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EP-4738691-A1 - METHOD FOR CALIBRATING PERMANENT MAGNET SYNCHRONOUS MOTOR, ELECTRONIC DEVICE, STORAGE MEDIUM, AND VEHICLE

EP4738691A1EP 4738691 A1EP4738691 A1EP 4738691A1EP-4738691-A1

Abstract

A method for calibrating a permanent magnet synchronous motor, an electronic device, a storage medium, and a vehicle are provided. The method includes: acquiring motor inductance parameters under different currents according to a preset direct-quadrature (d-q) axis rotating coordinate voltage equation of the permanent magnet synchronous motor; and processing the motor inductance parameters using a preset data processing script to generate a target two-dimensional (2D) lookup table, where the target 2D lookup table includes d-axis currents and q-axis currents corresponding to different motor flux linkages and motor torques, and is used for calibrating the permanent magnet synchronous motor. The embodiments of the present application acquires the motor inductance parameters via the d-q axis rotating coordinate voltage equation, and uses the preset data processing script to generate the target 2D lookup table containing the d-axis currents and the q-axis currents corresponding to different motor flux linkages and motor torques. This optimizes the calibration algorithm, reduces the operational load on both hardware and software, enables precise calibration of the current commands of the motor under different working conditions.

Inventors

  • TENG, ZHAOLIN
  • LI, SONG

Assignees

  • Hycet Transmission System (Jiangsu) Co., Ltd.

Dates

Publication Date
20260506
Application Date
20251029

Claims (13)

  1. A method for calibrating a permanent magnet synchronous motor, characterized by , comprising: acquiring (101) motor inductance parameters under different currents according to a preset direct-quadrature, d-q, axis rotating coordinate voltage equation of the permanent magnet synchronous motor; and processing (102) the motor inductance parameters using a preset data processing script to generate a target two-dimensional, 2D, lookup table, wherein the target 2D lookup table comprises d-axis currents and q-axis currents corresponding to different motor flux linkages and motor torques, and is used for calibrating the permanent magnet synchronous motor.
  2. The method according to claim 1, wherein the acquiring the motor inductance parameters under different currents according to the preset d-q axis rotating coordinate voltage equation of the permanent magnet synchronous motor comprises: presetting a stator resistance and a permanent magnet flux linkage; predetermining different stator d-axis currents and different stator q-axis currents; monitoring a phase voltage fundamental value and a power factor of the permanent magnet synchronous motor operating under different working conditions; and determining a stator d-axis voltage and a stator q-axis voltage based on the phase voltage fundamental value and the power factor.
  3. The method according to claim 1, wherein the processing the motor inductance parameters using the preset data processing script to generate the target 2D lookup table comprises: processing the motor inductance parameters based on a preset torque equation and the preset data processing script to generate the target 2D lookup table, wherein the motor torque is calculated using the preset torque equation, and the motor flux linkage is calculated based on a preset d-axis voltage and a preset q-axis voltage at a corresponding rational speed.
  4. The method according to claim 1, wherein after the processing the motor inductance parameters using the preset data processing script to generate the target 2D lookup table, the method further comprises: constructing a feedback closed-loop control model based on the target 2D lookup table, a proportional-integral, PI, regulator and a preset space vector pulse width modulation, SVPWM, algorithm; upon detecting that the permanent magnet synchronous motor is in a target operating state, modifying a voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model; and updating the target 2D lookup table based on the modified voltage utilization rate of the permanent magnet synchronous motor.
  5. The method according to claim 4, wherein after the constructing the feedback closed-loop control model based on the target 2D lookup table, the PI regulator and the preset SVPWM algorithm, the method further comprises: acquiring a current motor flux linkage and a current motor torque corresponding to the permanent magnet synchronous motor through sensors; searching the target 2D lookup table for a target d-axis current and a target q-axis current based on the current motor flux linkage and the current motor torque; obtaining current error values between an actual d-axis current and the target d-axis current, as well as between an actual q-axis current and the target q-axis current, respectively; and processing the current error values through the PI regulator in the feedback closed-loop control model to generate a target voltage command.
  6. The method according to claim 5, wherein the updating the target 2D lookup table based on the modified voltage utilization rate of the permanent magnet synchronous motor comprises: obtaining a current voltage utilization rate and a target voltage utilization rate; generating a modified d-axis current and a modified q-axis current based on the current voltage utilization rate, the target voltage utilization rate, the target d-axis current, and the target q-axis current; and updating the target 2D lookup table based on the modified d-axis current and the modified q-axis current.
  7. The method according to claim 2, wherein the determining the stator d-axis voltage and the stator q-axis voltage based on the phase voltage fundamental value and the power factor comprises: summing the power factor angle and a current command angle to acquire angles of the stator d-axis voltage and the stator q-axis voltage, and calculating the stator d-axis voltage and the stator q-axis voltage based on the phase voltage fundamental value and the angles.
  8. The method according to claim 2 or 7, wherein the preset d-q axis rotating coordinate voltage equation of the permanent magnet synchronous motor comprises: Ud = Rs * id + Ld d dt id − ωe * Lq * iq , and Ud = Rs * iq + Ld d dt id − ωe * Lq * iqd + ωe * ψf , wherein, in the preset d-q axis rotating coordinate voltage equation, Ud represents the stator d-axis voltage, Uq represents the stator q-axis voltage, id represents the stator d-axis current, iq represents the stator q-axis current, Rs represents the stator resistance, Ld represents a stator d-axis inductance, Lq represents a stator q-axis inductance, ωe represents a rotor rotation speed, and ψf represents the permanent magnet flux linkage.
  9. The method according to any one of claims 1, 3, and 8, wherein a calculation formula for the flux linkage is: Us = Ud 2 + Uq 2 , and λ = Us / ωe , wherein, in the calculation formula, Us represents a motor stator phase voltage, Ud represents the stator d-axis voltage, Uq represents the stator q-axis voltage, λ represents the flux linkage, ωe represents a rotor rotation speed.
  10. The method according to claim 3, wherein the torque equation comprises: T = 1.5 * Pn * iq ψpm + Ld − Lq * id , wherein, in the torque equation, T represents the motor torque, Pn represents a number of motor pole pairs, iq represents a stator q-axis current, id represents a stator d-axis current, ψpm represents a permanent magnet flux linkage of the motor, Ld represents a stator d-axis inductance of the motor, and Lq represents a stator q-axis inductance of the motor.
  11. An electronic device, characterized by , comprising a processor (301) and a memory (303), wherein the memory (303) is configured to store computer programs capable of being executed by the processor (301), wherein the computer programs, when executed by the processor (301), cause the processor (301) to implement the method for calibrating the permanent magnet synchronous motor according to any one of claims 1 to 10.
  12. A non-transitory computer-readable storage medium configured to store computer programs, characterized in that , the computer programs, when executed by a processor, cause the processor to implement the method for calibrating the permanent magnet synchronous motor according to any one of claims 1 to 10.
  13. A vehicle, characterized by comprising the electronic device according to claim 11.

Description

TECHNICAL FIELD The present application relates to the field of calibration technologies, and in particular, to a method and an apparatus for calibrating a permanent magnet synchronous motor, an electronic device, a storage medium, and a vehicle. BACKGROUND The permanent magnet synchronous motor (PMSM), as the preferred choice for electric vehicle drive systems, has rapidly captured the new energy vehicle market and seen a gradually increasing market share due to its advantages such as fast torque response, small size, high efficiency, and low noise. The rapid development of electric vehicles and strong market demand are driving the swift advancement of drive motors towards higher speeds, lighter weight, and higher efficiency. Optimizing motor control and calibration strategies not only meets the demand for efficient control of drive systems in electric vehicles but also holds significant strategic importance for the competitiveness of PMSM products. Existing calibration techniques involve using large-scale power test benches to apply three-phase currents and angles to the permanent magnet synchronous motor, obtaining direct-axis and quadrature-axis current values that meet the requirements of maximum torque per ampere (MTPA) and maximum torque per voltage (MTPV) characteristics. Finally, field-oriented control of the permanent magnet synchronous motor is achieved through a three-dimensional lookup table method based on voltage, speed, and torque. However, the aforementioned method occupies substantial chip memory, has low resource utilization, and involves a long calibration cycle, which does not align with the current market requirements for rapid iteration and updates of electric drive products. SUMMARY In view of this, the present application aims to provide a method and an apparatus for calibrating a permanent magnet synchronous motor, an electronic device, a storage medium, and a vehicle, to address problems of master-slave role switching and accurate torque distribution after a vehicle steer-by-wire system failure, which are detrimental to achieving safety objectives of a system. According to a first aspect of the present application, a method for calibrating a permanent magnet synchronous motor is provided. The method includes: acquiring motor inductance parameters under different currents according to a preset direct-quadrature (d-q) axis rotating coordinate voltage equation of the permanent magnet synchronous motor; andprocessing the motor inductance parameters using a preset data processing script to generate a target two-dimensional (2D) lookup table, where the target 2D lookup table includes d-axis currents and q-axis currents corresponding to different motor flux linkages and motor torques, and is used for calibrating the permanent magnet synchronous motor Optionally, the acquiring the motor inductance parameters under different currents according to the preset d-q axis rotating coordinate voltage equation of the permanent magnet synchronous motor includes: presetting a stator resistance and a permanent magnet flux linkage;predetermining different stator d-axis currents and different stator q-axis currents;monitoring a phase voltage fundamental value and a power factor of the permanent magnet synchronous motor operating under different working conditions; anddetermining a stator d-axis voltage and a stator q-axis voltage based on the phase voltage fundamental value and the power factor Optionally, the processing the motor inductance parameters using the preset data processing script to generate the target 2D lookup table includes: processing the motor inductance parameters based on a preset torque equation and the preset data processing script to generate the target 2D lookup table, where the motor torque is calculated using the preset torque equation, and the motor flux linkage is calculated based on a preset d-axis voltage and a preset q-axis voltage at a corresponding rational speed. Optionally, after the processing the motor inductance parameters using the preset data processing script to generate the target 2D lookup table, the method further includes: constructing a feedback closed-loop control model based on the target 2D lookup table, a proportional-integral (PI) regulator and a preset space vector pulse width modulation (SVPWM) algorithm;upon detecting that the permanent magnet synchronous motor is in a target operating state, modifying a voltage utilization rate of the permanent magnet synchronous motor based on the feedback closed-loop control model; andupdating the target 2D lookup table based on the modified voltage utilization rate of the permanent magnet synchronous motor Optionally, after the constructing the feedback closed-loop control model based on the target 2D lookup table, the PI regulator and the preset SVPWM algorithm, the method further includes: acquiring a current motor flux linkage and a current motor torque corresponding to the permanent magnet synchronous motor t