278 results about "Rotor angle" patented technology

The invention relates to the technical field of industrial automation control, and discloses a water-based paint production and processing equipment control system, which comprises the following steps: acquiring stator current and rotor angular velocity, and reconstructing total load torque by using a sliding mode algorithm; extracting an input power low-frequency component to construct a heat dissipation slow manifold, and calculating a thermal drift disturbance component and an orthogonal residual component through orthogonal projection; on the basis of a two-component generation superposition instruction closed-loop adjustment driving mechanism, a double-time-scale orthogonal projection mechanism is utilized, non-structural thermal drift interference is automatically stripped under the condition that heat transfer parameters of equipment do not need to be predicted, the problem of control divergence caused by model parameter mismatch is solved, and decoupling control over the real rheological state of materials is achieved.

The invention relates to the technical field of motor current limiting, and discloses a cooling fan motor starting current limiting method, device and equipment, and the method comprises the steps: carrying out the starting power calculation of a radiator, and obtaining a drive power prediction value; rotor angle position detection and blade aerodynamic resistance calculation are carried out, and aerodynamic load distribution parameters of all phase change points are obtained; performing starting current limitation to obtain a current limitation control instruction; performing motor commutation time sequence control to obtain a basic commutation control signal, and meanwhile, monitoring a starting torque abnormal increment to obtain a reverse airflow recognition result; according to the method, the current limit value is increased in the emergency mode to accelerate the starting response, the current limit is reduced in the energy-saving mode to reduce the energy consumption, and the starting current phase difference compensation is carried out to obtain a reverse airflow compensation control parameter and fuse the reverse airflow compensation control parameter with the basic phase-change control signal to obtain a target phase-change control signal. And the intelligent balance between the starting performance and the energy efficiency is realized.

The invention relates to the technical field of motor control, in particular to a harmonic gear motor based on double encoders and a control method thereof, which comprises the following steps: processing linear Hall element signals output by a rotor shaft encoder, including high-frequency noise suppression, direct-current bias calibration, amplitude normalization and phase difference calibration, to obtain accurate orthogonal signals; a double-dq rotating coordinate system phase-locked loop algorithm is adopted, the calibrated orthogonal signals are processed, and the high-precision real-time angle of the motor rotor is obtained through calculation; based on a signal of an output shaft encoder, matching with a preset angle partition of the harmonic reducer, and identifying an absolute position sector where the current output shaft is located; the rotor angle and the sector angle of the output shaft are fused to generate a high-resolution absolute angle of the output shaft; and based on the fused angle information, a magnetic field orientation control algorithm is adopted to drive a motor, and closed-loop control is achieved.

The utility model discloses an automobile eddy current dual-redundancy Hall sensor and a working method thereof in the field of automobile rotor angle detection and hovercar paddle position detection, and the sensor comprises a housing which is annular, the housing is provided with a mounting cavity, the mounting cavity is internally provided with an annular circuit board, the circuit board is connected with a wiring harness assembly, and the wiring harness assembly is connected with the housing. A sealing glue layer is arranged above the circuit board in the shell mounting cavity, the lower side of the shell is provided with a downward extending cylinder which extends downwards, a Hall sensor is arranged in the downward extending cylinder, and the Hall sensor is correspondingly connected with the circuit board. According to the utility model, through the dual-redundancy design, the eddy current sensor can reach ASIC-D at most; the Hall sensor is integrated into the circuit, so that the space occupied by the arrangement of the two sensors can be effectively reduced, and the weight is reduced.

The invention relates to a non-inductive FOC open-loop to closed-loop switching method and device for an electronic water pump and a vehicle. The method comprises the steps that a rotor is pre-positioned; starting an open loop I-F; switching condition judgment; estimating the rotor speed based on an observer, calculating a normalization factor, and obtaining a mixed scale factor through cubic polynomial operation; acquiring an open-loop current instruction of a q axis and a closed-loop current instruction output by a closed-loop speed PI regulator; performing weighted synthesis on the two paths of current instructions according to the mixing scale factor to obtain a temporary target current instruction, and applying a change rate limit to obtain a final current instruction output in the current period; the original angle error of the observer estimation angle and the open-loop slope angle is calculated and normalized, the allowable adjustment step length and direction of the round are dynamically determined, and the angle correction amount of the round is generated and superposed to the open-loop slope angle to update the rotor angle reference value; and closed-loop switching is completed. According to the invention, the problems of electromagnetic torque impact and rotating speed fluctuation caused by instruction step change are solved.

The invention discloses an electric power system transient stability state and stability margin evaluation method, device and equipment based on Grapher multitask learning and a medium, and relates to the technical field of electric power, and the method comprises the steps: carrying out the standardization of node features corresponding to a bus and edge features related to a power transmission line and a transformer branch, and obtaining standardized features; determining a dichotomy label based on a power angle difference between the generators after a fault occurs, determining a regression label based on a difference between a generator rotor angle trajectory and an inertia center trajectory, and determining a target Grapher multi-task learning model by using the standardized features, the dichotomy label, the regression label and an initial Grapher multi-task learning model in combination with a multi-task loss function; and determining a transient stability state and a transient stability margin of the power system based on the real-time operation data and by using the target Grapher multi-task learning model. Therefore, the accuracy of transient stability evaluation is improved.

The present invention relates to the technical field of intelligent control of reluctance motors, and discloses an intelligent control system and method for a switched reluctance motor, comprising an acquisition module for acquiring the inductance, magnetic flux and winding current of a magnetic circuit, a data processing module for processing the acquired data and calculating the rotor angular position and outputting the electromagnetic torque, a torque monitoring unit for monitoring the electromagnetic torque of the switched reluctance motor, a control module for controlling the operation of the motor, a fault monitoring module for monitoring abnormal conditions, and an energy recovery module for recovering energy generated during motor braking. The intelligent control system and method integrate control strategies and algorithms, and can dynamically adjust parameters such as motor torque and angle according to the operating status of the motor, thereby improving the operating efficiency and response speed of the motor.

The invention relates to the technical field of stepping drive motor control, and discloses a stepping drive motor resonance control method and system for a high-precision scene, and the method comprises the steps: collecting motor operation data through a multi-dimensional detector array, and inputting a dynamic response model to obtain dynamic response features; extracting a current harmonic frequency spectrum key point as a resonance event mark point, aligning and matching a rotor angular displacement and winding temperature data fluctuation interval, and generating a mechanical response association pair; performing resonance event association and space-time positioning by using the association pair, and determining abnormal response distribution; and generating a self-adaptive suppression strategy based on the association pair and the abnormal distribution and triggering an execution device. The system comprises a multi-dimensional detector array, a dynamic response processing module, an event association analysis unit, an abnormal distribution modeling unit and a strategy execution unit. According to the invention, multi-physics field data fusion analysis and resonance precise control are realized, the method is suitable for high-precision scenes, and the motor operation stability and reliability are improved.

The invention discloses a hybrid excitation synchronous motor control method and system, and belongs to the technical field of motor control. The problem that a motor control system can operate at high precision when a position sensor breaks down is mainly solved. The method comprises the following steps that when a position sensor breaks down, a system is switched to an active short circuit protection (ASC) mode, and operation of a motor is controlled by giving instruction values of d-axis current and q-axis current in the mode; then, in an ASC mode, estimating a rotor angle through a voltage equation in a static coordinate system, so as to obtain an electrical angle of a rotor; after the rotor angle estimation is completed, the system is switched from the ASC mode to the vector control mode without the position sensor, and the d-axis voltage and the q-axis voltage are adjusted in the mode, so that the motor can be continuously and accurately controlled and stably run. The invention provides an efficient and safe motor control method, and the safety and reliability of the electric vehicle under the condition of sensor fault are effectively improved.

The invention belongs to the technical field of laser remanufacturing and high-end equipment repairing, and particularly discloses a steam turbine rotor R angle laser cladding repairing process which is used for conducting segmented multi-layer laser cladding on a steam turbine rotor R angle to ensure that the laser cladding thickness reaches the steam turbine rotor R angle repairing thickness and has machining allowance. The thickness of each layer of laser cladding is 0.7 mm-0. 9 mm, and ultrasonic impact stress relief treatment is carried out after each section of laser cladding is completed. And PT nondestructive flaw detection, phased array ultrasonic detection, hardness detection and residual stress detection are fused to ensure the repair quality. The rotor is suitable for 530 DEG C high-temperature and high-pressure working conditions, the cost is greatly reduced compared with rotor replacement, and the rotor has remarkable industrial application value.

The invention relates to a method and an electronic device for the indirect field-oriented control (FOC) of a brushless DC motor (1) using digital Hall sensors (3a-3c) for detecting the instantaneous rotor position of the DC motor (1) for the purpose of torque control, wherein an electrical revolution of the rotor (2) by a plurality (n) of digital Hall sensors (3a-3c) arranged equidistantly to one another in relation to the rotor circumference is divided into twice (2n) as many sectors, wherein each sector corresponds to a defined Hall pattern and a change in the Hall signal is interpreted as an exceeding of the limit of a sector caused by the rotation of the rotor (2) in order to apply an incrementally constant rotor angle (α) for determining the instantaneous rotor position for the field-oriented control.

The invention discloses a multi-domain fusion motor torque zero-crossing compensation control system and method, and the method comprises the steps: obtaining a motor rotor angle according to a motor rotation position signal, and calculating an actual motor rotation speed; calculating an equivalent motor rotating speed according to the wheel speed signal; according to the driving mode, the accelerator pedal change rate, the driving habit information and the road information, calculating a dynamic threshold value of an absolute value of a difference value between the actual motor rotation speed and the equivalent motor rotation speed; judging whether the reduction gearbox backlash is closed or not; judging whether the driving demand torque reaches a calibration value or not according to the accelerator pedal opening degree; calculating a target motor torque according to the opening degree of an accelerator pedal, judging whether the wheel speed is greater than a set value or not according to a wheel speed signal, judging whether feedforward torque compensation is needed or not according to judgment results of whether a reduction gearbox backlash is closed or not and whether a driving demand torque reaches a calibration value or not, and if so, calculating a feedforward compensation torque and superposing the feedforward compensation torque with the target motor torque; and if not, outputting the target motor torque as the motor torque instruction.

The invention relates to a rotor angle confirmation method and device, a vehicle and equipment, and relates to the technical field of vehicles. The method comprises the following steps: acquiring sine and cosine signals output by a motor position sensor; the sine and cosine signals are associated with angle information of the motor rotor; calculating a compensation value of direct current bias deviation and a compensation value of amplitude deviation based on the first sine and cosine signal; the first sine and cosine signal is a sine and cosine signal acquired in a first time interval; the first time interval at least comprises a first period; performing phase compensation on the second sine and cosine signal, and determining the angle of the motor rotor according to the sine and cosine signal after phase compensation; wherein the second sine and cosine signal is a compensated sine and cosine signal obtained in a second time interval; the second sine and cosine signal is obtained by performing compensation based on the compensation value of the direct current bias deviation and the compensation value of the amplitude deviation; the second time interval at least comprises a second period. Therefore, there is a deviation between the calculated rotor angle and the actual rotor angle.

The invention discloses a dynamic balance adjusting device and method for a magnetic suspension fan rotor, and relates to the technical field of self-adaptive adjustment. The method comprises the steps of collecting a suspension bearing displacement signal, a magnetic suspension coil current signal, a machine body vibration acceleration signal, a motor end electromagnetic response signal and a rotor angular displacement parameter, and constructing a rotor operation signal set; performing preprocessing and feature extraction on each signal to obtain four types of feature data; inputting the comprehensive characteristic data into a rotor balance diagnosis model to identify the unbalance state of the rotor; based on an amplitude phase inversion algorithm, solving a virtual counterweight amplitude and a phase adjustment amount, and injecting into a suspension coil to execute adjustment; judging whether dynamic correction is needed or not according to the real-time comprehensive characteristic data, and if yes, generating a dynamic gain coefficient to correct the adjustment parameters and then injecting the adjustment parameters into the suspension coil again; according to the invention, real-time identification and self-adaptive adjustment are carried out on the mass unbalance vibration of the magnetic suspension fan rotor, the operation vibration of the rotor is effectively inhibited, and the balance stability and reliability of the system are improved.

The invention relates to a permanent magnet synchronous motor speed regulation control method based on an iterative terminal sliding mode algorithm, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor in a synchronous rotating coordinate system, and enabling the mathematical model to be a calculation formula of a derivative of stator current and rotor angular speed; constructing a state equation of a motor rotating speed tracking error based on the rotor angular speed and the rotor expected angular speed; designing a traditional nonsingular terminal sliding mode surface based on the rotating speed tracking error in the state equation and the derivative of the rotating speed tracking error, and replacing a traditional function in the traditional nonsingular terminal sliding mode surface with a non-smooth function to obtain an improved nonsingular terminal sliding mode surface; based on the state equation and the improved non-singular terminal sliding mode surface, constructing a non-singular terminal sliding mode controller which enables the rotating speed tracking error of the permanent magnet synchronous motor system to converge to an original point on the non-singular terminal sliding mode surface, and controlling the permanent magnet synchronous motor based on the non-singular terminal sliding mode controller; the problem that the torque pulsation phenomenon exists when the permanent magnet synchronous motor operates is solved.

The utility model discloses an automatic motor rotor production line, which is characterized in that a feeding device is used for feeding a rotor and detecting the front and back surfaces of the rotor, a material moving device is used for clamping and turning over the rotor jacked by a jacking mechanism, an angle adjusting device is used for horizontally rotating the rotor, and a chain plate conveying line comprises a chain plate line, a bearing plate and a positioning tool, the chain plate line is arranged on the machine table and extends in the machining direction, the multiple bearing plates are fixed to the chain plate line and used for bearing rotors, the positioning tool positions the rotors at the machining station, and the pressurization height measuring device and the marking device are used for conducting pressurization height measuring and laser marking on the rotors fed to the machining station through the chain plate conveying line correspondingly. And the discharging unit is used for transferring the rotor from the chain plate line to a discharging line. According to the feeding device, the feeding efficiency and the feeding precision of the rotor in the feeding process can be improved, the feeding efficiency and the feeding precision of the rotor when the rotor moves among the machining stations can be improved, and therefore the machining precision of each machining device on the rotor is improved.

A magnetic suspension pump anti-disturbance control method comprises the steps that torque current, rotor angle and suspension current of a magnetic suspension pump are given according to a certain step length, suspension force under corresponding conditions is measured, and the corresponding relation among the torque current, the rotor angle, the suspension current and the suspension force is recorded; fitting the corresponding relation into a conversion formula or summarizing the corresponding relation into a table, and setting the table in a force / current conversion module; designing a suspension position loop module based on an improved active-disturbance-rejection control method added with magnetic suspension pump key information; setting parameters of a state observer and a controller in the suspension position ring module; the force / current conversion module is combined with the suspension force instruction, the rotor angle and the torque current to generate a current instruction, and suspension winding current is generated through the current closed-loop module and output to the magnetic suspension pump; and judging whether the impeller returns to the center balance position or not, and if not, continuing to adjust until the impeller returns to the center balance position and is stably suspended. According to the invention, the problem of unstable suspension displacement caused by sudden load change of the magnetic suspension pump is solved.

The invention discloses a novel permanent magnet synchronous motor sensorless compound control strategy, and relates to the field of motor control. The method comprises the following steps: replacing a traditional proportional-integral controller with a nonsingular terminal sliding mode controller in a speed outer ring design, using an integral sliding mode surface, omitting an integral link of a q-axis given current, and replacing a sign function with a sigmoid function to improve the dynamic performance and robustness of a system; a high-frequency square wave injection method is adopted to carry out low-speed-domain position-sensorless control, in a middle-high-speed domain, aiming at the system buffeting problem caused by a traditional sliding mode observer, super-spiral sliding mode observation is adopted to carry out rotation angle observation, and meanwhile, an orthogonal phase-locked loop is adopted to eliminate the influence of large numerical value difference possibly occurring due to angle errors. The invention provides a novel permanent magnet synchronous motor sensorless compound control strategy, namely an angle-speed time-sharing weighted hysteresis switching strategy, aiming at the problem that the stability of a transition area is affected due to the fact that the traditional weighted switching in compound control possibly causes large deviation of the relation between the rotating speed and the rotor position. The non-singular sliding mode speed controller, the high-frequency square wave injection method, the improved super-spiral sliding mode observer method and the angle-speed time-sharing weighted hysteresis switching strategy are applied to the full-speed-domain sensorless control system, and the high-performance surface-mounted permanent magnet synchronous motor sensorless control system is achieved.

The utility model discloses a signal processing circuit and system, and relates to the technical field of signal processing, and the signal processing circuit comprises a timing comparator which is used for carrying out counting reset and signal comparison according to an edge event obtained by detecting a zero crossing point of an excitation signal, and outputting a periodic event signal and a sampling trigger signal; the interrupt controller is connected with the timing comparator and is used for outputting an interrupt trigger signal according to the periodic event signal; the AD converter is respectively connected with the timing comparator and the rotary transformer and is used for carrying out sine and cosine electric signal sampling on the rotary transformer according to the sampling trigger signal to obtain a sampling signal; and the microcontroller is respectively connected with the interrupt controller and the AD converter, and is used for carrying out peak value sampling according to the excitation signal and the sampling signal when receiving the interrupt trigger signal so as to extract and obtain an envelope signal. According to the method and the device, the effect of improving the accuracy of envelope signal extraction and the accuracy of subsequent rotor angle calculation is achieved.

The invention discloses a brushless motor rotor angle determination method and device, equipment and a storage medium. The method comprises the following steps: synchronously acquiring original angle data of a Hall sensor, an incremental encoder and a back electromotive force observation module; respectively determining confidence coefficients of the Hall sensor, the incremental encoder and the back electromotive force observation module according to the rotating speed of the rotor, and performing weighted fusion on the original angle data of the Hall sensor, the incremental encoder and the back electromotive force observation module to obtain an initial fusion angle; based on the motor temperature, the motor phase current and the rotor speed, calculating a temperature drift compensation angle through a segmented temperature drift coupling model, and compensating the initial fusion angle according to the temperature drift compensation angle to obtain a temperature drift compensated angle; and inputting the temperature drift compensated angle into an extended Kalman filter for state estimation and filtering to obtain a rotor angle estimation value at the current moment. By means of the method, high-precision real-time calculation of the rotor angle within the wide temperature range and the full rotating speed range can be achieved.

An electromagnetic transient modeling method and system for a high-efficiency synchronous machine, and, a device. The method comprises: predicting, of a synchronous machine, a first rotor angular velocity, a first rotor angle, and a first current q component of and a first current d component of an armature current, establishing a first Norton circuit for simulating the synchronous machine, and solving at the same time a second Norton circuit after equivalent transformation and a network conductance matrix so as to obtain a three-phase voltage of a synchronous machine port; according to the three-phase voltage, obtaining a second current q component, a second current d component, a second rotor angular velocity and a second rotor angle; and by means of error-controlled iterative solving, determining an electromagnetic transient simulation calculation result of the synchronous machine.

The invention relates to the field of brushless motors, and particularly discloses a brushless motor control system and a brushless motor control method, and the brushless motor control system uses a non-inductive FOC control mode to drive a brushless motor to operate in a no-load manner so as to obtain a first no-load rotor angle. Performing time-frequency analysis on sine wave feedback signals provided by two linear Hall sensors on a brushless motor driving board by adopting a signal processing technology based on deep learning, extracting time-frequency characteristic representation of the signals, and performing fine-grained global interactive coding on the time-frequency characteristics of the two signals; the method comprises the steps of identifying and strengthening key information interaction between signals to realize high-precision prediction of the angle of a second no-load rotor of the brushless motor, calculating an angle compensation value on this basis, and performing inductive FOC control based on the angle compensation value on the motor in the subsequent normal use process of the motor, so that the influence of signal noise and calculation errors can be effectively reduced, and the reliability of the motor is improved. The accuracy of motor rotor position estimation is improved, and the overall control precision of the motor is improved.

The invention relates to the field of magnetic suspension motor driving control, and discloses a high-reliability motor commutation method based on same-frequency displacement conversion of a magnetic suspension rotor, and the method comprises the following steps: collecting a multi-channel rotor displacement signal of a magnetic suspension bearing system; carrying out same-frequency positive-sequence component extraction and phase locking calculation to obtain a rotor space angle position estimation value; multiple paths of redundant rotor angular position signals are constructed, and main rotor space angular position signals are generated; executing initial alignment and error correction of a motor rotor angle, and locking an angle compensation value in a closed loop mode based on the waveform change rate of the direct current bus current at the pre-estimated commutation moment; synthesizing the motor commutation angle, and generating a pulse width modulation signal to drive the motor to operate. A magnetic suspension rotor displacement signal is processed through a second-order generalized integrator cascade instantaneous symmetric component method, so that the effect of high signal-to-noise ratio rotor position detection is realized by directly utilizing an existing magnetic bearing displacement sensor under the condition that a Hall element or a photoelectric encoder does not need to be additionally arranged.

The invention relates to the technical field of motor control, and discloses a micro motor magnetic coding calibration method, system and device and a storage medium. The method comprises the steps that machine vision equipment detects the rotor angle of a motor to be calibrated and feeds back a detected rotor angle detection value to a driving controller, and the driving controller establishes an initial calibration array according to the rotor angle detection value; the driving controller performs legality detection on the rotor angle detection value in the initial calibration array, and corrects detected abnormal rotor angle data to obtain an optimized calibration array; and the driving controller establishes a bias calibration array, performs error compensation on the optimized calibration array through the bias calibration array to obtain a calibration array, and calibrates the rotor angle of the motor to be calibrated according to the calibration array. The method belongs to a reverse non-contact calibration scheme for calibration positioning, the calibration precision is improved through different interpolation methods, and the method is suitable for a miniature high-precision motor and other scenes in which a servo twin trawling platform cannot be used for calibration.

A method for rotor angle estimation for a 3-phase BLDC or stepper motor with a saliency ratio different from 1 includes receiving a requested duty cycle per motor phase from a motor control algorithm or deriving it from an output voltage per motor phase. The method involves providing a PWM pattern to each motor phase during operation, where the PWM pattern per motor phase matches the requested duty cycle or includes an equal fixed additional duty cycle. Current slopes in each motor phase are measured during active PWM pulses, and these measured current slopes or their average are compared to estimate the rotor angle.

The present invention relates to a method for determining an angular position of a rotor of a three-phase synchronous electrical machine, in which the following steps are implemented: a) the instantaneous voltages (U) and currents (I) of each phase are measured (Mes); b) a first rotational speed (ωest) and a first angular position (θest) of a voltage vector are estimated (Est1) from at least the voltages measured in step a); c) said angular position of the rotor (θrotor) is determined (Det1) from said first rotational speed (ωest) and said first angular position (θest) of the voltage vector, the measured currents (I) and from an optimization method based on the search for the maximum power of the electrical machine. The invention also relates to a control method, an electrical machine, a computer program product and a storage medium readable by computer means. Figure 1 to be published

The invention relates to a method, a device and equipment for determining the operation condition of a switched reluctance motor. The method includes obtaining a first data set of phase inductance, phase current, and rotor angle for the switched reluctance motor. The method further includes expanding the first data set into a second data set by the neural network model, the phase inductance in the second data set being associated with the flux linkage of the switched reluctance motor, the flux linkage being used to determine the operating condition of the switched reluctance motor. Through the mode, the data sets of the phase inductance, the phase current and the rotor angle can be expanded based on the neural network model, the situation that only the switched reluctance motor is observed to collect data is avoided, the data size of the data sets is increased, the collection cost of the data sets is reduced, and therefore the accuracy of the flux linkage and the operation condition is improved; and thus, the control accuracy of the switched reluctance motor is improved.

The present invention provides a method for estimating the subtransient reactance of a surface-mounted permanent magnet motor based on the finite element method, which relates to the technical field of motors. The method includes constructing a finite element model, setting the rotor angular frequency, and calculating the back electromotive force amplitude and synchronous reactance under specific working conditions; performing at least two groups of parameter settings on the model, short-circuiting the three-phase winding circuit, and calculating the three-phase short-circuit current waveform; for the three-phase short-circuit current waveforms under different groups of parameters, selecting a specific phase to calculate the waveform difference; performing a spectral analysis on the waveform difference, and calculating the subtransient reactance parameter under the initial rotor position condition according to the relevant parameters of specific spectral components, the back electromotive force amplitude, and the synchronous reactance; changing the initial rotor position, and taking the average value of the subtransient reactance parameters at multiple positions as the final result. The present invention considers the influence of rotor eddy currents, and based on the finite element method, accurately and efficiently estimates the subtransient reactance through multi-step calculations and parameter adjustments, helping to optimize the power system.

This invention provides a method, apparatus, device, and medium for determining the rotor temperature of an asynchronous motor, thereby improving the accuracy of determining the real-time rotor temperature. The method includes: determining the real-time slip angular velocity; wherein the slip angular velocity is the difference between the stator angular velocity and the rotor angular velocity; determining the real-time rotor resistance based on the slip angular velocity and the q-axis rotor voltage equation; and determining the real-time rotor temperature based on the real-time rotor resistance and a preset formula; wherein the preset formula corresponds to the temperature change characteristics of the rotor resistance.

A motor starting control method, device, and system, the method including: accumulating electrical parameter to obtain accumulated electrical parameter values, which are alternately assigned to a direct-axis electrical parameter and quadrature-axis electrical parameter; accumulating an angular increment to obtain accumulated values of a forced-driving angle; generating a control signal for a motor based on real-time values of the direct-axis electric parameter, quadrature-axis electrical parameter, and forced-driving angle; the control signal drives the motor; repeating said steps until the direct-axis electrical parameter or the quadrature-axis electrical parameter reaches a target electrical parameter, and then continuing accumulating to obtain the accumulated values of the forced-driving angle while forcibly driving the motor based on the corresponding control signal; when the real-time value of the forced-driving angle stays in sync with the rotor angle, the motor completes the startup; the motor is driven by alternately applying two perpendicular forces to the rotor.