CN116653609B - Control method and device for target two-wheel vehicle based on Hall protection strategy - Google Patents

Control method and device for target two-wheel vehicle based on Hall protection strategy Download PDF

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Publication number
CN116653609B
CN116653609B CN202310957529.1A CN202310957529A CN116653609B CN 116653609 B CN116653609 B CN 116653609B CN 202310957529 A CN202310957529 A CN 202310957529A CN 116653609 B CN116653609 B CN 116653609B
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hall
current
fault
target
phase
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CN116653609A (en
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胥中华
刘友辉
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Shenzhen Hobbywing Technology Co Ltd
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Shenzhen Hobbywing Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Measuring Magnetic Variables (AREA)
  • Regulating Braking Force (AREA)

Abstract

The embodiment of the application discloses a control method and a device of a target two-wheel vehicle based on a Hall protection strategy, wherein the method comprises the following steps: performing fault detection according to the data type sum and the Hall fault detection model to obtain a corresponding fault detection result; reading a current Hall fault mark in the fault detection result, wherein the current Hall fault mark comprises a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark; starting protection control on a Hall position sensor of a target two-wheel vehicle according to a current Hall fault mark and a current Hall protection model, and outputting a corresponding accumulated angle to adjust position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy; and outputting the adjusted position data of the target two-wheel vehicle.

Description

Control method and device for target two-wheel vehicle based on Hall protection strategy
Technical Field
The application relates to the technical field of two-wheelers, in particular to a control method and device of a target two-wheeler based on a Hall protection strategy.
Background
Currently, two main types of position sensors for two wheelers exist, namely a Hall sensor and a magnetic encoder. The Hall sensor is mainly applied to a medium-low speed two-wheeled vehicle. Due to the installation process of the Hall sensor and the complexity of the working condition of the two-wheel vehicle, the Hall sensor is frequently loose, falls off, short circuit and other faults. Because the Hall abnormal condition exists, the Hall position is inaccurate, and the motor rotates abnormally, so that potential safety hazards exist.
How to provide a protection method for a hall sensor of a two-wheel vehicle to avoid the inaccurate hall position caused by abnormal hall conditions is a technical problem to be solved.
Disclosure of Invention
Based on this, it is necessary to avoid the defect of inaccurate hall position due to the abnormal condition that may occur to the hall sensor of the two-wheeled vehicle, and to provide a control method, apparatus, storage medium, electronic device and computer program product of the target two-wheeled vehicle based on the hall protection strategy.
In a first aspect, an embodiment of the present application provides a control method for a target two-wheeled vehicle based on a hall protection strategy, where the method includes:
responding to a first instruction for acquiring a current Hall state value, and processing according to the acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times;
Calculating the sum of data types in a period with a preset duration according to the read data types in the Hall state array;
performing fault detection according to the data type sum and a Hall fault detection model to obtain a corresponding fault detection result, wherein the fault detection result comprises the following steps: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark;
reading a current Hall fault mark in the fault detection result, wherein the current Hall fault mark comprises a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark;
starting protection control on a Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust the position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy;
and outputting the adjusted position data of the target two-wheel vehicle.
Preferably, the method further comprises:
under the condition that the Hall is detected to be normal, determining a first interval angle corresponding to two abnormal or two interruption times, wherein the first interval angle is a first preset value, and the current Hall edge angle is a first Hall edge angle inquired according to the current Hall state value;
acquiring a first estimation model for estimating a first cumulative angle, and acquiring a plurality of first key data for estimating the first cumulative angle, the plurality of first key data including: the first preset value, a first timer count value, a first enter or interrupt time timer count value and the first Hall edge angle;
and sequentially inputting the plurality of first key data into the first estimation model for processing, and outputting the estimated first accumulated angle so as to adjust the position of the target two-wheeled vehicle based on the first accumulated angle.
Preferably, the starting protection control for the hall position sensor of the target two-wheel vehicle according to the current hall fault mark and the current hall protection model includes:
under the condition that the current Hall fault mark is a one-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding one-phase Hall protection strategy;
Under the condition that the current fault of the target two-wheel vehicle is detected to be one-phase Hall fault abnormality, inquiring corresponding phase-missing data according to the sum of the current data types, and determining the current Hall edge angle as a second Hall edge angle inquired according to the current Hall state value;
acquiring a second estimation model for estimating a second cumulative angle, and acquiring a plurality of second key data for estimating the second cumulative angle, the plurality of second key data including: the second timer count value, the second enter or break moment timer count value, the second Hall edge angle and the second interval angle corresponding to two anomalies or two breaks;
and sequentially inputting the plurality of second key data into the second estimation model for processing, and outputting the estimated second accumulated angle so as to adjust the position of the target two-wheel vehicle based on the second accumulated angle.
Preferably, the starting protection control for the hall position sensor of the target two-wheel vehicle according to the current hall fault mark and the current hall protection model includes:
under the condition that the current Hall fault mark is a two-phase Hall fault mark or a three-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding two-phase Hall protection strategy or three-phase Hall protection strategy;
And starting a two-phase Hall protection strategy or a three-phase Hall protection strategy for the Hall position sensor of the target two-wheel vehicle to carry out protection control.
Preferably, the protection control for starting a two-phase hall protection strategy or a three-phase hall protection strategy by the hall position sensor of the target two-wheel vehicle includes:
reading the current rotating speed of the target two-wheel vehicle;
calculating an absolute value of a corresponding current speed based on a current rotation speed of the target two-wheeled vehicle;
judging whether the absolute value of the current speed is larger than a preset threshold value or not to obtain a corresponding judging result;
and executing corresponding operation based on the judging result.
Preferably, the executing the corresponding operation based on the determination result includes:
and the judging result is as follows: under the condition that the absolute value of the current speed is larger than the preset threshold value, sequentially reading a plurality of third key data of the target two-wheel vehicle, wherein the plurality of third key data comprise: the motor rotor resistance of the target two-wheel vehicle, the alpha-axis current, the beta-axis current, the alpha-axis voltage and the beta-axis voltage;
sequentially inputting the plurality of third key data into a third estimation model for processing, and outputting corresponding alpha-axis counter electromotive force and corresponding beta-axis counter electromotive force, wherein the alpha-axis counter electromotive force and the beta-axis counter electromotive force both comprise first position information of a target two-wheel vehicle;
Inputting the first position information into a corresponding observation model for processing, estimating the current position of the target two-wheel vehicle, and outputting the current position of the target two-wheel vehicle; or,
and the judging result is as follows: and setting a stop mark when the absolute value of the current speed is smaller than the preset threshold value so as to acquire the position data of the target two-wheel vehicle and output the current position of the target two-wheel vehicle.
Preferably, the processing, in response to the first instruction for obtaining the current hall state value, according to the collected current three-phase hall level signal and the first preset mode, obtains a corresponding first processing result, including:
responding to the first instruction for acquiring the current Hall state value, and calculating and outputting the current Hall state value according to the acquired current three-phase Hall level signal and a first processing model, wherein the first processing model is used for calculating the current Hall state value;
continuously calculating and outputting a Hall state value of preset times to obtain the Hall state array comprising the Hall state value of the preset times;
and distinguishing and counting the data of different types in the Hall state array to obtain the corresponding data type sum.
Preferably, the calculating and outputting the current hall state value according to the collected current three-phase hall level signal and the first processing model includes:
acquiring an acquired current three-phase Hall level signal and the first processing model, wherein the current three-phase Hall level signal comprises a corresponding A-phase Hall level signal, a corresponding B-phase Hall level signal and a corresponding C-phase Hall level signal;
and sequentially inputting the corresponding A-phase Hall level signal, the corresponding B-phase Hall level signal and the corresponding C-phase Hall level signal into the first processing model for calculation processing, and outputting a corresponding current Hall state value.
Preferably, the fault detection is performed according to the data type sum and the hall fault detection model, including:
acquiring the data type sum and a first preset value;
under the condition that the sum of the data types is larger than the first preset value, determining that the target two-wheel vehicle is in a Hall normal running state, and sequentially clearing a marked one-phase Hall fault mark, a marked two-phase Hall fault mark and a marked three-phase Hall fault mark;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
Acquiring the data type sum and a second preset value;
under the condition that the sum of the data types is larger than the second preset value and smaller than or equal to the first preset value, determining that the fault type of the current target two-wheel vehicle is one-phase Hall abnormality;
setting a one-phase Hall fault mark, and clearing the marked two-phase Hall fault mark and the marked three-phase Hall fault mark;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring the data type sum and a second preset value;
under the condition that the sum of the data types is smaller than the second preset value and larger than a third preset value, determining that the fault type of the current target two-wheel vehicle is two-phase Hall abnormality;
setting two-phase Hall fault marks, and clearing one-phase Hall fault marks and three-phase Hall fault marks;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring the sum of the data types;
under the condition that the sum of the data types is the third preset value, determining that the fault type of the current target two-wheel vehicle is three-phase Hall abnormality;
setting a three-phase Hall fault mark, and clearing a marked one-phase Hall fault mark and a marked two-phase Hall fault mark;
And transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In a second aspect, an embodiment of the present application provides a control device for a target two-wheeled vehicle based on a hall protection strategy, where the device includes:
the first processing module is used for responding to a first instruction for acquiring the current Hall state value, processing according to the acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times;
the calculating module is used for calculating the sum of the data types in a period of a preset duration according to the read data types in the Hall state array;
the fault detection module is used for carrying out fault detection according to the data type sum and the Hall fault detection model to obtain a corresponding fault detection result, and the fault detection result comprises the following components: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark;
The reading module is used for reading the current Hall fault marks in the fault detection result, wherein the current Hall fault marks comprise a phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark;
the second processing module is used for starting protection control on the Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, outputting a corresponding accumulated angle, and adjusting the position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy;
and the output module is used for outputting the position data of the target two-wheel vehicle after adjustment.
In a third aspect, embodiments of the present application provide a computer readable storage medium storing a computer program for performing the above-described method steps.
In a fourth aspect, an embodiment of the present application provides an electronic device, including:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method steps described above.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the above-mentioned method steps.
In the embodiment of the application, in response to a first instruction for acquiring a current Hall state value, processing is performed according to an acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times; calculating the sum of data types in a period with a preset duration according to the data types in the read Hall state array; performing fault detection according to the data type sum and the Hall fault detection model to obtain a corresponding fault detection result, wherein the fault detection result comprises: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark; reading a current Hall fault mark in the fault detection result, wherein the current Hall fault mark comprises a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark; starting protection control on a Hall position sensor of a target two-wheel vehicle according to a current Hall fault mark and a current Hall protection model, and outputting a corresponding accumulated angle to adjust position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy; and outputting the adjusted position data of the target two-wheel vehicle. The control method of the target two-wheel vehicle based on the Hall protection strategy provided by the embodiment of the application can read the current Hall fault marks in the fault detection result, wherein the current Hall fault marks comprise a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark; starting protection control on a Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy; and outputting the position data of the target two-wheel vehicle after adjustment; therefore, even if the target two-wheel vehicle has a Hall abnormal condition, the Hall position sensor can be started to be protected and controlled by starting a Hall protection strategy matched with the current Hall abnormal condition, and a corresponding accumulated angle is output, so that the position data of the target two-wheel vehicle is adjusted based on the accumulated angle, and the accuracy of the output position data of the target two-wheel vehicle after adjustment is effectively improved; in addition, a Hall protection strategy matched with the current Hall abnormal condition is started to start protection control on the Hall position sensor, so that the possibility of abnormal rotation of the motor is effectively reduced.
Drawings
Exemplary embodiments of the present application may be more fully understood by reference to the following drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a flowchart of a control method of a target two-wheeled vehicle based on a hall protection strategy according to an exemplary embodiment of the present application;
fig. 2 is a schematic structural diagram of a control device 200 for a target two-wheeled vehicle based on a hall protection strategy according to an exemplary embodiment of the present application.
Detailed Description
The embodiment of the application provides a control method and device of a target two-wheeled vehicle based on a Hall protection strategy, electronic equipment and a computer readable medium, and the control method and device are described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a control method of a target two-wheeled vehicle based on a hall protection strategy according to some embodiments of the present application is shown, and as shown in fig. 1, the control method of the target two-wheeled vehicle based on the hall protection strategy may include the following steps:
Step S101: and responding to a first instruction for acquiring the current Hall state value, and processing according to the acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times.
In one possible implementation manner, in response to a first instruction for acquiring a current hall state value, processing is performed according to an acquired current three-phase hall level signal and a first preset manner, so as to obtain a corresponding first processing result, including the following steps:
responding to a first instruction for acquiring a current Hall state value, calculating and outputting the current Hall state value according to the acquired current three-phase Hall level signal and a first processing model, wherein the first processing model is used for calculating the current Hall state value;
continuously calculating and outputting Hall state values of preset times to obtain a Hall state array comprising the Hall state values of the preset times;
and distinguishing and counting the data of different types in the Hall state array to obtain the corresponding data type sum.
In a specific application scenario, the preset number of times may be set to 6 times.
In one possible implementation, the calculating and outputting the current hall state value according to the collected current three-phase hall level signal and the first processing model includes the following steps:
Acquiring an acquired current three-phase Hall level signal and a first processing model, wherein the current three-phase Hall level signal comprises a corresponding A-phase Hall level signal, a corresponding B-phase Hall level signal and a corresponding C-phase Hall level signal;
and sequentially inputting the corresponding A-phase Hall level signal, the corresponding B-phase Hall level signal and the corresponding C-phase Hall level signal into a first processing model for calculation processing, and outputting a corresponding current Hall state value.
In a specific application scenario, a calculation formula corresponding to the first processing model is as follows:
formula (1):
wherein,,for the corresponding A-phase Hall level signal, +.>For the corresponding B-phase Hall level signal, +.>Is the corresponding C-phase Hall level signal.
Step S102: and calculating the sum of the data types in a period of a preset duration according to the data types in the read Hall state array.
In different application scenarios, the preset duration in the step S102 may be adjusted, which is not described herein.
Step S103: performing fault detection according to the data type sum and the Hall fault detection model to obtain a corresponding fault detection result, wherein the fault detection result comprises: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark.
In a specific application scenario, fault detection is performed according to the sum of data types and a Hall fault detection model, and the method comprises the following steps:
acquiring a data type sum and a first preset value;
under the condition that the sum of the data types is larger than a first preset value, determining that the target two-wheel vehicle is in a Hall normal running state, and sequentially clearing the marked one-phase Hall fault marks, the marked two-phase Hall fault marks and the marked three-phase Hall fault marks;
and transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In a specific application scenario, the first preset value is set to 5.
In a specific application scenario, fault detection is performed according to the sum of data types and a Hall fault detection model, and the method comprises the following steps:
acquiring a data type sum and a second preset value;
under the condition that the sum of the data types is larger than a second preset value and smaller than or equal to a first preset value, determining that the fault type of the current target two-wheel vehicle is one-phase Hall abnormality;
setting a one-phase Hall fault mark, and clearing the marked two-phase Hall fault mark and the marked three-phase Hall fault mark;
and transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In a specific application scenario, the first preset value is set to 5, and the second preset value is set to 3.
In a specific application scenario, fault detection is performed according to the sum of data types and a Hall fault detection model, and the method comprises the following steps:
acquiring a data type sum and a second preset value;
under the condition that the sum of the data types is smaller than a second preset value and larger than a third preset value, determining that the fault type of the current target two-wheel vehicle is two-phase Hall abnormality;
setting two-phase Hall fault marks, and clearing one-phase Hall fault marks and three-phase Hall fault marks;
and transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In a specific application scenario, the second preset value is set to 3, and the third preset value is set to 1.
In a specific application scenario, fault detection is performed according to the sum of data types and a Hall fault detection model, and the method comprises the following steps:
acquiring a data type sum;
under the condition that the sum of the data types is a third preset value, determining that the fault type of the current target two-wheel vehicle is three-phase Hall abnormality;
setting a three-phase Hall fault mark, and clearing a marked one-phase Hall fault mark and a marked two-phase Hall fault mark;
And transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In a specific application scenario, the third preset value is set to 1.
In an actual application scene, corresponding Hall fault marking positions are transmitted to corresponding meters so as to remind a vehicle owner of a target two-wheel vehicle: the target two-wheel vehicle currently has Hall faults so that the target two-wheel vehicle runs at a low speed.
Step S104: the current Hall fault marks in the fault detection result are read, wherein the current Hall fault marks comprise a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark.
In an actual application scene, under the condition that the current Hall fault mark is a one-phase Hall fault mark, the current Hall fault of the target two-wheel vehicle is one-phase Hall abnormality. For example, hall C is shorted to ground, and at this time, the data types are four, respectively: 2. 0, 4 and 6. Under the condition of the current Hall fault marking bit and the two-phase Hall fault marking, the current Hall fault of the target two-wheel vehicle is abnormal. For example, the hall B, C is shorted to ground, and at this time, the data types are two, respectively: 0. 4.
Under the condition of the three-phase Hall fault marking of the current Hall fault marking position, the current Hall fault of the target two-wheel vehicle is three-phase Hall abnormality. For example, the hall power supply is abnormal, and at this time, the data type is one, namely: 0.
In addition, in the case where the hall is in a normal state, at this time, there are six types of data, respectively: 1. 2, 3, 4, 5, 6.
Step S105: and starting protection control on the Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust the position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy.
In a possible implementation manner, the control method of the target two-wheel vehicle based on the hall protection strategy provided by the embodiment of the application further comprises the following steps:
under the condition that the Hall is detected to be normal, determining a first interval angle corresponding to two abnormal or two interruption times, wherein the first interval angle is a first preset value, and the current Hall edge angle is a first Hall edge angle inquired according to the current Hall state value;
acquiring a first estimation model for estimating a first cumulative angle, and acquiring a plurality of first key data for estimating the first cumulative angle, the plurality of first key data including: the first preset value, a first timer count value, a first enter or interrupt time timer count value and a first Hall edge angle;
And sequentially inputting the plurality of first key data into a first estimation model for processing, and outputting the estimated first accumulated angle so as to adjust the position of the target two-wheel vehicle based on the first accumulated angle.
In a specific application scenario, the first interval angle is a first preset value, and the first preset value may be fixed to be 60 °.
The calculation formula adopted by the first estimation model for estimating the first cumulative angle is specifically as follows:
formula (2);
wherein,,for a first cumulative angle, +.>For the first timer count value,/>Timer for first advance or interrupt timeCount value of->Is the first hall edge angle.
In one possible implementation manner, according to a current hall fault sign and a current hall protection model, the protection control is started to the hall position sensor of the target two-wheel vehicle, and the method comprises the following steps:
under the condition that the current Hall fault mark is a one-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding one-phase Hall protection strategy;
under the condition that the current fault of the target two-wheel vehicle is detected to be one-phase Hall fault abnormality, inquiring corresponding phase-missing data according to the sum of the current data types, and determining the current Hall edge angle as a second Hall edge angle inquired according to the current Hall state value;
Acquiring a second estimation model for estimating a second cumulative angle, and acquiring a plurality of second key data for estimating the second cumulative angle, the plurality of second key data including: the second timer count value, the second enter or interrupt time timer count value, the second Hall edge angle and the second interval angle corresponding to two anomalies or two interrupts;
and sequentially inputting a plurality of second key data into a second estimation model for processing, and outputting an estimated second cumulative angle so as to adjust the position of the target two-wheel vehicle based on the second cumulative angle.
In a specific application scenario, a calculation formula adopted by the second estimation model for estimating the second cumulative angle is specifically as follows:
formula (3);
wherein,,for the second cumulative angle->For the second timer count value +.>For the second advance or interrupt time timer count,/->For a second interval angle corresponding to two anomalies or two breaks,is the second hall edge angle.
In one possible implementation manner, according to a current hall fault sign and a current hall protection model, the protection control is started to the hall position sensor of the target two-wheel vehicle, and the method comprises the following steps:
Under the condition that the current Hall fault mark is a two-phase Hall fault mark or a three-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding two-phase Hall protection strategy or three-phase Hall protection strategy;
and starting a two-phase Hall protection strategy or a three-phase Hall protection strategy for the Hall position sensor of the target two-wheel vehicle to carry out protection control.
In one possible implementation manner, the protection control is performed by starting a two-phase hall protection strategy or a three-phase hall protection strategy on a hall position sensor of a target two-wheel vehicle, and the method comprises the following steps:
reading the current rotating speed of the target two-wheel vehicle;
calculating an absolute value of a corresponding current speed based on a current rotation speed of the target two-wheeled vehicle;
judging whether the absolute value of the current speed is larger than a preset threshold value or not to obtain a corresponding judging result;
and executing corresponding operation based on the judging result.
In one possible implementation manner, the corresponding operation is performed based on the judgment result, and the method includes the following steps:
the judgment result is as follows: under the condition that the absolute value of the current speed is larger than a preset threshold value, sequentially reading a plurality of third key data of the target two-wheel vehicle, wherein the plurality of third key data comprise: the motor rotor resistance and the electronic rotor inductance of the target two-wheel vehicle, the alpha-axis current, the beta-axis current, the alpha-axis voltage and the beta-axis voltage;
Sequentially inputting a plurality of third key data into a third estimation model for processing, and outputting corresponding alpha-axis back electromotive force and corresponding beta-axis back electromotive force, wherein the alpha-axis back electromotive force and the beta-axis back electromotive force both comprise first position information of a target two-wheel vehicle;
and inputting the first position information into a corresponding observation model for processing, estimating the current position of the target two-wheel vehicle, and outputting the current position of the target two-wheel vehicle.
In a specific application scenario, the formula adopted by the third estimation model may be specifically as follows:
the alpha axis voltage/beta axis voltage equation is shown below:
formula (4);
wherein,,for alpha axis voltage, ">Beta-axis voltages respectively; />For alpha axis current, ">The beta-axis current; />For the motor rotor resistance>The inductance is the inductance of the motor rotor; />For alpha-axis back electromotive force +.>Is the beta-axis back-emf. Wherein (1)>And->Including the first position information of the target two-wheeled vehicle.
It should be noted that, the algorithm adopted by the observation model in the above steps is a conventional algorithm, and will not be described herein.
In one possible implementation manner, the corresponding operation is performed based on the judgment result, and the method includes the following steps:
The judgment result is as follows: and setting a stop mark when the absolute value of the current speed is smaller than a preset threshold value so as to acquire the position data of the target two-wheel vehicle and output the current position of the target two-wheel vehicle.
Step S106: and outputting the adjusted position data of the target two-wheel vehicle.
The control method of the target two-wheel vehicle based on the Hall protection strategy provided by the embodiment of the application can read the current Hall fault marks in the fault detection result, wherein the current Hall fault marks comprise a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark; starting protection control on a Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy; and outputting the position data of the target two-wheel vehicle after adjustment; therefore, even if the target two-wheel vehicle has a Hall abnormal condition, the Hall position sensor can be started to be protected and controlled by starting a Hall protection strategy matched with the current Hall abnormal condition, and a corresponding accumulated angle is output, so that the position data of the target two-wheel vehicle is adjusted based on the accumulated angle, and the accuracy of the output position data of the target two-wheel vehicle after adjustment is effectively improved; in addition, a Hall protection strategy matched with the current Hall abnormal condition is started to start protection control on the Hall position sensor, so that the possibility of abnormal rotation of the motor is effectively reduced.
In the above embodiment, a control method of a target two-wheel vehicle based on a hall protection strategy is provided, and correspondingly, the application also provides a control device of the target two-wheel vehicle based on the hall protection strategy. The control device of the target two-wheel vehicle based on the Hall protection strategy can implement the control method of the target two-wheel vehicle based on the Hall protection strategy, and the control device of the target two-wheel vehicle based on the Hall protection strategy can be realized in a mode of software, hardware or combination of software and hardware. For example, the control device of the target two-wheeled vehicle based on the hall protection strategy may comprise integrated or separate functional modules or units to perform the corresponding steps of the methods described above.
Referring to fig. 2, a schematic diagram of a control device of a target two-wheeled vehicle based on a hall protection strategy according to some embodiments of the present application is shown. Since the apparatus embodiments are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
As shown in fig. 2, the control device 200 of the target two-wheeled vehicle based on the hall protection strategy may include:
The first processing module 201 is configured to, in response to a first instruction for obtaining a current hall state value, process according to the collected current three-phase hall level signal and a first preset manner, obtain a corresponding first processing result, where the first processing result includes a hall state array of hall state values of preset times;
a calculating module 202, configured to calculate a sum of data types in a period of a preset duration according to the data types in the read hall state array;
the fault detection module 203 is configured to perform fault detection according to the sum of data types and the hall fault detection model, and obtain a corresponding fault detection result, where the fault detection result includes: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark;
the reading module 204 is configured to read a current hall fault flag in the fault detection result, where the current hall fault flag includes a one-phase hall fault flag, a two-phase hall fault flag, and a three-phase hall fault flag;
The second processing module 205 is configured to start protection control for a hall position sensor of the target two-wheeled vehicle according to a current hall fault flag and a current hall protection model, and output a corresponding cumulative angle, so as to adjust position data of the target two-wheeled vehicle based on the corresponding cumulative angle, where the current hall protection model adopts a corresponding hall protection strategy;
and the output module 206 is used for outputting the adjusted position data of the target two-wheel vehicle.
In some implementations of the embodiment of the present application, the control device 200 for a target two-wheeled vehicle based on the hall protection strategy provided in the embodiment of the present application may further include:
a third processing module (not shown in fig. 2) for:
under the condition that the Hall is detected to be normal, determining a first interval angle corresponding to two abnormal or two interruption times, wherein the first interval angle is a first preset value, and the current Hall edge angle is a first Hall edge angle inquired according to the current Hall state value;
acquiring a first estimation model for estimating a first cumulative angle, and acquiring a plurality of first key data for estimating the first cumulative angle, the plurality of first key data including: the first preset value, a first timer count value, a first enter or interrupt time timer count value and a first Hall edge angle;
And sequentially inputting the plurality of first key data into a first estimation model for processing, and outputting the estimated first accumulated angle so as to adjust the position of the target two-wheel vehicle based on the first accumulated angle.
In some implementations of the embodiments of the present application, the second processing module 205 is specifically configured to:
under the condition that the current Hall fault mark is a one-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding one-phase Hall protection strategy;
under the condition that the current fault of the target two-wheel vehicle is detected to be one-phase Hall fault abnormality, inquiring corresponding phase-missing data according to the sum of the current data types, and determining the current Hall edge angle as a second Hall edge angle inquired according to the current Hall state value;
acquiring a second estimation model for estimating a second cumulative angle, and acquiring a plurality of second key data for estimating the second cumulative angle, the plurality of second key data including: the second timer count value, the second enter or interrupt time timer count value, the second Hall edge angle and the second interval angle corresponding to two anomalies or two interrupts;
and sequentially inputting a plurality of second key data into a second estimation model for processing, and outputting an estimated second cumulative angle so as to adjust the position of the target two-wheel vehicle based on the second cumulative angle.
In some implementations of the embodiments of the application, the second processing module 205 is configured to:
under the condition that the current Hall fault mark is a two-phase Hall fault mark or a three-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding two-phase Hall protection strategy or three-phase Hall protection strategy;
and starting a two-phase Hall protection strategy or a three-phase Hall protection strategy for the Hall position sensor of the target two-wheel vehicle to carry out protection control.
In some implementations of the embodiments of the present application, the second processing module 205 is specifically configured to:
reading the current rotating speed of the target two-wheel vehicle;
calculating an absolute value of a corresponding current speed based on a current rotation speed of the target two-wheeled vehicle;
judging whether the absolute value of the current speed is larger than a preset threshold value or not to obtain a corresponding judging result;
and executing corresponding operation based on the judging result.
In some implementations of the embodiments of the present application, the second processing module 205 is specifically configured to:
the judgment result is as follows: under the condition that the absolute value of the current speed is larger than a preset threshold value, sequentially reading a plurality of third key data of the target two-wheel vehicle, wherein the plurality of third key data comprise: the motor rotor resistance of the target two-wheel vehicle, the alpha-axis current, the beta-axis current, the alpha-axis voltage and the beta-axis voltage;
Sequentially inputting a plurality of third key data into a third estimation model for processing, and outputting corresponding alpha-axis back electromotive force and corresponding beta-axis back electromotive force, wherein the alpha-axis back electromotive force and the beta-axis back electromotive force both comprise first position information of a target two-wheel vehicle;
inputting the first position information into a corresponding observation model for processing, estimating the current position of the target two-wheel vehicle, and outputting the current position of the target two-wheel vehicle; or,
the judgment result is as follows: and setting a stop mark when the absolute value of the current speed is smaller than a preset threshold value so as to acquire the position data of the target two-wheel vehicle and output the current position of the target two-wheel vehicle.
In some implementations of the embodiments of the present application, the first processing module 201 is specifically configured to:
responding to a first instruction for acquiring a current Hall state value, calculating and outputting the current Hall state value according to the acquired current three-phase Hall level signal and a first processing model, wherein the first processing model is used for calculating the current Hall state value;
continuously calculating and outputting Hall state values of preset times to obtain a Hall state array comprising the Hall state values of the preset times;
and distinguishing and counting the data of different types in the Hall state array to obtain the corresponding data type sum.
In some implementations of the embodiments of the present application, the first processing module 201 is specifically configured to:
acquiring an acquired current three-phase Hall level signal and a first processing model, wherein the current three-phase Hall level signal comprises a corresponding A-phase Hall level signal, a corresponding B-phase Hall level signal and a corresponding C-phase Hall level signal;
and sequentially inputting the corresponding A-phase Hall level signal, the corresponding B-phase Hall level signal and the corresponding C-phase Hall level signal into a first processing model for calculation processing, and outputting a corresponding current Hall state value.
In some implementations of the embodiments of the present application, the fault detection module 203 is specifically configured to:
acquiring a data type sum and a first preset value;
under the condition that the sum of the data types is larger than a first preset value, determining that the target two-wheel vehicle is in a Hall normal running state, and sequentially clearing the marked one-phase Hall fault marks, the marked two-phase Hall fault marks and the marked three-phase Hall fault marks;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring a data type sum and a second preset value;
under the condition that the sum of the data types is larger than a second preset value and smaller than or equal to a first preset value, determining that the fault type of the current target two-wheel vehicle is one-phase Hall abnormality;
Setting a one-phase Hall fault mark, and clearing the marked two-phase Hall fault mark and the marked three-phase Hall fault mark;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring a data type sum and a second preset value;
under the condition that the sum of the data types is smaller than a second preset value and larger than a third preset value, determining that the fault type of the current target two-wheel vehicle is two-phase Hall abnormality;
setting two-phase Hall fault marks, and clearing one-phase Hall fault marks and three-phase Hall fault marks;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring a data type sum;
under the condition that the sum of the data types is a third preset value, determining that the fault type of the current target two-wheel vehicle is three-phase Hall abnormality;
setting a three-phase Hall fault mark, and clearing a marked one-phase Hall fault mark and a marked two-phase Hall fault mark;
and transmitting the corresponding Hall fault marking bit to the corresponding instrument.
In some implementations of the embodiments of the present application, the control device 200 for a target two-wheeled vehicle based on a hall protection strategy provided by the embodiments of the present application has the same beneficial effects as the control method for a target two-wheeled vehicle based on a hall protection strategy provided by the foregoing embodiments of the present application due to the same inventive concept.
A third aspect of the present invention provides a computer-readable storage medium, in which a control method program of a target two-wheeled vehicle based on a hall protection strategy is included, and when the control method program of the target two-wheeled vehicle based on the hall protection strategy is executed by a processor, the steps of a control method of the target two-wheeled vehicle based on the hall protection strategy are implemented.
The control method, the control device and the readable storage medium of the target two-wheel vehicle based on the Hall protection strategy can read the current Hall fault mark in the fault detection result, wherein the current Hall fault mark comprises a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark; starting protection control on a Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy; and outputting the position data of the target two-wheel vehicle after adjustment; therefore, even if the target two-wheel vehicle has a Hall abnormal condition, the Hall position sensor can be started to be protected and controlled by starting a Hall protection strategy matched with the current Hall abnormal condition, and a corresponding accumulated angle is output, so that the position data of the target two-wheel vehicle is adjusted based on the accumulated angle, and the accuracy of the output position data of the target two-wheel vehicle after adjustment is effectively improved; in addition, a Hall protection strategy matched with the current Hall abnormal condition is started to start protection control on the Hall position sensor, so that the possibility of abnormal rotation of the motor is effectively reduced.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another device, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network 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 each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.

Claims (10)

1. The control method of the target two-wheel vehicle based on the Hall protection strategy is characterized by comprising the following steps of:
responding to a first instruction for acquiring a current Hall state value, and processing according to the acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times;
calculating the sum of data types in a period with a preset duration according to the read data types in the Hall state array;
Performing fault detection according to the data type sum and a Hall fault detection model to obtain a corresponding fault detection result, wherein the fault detection result comprises the following steps: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark;
reading a current Hall fault mark in the fault detection result, wherein the current Hall fault mark comprises a one-phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark;
starting protection control on a Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, and outputting a corresponding accumulated angle to adjust the position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy;
and outputting the adjusted position data of the target two-wheel vehicle.
2. The control method according to claim 1, characterized in that the method further comprises:
Under the condition that the Hall is detected to be normal, determining a first interval angle corresponding to two abnormal or two interruption times, wherein the first interval angle is a first preset value, and the current Hall edge angle is a first Hall edge angle inquired according to the current Hall state value;
acquiring a first estimation model for estimating a first cumulative angle, and acquiring a plurality of first key data for estimating the first cumulative angle, the plurality of first key data including: the first preset value, a first timer count value, a first enter or interrupt time timer count value and the first Hall edge angle;
and sequentially inputting the plurality of first key data into the first estimation model for processing, and outputting the estimated first accumulated angle so as to adjust the position of the target two-wheeled vehicle based on the first accumulated angle.
3. The control method according to claim 1, wherein the starting protection control for the hall position sensor of the target two-wheeled vehicle according to the current hall fault flag and the current hall protection model includes:
under the condition that the current Hall fault mark is a one-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding one-phase Hall protection strategy;
Under the condition that the current fault of the target two-wheel vehicle is detected to be one-phase Hall fault abnormality, inquiring corresponding phase-missing data according to the sum of the current data types, and determining the current Hall edge angle as a second Hall edge angle inquired according to the current Hall state value;
acquiring a second estimation model for estimating a second cumulative angle, and acquiring a plurality of second key data for estimating the second cumulative angle, the plurality of second key data including: the second timer count value, the second enter or break moment timer count value, the second Hall edge angle and the second interval angle corresponding to two anomalies or two breaks;
and sequentially inputting the plurality of second key data into the second estimation model for processing, and outputting the estimated second accumulated angle so as to adjust the position of the target two-wheel vehicle based on the second accumulated angle.
4. The control method according to claim 1, wherein the starting protection control for the hall position sensor of the target two-wheeled vehicle according to the current hall fault flag and the current hall protection model includes:
under the condition that the current Hall fault mark is a two-phase Hall fault mark or a three-phase Hall fault mark, determining that the current Hall protection model adopts a corresponding two-phase Hall protection strategy or three-phase Hall protection strategy;
And starting a two-phase Hall protection strategy or a three-phase Hall protection strategy for the Hall position sensor of the target two-wheel vehicle to carry out protection control.
5. The control method according to claim 4, wherein the protection control for starting a two-phase hall protection strategy or a three-phase hall protection strategy for the hall position sensor of the target two-wheeled vehicle includes:
reading the current rotating speed of the target two-wheel vehicle;
calculating an absolute value of a corresponding current speed based on a current rotation speed of the target two-wheeled vehicle;
judging whether the absolute value of the current speed is larger than a preset threshold value or not to obtain a corresponding judging result;
and executing corresponding operation based on the judging result.
6. The control method according to claim 5, wherein the performing the corresponding operation based on the determination result includes:
and the judging result is as follows: under the condition that the absolute value of the current speed is larger than the preset threshold value, sequentially reading a plurality of third key data of the target two-wheel vehicle, wherein the plurality of third key data comprise: the motor rotor resistance of the target two-wheel vehicle, the alpha-axis current, the beta-axis current, the alpha-axis voltage and the beta-axis voltage;
Sequentially inputting the plurality of third key data into a third estimation model for processing, and outputting corresponding alpha-axis counter electromotive force and corresponding beta-axis counter electromotive force, wherein the alpha-axis counter electromotive force and the beta-axis counter electromotive force both comprise first position information of a target two-wheel vehicle;
inputting the first position information into a corresponding observation model for processing, estimating the current position of the target two-wheel vehicle, and outputting the current position of the target two-wheel vehicle; or,
and the judging result is as follows: and setting a stop mark when the absolute value of the current speed is smaller than the preset threshold value so as to acquire the position data of the target two-wheel vehicle and output the current position of the target two-wheel vehicle.
7. The control method according to claim 1, wherein the processing according to the collected current three-phase hall level signal and the first preset manner in response to the first instruction for obtaining the current hall state value, to obtain the corresponding first processing result, includes:
responding to the first instruction for acquiring the current Hall state value, and calculating and outputting the current Hall state value according to the acquired current three-phase Hall level signal and a first processing model, wherein the first processing model is used for calculating the current Hall state value;
Continuously calculating and outputting a Hall state value of preset times to obtain the Hall state array comprising the Hall state value of the preset times;
and distinguishing and counting the data of different types in the Hall state array to obtain the corresponding data type sum.
8. The control method according to claim 7, wherein calculating and outputting the current hall state value based on the collected current three-phase hall level signal and the first processing model includes:
acquiring an acquired current three-phase Hall level signal and the first processing model, wherein the current three-phase Hall level signal comprises a corresponding A-phase Hall level signal, a corresponding B-phase Hall level signal and a corresponding C-phase Hall level signal;
and sequentially inputting the corresponding A-phase Hall level signal, the corresponding B-phase Hall level signal and the corresponding C-phase Hall level signal into the first processing model for calculation processing, and outputting a corresponding current Hall state value.
9. The control method according to claim 1, characterized in that performing fault detection based on the data type sum and a hall fault detection model, comprises:
acquiring the data type sum and a first preset value;
Under the condition that the sum of the data types is larger than the first preset value, determining that the target two-wheel vehicle is in a Hall normal running state, and sequentially clearing a marked one-phase Hall fault mark, a marked two-phase Hall fault mark and a marked three-phase Hall fault mark;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring the data type sum and a second preset value;
under the condition that the sum of the data types is larger than the second preset value and smaller than or equal to the first preset value, determining that the fault type of the current target two-wheel vehicle is one-phase Hall abnormality;
setting a one-phase Hall fault mark, and clearing the marked two-phase Hall fault mark and the marked three-phase Hall fault mark;
transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring the data type sum and a second preset value;
under the condition that the sum of the data types is smaller than the second preset value and larger than a third preset value, determining that the fault type of the current target two-wheel vehicle is two-phase Hall abnormality;
setting two-phase Hall fault marks, and clearing one-phase Hall fault marks and three-phase Hall fault marks;
Transmitting the corresponding Hall fault marking bit to the corresponding instrument; or,
acquiring the sum of the data types;
under the condition that the sum of the data types is the third preset value, determining that the fault type of the current target two-wheel vehicle is three-phase Hall abnormality;
setting a three-phase Hall fault mark, and clearing a marked one-phase Hall fault mark and a marked two-phase Hall fault mark;
and transmitting the corresponding Hall fault marking bit to the corresponding instrument.
10. A control device for a target two-wheeled vehicle based on a hall protection strategy, the device comprising:
the first processing module is used for responding to a first instruction for acquiring the current Hall state value, processing according to the acquired current three-phase Hall level signal and a first preset mode to obtain a corresponding first processing result, wherein the first processing result comprises a Hall state array of Hall state values with preset times;
the calculating module is used for calculating the sum of the data types in a period of a preset duration according to the read data types in the Hall state array;
the fault detection module is used for carrying out fault detection according to the data type sum and the Hall fault detection model to obtain a corresponding fault detection result, and the fault detection result comprises the following components: the fault type of the target two-wheel vehicle is one-phase Hall anomaly and a corresponding one-phase Hall fault mark, the fault type of the target two-wheel vehicle is two-phase Hall anomaly and a corresponding two-phase Hall fault mark, and the fault type of the target two-wheel vehicle is three-phase Hall anomaly and a corresponding three-phase Hall fault mark;
The reading module is used for reading the current Hall fault marks in the fault detection result, wherein the current Hall fault marks comprise a phase Hall fault mark, a two-phase Hall fault mark and a three-phase Hall fault mark;
the second processing module is used for starting protection control on the Hall position sensor of the target two-wheel vehicle according to the current Hall fault mark and the current Hall protection model, outputting a corresponding accumulated angle, and adjusting the position data of the target two-wheel vehicle based on the corresponding accumulated angle, wherein the current Hall protection model adopts a corresponding Hall protection strategy;
and the output module is used for outputting the position data of the target two-wheel vehicle after adjustment.
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