The invention discloses a motor
rotor angle determination method,
system and device and a medium, and relates to the technical field of motor detection.The method comprises the steps that angle collection is conducted on a rotor of an
electric power steering motor in real time through a magnetic
encoder, and a real-time detection angle is obtained; acquiring a historical amplitude, a historical angle
tracking error and a historical zero offset value output by the zero offset compensation adaptive wave trap after previous angle acquisition, and a historical angle output by the phase-locked loop; performing adaptive
processing based on the real-time detection angle, the historical amplitude, the historical angle
tracking error, the historical angle and the historical zero offset value by using a zero offset compensation adaptive wave trap to obtain a real-time reference
signal; and inputting the real-time reference
signal into a phase-locked loop for angle
tracking error compensation to obtain a real-time
target angle of the rotor. According to the invention,
continuous signal processing can be directly carried out through the zero offset compensation adaptive wave trap and the phase-locked loop, and the calculation amount and
noise influence are reduced, so that the result accuracy can be improved.