CN116208050A - Signal processing method, signal processing device, storage medium and vehicle - Google Patents
Signal processing method, signal processing device, storage medium and vehicle Download PDFInfo
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- CN116208050A CN116208050A CN202310187661.9A CN202310187661A CN116208050A CN 116208050 A CN116208050 A CN 116208050A CN 202310187661 A CN202310187661 A CN 202310187661A CN 116208050 A CN116208050 A CN 116208050A
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- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- 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
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Abstract
The invention discloses a signal processing method, a signal processing device, a storage medium and a vehicle. Wherein the method comprises the following steps: acquiring sine signals and cosine signals of a permanent magnet synchronous motor; generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal; sampling the first pulse signal and the second pulse signal to generate excitation data; correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result; and demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor. The invention solves the technical problems of larger signal error, low signal precision and poor accuracy of a resolving result of the signal processing method provided by the related technology.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a signal processing method, a signal processing device, a storage medium, and a vehicle.
Background
Currently, a permanent magnet synchronous motor for a vehicle generally adopts a magnetic field directional control (Field Oriented Control, FOC) method, and usually, a rotary transformer is utilized to obtain the rotor position of the permanent magnet synchronous motor, so as to control according to the rotor position of the motor. In order to obtain the rotor position of the motor, the resolver typically needs to calculate the sine signal and the cosine signal returned by the motor, and the calculation method includes: 1. hard decoding is carried out by adopting a rotation decoding chip (such as AD2S1200 and AD2S 1210); 2. soft decoding is performed using software to resolve the rotational position.
Because the rotary transformer can generate certain errors in the manufacturing and mounting processes, including winding harmonic wave, magnetic circuit saturation, materials, manufacturing process and quadrature axis magnetic field, the rotary transformer has errors such as function errors, zero errors, linear errors, electric errors, output phase displacement and the like. However, the signal processing method provided in the prior art does not eliminate or partially eliminate the error, but controls the manufacturing and mounting process of the rotary transformer at a relatively high cost, so that the rotary precision is poor and the product cost is high.
Aiming at the problems of large signal error, low signal precision and poor accuracy of a resolving result of the signal processing method provided by the prior art, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a signal processing method, a device, a storage medium and a vehicle, which at least solve the technical problems of larger signal error, low signal precision and poor accuracy of a resolving result of the signal processing method provided by the related technology.
According to an aspect of an embodiment of the present invention, there is provided a signal processing method including:
acquiring sine signals and cosine signals of a permanent magnet synchronous motor; generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal; sampling the first pulse signal and the second pulse signal to generate excitation data; correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result; and demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
Optionally, generating the first pulse signal based on the sine signal and generating the second pulse signal based on the cosine signal comprises: modulating the sinusoidal signal to obtain a sinusoidal envelope signal; generating a first pulse signal based on a forward signal voltage and a reverse signal voltage of the sinusoidal envelope signal; modulating the cosine signal to obtain a cosine envelope signal; the second pulse signal is generated based on the forward signal voltage and the reverse signal voltage of the cosine envelope signal.
Optionally, sampling the first pulse signal and the second pulse signal, and generating the excitation data includes: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and sampling the first pulse signal and the second pulse signal by using the sampling parameters to generate excitation data.
Optionally, the sampling parameters include at least: sampling the first pulse signal and the second pulse signal by using sampling parameters, wherein the generating excitation data comprises the following steps: and aligning the sampling starting point with the starting point of one period of the preset excitation signals, and respectively sampling the first pulse signal and the second pulse signal according to the sampling frequency and the sampling period to generate excitation data.
Optionally, correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal, and obtaining the target correction result includes: the method comprises the steps of comparing phases of a first pulse signal and a second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used for determining phase deviation between the first pulse signal and the second pulse signal; performing phase correction on the sine signal and the cosine signal by using the phase shift parameter to obtain a first correction result; and carrying out secondary correction on the first correction result based on a preset time range to obtain a target correction result.
Optionally, the target correction result includes a second correction result and a third correction result, the second correction is performed on the first correction result based on the preset time range, and the obtaining the target correction result includes: calculating based on signal values of the sine signal and the cosine signal in a preset time range to obtain a signal amplitude value and a signal offset value; carrying out amplitude correction on the first correction result by adopting the signal amplitude to obtain a second correction result; and carrying out offset correction on the first correction result by adopting the signal offset value to obtain a third correction result.
Optionally, demodulating the target correction result and the excitation data to obtain a target signal includes: according to the excitation period corresponding to the excitation data, demodulating the target correction result to obtain a demodulation result; and carrying out signal verification on the demodulation result to determine a target signal.
According to another aspect of the embodiment of the present invention, there is also provided a signal processing apparatus including:
the acquisition module is used for acquiring sine signals and cosine signals of the permanent magnet synchronous motor; the generating module is used for generating a first pulse signal based on the sine signal and generating a second pulse signal based on the cosine signal; the sampling module is used for sampling the first pulse signal and the second pulse signal to generate excitation data; the correction module is used for correcting the sine signal and the cosine signal by utilizing the first pulse signal and the second pulse signal to obtain a target correction result; and the processing module is used for demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving the rotor position and the rotor speed of the permanent magnet synchronous motor.
Optionally, the generating module further includes: modulating the sinusoidal signal to obtain a sinusoidal envelope signal; generating a first pulse signal based on a forward signal voltage and a reverse signal voltage of the sinusoidal envelope signal; modulating the cosine signal to obtain a cosine envelope signal; the second pulse signal is generated based on the forward signal voltage and the reverse signal voltage of the cosine envelope signal.
Optionally, the sampling module further includes: sampling the first pulse signal and the second pulse signal, generating excitation data includes: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and sampling the first pulse signal and the second pulse signal by using the sampling parameters to generate excitation data.
Optionally, the sampling module further includes: the sampling parameters at least comprise: sampling the first pulse signal and the second pulse signal by using sampling parameters, wherein the generating excitation data comprises the following steps: and aligning the sampling starting point with the starting point of one period of the preset excitation signals, and respectively sampling the first pulse signal and the second pulse signal according to the sampling frequency and the sampling period to generate excitation data.
Optionally, the correction module further includes: correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result, wherein the target correction result comprises: the method comprises the steps of comparing phases of a first pulse signal and a second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used for determining phase deviation between the first pulse signal and the second pulse signal; performing phase correction on the sine signal and the cosine signal by using the phase shift parameter to obtain a first correction result; and carrying out secondary correction on the first correction result based on a preset time range to obtain a target correction result.
Optionally, the correction module further includes: the target correction result comprises a second correction result and a third correction result, the second correction is carried out on the first correction result based on a preset time range, and the target correction result comprises the following steps: calculating based on signal values of the sine signal and the cosine signal in a preset time range to obtain a signal amplitude value and a signal offset value; carrying out amplitude correction on the first correction result by adopting the signal amplitude to obtain a second correction result; and carrying out offset correction on the first correction result by adopting the signal offset value to obtain a third correction result.
Optionally, the processing module further includes: demodulating the target correction result and the excitation data to obtain a target signal, wherein the step of obtaining the target signal comprises the following steps: according to the excitation period corresponding to the excitation data, demodulating the target correction result to obtain a demodulation result; and carrying out signal verification on the demodulation result to determine a target signal.
According to still another aspect of the embodiments of the present invention, there is further provided a storage medium, including a stored program, where the program, when executed, controls a device in which the storage medium is located to perform the signal processing method of any one of the foregoing.
According to yet another aspect of an embodiment of the present invention, there is also provided a vehicle including an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to run the computer program to perform the signal processing method of any one of the foregoing.
In the embodiment of the invention, firstly, a sine signal and a cosine signal of a permanent magnet synchronous motor are obtained, a first pulse signal is generated based on the sine signal, a second pulse signal is generated based on the cosine signal, then the first pulse signal and the second pulse signal are sampled, excitation data is generated, the sine signal and the cosine signal are corrected by utilizing the first pulse signal and the second pulse signal, a target correction result is obtained, and finally, the target correction result and the excitation data are demodulated, so that a target signal is obtained, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
It is easy to understand that the method provided by the invention corrects the corresponding sine signal and cosine signal through the generated first pulse signal and second pulse signal, so that partial errors corresponding to the signals can be eliminated, the purpose of correcting the sine signal and cosine signal of the permanent magnet synchronous motor to improve the signal precision is achieved, the technical effects of improving the signal precision of the sine signal and the cosine signal and improving the resolving precision of the rotor position information of the permanent magnet synchronous motor are achieved, and the technical problems of larger signal errors, low signal precision and poor resolving result accuracy of the signal processing method provided by the related technology are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of an alternative vehicle terminal for implementing a signal processing method according to an embodiment of the present invention;
fig. 2 is a flow chart of a signal processing method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative signal correspondence according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a hardware circuit of an alternative signal processing method according to an embodiment of the invention;
FIG. 5 is a schematic diagram of an alternative signal processing process according to an embodiment of the invention;
fig. 6 is a block diagram of a signal processing apparatus according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided an embodiment of a signal processing method, it should be noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a block diagram of an alternative hardware architecture of a vehicle terminal for implementing a signal processing method according to an embodiment of the invention, as shown in fig. 1, a vehicle terminal 10 (or a mobile device 10 associated with a vehicle having communication) may include one or more processors 102 (the processors 102 may include, but are not limited to, a processing means such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, the method may further include: display device 110, input/output device 108 (i.e., I/O device), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS, not shown), a network interface (not shown), a power supply (not shown), and/or a camera (not shown). It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors 102 and/or other data processing circuits described above may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the vehicle terminal 10 (or mobile device).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the signal processing methods in the embodiments of the present invention, and the processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, that is, implement the signal processing methods described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
In the above-mentioned operating environment, the embodiment of the present invention provides a signal processing method as shown in fig. 2, and fig. 2 is a flowchart of a signal processing method according to an embodiment of the present invention, as shown in fig. 2, where the embodiment shown in fig. 2 may at least include implementation steps, that is, may be a technical solution implemented by steps S21 to S25.
Step S21, acquiring sine signals and cosine signals of a permanent magnet synchronous motor;
in an alternative solution provided in the step S21, the permanent magnet synchronous motor may be a synchronous motor that uses a permanent magnet to establish an exciting magnetic field, and may convert electric energy into electromagnetic energy, and further into mechanical energy. The permanent magnet synchronous motor may include: the stator is a coil and can be used for generating a rotating magnetic field, and the rotor can be made of permanent magnetic materials or can be provided with direct current to become a permanent magnet.
In the scheme provided by the invention, the permanent magnet synchronous motor can be connected with the rotary transformer through the rotor, for example, the rotor of the permanent magnet synchronous motor can be coaxial with the rotor of the rotary transformer. It should be noted that the resolver is an electromagnetic sensor that can be used to measure angular position and angular velocity, and that the resolver may be composed of a stator that is stationary when mounted and a rotor mounted on a shaft, the stator being receptive to an external excitation voltage, and the rotor being capable of generating an induced electromotive force by electromagnetic coupling.
It is also understood that the sine signal and the cosine signal may be periodic signals generated by the permanent magnet synchronous motor during operation.
Fig. 3 is a schematic diagram of an alternative signal correspondence relationship according to an embodiment of the present invention, and as shown in fig. 3, the excitation signal may be an excitation voltage externally applied to the resolver, and the excitation voltage may be as shown in the following formula (1):
U a =esin (ωt) formula (1)
Wherein U is a The exciting voltage is E, the exciting input peak voltage and omega, the exciting carrier frequency.
As shown in fig. 3, when the external world gives excitation voltage with a certain frequency to the stator of the rotary transformer, the rotating rotor outputs amplitude modulation signals with sine and cosine functions respectively with the rotor shaft angle, wherein the sine signals and the cosine signals can be respectively shown in the following formulas (2) and (3):
U s ＝Eksin(ωt)sin(ω r t) formula (2)
U c ＝Eksin(ωt)cos(ω r t) formula (3)
Wherein U is s The output voltage corresponding to the sine signal is k, the rotation conversion ratio is omega r t is the angle of the rotary rotor, U c Is the output voltage corresponding to the cosine signal.
Step S22, generating a first pulse signal based on the sine signal and generating a second pulse signal based on the cosine signal;
In an alternative provided in the step S22, the first pulse signal may be a signal corresponding to the sine signal output by the comparator, and the second pulse signal may be a signal corresponding to the cosine signal output by the comparator. In the scheme provided by the invention, the comparator circuits are respectively added into the differential signals of the sine signals and the cosine signals, the forward input end of each comparator circuit is connected with the forward signal of the sine (or cosine) signal, the reverse input end is connected with the reverse signal of the sine (or cosine) signal, and the output end of each comparator circuit is connected with the comparison capture port of the singlechip.
In the scheme provided by the invention, the sine signal and the cosine signal can be captured by the comparator circuit, and after the rotary transformer starts to work, the comparator can output and obtain the first pulse signal and the second pulse signal according to the sine signal and the cosine signal.
Step S23, sampling the first pulse signal and the second pulse signal to generate excitation data;
in an alternative provided in the step S23, the excitation data may be sampling data of the first pulse signal and the second pulse signal.
In the scheme provided by the invention, the first pulse signal and the second pulse signal captured by the comparator are sampled to generate excitation data, and the specific method can be as follows: after the rotary transformer starts to work, the sine signal and the cosine signal are compared and captured by using a comparator to obtain a pulse signal, the period, the starting point and the zero crossing point information of the carrier signal are determined based on the pulse signal, so that the sampling parameters of the pulse signal are determined, and the captured pulse signal is sampled by using the sampling parameters to generate excitation data.
Step S24, correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result;
in an alternative provided in the step S24, the correction of the sine signal and the cosine signal may include phase correction, offset correction, and amplitude correction, and the target correction result may be sine data and cosine data obtained by correcting the sine signal and the cosine signal, and the target correction result may be used to calculate the position and the rotational speed of the resolver.
In the scheme provided by the invention, the phase difference between the sine signal and the cosine signal can be determined based on the comparison of the captured first pulse signal and the captured second pulse signal by the comparator, and the phase difference is utilized to carry out phase correction on the sine signal and the cosine signal. In addition, the amplitude and the offset value of the sine signal and the cosine signal can be obtained through calculation, and further, the amplitude correction and the offset correction are respectively carried out on the sine signal and the cosine signal by utilizing the amplitude and the offset value, so that the deviation influence of partial installation errors of the rotary transformer on the precision of the rotary transformer is eliminated.
And S25, demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
In an alternative provided in the step S25, the target signal may include sine envelope data and cosine envelope data, where the sine envelope data may be data obtained by demodulating the sine signal, and similarly, the cosine envelope data may be data obtained by demodulating the cosine signal.
In the scheme provided by the invention, demodulation processing is carried out on the target correction result and the excitation data to obtain sine envelope data and cosine envelope data. Specifically, for example, data in one excitation period is obtained, the data is modified by using a phase, a bias value and an amplitude value respectively, a modified sine signal and a cosine signal are obtained, further, a sine signal envelope data point and a cosine signal envelope data point in the excitation period are respectively determined by using the modified sine signal and the cosine signal, and then a method of calculating downwards one by one data point is adopted, so that sine envelope data and cosine envelope data are obtained.
In addition, demodulating the target correction result and the excitation data to obtain sine envelope data and cosine envelope data further includes performing signal verification on the sine envelope data and the cosine envelope data, specifically, calculating whether errors of data (such as square sum data) of the sine envelope data and the cosine envelope data are in a preset range, so as to determine whether the phase, the offset value and the amplitude compensation parameter are correctly calculated.
In the embodiment of the invention, firstly, a sine signal and a cosine signal of a permanent magnet synchronous motor are obtained, a first pulse signal is generated based on the sine signal, a second pulse signal is generated based on the cosine signal, then the first pulse signal and the second pulse signal are sampled, excitation data is generated, the sine signal and the cosine signal are corrected by utilizing the first pulse signal and the second pulse signal, a target correction result is obtained, and finally, the target correction result and the excitation data are demodulated, so that a target signal is obtained, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
It is easy to understand that the method provided by the invention corrects the corresponding sine signal and cosine signal through the generated first pulse signal and second pulse signal, so that partial errors corresponding to the signals can be eliminated, the purpose of correcting the sine signal and cosine signal of the permanent magnet synchronous motor to improve the signal precision is achieved, the technical effects of improving the signal precision of the sine signal and the cosine signal and improving the resolving precision of the rotor position information of the permanent magnet synchronous motor are achieved, and the technical problems of larger signal errors, low signal precision and poor resolving result accuracy of the signal processing method provided by the related technology are solved.
The above method of the above embodiment of the present invention will be further described below.
In an alternative embodiment, generating the first pulse signal based on the sine signal and the second pulse signal based on the cosine signal in step S22 includes:
step S221, modulating the sinusoidal signal to obtain a sinusoidal envelope signal;
step S222, generating a first pulse signal based on the forward signal voltage and the reverse signal voltage of the sinusoidal envelope signal;
step S223, modulating the cosine signal to obtain a cosine envelope signal;
step S224 generates a second pulse signal based on the forward signal voltage and the reverse signal voltage of the cosine envelope signal.
In the alternatives provided in the above steps S221 to S224, the above sine envelope signal may be used to reflect the variation of the amplitude of the sine signal, and likewise the above cosine envelope signal may be used to reflect the variation of the amplitude of the cosine signal.
The above method is described below with reference to fig. 4. Fig. 4 is a schematic diagram of a hardware circuit of an alternative signal processing method according to an embodiment of the present invention, as shown in fig. 4, an excitation generation port 401 is used to generate an excitation voltage, which is amplified by an excitation amplifier 405 and input to a resolver through rotors R1-R2; when the resolver receives the exciting voltage given from the outside, the stators S1 to S3 can sense and output sine signals, and similarly, the stators S2 to S4 can sense and output cosine signals.
As also shown in fig. 4, the single-chip microcomputer 402 may be configured to collect an excitation signal input by the rotary transformer and output sine signals and cosine signals; the analog-to-digital converter (Analog to Digital Converter, ADC) 403 may be used to convert the analog signal collected by the singlechip 402 into a digital signal, where the analog-to-digital converter 403 may be a SAR-ADC (Successive Approximation Register, successive approximation analog-to-digital converter) or a DS-ADC (Delta-Sigma-Analog to Digital Converter); the comparison capture port 404 may capture sine and cosine signals through the comparison circuit 407; the filtering circuit 406 may perform filtering processing on the rotation signal of the rotation transformer to filter out an interference signal in the rotation signal; the positive input end of the comparison circuit 407 is connected with a positive signal of a sine (or cosine) signal, the negative input end is connected with a negative signal of the sine (or cosine) signal, and the output end is connected with a comparison capture port 404 of the singlechip 402; the sine circuit 408 and the cosine circuit 409 are used to process the sine signal and the cosine signal output from the resolver, respectively.
Still as shown in fig. 4, after the resolver starts to operate, the stators S1 to S3 and S2 to S4 output sine signals and cosine signals, respectively, which are fed back with the modulated sine envelope signals and cosine envelope signals. Further, when the forward signal voltage of the sinusoidal envelope signal is higher than the reverse signal, the comparator (in the comparison circuit 407) outputs a high level signal, and when the forward signal voltage of the sinusoidal envelope signal is lower than the reverse signal, the comparator outputs a low level signal, so that a first pulse signal of 50% duty ratio can be obtained; and, when the forward signal voltage of the cosine envelope signal is higher than the reverse signal, the comparator (in the comparison circuit 407) outputs a high level signal, and when the forward signal voltage of the cosine envelope signal is lower than the reverse signal, the comparator outputs a low level signal, so that a second pulse signal of 50% duty ratio can be obtained. Based on the first pulse signal and the second pulse signal, the period, the starting point and the zero crossing point information of the carrier signal can be obtained.
In an alternative embodiment, for example, the exciting signal frequency of the rotary transformer is 10kHz, and then the sine signal and cosine signal comparator outputs a sine pulse signal and a cosine pulse signal with a frequency of 10kHz and a duty cycle of 50%.
In the above alternative embodiments, the following technical effects may be achieved: by adding a comparison circuit to each of the differential signals of the sine signal and the cosine signal, the captured sine pulse signal and the cosine pulse signal can be compared, and further, the relevant parameters (such as the period, the starting point and the zero crossing point information) of the carrier signal can be determined, and further, the sampling parameters of the sine pulse signal and the cosine pulse signal can be determined for sampling and generating excitation data.
In an alternative embodiment, in step S23, sampling the first pulse signal and the second pulse signal, generating excitation data includes:
step S231, analyzing the first pulse signal and the second pulse signal to determine sampling parameters;
step S232, sampling the first pulse signal and the second pulse signal by using the sampling parameters to generate excitation data.
In the alternatives provided in the above steps S231 to S232, the sampling parameter may include one or more parameters, and the sampling parameter may be used to sample the first pulse signal and the second pulse signal captured by the comparator.
The above method will be described below with reference to fig. 4 and 5. Fig. 5 is a schematic diagram of an alternative signal processing procedure according to an embodiment of the present invention, as shown in fig. 4 and 5, the comparison capture port 404 captures a sine pulse signal and a cosine pulse signal through the comparison circuit 407, and collects them into software, and analyzes the sine pulse signal and the cosine pulse signal through the software analysis module. Further, the starting point positions of the software analysis signals are utilized to determine sampling starting points of the sine pulse signals and the cosine pulse signals, and the analysis frequencies are utilized to determine sampling frequencies of the sine pulse signals and the cosine pulse signals. Thus, the sine pulse signal and the cosine pulse signal are sampled according to sampling parameters such as a sampling start point, a sampling frequency and the like.
In an alternative embodiment, for example, the frequency of the excitation signal input by the rotary transformer is 10kHz, and the sampling frequency of the sine signal and the cosine signal may be determined to be 100kHz according to the sampling theorem.
In an alternative embodiment, in step S23, the sampling parameters include at least: in step S231, sampling the first pulse signal and the second pulse signal with the sampling parameters, and generating excitation data includes:
In step S2311, the sampling start point is aligned with the start point of one of the periods of the preset excitation signal, and the first pulse signal and the second pulse signal are respectively sampled according to the sampling frequency and the sampling period, so as to generate excitation data.
In the alternative provided in the step S2311, the preset excitation signal may be an excitation signal generated by the excitation generation port 401 shown in fig. 4, and the excitation signal may be amplified by the excitation amplifier 405 shown in fig. 4 and then input to the rotary transformer by the rotor R1-R2 of the rotary transformer shown in fig. 4.
In the scheme provided by the invention, in the sampling process, the first sampling point of the sine pulse signal (or cosine pulse signal) is aligned with the starting point of any period of the excitation signal to determine the sampling starting point, so that 10 uniformly distributed sampling points can be determined in each sampling period, the positions of the sampling points in each sampling period are the same, and the sine pulse signal (or cosine pulse signal) is sampled according to the sampling frequency and the sampling period to obtain the excitation data.
In the alternative embodiment provided in step S23, the following technical effects may be achieved: based on the comparison of the captured pulse signals, sampling parameters are determined, the pulse signals are sampled by the sampling parameters, and waveforms (namely excitation data) of the sine pulse signals and the cosine pulse signals can be completely drawn, so that the excitation data are used for resolving, and the rotation precision is improved.
In an alternative embodiment, in step S24, correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal, to obtain the target correction result includes:
step S241, comparing the phases of the first pulse signal and the second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used for determining a phase deviation between the first pulse signal and the second pulse signal;
step S242, performing phase correction on the sine signal and the cosine signal by using the phase shift parameter to obtain a first correction result;
step S243, carrying out secondary correction on the first correction result based on the preset time range to obtain a target correction result.
In the alternative provided in the steps S241 to S243, the phase shift parameter may represent a phase delay introduced on the sine signal and the cosine signal lines, the phase deviation may be adjusted by the singlechip 402, so as to reduce a phase error between the sine signal and the cosine signal, and the phase deviation may be used to restore waveform data of the carrier. Here, the first correction result is sine signal data and cosine signal data obtained by performing the phase correction.
The above method will be described below with reference to fig. 4 and 5. As shown in fig. 4 and 5, the resolver outputs a sine signal and a cosine signal, and the analog-digital converter 403 converts the sine signal and the cosine signal into digital signals, and the phase difference between the first pulse signal and the second pulse signal is compared to obtain phase shift parameters of the sine signal and the cosine signal, and the phase shift parameters are used to perform phase correction on the sine signal and the cosine signal to obtain a first correction result.
In the above alternative embodiments, the following technical effects may be achieved: and performing phase correction on the sine signal and the cosine signal of the rotary transformer based on the phase difference of the first pulse signal and the second pulse signal captured by comparison so as to eliminate the phase shift deviation of the sine signal and the cosine signal, thereby reducing the zero drift of the rotary transformer.
In an alternative embodiment, in step S24, the target correction result includes a second correction result and a third correction result, and performing the second correction on the first correction result based on the preset time range, to obtain the target correction result includes:
step S2431, calculating based on signal values of the sine signal and the cosine signal in a preset time range to obtain a signal amplitude value and a signal offset value;
Step S2432, performing amplitude correction on the first correction result by adopting the signal amplitude to obtain a second correction result;
and step S2433, performing offset correction on the first correction result by adopting the signal offset value to obtain a third correction result.
As shown in fig. 4 and 5, the sine signal and the cosine signal (i.e. the first correction result) obtained after the phase correction are used to calculate the signal amplitude and the signal Offset value of the sine signal and the cosine signal, respectively, specifically, for example, it is assumed that the maximum value and the minimum value of the sine signal (or the cosine signal) within a period of time t are Offset respectively max 、Offset min The Amplitude value Amplitude of the sine signal (or cosine signal) can be calculated as shown in the following formula (4):
the sine signal and the cosine signal are divided by the above-mentioned amplitude values, respectively, to convert the sine signal and the cosine signal into standard sine curve data and cosine curve data (i.e., second correction result).
Similarly, taking the maximum value and the minimum value of the sine signal (or the cosine signal) in the same time t, the Offset value Offset of the sine signal (or the cosine signal) can be calculated as shown in the following formula (5):
and eliminating the offset values of the sine signal and the cosine signal to obtain the sine signal and the cosine signal which are offset by 0 (namely the third correction result).
In the above alternative embodiments, the following technical effects may be achieved: the amplitude and the offset value of the sine signal and the cosine signal are calculated respectively, and the amplitude correction and the offset correction are carried out on the sine signal and the cosine signal according to the amplitude and the offset value, so that the amplitude error and the offset error of the rotary transformer are eliminated, the signal precision of the sine signal and the cosine signal is improved, and the influence of the manufacturing and the installation error of the rotary transformer on the rotary precision is reduced.
In an alternative embodiment, in step S25, the demodulating the target correction result and the excitation data to obtain the target signal includes:
s251, demodulating the target correction result according to the excitation period corresponding to the excitation data to obtain a demodulation result;
s252, performing signal verification on the demodulation result to determine a target signal.
As shown in fig. 4 and fig. 5, in the solution provided in the present invention, the target correction result is demodulated according to the excitation period, and the specific method may be: and (3) acquiring data in an excitation period, correcting the sine signal and the cosine signal by using the offset value and the amplitude value to obtain a target correction result, multiplying and integrating the sine signal (or the cosine signal) and the restored carrier signal to obtain sine signal envelope data points (or cosine signal envelope data points) in the period, and further adopting a data point-by-data point downward calculation method to obtain sine signal envelope data (or cosine signal envelope data), wherein the sine signal envelope data (or the cosine signal envelope data) is the demodulation result.
Specifically, for example, assuming that the sampling frequency of the sine signal and the cosine signal is 100kHz, there are 10 sine signal sampling data points (or cosine signal sampling data points) in one excitation period, the 1 st envelope data point is calculated according to the sampling data points, and then the 1 st sampling data point is moved downward, that is, the 2 nd envelope data point is calculated based on the 2 nd sampling data point to the 11 th sampling data point, and the sine signal sampling data points (or cosine signal sampling data points) can be obtained by sequentially calculating the 2 nd envelope data point downward.
Further, the signal verification is performed on the demodulation result to determine the target signal, which may be specifically: and acquiring sine signal envelope data points and cosine signal envelope data points in one excitation period, and calculating square sum data of the sine signal envelope data points and the cosine signal envelope data points. Further, judging whether the square sum data is in a preset error range, and when the square sum data is in the preset error range, indicating that the phase, offset and amplitude parameters of the sine signal and the cosine signal are correctly calculated, thereby obtaining a sine signal and a cosine signal (namely a target signal) for decoding operation; when the square sum data is within the preset error range, the error of the phase, offset and amplitude compensation parameters of the sine signal and the cosine signal is indicated, and the compensation parameter parameters need to be recalculated.
In the scheme provided by the invention, after the corrected sine signal and cosine signal are subjected to signal demodulation and signal verification, the sine signal envelope data and the cosine signal envelope data which are successfully verified are calculated based on a position tracking algorithm (such as a type II tracking algorithm and a type III tracking algorithm) to obtain the position and the rotating speed of the rotary transformer, and the position information of the rotary transformer is compensated by utilizing the phase shift parameters and the rotating speed of the rotary transformer so as to finish decoding calculation.
In the above alternative embodiments, the following technical effects may be achieved: the corrected sine signal and cosine signal are subjected to signal demodulation and signal verification to determine accurate compensation parameters, and the position information of the rotary transformer is accurately compensated according to the compensation parameters, so that the sine signal and cosine signal are corrected to reduce signal errors and improve signal precision in the signal processing process, the resolving precision of the rotor position information of the permanent magnet synchronous motor is improved, the manufacturing and mounting process development cost of the rotary transformer is reduced, and the product cost is reduced.
In this embodiment, a signal processing device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, a combination of software and/or hardware that belongs to a "module" may implement a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 6 is a block diagram of a signal processing apparatus according to an embodiment of the present invention, as shown in fig. 6, including:
the acquisition module 601 is configured to acquire a sine signal and a cosine signal of the permanent magnet synchronous motor;
a generating module 602, configured to generate a first pulse signal based on the sine signal and generate a second pulse signal based on the cosine signal;
the sampling module 603 is configured to sample the first pulse signal and the second pulse signal, and generate excitation data;
the correction module 604 is configured to correct the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result;
and the processing module 605 is used for demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving the rotor position and the rotor speed of the permanent magnet synchronous motor.
Optionally, the generating module 602 further includes: modulating the sinusoidal signal to obtain a sinusoidal envelope signal; generating a first pulse signal based on a forward signal voltage and a reverse signal voltage of the sinusoidal envelope signal; modulating the cosine signal to obtain a cosine envelope signal; the second pulse signal is generated based on the forward signal voltage and the reverse signal voltage of the cosine envelope signal.
Optionally, the sampling module 603 further includes: sampling the first pulse signal and the second pulse signal, generating excitation data includes: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and sampling the first pulse signal and the second pulse signal by using the sampling parameters to generate excitation data.
Optionally, the sampling module 603 further includes: the sampling parameters at least comprise: sampling the first pulse signal and the second pulse signal by using sampling parameters, wherein the generating excitation data comprises the following steps: and aligning the sampling starting point with the starting point of one period of the preset excitation signals, and respectively sampling the first pulse signal and the second pulse signal according to the sampling frequency and the sampling period to generate excitation data.
Optionally, the correction module 604 further includes: correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result, wherein the target correction result comprises: the method comprises the steps of comparing phases of a first pulse signal and a second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used for determining phase deviation between the first pulse signal and the second pulse signal; performing phase correction on the sine signal and the cosine signal by using the phase shift parameter to obtain a first correction result; and carrying out secondary correction on the first correction result based on a preset time range to obtain a target correction result.
Optionally, the correction module 604 further includes: the target correction result comprises a second correction result and a third correction result, the second correction is carried out on the first correction result based on a preset time range, and the target correction result comprises the following steps: calculating based on signal values of the sine signal and the cosine signal in a preset time range to obtain a signal amplitude value and a signal offset value; carrying out amplitude correction on the first correction result by adopting the signal amplitude to obtain a second correction result; and carrying out offset correction on the first correction result by adopting the signal offset value to obtain a third correction result.
Optionally, the processing module 605 further includes: demodulating the target correction result and the excitation data to obtain a target signal, wherein the step of obtaining the target signal comprises the following steps: according to the excitation period corresponding to the excitation data, demodulating the target correction result to obtain a demodulation result; and carrying out signal verification on the demodulation result to determine a target signal.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
In this embodiment, there is also provided a storage medium including a stored program, where the program, when executed, controls an apparatus in which the storage medium is located to execute any one of the foregoing signal processing methods.
Alternatively, in the present embodiment, the above-described storage medium may be provided as a program for executing the steps of:
step S1, acquiring sine signals and cosine signals of a permanent magnet synchronous motor;
step S2, generating a first pulse signal based on the sine signal and generating a second pulse signal based on the cosine signal;
Step S3, sampling the first pulse signal and the second pulse signal to generate excitation data;
s4, correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result;
and S5, demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media in which a computer program can be stored.
According to another aspect of an embodiment of the present invention, there is also provided a vehicle including an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to run the computer program to perform the signal processing method of any one of the foregoing.
Alternatively, in the present embodiment, the above-described in-vehicle processor may be configured to execute the following steps by a computer program:
step S1, acquiring sine signals and cosine signals of a permanent magnet synchronous motor;
Step S2, generating a first pulse signal based on the sine signal and generating a second pulse signal based on the cosine signal;
step S3, sampling the first pulse signal and the second pulse signal to generate excitation data;
s4, correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result;
and S5, demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations thereof, and this embodiment is not described herein.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A signal processing method, comprising:
acquiring sine signals and cosine signals of a permanent magnet synchronous motor;
generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal;
sampling the first pulse signal and the second pulse signal to generate excitation data;
correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result;
and demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving rotor position information of the permanent magnet synchronous motor.
2. The signal processing method of claim 1, wherein generating the first pulse signal based on the sine signal and generating the second pulse signal based on the cosine signal comprises:
Modulating the sinusoidal signal to obtain a sinusoidal envelope signal;
generating the first pulse signal based on a forward signal voltage and a reverse signal voltage of the sinusoidal envelope signal;
modulating the cosine signal to obtain a cosine envelope signal;
the second pulse signal is generated based on a forward signal voltage and an inverse signal voltage of the cosine envelope signal.
3. The signal processing method according to claim 1, wherein sampling the first pulse signal and the second pulse signal, generating the excitation data includes:
analyzing the first pulse signal and the second pulse signal to determine sampling parameters;
and sampling the first pulse signal and the second pulse signal by using the sampling parameters to generate the excitation data.
4. A signal processing method according to claim 3, wherein the sampling parameters comprise at least: sampling the first pulse signal and the second pulse signal by using the sampling parameters, wherein the generating the excitation data comprises the following steps:
and aligning the sampling starting point with the starting point of one period of a preset excitation signal, and respectively sampling the first pulse signal and the second pulse signal according to the sampling frequency and the sampling period to generate the excitation data.
5. The signal processing method according to claim 1, wherein correcting the sine signal and the cosine signal using the first pulse signal and the second pulse signal to obtain the target correction result includes:
performing phase comparison on the first pulse signal and the second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used for determining phase deviation between the first pulse signal and the second pulse signal;
carrying out phase correction on the sine signal and the cosine signal by using the phase shift parameter to obtain a first correction result;
and carrying out secondary correction on the first correction result based on a preset time range to obtain the target correction result.
6. The signal processing method according to claim 5, wherein the target correction result includes a second correction result and a third correction result, and performing a secondary correction on the first correction result based on the preset time range, to obtain the target correction result includes:
calculating based on the signal values of the sine signal and the cosine signal in the preset time range to obtain a signal amplitude value and a signal offset value;
Performing amplitude correction on the first correction result by adopting the signal amplitude to obtain the second correction result;
and carrying out offset correction on the first correction result by adopting the signal offset value to obtain the third correction result.
7. The signal processing method according to claim 1, wherein demodulating the target correction result and the excitation data to obtain the target signal includes:
according to the excitation period corresponding to the excitation data, demodulating the target correction result to obtain a demodulation result;
and carrying out signal verification on the demodulation result to determine the target signal.
8. A signal processing apparatus, comprising:
the acquisition module is used for acquiring sine signals and cosine signals of the permanent magnet synchronous motor;
the generation module is used for generating a first pulse signal based on the sine signal and generating a second pulse signal based on the cosine signal;
the sampling module is used for sampling the first pulse signal and the second pulse signal to generate excitation data;
the correction module is used for correcting the sine signal and the cosine signal by utilizing the first pulse signal and the second pulse signal to obtain a target correction result;
And the processing module is used for demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used for resolving the rotor position and the rotor speed of the permanent magnet synchronous motor.
9. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the signal processing method of any one of claims 1 to 7.
10. A vehicle comprising an on-board memory in which a computer program is stored and an on-board processor arranged to run the computer program to perform the signal processing method of any one of claims 1 to 7.
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