The invention relates to a method for determining frequency-dependent winding impedance, wherein, in succession for different first frequencies fn, a sinusoidal
voltage is applied to at least one of the motor phases, the frequency of the sinusoidal
voltage being the particular first frequency fn, wherein the values of the motor current detected by a
current sensor are converted by a sigma-
delta modulator into a
digital data stream which: - is supplied to a first
decimation filter; - for a plurality of natural numbers k, is multiplied by a time-dependent sinusoidal
signal in each case, the frequency of the sinusoidal
signal being the particular first frequency fn multiplied by k in each case, and a
moving average of the product thus created is formed to determine each first
spectral component; and - for the natural numbers k, is multiplied by a time-dependent cosinusoidal
signal in each case, the frequency of the cosinusoidal signal being the particular first frequency fn multiplied by k in each case, and a
moving average of the product thus created is formed to determine each second
spectral component, wherein the winding impedance Z is determined from the spectral components of the current and the
voltage for each of the first frequencies and their k-multiplied multiples.