CN116073728A - Method, system, equipment and storage medium for decoding rotation angle of vehicle motor - Google Patents
Method, system, equipment and storage medium for decoding rotation angle of vehicle motor Download PDFInfo
- Publication number
- CN116073728A CN116073728A CN202111302598.6A CN202111302598A CN116073728A CN 116073728 A CN116073728 A CN 116073728A CN 202111302598 A CN202111302598 A CN 202111302598A CN 116073728 A CN116073728 A CN 116073728A
- Authority
- CN
- China
- Prior art keywords
- rotation angle
- gain
- envelope signal
- decoding
- initial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012937 correction Methods 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 19
- 238000001914 filtration Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 239000000306 component Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000008358 core component Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K7/00—Modulating pulses with a continuously-variable modulating signal
- H03K7/08—Duration or width modulation ; Duty cycle modulation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The application relates to a method, a system, equipment and a storage medium for decoding a rotation angle of a motor of a vehicle. The method comprises the following steps: collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle; judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal; dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle; and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle. According to the embodiment of the invention, the offset and the gain of the rotation signal are initially calibrated, and meanwhile, the offset and the gain of the rotation signal are dynamically corrected, so that a more accurate real-time angle is obtained. In addition, the phase compensation is carried out on the rotation angle, so that the precision is further ensured.
Description
Technical Field
The application relates to the field of new energy automobiles, in particular to a method, a system, equipment and a storage medium for decoding a rotation angle of a vehicle motor.
Background
The three-in-one power system is used as a core component of the new energy automobile, and performance of the three-in-one power system is very critical. The rotation angle of the motor is an important signal in the control link of the motor, and the external characteristic performance of the driving system is directly affected. At present, the analysis of the rotation angle of the motor of the vehicle is mainly divided into two types of hardware decoding and software decoding. Although the hardware decoding has high precision, the decoding circuit needs a decoding chip, and the cost is additionally increased. Therefore, the software decoding has become a mainstream technical scheme gradually, but the current mainstream software decoding has the problems of decoding delay, insufficient precision and the like, so that further technical innovation is needed for solving the problems.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, system, apparatus, and storage medium for decoding a rotational angle of a motor of a vehicle.
In a first aspect, an embodiment of the present invention provides a method for decoding a rotation angle of a motor of a vehicle, where the method includes:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
Further, the determining whether the bias and gain of the envelope signal are updated, and performing initial bias calibration and initial gain calibration on the envelope signal includes:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
Further, the dynamically correcting the envelope signal after the biasing and the gain, and calculating the decoding rotation angle after the correction, includes:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
Further, the obtaining the electric angular velocity according to the decoded rotation angle, performing phase compensation on the decoded rotation angle through the electric angular velocity, and completing the analysis of the initial rotation angle, includes:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
On the other hand, the embodiment of the invention also provides a decoding system for the rotation angle of the motor of the vehicle, which comprises the following steps:
the signal acquisition module is used for acquiring envelope signals of sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle;
the bias gain module is used for judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
the dynamic correction module is used for dynamically correcting the envelope signal subjected to bias and gain, and calculating a decoding rotation angle after correction;
and the phase compensation module is used for obtaining the electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to finish the analysis of the initial rotation angle.
Further, the bias gain module includes an amplitude adjustment unit, where the amplitude adjustment unit is configured to:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
Further, the dynamic correction module includes an angle calculation unit, where the angle calculation unit is configured to:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
Further, the phase compensation module includes a compensation calculation unit configured to:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the computer program:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
And when the whole vehicle meets the heating stopping condition, sending a heating exiting signal to the battery management system.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the following steps:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
The method, the system, the equipment and the storage medium for decoding the rotation angle of the motor of the vehicle comprise the following steps: collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle; judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal; dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle; and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle. According to the embodiment of the invention, the initial angle is obtained more accurately by carrying out initial calibration on the offset and the gain of the rotation signal. And meanwhile, the offset and the gain of the rotation signal are dynamically corrected to obtain a more accurate real-time angle. In addition, the phase compensation is carried out on the rotation angle, so that the precision is further ensured.
Drawings
FIG. 1 is a flow chart of a method for decoding a rotational angle of a motor of a vehicle according to one embodiment;
FIG. 2 is a schematic flow diagram of bias calibration and gain calibration in one embodiment;
FIG. 3 is a flow diagram of dynamic modification of an envelope signal in one embodiment;
FIG. 4 is a schematic diagram of a process for phase compensation of a rotation angle according to an embodiment;
FIG. 5 is a block diagram of a decoding system for vehicle motor rotation angle in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a method for decoding a rotation angle of a motor of a vehicle, the method comprising:
102, judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
and 104, obtaining an electric angular velocity according to the decoding rotation angle, and performing phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
Specifically, for the whole vehicle, software decoding has become a mainstream technical scheme gradually, and the analysis precision of the position is also improved continuously, and the method has certain advantages in the aspect of cost. The rotation angle analysis performed in this embodiment can be practically divided into the following aspects: 1) initial bias and gain calibration, 2) dynamic bias and gain correction, 3) rotation angle calculation, and 4) phase compensation. By carrying out initial calibration on the offset and the gain of the rotation signal, a more accurate initial angle is obtained. And meanwhile, the offset and the gain of the rotation signal are dynamically corrected to obtain a more accurate real-time angle. In addition, the phase compensation is carried out on the rotation angle, so that the precision is further ensured.
In one embodiment, as shown in fig. 2, the process of performing offset calibration and gain calibration on an envelope signal includes the following steps:
and 203, calibrating according to the initial gain, and setting the maximum amplitude of the calibrated envelope signal to be 1.
In one embodiment, as shown in fig. 3, the process of dynamically modifying the envelope signal includes:
and 303, performing arctangent processing on the envelope signal subjected to the sum gain to obtain the decoding rotation angle.
Specifically, the sampled SIN and COS signals are subjected to bias and gain processing to obtain SINCOR and COSCOR, and then subjected to division and arc tangent processing to obtain the rotation angle. Performing Fourier series expression on the SIN and COS envelope signals, wherein the Fourier series expression is based on the following formula:
then
Wherein,,
SIN sample value amplitude, < >>
SIN sampling value, & gt>
Angle of rotation
Then
Wherein,,
amplitude of COS sample>
COS sampling value, < >>
The rotation angle is changed.
In addition, it is also necessary to satisfy the amplitude of 1 after correction of SIN and COS.
In one embodiment, as shown in fig. 4, the process of phase compensating the rotation angle includes:
Specifically, the phase compensation is mainly divided into 3 parts: 1) The time difference between the time stamp of the acquisition of the rotary change signal and the time stamp of the interruption processing of the PWM is realized in a way of multiplying the time difference by the electrical angular velocity. 2) The time difference between the acquisition of the rotation change signal and the acquisition of the phase current is realized in a mode of multiplying the compensation coefficient by the electric angular velocity.
3) The delay of the first order low pass filtering is implemented in such a way that the compensation coefficient is multiplied by the electrical angular velocity. And the resolution precision of the real-time rotation angle is improved through the design of a software algorithm and phase compensation.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described above may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with at least a part of the sub-steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 5, there is provided a decoding system of a vehicle motor rotation angle, comprising:
the signal acquisition module 501 is used for acquiring envelope signals of sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle;
the offset gain module 502 is configured to determine whether the offset and the gain of the envelope signal are updated, and perform initial offset calibration and initial gain calibration on the envelope signal;
a dynamic correction module 503, configured to dynamically correct the envelope signal after bias and gain, and calculate a decoding rotation angle after correction;
and the phase compensation module 504 is configured to obtain an electrical angular velocity according to the decoded rotation angle, and perform phase compensation on the decoded rotation angle through the electrical angular velocity, so as to complete analysis on the initial rotation angle.
In one embodiment, as shown in fig. 5, the bias gain module 502 includes a magnitude adjustment unit 5021, where the magnitude adjustment unit 5021 is configured to:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
In one embodiment, the dynamic correction module 503 includes an angle calculating unit 5031, where the angle calculating unit 5031 is configured to:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
In one embodiment, the phase compensation module 504 includes a compensation calculation unit 504, and the compensation calculation unit 5041 is configured to:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
For specific limitations on the decoding system of the vehicle motor rotation angle, reference may be made to the above limitation on the decoding method of the vehicle motor rotation angle, and no further description is given here. The modules in the vehicle motor rotation angle decoding system can be realized in whole or in part by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
FIG. 6 illustrates an internal block diagram of a computer device in one embodiment. As shown in fig. 6, the computer device includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program that, when executed by a processor, causes the processor to implement a method of decoding a vehicle motor rotation angle. The internal memory may also have stored therein a computer program which, when executed by the processor, causes the processor to perform a method of decoding the vehicle motor rotation angle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
In one embodiment, the processor when executing the computer program further performs the steps of:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
In one embodiment, the processor when executing the computer program further performs the steps of:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
In one embodiment, the processor when executing the computer program further performs the steps of:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
In one embodiment, the processor when executing the computer program further performs the steps of:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A method for decoding a rotational angle of a motor of a vehicle, the method comprising:
collecting envelope signals of sine and cosine of an initial rotation angle of a rotating motor according to rotation of the rotating motor of the vehicle;
judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
dynamically correcting the envelope signal subjected to bias and gain, and calculating after correction to obtain a decoding rotation angle;
and obtaining an electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to complete analysis on the initial rotation angle.
2. The method for decoding a rotation angle of a vehicle motor according to claim 1, wherein the determining whether the offset and the gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal, comprises:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
3. The method for decoding a rotation angle of a vehicle motor according to claim 1, wherein dynamically correcting the envelope signal after the offset and gain, and calculating the decoded rotation angle after the correction, comprises:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
4. The method for decoding a rotation angle of a vehicle motor according to claim 1, wherein the obtaining an electrical angular velocity according to the decoded rotation angle, performing phase compensation on the decoded rotation angle by the electrical angular velocity, and completing the analysis of the initial rotation angle, includes:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
5. A vehicle motor rotation angle decoding system, comprising:
the signal acquisition module is used for acquiring envelope signals of sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle;
the bias gain module is used for judging whether the bias and gain of the envelope signal are updated or not, and carrying out initial bias calibration and initial gain calibration on the envelope signal;
the dynamic correction module is used for dynamically correcting the envelope signal subjected to bias and gain, and calculating a decoding rotation angle after correction;
and the phase compensation module is used for obtaining the electric angular velocity according to the decoding rotation angle, and carrying out phase compensation on the decoding rotation angle through the electric angular velocity to finish the analysis of the initial rotation angle.
6. The vehicle motor rotation angle decoding system of claim 5, wherein the bias gain module includes a magnitude adjustment unit for:
when the bias and gain of the envelope signal are not updated, respectively carrying out initial bias calibration and initial gain calibration on the envelope signal;
calibrating according to the initial bias, so that the positive and negative amplitude values of the envelope signals are the same;
and according to the initial gain calibration, setting the maximum amplitude of the envelope signal after calibration to be 1.
7. The system for decoding a rotational angle of a vehicle motor of claim 5, wherein the dynamic correction module comprises an angle calculation unit configured to:
performing Fourier series expression on the envelope signal, and acquiring a harmonic amplitude expression of the envelope signal after biasing based on the Fourier series expression;
calculating constant components of the envelope signal to obtain correction gain of a sine signal and correction gain of a cosine signal respectively;
and performing arctangent processing on the envelope signal subjected to the summation gain to obtain the decoding rotation angle.
8. The vehicle motor rotation angle decoding system according to claim 5, wherein the phase compensation module includes a compensation calculation unit for:
acquiring a first time difference of the acquisition and PWM interruption processing of a rotation variation signal of a rotating motor, and realizing a first compensation phase by multiplying the first time difference by the electric angular velocity;
acquiring a second time difference between the rotation signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electric angular velocity to realize a second compensation phase;
and obtaining a second compensation coefficient according to the delay of the first-order low-pass filtering of the rotating motor, and multiplying the second compensation coefficient by the electric angular velocity to realize a third compensation phase.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 4 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111302598.6A CN116073728A (en) | 2021-11-04 | 2021-11-04 | Method, system, equipment and storage medium for decoding rotation angle of vehicle motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111302598.6A CN116073728A (en) | 2021-11-04 | 2021-11-04 | Method, system, equipment and storage medium for decoding rotation angle of vehicle motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116073728A true CN116073728A (en) | 2023-05-05 |
Family
ID=86175729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111302598.6A Pending CN116073728A (en) | 2021-11-04 | 2021-11-04 | Method, system, equipment and storage medium for decoding rotation angle of vehicle motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116073728A (en) |
-
2021
- 2021-11-04 CN CN202111302598.6A patent/CN116073728A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7977936B2 (en) | Resolver interface and signal conditioner | |
| US11047679B2 (en) | Angle detecting apparatus | |
| CN104614002B (en) | Subdivided signal error compensation method for photoelectric encoder of tracking control platform | |
| CN105306056A (en) | Scale factor temperature compensating method of current frequency conversion circuit | |
| CN113048871B (en) | Harmonic component-based nonlinear real-time calibration method for capacitance displacement detection | |
| US10389281B2 (en) | Correcting offset and gain drift related angle errors with motor position detectors | |
| US20190390980A1 (en) | Initialization method and initialization device | |
| KR102341679B1 (en) | Method of determining an absolute angle of a magnetic field | |
| CN111245443B (en) | DSADC-based rotation-modification soft decoding processing method and device | |
| JP4515120B2 (en) | Resolver digital angle conversion apparatus and method, and program | |
| CN114275038B (en) | Vibration suppression method and device for steering wheel, vehicle and storage medium | |
| US20150112634A1 (en) | Angle detection device and angle detection method | |
| US20050137768A1 (en) | Method for measuring absolute steering angle of steering shaft for vehicle | |
| EP1058390B1 (en) | R/D converter | |
| CN116073728A (en) | Method, system, equipment and storage medium for decoding rotation angle of vehicle motor | |
| US20050159868A1 (en) | Method for measuring absolute steering angle of steering shaft of vehicle | |
| JP2014013209A (en) | Angle detection device | |
| US20110140689A1 (en) | Signal amplitude adjustment to improve resolver-to-digital converter performance | |
| US10761507B2 (en) | Instant correction method for encoder and system thereof | |
| CN114024470A (en) | Motor rotor position determining method, device, storage medium and device | |
| JP4622842B2 (en) | Resolver failure diagnosis apparatus and failure diagnosis method | |
| KR102620656B1 (en) | Apparatus and method for compensating error of current sensor for motor current detection | |
| CN113155113A (en) | System and method for eliminating charging interference of electronic compass and electronic equipment | |
| CN112421712A (en) | Method and device for eliminating compass charging interference, storage medium and terminal | |
| CN111130561A (en) | Signal sampling method, signal sampling device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No. 30, Yanxin East Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant after: Wuxi CRRC Times Electric Drive Technology Co.,Ltd. Address before: No. 30, Yanxin East Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant before: Wuxi Zhongche Haofu power assembly Co.,Ltd. |
|
| CB02 | Change of applicant information |