkage observation position estimation value are weighted and fused to obtain a fused position estimation value; and a rotor position output value is obtained according to the high-frequency injection position estimation value, the flux linkage observation position estimation value and the fused position estimation value, which is used to meet the full working condition operation demand of an electric drive system.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a motor control method, device, electronic device, and storage medium. Background Technology

[0002] Permanent magnet synchronous motors are widely used in electric drive systems of new energy vehicles due to their high efficiency, high power density, and wide speed range. Closed-loop control of the motor requires real-time acquisition of rotor position information for coordinate transformation and torque control. Traditional solutions rely on physical position sensors such as resolvers or encoders; however, the introduction of sensors increases system size, cost, and failure risk, and their reliability is limited in harsh on-board environments such as high temperatures and vibrations.

[0003] In related technologies, sensorless control schemes indirectly estimate rotor position by using motor electrical quantities, replacing physical position sensors. However, this approach suffers from insufficient accuracy and stability in position estimation across the entire speed range. At low speeds, the motor back electromotive force amplitude is low, resulting in insufficient signal-to-noise ratio of the position information carried in the electrical quantities, thus limiting estimation accuracy. At medium and high speeds, motor parameters drift with factors such as temperature and load, leading to a decrease in model estimation accuracy. A single control strategy cannot simultaneously guarantee position estimation accuracy and operational stability under full vehicle speed and full load conditions, making it difficult to meet the full-condition operation requirements of electric drive systems. Summary of the Invention

[0004] The problem addressed in this application is how to meet the full-condition operation requirements of an electric drive system.

[0005] To address the aforementioned problems, this application provides a motor control method, apparatus, electronic device, and storage medium.

[0006] In a first aspect, this application provides a motor control method, including: Collect motor operation signals; The speed range of the vehicle speed signal in the motor operation signal is determined. The speed range includes a first speed range, a second speed range and a third speed range, wherein the upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted to observe and estimate the rotor position, thereby obtaining the high-frequency injection position estimate. In the third speed range, the rotor position is estimated by an observation and control strategy based on the voltage flux linkage model, and the flux linkage observation position estimate is obtained. In the second speed range, the estimated injection position and the estimated observation position are determined, and the estimated injection position and the estimated observation position are weighted and fused to obtain the fused position estimate. The weight of the estimated high-frequency injection position decreases as the vehicle speed increases, while the weight of the estimated magnetic flux observation position increases as the vehicle speed increases. The rotor position output value is determined based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fusion position estimate.

[0007] Optionally, the step of injecting high-frequency voltage into the direct shaft of the motor and extracting the high-frequency current component of the quadrature shaft to estimate the rotor position in the first speed range, and obtaining the high-frequency injection position estimate, includes: A high-frequency voltage is injected into the direct axis of the motor to extract the high-frequency current component of the quadrature axis; wherein, the high-frequency voltage is an adaptive high-frequency cosine excitation voltage, and the injection amplitude and angular frequency are dynamically corrected according to the real-time bus voltage and the junction temperature of the power devices; The cross-axis high-frequency current component is bandpass filtered and phase-locked demodulated to extract the rotor position estimation deviation. The rotor position estimation deviation is integrated to obtain the high-frequency injection position estimation value.

[0008] Optionally, in the third speed range, the rotor position estimation is performed using an observation control strategy based on a voltage flux linkage model to obtain the flux linkage observation position estimate, which includes: Based on the sampled stator voltage and stator current, the direct-axis observation flux linkage and the quadrature-axis observation flux linkage are obtained; Based on the direct-axis observed flux linkage and the quadrature-axis observed flux linkage, the electric angular velocity is corrected by adaptive rotational speed iteration to obtain the electric angular velocity correction amount; Based on the electric angular velocity correction, the rotor electric angle at the current moment is solved by discrete iterative integration and used as the estimated value of the flux linkage observation position.

[0009] Optionally, in the second velocity range, determining the injection location estimate and the observation location estimate, and performing a weighted fusion of the injection location estimate and the observation location estimate to obtain a fused location estimate includes: The estimated high-frequency injection position and the estimated magnetic flux observation position are respectively subjected to first-order inertial filtering. The filtered high-frequency injection position estimate and the filtered magnetic flux observation position estimate are weighted and fused by a linearly gradually changing weight coefficient to obtain a fused position estimate. The linearly gradually changing weight coefficient decreases as the vehicle speed increases.

[0010] Optionally, the motor control method further includes: Determine the rate of change of the target torque command; The cross-axis current feedforward compensation amount is determined based on the rate of change and the torque compensation coefficient. The torque control loop is compensated and corrected by the cross-axis current feedforward compensation.

[0011] Optionally, the motor control method further includes: The motor parameters are identified using the recursive least squares method, and the parameter identification results are obtained. The model parameters in the high-frequency injection control strategy and the observation control strategy based on the voltage flux linkage model are updated by the parameter identification results. The motor parameters include at least one of stator resistance, direct-axis inductance, quadrature-axis inductance and permanent magnet flux linkage.

[0012] Optionally, the motor control method further includes: The validity of the collected motor operation signal is verified by measuring the amplitude and rate of change of the current sampling signal, and abnormal sampling data is removed to obtain the data validity verification result. The position estimation deviation is monitored by the moving average error criterion to determine whether it exceeds the limit, and the convergence self-check result is obtained. Determine the compatibility between the current control strategy and the current vehicle speed, and obtain the working condition matching verification results; Based on the data validity verification results, the convergence self-test results, and the operating condition matching verification results, hierarchical fault tolerance protection is implemented.

[0013] Secondly, this application provides a motor control device, comprising: The acquisition module is used to acquire motor operating signals; The segmentation module is used to determine the speed range of the vehicle speed signal in the motor operation signal. The speed range includes a first speed range, a second speed range, and a third speed range. The upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. The first speed module is used to inject high-frequency voltage into the direct axis of the motor and extract the high-frequency current component of the quadrature axis to perform rotor position observation and estimation in the first speed range, so as to obtain the high-frequency injected position estimation value. The third speed module is used to estimate the rotor position in the third speed range by using an observation and control strategy based on a voltage flux linkage model, and to obtain the flux linkage observation position estimate. The second speed module is used to determine the injection position estimate and the observation position estimate in the second speed range, and to perform weighted fusion of the injection position estimate and the observation position estimate to obtain a fused position estimate, wherein the weight of the high-frequency injection position estimate decreases as the vehicle speed increases, and the weight of the magnetic flux observation position estimate increases as the vehicle speed increases. The output module is used to determine the rotor position output value based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fused position estimate.

[0014] Thirdly, this application provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the motor control method as described in the first aspect when executing the computer program.

[0015] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motor control method as described in the first aspect.

[0016] The beneficial effects of the motor control method in this application are: The speed range of the vehicle speed signal in the motor operating signal is determined. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted for rotor position observation and estimation, obtaining a high-frequency injected position estimate. This achieves high-precision rotor position estimation even when the back EMF amplitude is insufficient to support model observation. In the third speed range, rotor position estimation is performed using an observation and control strategy based on a voltage flux linkage model, obtaining a flux linkage observation position estimate. The rotor position is then solved using a motor electrical model, avoiding high-frequency harmonic losses and electromagnetic noise. In the second speed range, the high-frequency injected position estimate and the flux linkage observation position estimate are weighted and fused to obtain a fused position estimate. The weight of the high-frequency injected position estimate decreases as the vehicle speed increases, while the weight of the flux linkage observation position estimate increases as the vehicle speed increases, achieving a smooth transition between the two estimation strategies, avoiding position estimate jumps, and suppressing torque fluctuations and speed jitter. Based on the high-frequency injected position estimate, the flux linkage observation position estimate, and the fused position estimate, the rotor position output value is obtained, ensuring that the rotor position can be output based on the optimal estimation result in each range across the entire speed domain, meeting the full-condition operation requirements of the electric drive system. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of the motor control method according to an embodiment of this application; Figure 2This is a schematic diagram of an embodiment of this application; Figure 3 This is an example diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application are described in detail below with reference to the accompanying drawings. Although some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the accompanying drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0019] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first," "second," etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] The names of messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0023] like Figure 1 and Figure 2 As shown in the embodiment of this application, a motor control method includes: Step S100: Collect motor operation signals.

[0024] Motor operation signals represent various electrical quantities and operating conditions that need to be collected in real time during the control of a permanent magnet synchronous motor. In one embodiment, the motor operation signals include three-phase stator current, bus voltage, power device junction temperature, and vehicle speed signal. The three-phase stator current reflects the real-time current state of the motor windings and is the basic input for rotor position estimation and torque control. The bus voltage reflects the DC-side power supply status and provides a basis for adaptive adjustment of the high-frequency injected voltage amplitude and solving the voltage flux linkage model. The power device junction temperature reflects the thermal state of the inverter power module and provides a reference for high-temperature adaptation correction of high-frequency injected parameters. The vehicle speed signal characterizes the current operating speed of the motor and is the direct source of speed range division and range switching criteria.

[0025] Step S200: Determine the speed range of the vehicle speed signal in the motor operation signal. The speed range includes a first speed range, a second speed range, and a third speed range. The upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range.

[0026] The first, second, and third speed ranges represent the division of the motor's full-speed operating range into three sequentially connected speed zones based on vehicle speed. In one embodiment, the first speed range covers the motor's operating range from zero to low speed. Within this range, the back EMF amplitude is low, insufficient to support position observation based on the voltage flux linkage model, making it suitable for high-frequency injection methods for rotor position estimation. The third speed range covers the motor's medium-to-high-speed operating range. Within this range, the back EMF amplitude is sufficient, making it suitable for observation methods based on the voltage flux linkage model for rotor position estimation, while eliminating the need for high-frequency signal injection to avoid additional losses. The second speed range lies between the first and third speed ranges, serving as a transition area between the two estimation strategies. Within this range, both methods can provide position estimates with a certain degree of reliability, making it suitable for smooth transition through weighted fusion. The upper and lower speed limits of the three speed ranges satisfy an increasing relationship, ensuring comprehensive coverage of the entire speed range and orderly zone division. This speed range division provides a basis for matching the most suitable position estimation strategy under different speed conditions, enabling each zone within the full speed range to employ the estimation method with optimal accuracy and reliability.

[0027] In step S300, within the first speed range, a high-frequency voltage is injected into the direct shaft of the motor, and the high-frequency current component of the quadrature shaft is extracted to perform rotor position observation and estimation, thereby obtaining the high-frequency injection position estimation value.

[0028] The high-frequency injected position estimate represents the rotor position estimation result obtained within the first speed range by injecting a high-frequency voltage signal into the direct shaft of the motor and calculating the high-frequency current response of the quadrature shaft. In one embodiment, the high-frequency voltage injected into the direct shaft of the motor is an adaptive high-frequency cosine excitation voltage. Its injection amplitude and angular frequency are dynamically corrected according to the real-time bus voltage and the junction temperature of the power devices to avoid problems such as over-excitation under high-voltage conditions, insufficient excitation under low-voltage conditions, and harmonic interference under high-temperature conditions. After injecting the high-frequency voltage, the high-frequency response current carrying rotor position deviation information is modulated on the quadrature shaft by utilizing the salient pole difference between the direct and quadrature shaft inductances of the motor. After extracting the high-frequency current component of the quadrature shaft, bandpass filtering and phase-locked demodulation are performed to extract the rotor position estimation deviation. Then, the high-frequency injected position estimate is obtained through integration. This method can achieve high-precision rotor position estimation by relying solely on the salient pole effect of the motor under zero-speed and low-speed conditions.

[0029] In step S400, in the third speed range, the rotor position is estimated by an observation control strategy based on a voltage flux linkage model to obtain the flux linkage observation position estimate.

[0030] The flux linkage observation position estimate represents the rotor position estimate obtained within the third speed range by establishing a motor voltage flux linkage model and solving for the observed flux linkage in real time. In one embodiment, the direct-axis and quadrature-axis observed flux linkages are obtained based on the sampled stator voltage and stator current. Based on these, the electrical angular velocity is iteratively corrected using the speed adaptive adjustment, gradually converging the observed state to the actual value. Then, the rotor electrical angle at the current moment is solved through discrete iterative integration, serving as the flux linkage observation position estimate. This method fully utilizes the advantage of sufficient back EMF amplitude under medium-to-high speed conditions, directly solving for the rotor position through the motor electrical model, avoiding high-frequency harmonic losses and electromagnetic noise.

[0031] Step S500: In the second velocity range, determine the injection position estimate and the observation position estimate, and perform weighted fusion of the injection position estimate and the observation position estimate to obtain the fused position estimate.

[0032] The fused position estimate represents the rotor position estimate obtained by dynamically weighting and fusing the high-frequency injection position estimate and the flux linkage observation position estimate within the second velocity range. In one embodiment, the high-frequency injection position estimate and the flux linkage observation position estimate are each subjected to first-order inertial filtering to suppress high-frequency noise and glitches in the signal. The filtered high-frequency injection position estimate and the filtered flux linkage observation position estimate are then weighted and fused using linearly varied weighting coefficients to obtain the fused position estimate.

[0033] The weight of the high-frequency injection position estimate decreases as the vehicle speed increases, while the weight of the flux linkage observation position estimate increases as the vehicle speed increases. As the vehicle speed increases from the first speed range to the third speed range, the weight of the high-frequency injection position estimate gradually decreases, while the weight of the flux linkage observation position estimate gradually increases, smoothly transitioning the fusion result from being primarily based on high-frequency injection estimation to being primarily based on flux linkage observation estimation. Through weighted fusion and dynamic adjustment of the weights, abrupt changes in position estimates at the switching boundary between the two strategies are avoided, ensuring the continuity of rotor position output within the transition range and suppressing torque fluctuations and speed jitter.

[0034] Step S600: Determine the rotor position output value based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimated value, the flux linkage observation position estimated value, and the fusion position estimated value.

[0035] The rotor position output value represents the final rotor position information delivered for motor closed-loop control. In one embodiment, based on the motor's current speed range, the estimation result for the corresponding range is selected as the rotor position output value from the high-frequency injected position estimate, the flux observed position estimate, and the fused position estimate. In the first speed range, the high-frequency injected position estimate is used as the rotor position output value; in the third speed range, the flux observed position estimate is used as the rotor position output value; and in the second speed range, the fused position estimate is used as the rotor position output value. By selecting the optimal estimation result according to the speed range, the rotor position output with the best accuracy and smoothness can be obtained for each operating stage across the entire speed range, supporting high-precision closed-loop control of the motor.

[0036] In this embodiment, the speed range of the vehicle speed signal in the motor operating signal is determined. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted for rotor position observation and estimation, obtaining a high-frequency injected position estimate. This achieves high-precision rotor position estimation even when the back EMF amplitude is insufficient to support model observation. In the third speed range, rotor position estimation is performed using an observation and control strategy based on a voltage flux linkage model, obtaining a flux linkage observation position estimate. The rotor position is then solved using a motor electrical model, avoiding high-frequency harmonic losses and electromagnetic noise. In the second speed range, the high-frequency injected position estimate and the flux linkage observation position estimate are weighted and fused to obtain a fused position estimate. The weight of the high-frequency injected position estimate decreases as the vehicle speed increases, while the weight of the flux linkage observation position estimate increases as the vehicle speed increases, achieving a smooth transition between the two estimation strategies, avoiding position estimate jumps, and suppressing torque fluctuations and speed jitter. Based on the high-frequency injected position estimate, the flux linkage observation position estimate, and the fused position estimate, a rotor position output value is obtained, ensuring that the rotor position can be output based on the optimal estimation result in each range across the entire speed domain, meeting the full-condition operation requirements of the electric drive system. .

[0037] Optionally, the step of injecting high-frequency voltage into the direct shaft of the motor and extracting the high-frequency current component of the quadrature shaft to estimate the rotor position in the first speed range, and obtaining the high-frequency injection position estimate, includes: A high-frequency voltage is injected into the direct axis of the motor to extract the high-frequency current component of the quadrature axis; wherein, the high-frequency voltage is an adaptive high-frequency cosine excitation voltage, and the injection amplitude and angular frequency are dynamically corrected according to the real-time bus voltage and the junction temperature of the power devices; The cross-axis high-frequency current component is bandpass filtered and phase-locked demodulated to extract the rotor position estimation deviation. The rotor position estimation deviation is integrated to obtain the high-frequency injection position estimation value.

[0038] In one embodiment, the high-frequency voltage injected into the direct shaft of the motor is an adaptive high-frequency cosine excitation voltage. Its injection amplitude and angular frequency are dynamically corrected based on the real-time bus voltage and the junction temperature of the power devices to adapt to estimation requirements under different voltage and temperature conditions. Due to the salient pole difference between the direct and quadrature shaft inductances of the motor, the high-frequency voltage excitation modulates a high-frequency response current carrying rotor position deviation information on the quadrature shaft. Only the quadrature shaft high-frequency current component is extracted for demodulation, avoiding interference from the fundamental current and excitation disturbances on position observation. Bandpass filtering and phase-locked demodulation are performed on the quadrature shaft high-frequency current component to extract the rotor position estimation deviation. Integral calculation is then performed on the rotor position estimation deviation to obtain the high-frequency injected position estimation value.

[0039] Specifically, the high-frequency injection location estimation is expressed as: Adaptive high-frequency voltage injected into the motor direct shaft for: , In the formula, Indicates the adaptive high-frequency voltage injection amplitude. The two values ​​represent the high-frequency injection angular frequency, which are dynamically and adaptively corrected based on the real-time bus voltage and the junction temperature of the power devices. t represents time.

[0040] Due to the direct-axis inductance L of the motor d and cross-axis inductance L q The presence of salient pole difference results in a high-frequency response current modulated by a d-axis high-frequency voltage excitation on the quadrature axis. for: , In the formula, This indicates the rotor position estimation deviation angle.

[0041] Bandpass filtering and phase-locked demodulation are performed on the high-frequency response current to extract the position deviation and perform integration to obtain the rotor position estimate under low-speed conditions. , In the formula, This represents the estimated location of the high-frequency injection. This represents the position deviation angular frequency correction amount, i.e., the extracted position deviation amount, where t represents time.

[0042] Optionally, in the third speed range, the rotor position estimation is performed using an observation control strategy based on a voltage flux linkage model to obtain the flux linkage observation position estimate, which includes: Based on the sampled stator voltage and stator current, the direct-axis observation flux linkage and the quadrature-axis observation flux linkage are obtained; Based on the direct-axis observed flux linkage and the quadrature-axis observed flux linkage, the electric angular velocity is corrected by adaptive rotational speed iteration to obtain the electric angular velocity correction amount; Based on the electric angular velocity correction, the rotor electric angle at the current moment is solved by discrete iterative integration and used as the estimated value of the flux linkage observation position.

[0043] Specifically, the relevant calculation formula for estimating the magnetic flux linkage observation location is expressed as follows: The direct-axis and quadrature-axis voltage equations of the permanent magnet synchronous motor are as follows: , In the formula, , These represent the actual sampled voltages along the direct axis and quadrature axis, respectively. , These represent the actual sampled currents along the direct axis and quadrature axis, respectively. Indicates the stator resistance of the motor; , These represent direct-axis and quadrature-axis inductances, respectively. This represents the equivalent flux linkage of a permanent magnet; This indicates the real-time electrical angular velocity of the motor.

[0044] The stator direct-axis and quadrature-axis flux linkages are defined as follows: , Transform the direct-axis and quadrature-axis flux linkages to extended flux linkages in stationary coordinates using the inverse Park transformation: , , In the formula, This represents the extended magnetic flux linkage along the direct axis of the stationary coordinate system. This represents the cross-axis extended magnetic flux linkage in a stationary coordinate system. Indicates the direct-axis stator flux linkage. Indicates the cross-axis stator flux linkage. Indicates the electrical angle of the motor rotor. Indicates quadrature axis inductance. Represents the direct-axis current in a stationary coordinate system. This represents the quadrature-axis current in a stationary coordinate system.

[0045] A closed-loop correction mechanism for flux deviation is constructed based on extended flux linkage, and the electric angular velocity is corrected through adaptive iterative correction of rotational speed. , In the formula, This represents the electric angular velocity after the current period correction. Indicates the electrical angular velocity of the previous cycle. This represents the speed correction factor. This represents the extended magnetic flux linkage along the direct axis of the stationary coordinate system. This represents the cross-axis extended magnetic flux linkage in a stationary coordinate system.

[0046] The rotor electrical angle at the current moment is solved by discrete iterative integration: , In the formula, This indicates the rotor electrical angle at the current moment. This indicates the rotor electrical angle at the previous moment. This represents the electric angular velocity after the current period correction. This indicates the algorithm's sampling period. The converged rotor electrical angle represents the estimated flux linkage position under high-speed conditions. This strategy effectively suppresses high-speed noise and parameter drift, ensuring high-speed speed control error ≤1% and dynamic response delay ≤10ms.

[0047] Optionally, in the second velocity range, determining the injection location estimate and the observation location estimate, and performing a weighted fusion of the injection location estimate and the observation location estimate to obtain a fused location estimate includes: The estimated high-frequency injection position and the estimated magnetic flux observation position are respectively subjected to first-order inertial filtering. The filtered high-frequency injection position estimate and the filtered magnetic flux observation position estimate are weighted and fused by a linearly gradually changing weight coefficient to obtain a fused position estimate. The linearly gradually changing weight coefficient decreases as the vehicle speed increases.

[0048] Specifically, the relevant calculation formulas for weighted fusion and filtering are expressed as follows: Fusion location estimate for: , In the formula, This represents the estimated location of the high-frequency injection. This represents the estimated position of the magnetic flux linkage observation. This represents a linearly varying weighting coefficient that decreases linearly from 1 to 0 as vehicle speed increases. It effectively suppresses power fluctuations during the switching process, ensuring driving comfort.

[0049] The fusion result is optimized by first-order inertial filtering: , In the formula, y(k) represents the current filtered output value, and y(k-1) represents the filtered output value of the previous cycle. This represents the current original operation value. This represents the filter coefficients.

[0050] Optionally, the motor control method further includes: Determine the rate of change of the target torque command; The cross-axis current feedforward compensation amount is determined based on the rate of change and the torque compensation coefficient. The torque control loop is compensated and corrected by the cross-axis current feedforward compensation.

[0051] In one embodiment, for heavy load or sudden load changes such as steep slopes, full load, and rapid acceleration, load shocks can easily lead to torque response lag and decreased position estimation accuracy. By determining the rate of change of the target torque command in real time, sudden load changes are identified. Based on the rate of change and a preset torque compensation coefficient, the quadrature-axis current feedforward compensation is determined and superimposed on the quadrature-axis current command of the torque control loop to correct control deviations in advance.

[0052] Specifically, the relevant calculation formula for load feedforward compensation is expressed as follows: Quadrature axis current feedforward compensation Represented as: , In the formula, Indicates the torque compensation coefficient. This indicates the target torque. By compensating for dynamic errors caused by load impacts in real time, it completely solves the problems of slow torque response and large estimation deviations under heavy load conditions, achieving high-precision adaptation across the entire load range.

[0053] Optionally, the motor control method further includes: The motor parameters are identified using the recursive least squares method, and the parameter identification results are obtained. The model parameters in the high-frequency injection control strategy and the observation control strategy based on the voltage flux linkage model are updated by the parameter identification results. The motor parameters include at least one of stator resistance, direct-axis inductance, quadrature-axis inductance and permanent magnet flux linkage.

[0054] In one embodiment, to compensate for motor parameter drift caused by factors such as high and low temperatures, voltage fluctuations, device aging, and magnetic circuit saturation, the motor parameters are identified online using a recursive least squares method, and the estimated values ​​of at least one parameter among stator resistance, direct-axis inductance, quadrature-axis inductance, and permanent magnet flux linkage are updated in real time. The real-time parameters obtained from the identification are then used to update the corresponding model parameters in the high-frequency injection control strategy and the observation control strategy based on the voltage flux linkage model.

[0055] Specifically, the relevant calculation formula for online parameter identification is expressed as follows: Parameter identification is performed using the recursive least squares method: , , , In the formula, This represents the optimal estimate of the current parameter. y(k) represents the parameter estimate at the previous time step; y(k) represents the actual output value of the system. The model's theoretical estimate is represented by K(k); the iterative gain coefficient is represented by K(k); and the covariance matrix is ​​represented by P(k). Let the covariance matrix at the previous time step be denoted as . Represents the observation vector. Let I denote the transpose of the observation vector, and let I denote the identity matrix.

[0056] In one embodiment, based on online parameter identification, a full-domain angle closed-loop correction logic is further configured to perform secondary correction on the rotor position output value, further reducing the estimation error. An angle reference variable is determined according to the current operating range: in the first speed range, the angle reference variable is the high-frequency injection position estimation value; in the third speed range, the angle reference variable is the flux linkage observation position estimation value. The rotor position output value is closed-loop corrected using an angle correction coefficient, making the final output angle approach the angle reference variable, thus improving the position estimation accuracy under all operating conditions.

[0057] Specifically, the relevant calculation formulas for global angle closed-loop correction are explained below: The final output rotor angle is: , In the formula, This indicates the final output rotor angle. This represents the estimated position of the magnetic flux linkage observation. Indicates the reference variable for angle (under low-speed conditions) Indicates the estimated value of high-frequency injection location High-speed operating conditions Indicates the estimated value of the magnetic flux observation position. ), This represents the angle correction factor.

[0058] Optionally, the motor control method further includes: The validity of the collected motor operation signal is verified by measuring the amplitude and rate of change of the current sampling signal, and abnormal sampling data is removed to obtain the data validity verification result. The position estimation deviation is monitored by the moving average error criterion to determine whether it exceeds the limit, and the convergence self-check result is obtained. Determine the compatibility between the current control strategy and the current vehicle speed, and obtain the working condition matching verification results; Based on the data validity verification results, the convergence self-test results, and the operating condition matching verification results, hierarchical fault tolerance protection is implemented.

[0059] In one embodiment, functional safety monitoring includes three levels of verification. The first level is data validity verification, which uses both amplitude range and rate of change criteria to screen the collected operating signals in real time, eliminating abnormal sampling data such as over-range, abrupt changes, distortion, and jamming, and obtaining data validity verification results. The second level is algorithm convergence self-check, which monitors whether the position estimation deviation exceeds the limit using the moving average error criterion, identifies hidden faults such as algorithm iteration divergence, parameter drift exceeding the limit, and computational overflow, and obtains convergence self-check results. The third level is operating condition matching verification, which determines the matching between the current control strategy and the current vehicle speed and load state, and obtains operating condition matching verification results.

[0060] In one embodiment, the fault level is determined comprehensively based on the data validity verification results, convergence self-test results, and operating condition matching verification results, and graded fault-tolerant protection is implemented. For minor anomalies, parameters are adaptively corrected to maintain normal operation; for moderate anomalies, smoothing filtering and parameter limiting are activated to stabilize power output; for severe faults, graded degradation and limp-home logic are triggered to avoid sudden power interruption.

[0061] Specifically, the relevant calculation formulas for each level of verification are explained below: The criteria for data validity verification are: , In the formula, I(k) represents the current sampled value, and I(k-1) represents the sampled value of the previous period. , Indicates the lower and upper limits of the effective amplitude range. Indicates the algorithm sampling period. This indicates the upper limit of the rate of change.

[0062] The criterion for algorithm convergence self-check is expressed as: , In the formula, Let k represent the positional deviation of the i-th cycle, k represent the index of the current cycle, and N represent the number of sliding windows. This indicates the error threshold.

[0063] This application provides a motor control device, comprising: The acquisition module is used to acquire motor operating signals; The segmentation module is used to determine the speed range of the vehicle speed signal in the motor operation signal. The speed range includes a first speed range, a second speed range, and a third speed range. The upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. The first speed module is used to inject high-frequency voltage into the direct axis of the motor and extract the high-frequency current component of the quadrature axis to perform rotor position observation and estimation in the first speed range, so as to obtain the high-frequency injected position estimation value. The third speed module is used to estimate the rotor position in the third speed range by using an observation and control strategy based on a voltage flux linkage model, and to obtain the flux linkage observation position estimate. The second speed module is used to determine the injection position estimate and the observation position estimate in the second speed range, and to perform weighted fusion of the injection position estimate and the observation position estimate to obtain a fused position estimate, wherein the weight of the high-frequency injection position estimate decreases as the vehicle speed increases, and the weight of the magnetic flux observation position estimate increases as the vehicle speed increases. The output module is used to determine the rotor position output value based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fused position estimate.

[0064] like Figure 3 As shown in the embodiment of this application, an electronic device 300 includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the motor control method described above when the computer program is executed.

[0065] Alternatively, an electronic device 300 includes a memory 310 and a processor 320 coupled to the memory 310; the memory 310 is configured to store a computer program; and the processor 320 is configured to perform the following operations when the computer program is executed: Collect motor operation signals; The speed range of the vehicle speed signal in the motor operation signal is determined. The speed range includes a first speed range, a second speed range and a third speed range, wherein the upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted to observe and estimate the rotor position, thereby obtaining the high-frequency injection position estimate. In the third speed range, the rotor position is estimated by an observation and control strategy based on the voltage flux linkage model, and the flux linkage observation position estimate is obtained. In the second speed range, the estimated injection position and the estimated observation position are determined, and the estimated injection position and the estimated observation position are weighted and fused to obtain the fused position estimate. The weight of the estimated high-frequency injection position decreases as the vehicle speed increases, while the weight of the estimated magnetic flux observation position increases as the vehicle speed increases. The rotor position output value is determined based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fusion position estimate.

[0066] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the motor control method described above.

[0067] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: Collect motor operation signals; The speed range of the vehicle speed signal in the motor operation signal is determined. The speed range includes a first speed range, a second speed range and a third speed range, wherein the upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted to observe and estimate the rotor position, thereby obtaining the high-frequency injection position estimate. In the third speed range, the rotor position is estimated by an observation and control strategy based on the voltage flux linkage model, and the flux linkage observation position estimate is obtained. In the second speed range, the estimated injection position and the estimated observation position are determined, and the estimated injection position and the estimated observation position are weighted and fused to obtain the fused position estimate. The weight of the estimated high-frequency injection position decreases as the vehicle speed increases, while the weight of the estimated magnetic flux observation position increases as the vehicle speed increases. The rotor position output value is determined based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fusion position estimate.

[0068] Electronic device 300, which can serve as a server or client in this application, is described below as an example of hardware devices that can be applied to various aspects of this application. Electronic device 300 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 300 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0069] Electronic device 300 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0070] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0071] Although the above disclosure is provided, the scope of protection of this application is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this application, and all such changes and modifications will fall within the scope of protection of this application.

Claims

1. A motor control method, characterized in that, include: Collect motor operation signals; The speed range of the vehicle speed signal in the motor operation signal is determined. The speed range includes a first speed range, a second speed range and a third speed range, wherein the upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. In the first speed range, a high-frequency voltage is injected into the direct axis of the motor, and the high-frequency current component of the quadrature axis is extracted to observe and estimate the rotor position, thereby obtaining the high-frequency injection position estimate. In the third speed range, the rotor position is estimated by an observation and control strategy based on the voltage flux linkage model, and the flux linkage observation position estimate is obtained. In the second velocity range, the estimated injection location and the estimated observation location are determined, and the estimated injection location and the estimated observation location are weighted and fused to obtain the fused location estimate. The rotor position output value is determined based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fusion position estimate.

2. The motor control method according to claim 1, characterized in that, In the first speed range, injecting high-frequency voltage into the direct axis of the motor and extracting the high-frequency current component of the quadrature axis to estimate the rotor position, obtaining the high-frequency injected position estimate includes: A high-frequency voltage is injected into the direct axis of the motor to extract the high-frequency current component of the quadrature axis; wherein, the high-frequency voltage is an adaptive high-frequency cosine excitation voltage, and the injection amplitude and angular frequency are dynamically corrected according to the real-time bus voltage and the junction temperature of the power devices; The cross-axis high-frequency current component is bandpass filtered and phase-locked demodulated to extract the rotor position estimation deviation. The rotor position estimation deviation is integrated to obtain the high-frequency injection position estimation value.

3. The motor control method according to claim 1, characterized in that, In the third speed range, the rotor position is estimated using an observation control strategy based on a voltage flux linkage model, and the flux linkage observation position estimate is obtained by including: Based on the sampled stator voltage and stator current, the direct-axis observation flux linkage and the quadrature-axis observation flux linkage are obtained; Based on the direct-axis observed flux linkage and the quadrature-axis observed flux linkage, the electric angular velocity is corrected by adaptive rotational speed iteration to obtain the electric angular velocity correction amount; Based on the electric angular velocity correction, the rotor electric angle at the current moment is solved by discrete iterative integration and used as the estimated value of the flux linkage observation position.

4. The motor control method according to claim 1, characterized in that, In the second velocity range, determining the estimated injection location and the estimated observation location, and then weighting and fusing the estimated injection location and the estimated observation location to obtain the fused location estimate includes: The estimated high-frequency injection position and the estimated magnetic flux observation position are respectively subjected to first-order inertial filtering. The filtered high-frequency injection position estimate and the filtered magnetic flux observation position estimate are weighted and fused by a linearly gradually changing weight coefficient to obtain a fused position estimate. The linearly gradually changing weight coefficient decreases as the vehicle speed increases.

5. The motor control method according to claim 1, characterized in that, Also includes: Determine the rate of change of the target torque command; The cross-axis current feedforward compensation amount is determined based on the rate of change and the torque compensation coefficient. The torque control loop is compensated and corrected by the cross-axis current feedforward compensation.

6. The motor control method according to claim 1, characterized in that, Also includes: The motor parameters are identified using the recursive least squares method, and the parameter identification results are obtained. The model parameters in the high-frequency injection control strategy and the observation control strategy based on the voltage flux linkage model are updated by the parameter identification results. The motor parameters include at least one of stator resistance, direct-axis inductance, quadrature-axis inductance and permanent magnet flux linkage.

7. The motor control method according to claim 1, characterized in that, Also includes: The validity of the collected motor operation signal is verified by measuring the amplitude and rate of change of the current sampling signal, and abnormal sampling data is removed to obtain the data validity verification result. The position estimation deviation is monitored by the moving average error criterion to determine whether it exceeds the limit, and the convergence self-check result is obtained. Determine the compatibility between the current control strategy and the current vehicle speed, and obtain the working condition matching verification results; Based on the data validity verification results, the convergence self-test results, and the operating condition matching verification results, hierarchical fault tolerance protection is implemented.

8. A motor control device, characterized in that, include: The acquisition module is used to acquire motor operating signals; The segmentation module is used to determine the speed range of the vehicle speed signal in the motor operation signal. The speed range includes a first speed range, a second speed range, and a third speed range. The upper limit of the vehicle speed in the first speed range is less than or equal to the lower limit of the vehicle speed in the second speed range, and the upper limit of the vehicle speed in the second speed range is less than or equal to the lower limit of the vehicle speed in the third speed range. The first speed module is used to inject high-frequency voltage into the direct axis of the motor and extract the high-frequency current component of the quadrature axis to perform rotor position observation and estimation in the first speed range, so as to obtain the high-frequency injected position estimation value. The third speed module is used to estimate the rotor position in the third speed range by using an observation and control strategy based on a voltage flux linkage model, and to obtain the flux linkage observation position estimate. The second speed module is used to determine the injection position estimate and the observation position estimate in the second speed range, and to perform weighted fusion of the injection position estimate and the observation position estimate to obtain a fused position estimate, wherein the weight of the high-frequency injection position estimate decreases as the vehicle speed increases, and the weight of the magnetic flux observation position estimate increases as the vehicle speed increases. The output module is used to determine the rotor position output value based on the corresponding estimated value, wherein the estimated value includes one of the high-frequency injection position estimate, the flux linkage observation position estimate, and the fused position estimate.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the motor control method as described in any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the motor control method as described in any one of claims 1-7.

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