CN115864930A - Signal processing method and device of motor controller and electronic equipment - Google Patents
Signal processing method and device of motor controller and electronic equipment Download PDFInfo
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- CN115864930A CN115864930A CN202310187053.8A CN202310187053A CN115864930A CN 115864930 A CN115864930 A CN 115864930A CN 202310187053 A CN202310187053 A CN 202310187053A CN 115864930 A CN115864930 A CN 115864930A
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Abstract
The application discloses a signal processing method and a signal processing device of a motor controller and electronic equipment, wherein the method is applied to the motor controller, the motor controller is connected with a rotary transformer, and the rotary transformer is used for measuring rotation information of a target motor, and the method comprises the following steps: starting a rotary transformer signal for controlling the rotary transformer and a motor signal corresponding to the rotation information of the target motor; based on the acquired first waveform table, adjusting the starting time of the motor signal and/or adjusting the initial phase of the rotary variable signal so as to compare the waveform of the rotary variable signal with the waveform of the motor signal; in the case where the waveforms are compared, the motor controller controls the resolver to measure rotation information of the target motor. The signal processing method can ensure that the waveform of the rotary variable signal is compared with the waveform of the motor signal, so that electromagnetic interference can be avoided when the generated feedback signal is sampled.
Description
Technical Field
The present disclosure relates to the field of signal control and signal processing, and in particular, to a signal processing method and apparatus for a motor controller, and an electronic device.
Background
At present, rotary transformers are often used on equipment such as automobiles. A resolver is a sensor that accurately measures the angular position and speed of a rotating component such as an electric machine by the magnetic interaction of a primary winding and two secondary windings. When the rotary transformer works, an excitation signal needs to be applied to the rotary transformer so that the rotary transformer generates a corresponding feedback signal, and the rotation information of a rotating component such as a motor can be determined through sampling samples of the feedback signal.
At present, in the process of generating the excitation signal, the feedback signal is generally sampled at equal intervals, and the waveform of the feedback signal is not considered, so that the sampling position is irregular, and further, the sampling sample may be inaccurate due to the fact that the sampling sample cannot avoid electromagnetic interference.
Disclosure of Invention
An object of the embodiments of the present application is to provide a signal processing method and apparatus for a motor controller, and an electronic device, where the signal processing method can ensure that a waveform of a resolver signal and a waveform of a motor signal are compared with each other, so that electromagnetic interference can be avoided when sampling a generated feedback signal.
In order to achieve the above object, an embodiment of the present application provides a signal processing method for a motor controller, which is applied to a motor controller, where the motor controller is connected to a resolver, and the resolver is used to measure rotation information of a target motor, where the method includes:
starting a rotary transformer signal for controlling the rotary transformer and a motor signal corresponding to the rotation information of the target motor;
based on the acquired first waveform table, adjusting the starting time of the motor signal and/or adjusting the initial phase of the rotary variable signal so as to compare the waveform of the rotary variable signal with the waveform of the motor signal;
in the case where the waveforms are compared, the motor controller controls the resolver to measure rotation information of the target motor.
Optionally, in the case that the waveforms are contrasted, the motor controller controls the resolver, and includes:
determining an excitation signal for exciting the resolver based on the resolver signal;
sending the excitation signal to the rotary transformer to enable the rotary transformer to generate a feedback signal based on the excitation signal, wherein the feedback signal is used for determining the rotation information of the target motor.
Optionally, the starting a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor includes:
starting the rotary transformer signal and the motor signal in sequence;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotating signal based on the acquired first waveform table comprises:
adjusting the starting time of the motor signal based on the first waveform table acquired from the first memory so that the adjusted waveform of the motor signal is compared with the waveform of the rotation signal.
Optionally, the adjusting the start time of the motor signal based on the first waveform table retrieved from the first memory comprises:
and under the condition that the waveforms of the rotary change signal and the motor signal are determined not to be synchronous, adjusting the starting time of the motor signal based on the sine table.
Optionally, the starting a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor includes:
starting the rotary transformer signal and the motor signal at the same time;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotation signal based on the acquired first waveform table comprises:
adjusting an initial phase of the resolver signal based on the first waveform table retrieved from the first memory so that the adjusted waveform of the resolver signal is compared with a waveform of the motor signal.
Optionally, the first waveform table is a sine table, and the adjusting the initial phase of the rotation signal based on the first waveform table retrieved from the first memory includes:
and under the condition that the waveforms of the rotary variable signal and the motor signal are determined not to be synchronous, adjusting the initial phase of the rotary variable signal based on the sine table.
Optionally, the adjusting the initial phase of the rotation signal includes:
and adjusting the initial phase of the rotary signal by adjusting the duty ratio of the rotary signal.
Optionally, the waveform of the motor signal is a triangular wave, and the step of comparing the waveform of the rotation signal with the waveform of the motor signal includes:
the wave crest and the wave trough of the waveform of the rotary change signal are respectively aligned with the wave crest and the wave trough of the triangular wave of the motor signal.
Optionally, the method further comprises:
sampling the feedback signal, including taking a predetermined number of first samples at least one sampling location of the feedback signal;
determining a respective first set of samples based on the first samples acquired;
based on at least one of the first sample sets, rotation information of the target motor is determined.
Optionally, the determining a respective first set of samples based on the acquired first samples includes:
removing the first sample that deviates from the sampling position of the feedback signal;
determining, among the retained first samples, a mean of the first samples at the same sampling location in the feedback signal;
in the event that the mean is within a first range, the mean is determined to be the corresponding first sample set.
The embodiment of the present application further provides a signal processing device of a motor controller, which is applied to the motor controller, the motor controller is connected to a rotary transformer, the rotary transformer is used for measuring the rotation information of a target motor, and the device includes:
a starting module configured to start a resolver signal for controlling the resolver and a motor signal corresponding to rotation information of the target motor;
an adjusting module configured to adjust a start time of the motor signal and/or adjust an initial phase of the rotation signal based on the acquired first waveform table so as to compare a waveform of the rotation signal with a waveform of the motor signal;
a control module configured to control the resolver to measure rotation information of the target motor in a case where the waveforms are contrasted.
An embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores therein an executable program, and the memory executes the executable program to perform the steps of the method described above.
Embodiments of the present application further provide a storage medium carrying one or more computer programs, which when executed by a processor implement the steps of the method as described above.
Embodiments of the present application also provide a vehicle, which includes a processing unit, and the processing unit is capable of executing the steps of the method described above.
The signal processing method can ensure that the waveform of the rotary variable signal is compared with the waveform of the motor signal, so that electromagnetic interference can be avoided when the generated feedback signal is sampled, for example, the sampling is carried out at a specific sampling position of the feedback signal, and accurate sampling information can be obtained, and further the rotation information of the target motor can be accurately determined.
Drawings
Fig. 1 is a flowchart of a signal processing method of a motor controller according to an embodiment of the present application;
FIG. 2 is a flowchart of an embodiment of step S300 in FIG. 1 according to an embodiment of the present application;
FIG. 3 is a flow chart of one embodiment of a signal processing method of an embodiment of the present application;
FIG. 4 is a flowchart of one embodiment of step S500 in FIG. 3 according to an embodiment of the present application;
FIG. 5 is a flow chart of an embodiment of a signal processing method according to the present application;
FIG. 6 is a flow chart of another embodiment of a signal processing method according to an embodiment of the present application;
fig. 7 is a schematic diagram after a resolver signal and a motor signal are started in a signal processing method according to an embodiment of the application;
FIG. 8 is a schematic diagram illustrating a comparison of a feedback signal with a rotation signal and a motor signal according to an embodiment of the present application;
fig. 9 is a schematic diagram illustrating a feedback signal being normally sampled by a signal processing method according to an embodiment of the present application;
fig. 10 is a schematic diagram illustrating a feedback signal being sampled by the signal processing method according to the embodiment of the present application when the feedback signal is interfered;
fig. 11 is a block diagram of a signal processing device of a motor controller according to an embodiment of the present application;
fig. 12 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Various aspects and features of the present application are described herein with reference to the drawings.
It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the application.
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with a general description of the application given above and the detailed description of the embodiments given below, serve to explain the principles of the application.
These and other characteristics of the present application will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.
It is also to be understood that although the present application has been described with reference to some specific examples, those skilled in the art are able to ascertain many other equivalents to the practice of the present application.
The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the application, which can be embodied in various forms. Well-known and/or repeated functions and constructions are not described in detail to avoid obscuring the application of unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present application in virtually any appropriately detailed structure.
The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the application.
The signal processing method of the motor controller is applied to the motor controllers in various types of equipment. The motor controller is used for controlling the rotary transformer, and comprises an excitation signal sent to the rotary transformer so that the rotary transformer can perform feedback based on the excitation signal, and further determines rotation information of a rotating component such as a target motor and the like, such as angular position and speed and the like, based on the feedback signal sent by the rotary transformer.
The signal processing method of the embodiment of the application comprises the following steps: and acquiring a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor. Wherein the resolver signal is a signal generated by a motor controller for controlling the resolver by a user, and the motor controller may generate the excitation signal based on the resolver signal. The motor signal may be a signal corresponding to the target motor during operation. The motor controller adjusts the rotary variable signal and the motor signal, and synchronizes the waveform of the rotary variable signal with the waveform of the motor signal. In this case, an excitation signal is generated based on the resolver signal and transmitted to the resolver. The resolver generates a feedback signal based on the excitation signal. The feedback signal can be sampled without disturbing the sampled samples. And then, determining accurate rotation information of the target motor according to the analysis result of the sample.
The signal processing method will be described in detail below with reference to the accompanying drawings. Fig. 1 is a flowchart of a signal processing method of a motor controller according to an embodiment of the present application, where the signal processing method is applied to a motor controller, the motor controller is connected to a resolver, and the resolver is used for measuring rotation information of a target motor, as shown in fig. 1, the method includes the following steps:
and S100, starting a rotary transformer signal for controlling the rotary transformer and a motor signal corresponding to the rotation information of the target motor.
Illustratively, the resolver includes a sensor that accurately measures the angular position and speed of a rotating component, such as a target motor, through the magnetic cooperation of a primary winding and two secondary windings. The method can be used for equipment such as vehicles, and rotation information of a target motor in the equipment such as vehicles is determined through a rotary transformer.
The motor controller is connected with the rotary transformer and can control the rotary transformer so as to determine the rotation information of the target motor based on the rotary transformer.
The motor controller may generate a rotation signal and acquire a motor signal corresponding to rotation information of the target motor. The resolver signal is used for generating an excitation signal for exciting the resolver, and the motor controller controls the resolver through the excitation signal. The motor controller can control the starting rotary change signal and the motor signal, wherein the starting rotary change signal and the motor signal are sequentially or simultaneously started.
And S200, adjusting the starting time of the motor signal and/or adjusting the initial phase of the rotary variable signal based on the acquired first waveform table so as to compare the waveform of the rotary variable signal with the waveform of the motor signal.
Illustratively, the contents of the first waveform table may be predetermined. In one aspect, the contents of the first waveform table may include a start time of the motor signal and/or an initial phase of the adjustment rotation signal calculated based on a preset algorithm, and the preset algorithm may be pre-configured according to actual use conditions and user requirements. Alternatively, the first waveform table may have its contents determined based on historical data and/or empirical data.
Alternatively, the first waveform table may be stored in a first memory device of the electronic device, and in use the first waveform table may be retrieved from the first memory device for use. The first waveform table is obtained, for example, by way of DMA (direct memory Access).
Based on the first waveform table, the starting time of the motor signal can be adjusted and/or the initial phase of the rotation signal can be adjusted, so that the adjusted motor signal and the waveform of the rotation signal are compared, and the fluctuation trend of the waveform is consistent. For example, the peak of the motor signal is compared with the peak of the rotation signal, and the valley of the motor signal is compared with the valley of the rotation signal.
And S300, under the condition that the waveforms are contrasted, the motor controller controls the rotary transformer to measure the rotation information of the target motor.
For example, when the waveforms of the motor signal and the resolver signal are compared, the excitation signal generated by the motor controller and the corresponding feedback signal generated by the resolver may also be compared with the resolver signal, respectively. Including the feedback signal against the waveform of the revolutionary signal.
And the motor controller controlling the rotation information of the resolver measurement target motor includes: and controlling the rotary transformer to generate a feedback signal so as to sample the feedback signal to acquire rotation information. For example, sampling can be performed based on the waveform of the feedback signal to achieve sampling to avoid electromagnetic interference, and then rotation information of the target motor can be accurately determined based on the collected sample.
The signal processing method of the embodiment can ensure that the waveform of the rotary-change signal is compared with the waveform of the motor signal, so that electromagnetic interference can be avoided when the generated feedback signal is sampled, for example, sampling is carried out at a specific sampling position on the envelope of the feedback signal, and thus accurate sampling information can be obtained, and further the rotation information of the target motor can be accurately determined.
In an embodiment of the present application, in the case that the waveforms are compared, the motor controller controls the resolver to measure the rotation information of the target motor, as shown in fig. 2, including the steps of:
and S310, determining an excitation signal for exciting the rotary transformer based on the rotary transformer signal.
For example, the motor controller may generate the excitation signal based on the spin signal. If the rotary transformer signal can be correspondingly adjusted according to the input requirement of the rotary transformer; for another example, the waveform-adjusted spin-change signal may be determined as the excitation signal.
The determined excitation signal can be used for inputting a signal to the rotary transformer, so that the rotary transformer can perform corresponding feedback on the excitation signal, and the feedback result can represent the rotation information of the target motor.
In one embodiment, the excitation signal generated by the motor controller is also contrasted with the waveforms of the resolver signal and the motor signal, respectively, as the waveforms of the resolver signal and the motor signal are contrasted.
And S320, sending the excitation signal to the rotary transformer so as to enable the rotary transformer to generate a feedback signal based on the excitation signal, wherein the feedback signal is used for determining the rotation information of the target motor.
Illustratively, the motor controller is coupled to the resolver and is configured to send an excitation signal to the resolver to excite the resolver for feedback. The rotary transformer is connected with the target motor, can detect the rotation information of the target motor and generate a corresponding feedback signal, and therefore the feedback signal can represent the rotation information of the target motor.
After receiving the excitation signal, the rotary transformer responds to the excitation signal and sends a generated feedback signal to the motor controller. The motor controller may sample the feedback signal.
In one embodiment, electromagnetic interference phenomena occur frequently due to electromagnetic interference during operation of a device incorporating the motor controller, particularly on uphill and downhill slopes of the waveform of the excitation signal. Therefore, when the feedback signal is sampled, the sampling can be carried out at a specific sampling position of the envelope of the feedback signal, so that the collected samples can avoid electromagnetic interference, and the content of the samples is accurate. And then the rotation information of the target motor is accurately determined according to the sample.
In one embodiment of the present application, as shown in fig. 5, the starting of the resolver signal for controlling the resolver and the motor signal corresponding to the rotation information of the target motor includes the steps of:
starting the rotary transformer signal and the motor signal in sequence;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotation signal based on the acquired first waveform table comprises the following steps:
adjusting the starting time of the motor signal based on the first waveform table acquired from the first memory so that the adjusted waveform of the motor signal is compared with the waveform of the rotation signal.
Illustratively, in conjunction with fig. 7 and 8, the rotation signal may be a Sinusoidal Pulse Width Modulation (SPWM) signal obtained by filtering (e.g., RC filtering) the Sinusoidal PWM signal. The PWM is called Pulse Width Modulation (Pulse Width Modulation). The SPWM changes the pulse modulation mode on the basis of PWM, and the pulse width time duty ratio is arranged according to a sine rule, so that sine wave output can be realized by properly filtering an output waveform.
The motor signal representing the rotation information of the target motor may be a Space Vector Pulse Width Modulation (SVPWM) signal.
As shown in fig. 5, after initializing the device related to the motor controller, the motor controller may control to start the resolver signal and the motor signal in sequence. For example, the motor controller may control the spin signal to be initiated prior to the motor signal. The motor controller may first start the SPWM signal and then start the SVPWM signal. And adjusting the starting time of the SVPWM signal, for example, delaying the starting time of the SVPWM signal by a first time period, so that the fluctuation trend of the waveform of the started SPWM signal is the same as that of the SVPWM signal, for example, the wave crest of the SPWM signal is contrasted with the wave crest of the SVPWM signal, and the wave trough of the SPWM signal is contrasted with the wave trough of the SVPWM signal.
In one embodiment, upon determining that the slew signal is not synchronized with the waveform of the motor signal, the motor controller adjusts the start time of the motor signal based on the first waveform table retrieved from the first memory. For example, the first waveform table may be stored in an internal memory of an electronic device including a motor controller, and the first waveform table may be retrieved from the internal memory and tuned into an external device corresponding to the motor controller when in use. The start time of the motor signal may be adjusted based on the adjustment content recorded in the first waveform table in association with the motor signal.
Preferably, the first waveform table is a sine table, and the adjusting the start time of the motor signal based on the first waveform table retrieved from the first memory includes:
and under the condition that the waveforms of the rotary change signal and the motor signal are determined not to be synchronous, adjusting the starting time of the motor signal based on the sine table.
Specifically, with reference to fig. 7 and 8, the first waveform table may be a sine table or a cosine table. In this embodiment, the first waveform table is a sine table, and the start time of the motor signal needs to be adjusted when it is determined that the waveforms of the rotation signal and the motor signal are not synchronous. For example, the waveform of the SVPWM signal (motor signal) has a phase lag with respect to the SPWM signal (the SPWM signal can be obtained as a rotational signal by RC filtering), so that the start time of the motor signal can be adjusted based on the sine table, so that the SVPWM signal (motor signal) is synchronized with the waveform of the SPWM signal.
In one embodiment, the first waveform table may be a sine table constructed based on an excitation period (cycle), which may be a period during which the motor controller excites the resolver. So that the contents of the first waveform table can be used as a basis for accurately adjusting the motor signal.
In one embodiment of the present application, as shown in fig. 6, the starting a resolver signal for controlling the resolver, and a motor signal corresponding to the rotation information of the target motor includes:
starting the rotary change signal and the motor signal simultaneously;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotation signal based on the acquired first waveform table comprises:
adjusting an initial phase of the resolver signal based on the first waveform table retrieved from the first memory so that the adjusted waveform of the resolver signal is compared with a waveform of the motor signal.
Illustratively, continuing with the above embodiments, and with reference to fig. 7 and 8, the spiral signal is a Sinusoidal Pulse Width Modulation (SPWM) signal obtained by filtering (e.g., RC filtering). The motor signal may be a Space Vector Pulse Width Modulation (SVPWM) signal. The motor controller controls the simultaneous start of the SPWM signal and the SVPWM signal.
As shown in fig. 6, after initializing the device related to the motor controller, the resolver signal and the motor signal are simultaneously activated, and in the case where it is determined that the SPWM signal (the resolver signal can be obtained by filtering) is not synchronized with the waveform of the SVPWM signal (the motor signal), the initial phase of the resolver signal is adjusted based on the first waveform table retrieved from the first memory. For example, the first waveform table may be stored in an internal memory of an electronic device that includes the motor controller, and the first waveform table may be retrieved from the internal memory and tuned to an external device corresponding to the motor controller in use. Based on the related adjustment content recorded in the first waveform table and the SPWM signal, the initial phase of the SPWM signal can be adjusted, for example, the SPWM signal is delayed, so that the initial phase is changed, and the waveform of the adjusted SPWM signal is compared with the waveform of the SVPWM signal (motor signal).
Preferably, the first waveform table is a sine table, and the adjusting the initial phase of the rotation signal based on the first waveform table retrieved from the first memory includes:
adjusting an initial phase of the resolver signal based on the sine table if it is determined that the resolver signal is not synchronized with the waveform of the motor signal.
For example, the first waveform table may be a sine table, and the motor controller may need to adjust the initial phase of the rotation signal, including adjusting the initial waveform position of the rotation signal, in case it is determined that the rotation signal is not synchronized with the waveform of the motor signal. For example, the waveform of the SVPWM signal (motor signal) is phase-delayed with respect to the SPWM signal, so that the initial phase of the resolver signal can be adjusted by an amount based on the sine table so that the SVPWM signal (motor signal) is synchronized with the waveform of the SPWM signal.
In an embodiment of the present application, the adjusting the initial phase of the rotation signal includes: and adjusting the initial phase of the rotary signal by adjusting the duty ratio of the rotary signal.
For example, the waveform of the rotation signal may be adjusted by adjusting the duty cycle of the rotation signal, such as adjusting the duration of the peak and/or the trough of the waveform, so that the waveform of the entire rotation signal changes, including the initial phase changes.
In an embodiment of the present application, the waveform of the motor signal is a triangular wave, and the step of comparing the waveform of the resolver signal with the waveform of the motor signal includes:
the wave crest and the wave trough of the waveform of the rotary change signal are respectively aligned with the wave crest and the wave trough of the triangular wave of the motor signal.
Illustratively, the waveform of the motor signal may be a triangular wave, and the positive rise and the negative decay are the same in time, which is equivalent to providing a 50% duty cycle, and the voltage amplitude and the frequency of the waveform determine the average voltage of the waveform. The peak and the trough of the triangular wave form a certain angle. The wave crest of the motor signal is easy to be contrasted with the wave crest of the rotary change signal, and the wave trough of the motor signal is easy to be contrasted with the wave trough of the rotary change signal.
In one embodiment of the present application, as shown in fig. 3 in combination with fig. 9 and 10, the method further comprises the steps of:
s400, sampling the feedback signal, including acquiring a predetermined number of first samples at least one sampling position of the feedback signal.
Illustratively, the feedback signal can represent rotation information of the target motor, such as the angle and position of rotation. In particular, the feedback signal may be sampled, analyzed from the first sample taken, and rotation information determined.
In this embodiment, since there is a small probability that some sampling positions on the envelope of the feedback signal are interfered with by electromagnetic interference of a motor controller or other devices, a predetermined number of first samples may be acquired at the sampling positions of the feedback signal. Thereby making the data of the first sample acquired accurate.
Further, the number of acquisitions of the first sample may be determined based on the degree of accuracy of the rotation information. For example, the predetermined number is set to 4 to 5. I.e. 4 or 5 first samples can be taken at the same sampling location, while 4 or 5 first samples can be taken at another sampling location as well.
S500, determining a corresponding first sample set based on the acquired first sample.
For example, a plurality of first samples collected at the same sampling position may be divided into the same group, and a corresponding first sample set may be obtained based on the first samples of the same group.
For example, averaging the first samples of the same group, and using the average as the first sample set. Of course, other operations, such as weighted averaging, may be performed on the first samples of the same group to obtain the corresponding first sample set.
S600, determining rotation information of the target motor based on at least one first sample set.
For example, in conjunction with the above embodiments, for multiple sets of first samples, multiple corresponding sets of first samples may be obtained, respectively. The rotation information of the target motor can be accurately determined based on all the first sample sets. For example, all of the first sample sets are averaged, and rotation information is determined based on the mean. For another example, one or more samples meeting specific requirements are selected from all the first sample sets, and the rotation information is determined based on the selected first sample sets.
In an embodiment of the present application, the determining a corresponding first sample set based on the acquired first samples, as shown in fig. 4 in combination with fig. 9 and 10, includes:
s510, removing the first sample deviating from the sampling position of the feedback signal.
For example, in the actual sampling process of the feedback signal, a sampling deviation may occur, that is, the error of the acquired first sample is large, such as the error of the acquired first sample which deviates from the sampling position of the feedback signal by a certain distance. In this embodiment, the first samples deviating from the peak and/or the trough of the feedback signal may be removed, thereby ensuring the accuracy of the retained first samples.
S520, determining a mean value of the first samples at the same sampling position in the feedback signal among the retained first samples.
Illustratively, for the retained first samples, a plurality of first samples collected from the same sampling position are grouped into the same group. The calculation of the mean is performed on the first samples in the same group. At least one mean value is obtained.
S530, determining the mean as a corresponding first sample set if the mean is within a first range.
For example, if all of the means are within the first range, indicating that the mean calculation or corresponding sample collection may be erroneous, the corresponding means may be discarded. And determining the mean value in the first range as the corresponding first sample set to obtain at least one first sample set meeting the data quality requirement, thereby ensuring the data basis for determining the rotation information.
For example, as shown in fig. 9 and 10 in combination, in normal sampling, the sample values are distributed on the solid line of the waveform of the feedback signal. The maximum and minimum values are removed and averaged, with the dashed results falling within the first range of the average. When sampling is interfered and the sampling value deviates from the solid line, the interfered sampling value can be removed, so that the dotted line result is not influenced by the interference.
The embodiment of the present application further provides a signal processing apparatus for a motor controller, which is applied to the motor controller, the motor controller is connected to a resolver, the resolver is used for measuring rotation information of a target motor, as shown in fig. 11, the apparatus includes:
a starting module configured to start a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor.
Illustratively, the resolver includes a sensor that accurately measures the angular position and speed of a rotating component, such as a target motor, through the magnetic cooperation of a primary winding and two secondary windings. The method can be used for equipment such as vehicles, and rotation information of a target motor in the equipment such as vehicles is determined through a rotary transformer.
The motor controller is connected with the rotary transformer and can control the rotary transformer so as to determine the rotation information of the target motor based on the rotary transformer.
The motor controller may generate a rotation signal and acquire a motor signal corresponding to rotation information of the target motor. The resolver signal is used for generating an excitation signal for exciting the resolver, and the motor controller controls the resolver through the excitation signal. The starting module can control the starting of the rotation signal and the motor signal, wherein the starting of the rotation signal and the motor signal are included, or the rotation signal and the motor signal are started at the same time.
An adjusting module configured to adjust a start time of the motor signal and/or adjust an initial phase of the rotation signal based on the acquired first waveform table to compare a waveform of the rotation signal with a waveform of the motor signal.
Illustratively, the contents of the first waveform table may be predetermined. In one aspect, the contents of the first waveform table may include a start time of the motor signal and/or an initial phase of the adjustment rotation signal calculated based on a preset algorithm, and the preset algorithm may be pre-configured according to actual use conditions and user requirements. Alternatively, the first waveform table may have its contents determined based on historical data and/or empirical data.
Alternatively, the first waveform table may be stored in a first memory device of the electronic device, and in use the first waveform table may be retrieved from the first memory device for use. The first waveform table is obtained, for example, by way of DMA (direct memory Access).
The adjusting module can adjust the starting time of the motor signal and/or adjust the initial phase of the rotation signal based on the first waveform table, so that the adjusted motor signal and the waveform of the rotation signal are compared, and the fluctuation trend of the waveform is consistent. For example, the peak of the motor signal is compared with the peak of the rotation signal, and the valley of the motor signal is compared with the valley of the rotation signal.
A control module configured to control the resolver to measure rotation information of the target motor in a case where the waveforms are contrasted.
For example, when the waveforms of the motor signal and the resolver signal are compared, the excitation signal generated by the motor controller and the corresponding feedback signal generated by the resolver may also be compared with the resolver signal, respectively. Wherein the waveform of the feedback signal is included in contrast to the waveform of the revolutionary signal.
And the control module controls the rotary transformer to include: and controlling the rotary transformer to generate a feedback signal so as to sample the feedback signal. For example, sampling can be performed based on the waveform of the feedback signal to achieve sampling to avoid electromagnetic interference, and then rotation information of the target motor can be accurately determined based on the collected sample.
In an embodiment of the application, in the case of the waveform comparison, the control module is further configured to:
determining an excitation signal for exciting the resolver based on the resolver signal;
sending the excitation signal to the resolver to enable the resolver to generate a feedback signal based on the excitation signal, wherein the feedback signal is used for determining rotation information of the target motor.
In one embodiment of the present application, the start module is further configured to:
starting the rotary transformer signal and the motor signal in sequence;
accordingly, the adjustment module is further configured to:
adjusting the starting time of the motor signal based on the first waveform table acquired from the first memory so that the adjusted waveform of the motor signal is compared with the waveform of the rotation signal.
In one embodiment of the present application, the first waveform table is a sine table, and the adjustment module is further configured to:
and under the condition that the waveforms of the rotary change signal and the motor signal are determined not to be synchronous, adjusting the starting time of the motor signal based on the sine table.
In one embodiment of the present application, the start module is further configured to:
starting the rotary change signal and the motor signal simultaneously;
accordingly, the adjustment module is further configured to:
adjusting an initial phase of the resolver signal based on the first waveform table retrieved from the first memory so that the adjusted waveform of the resolver signal is compared with a waveform of the motor signal.
In one embodiment of the present application, the first waveform table is a sine table, and the adjustment module is further configured to:
adjusting an initial phase of the resolver signal based on the sine table if it is determined that the resolver signal is not synchronized with the waveform of the motor signal.
In one embodiment of the present application, the adjustment module is further configured to:
and adjusting the initial phase of the rotary signal by adjusting the duty ratio of the rotary signal.
In an embodiment of the present application, a waveform of the motor signal is a triangular wave, and a waveform of the resolver signal is contrasted with a waveform of the motor signal, including:
the wave crest and the wave trough of the waveform of the rotary change signal are respectively aligned with the wave crest and the wave trough of the triangular wave of the motor signal.
In one embodiment of the present application, the apparatus further comprises a sampling module configured to:
sampling the feedback signal, including taking a predetermined number of first samples at sampling locations of the feedback signal;
determining a respective first set of samples based on the first samples acquired;
based on at least one of the first sample sets, rotation information of the target motor is determined.
In one embodiment of the present application, the sampling module is further configured to:
removing the first sample that deviates from the sampling position of the feedback signal;
determining, among the retained first samples, a mean of the first samples at the same sampling location in the feedback signal;
in the event that the mean is within a first range, the mean is determined to be the corresponding first sample set.
Based on the same inventive concept, an electronic device is further provided in the embodiments of the present application, as shown in fig. 12, and includes a processor and a memory, where an executable program is stored in the memory, and the memory executes the executable program to perform the steps of the method according to the embodiments.
The present application also provides a storage medium carrying one or more computer programs which, when executed by a processor, implement the steps of the method according to the above embodiments.
The storage medium in the present embodiment may be one contained in an electronic device/system; or may exist alone without being assembled into an electronic device/system. The storage medium carries one or more programs that, when executed, implement a method according to an embodiment of the application.
Embodiments of the present application further provide a vehicle, which includes a processing unit, and the processing unit is capable of executing the steps of the method according to the above embodiments.
The vehicles in the embodiments of the present application may be "automobiles," "vehicles," and "full cars" or other similar terms including general motor vehicles, including, for example, cars, SUVs, MPVs, buses, trucks, and other cargo or passenger vehicles, watercraft including a variety of boats, ships, aircraft, and the like, including hybrid vehicles, electric vehicles, fuel-powered vehicles, plug-in hybrid vehicles, fuel cell vehicles, and other alternative fuel vehicles. The hybrid vehicle refers to a vehicle with two or more power sources, and the electric vehicle includes a pure electric vehicle, an extended range electric vehicle, and the like, which is not limited in this application.
It should be understood that, in the embodiment of the present Application, the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like.
It will also be appreciated that the memory referred to in the embodiments of the application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and Direct bus RAM (DR RAM).
It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, the memory (memory module) is integrated in the processor.
It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
It should also be understood that reference herein to first, second, third, fourth, and various numerical numbering is merely for convenience of description and is not intended to limit the scope of the present application.
It should be understood that the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
In the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various Illustrative Logical Blocks (ILBs) and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and electronic device may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), among others.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. A signal processing method of a motor controller is applied to the motor controller, the motor controller is connected with a rotary transformer, and the rotary transformer is used for measuring rotation information of a target motor, and the method comprises the following steps:
starting a rotary transformer signal for controlling the rotary transformer and a motor signal corresponding to the rotation information of the target motor;
based on the acquired first waveform table, adjusting the starting time of the motor signal and/or adjusting the initial phase of the rotary variable signal so as to compare the waveform of the rotary variable signal with the waveform of the motor signal;
in the case where the waveforms are compared, the motor controller controls the resolver to measure rotation information of the target motor.
2. The method of claim 1, wherein the controlling the resolver to measure the rotation information of the target motor with the waveforms being compared comprises:
determining an excitation signal for exciting the resolver based on the resolver signal;
sending the excitation signal to the resolver to enable the resolver to generate a feedback signal based on the excitation signal, wherein the feedback signal is used for determining rotation information of the target motor.
3. The method of claim 1, wherein the activating a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor comprises:
starting the rotary transformer signal and the motor signal in sequence;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotation signal based on the acquired first waveform table comprises:
and adjusting the starting time of the motor signal based on the first waveform table acquired from the first memory so that the adjusted waveform of the motor signal is compared with the waveform of the rotation signal.
4. The method of claim 3, wherein the first waveform table is a sine table and adjusting the start time of the motor signal based on the first waveform table retrieved from a first memory comprises:
and under the condition that the waveforms of the rotary change signal and the motor signal are determined not to be synchronous, adjusting the starting time of the motor signal based on the sine table.
5. The method of claim 1, wherein the activating a resolver signal for controlling the resolver and a motor signal corresponding to the rotation information of the target motor comprises:
starting the rotary transformer signal and the motor signal at the same time;
correspondingly, the adjusting the starting time of the motor signal and/or the adjusting the initial phase of the rotation signal based on the acquired first waveform table comprises:
adjusting an initial phase of the resolver signal based on the first waveform table retrieved from the first memory so that the adjusted waveform of the resolver signal is compared with a waveform of the motor signal.
6. The method of claim 5, wherein the first waveform table is a sine table, and wherein adjusting the initial phase of the rotation signal based on the first waveform table retrieved from a first memory comprises:
adjusting an initial phase of the resolver signal based on the sine table if it is determined that the resolver signal is not synchronized with the waveform of the motor signal.
7. The method of claim 5, wherein the adjusting the initial phase of the rotating signal comprises:
and adjusting the initial phase of the rotary signal by adjusting the duty ratio of the rotary signal.
8. The method of claim 1, wherein the waveform of the motor signal is a triangular wave, and the step of comparing the waveform of the resolver signal with the waveform of the motor signal comprises:
the wave crest and the wave trough of the waveform of the rotary change signal are respectively aligned with the wave crest and the wave trough of the triangular wave of the motor signal.
9. The method of claim 2, further comprising:
sampling the feedback signal, including taking a predetermined number of first samples at least one sampling location of the feedback signal;
determining a respective first set of samples based on the first samples acquired;
based on at least one of the first sample sets, rotation information of the target motor is determined.
10. The method of claim 9, wherein the determining a respective first set of samples based on the acquired first samples comprises:
removing the first sample that deviates from the sampling position of the feedback signal;
determining, among the retained first samples, a mean of the first samples at the same sampling location in the feedback signal;
in the event that the mean is within a first range, the mean is determined to be the corresponding first sample set.
11. A signal processing apparatus of a motor controller, applied to a motor controller connected to a resolver for measuring rotation information of a target motor, the apparatus comprising:
a starting module configured to start a resolver signal for controlling the resolver and a motor signal corresponding to rotation information of the target motor;
an adjusting module configured to adjust a start time of the motor signal and/or adjust an initial phase of the rotation signal based on the acquired first waveform table so as to compare a waveform of the rotation signal with a waveform of the motor signal;
a control module configured to control the resolver to measure rotation information of the target motor in a case where the waveforms are compared.
12. An electronic device comprising a processor and a memory, the memory having stored therein an executable program, the memory executing the executable program to perform the steps of the method of any one of claims 1 to 10.
13. A storage medium carrying one or more computer programs which, when executed by a processor, perform the steps of the method of any one of claims 1 to 10.
14. A vehicle characterized by comprising a processing unit capable of carrying out the steps of the method according to any one of claims 1 to 10.
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