CN117171024B - Rapid diagnosis system for rotational-transformation signals of automobile driving motor based on etpu - Google Patents
Rapid diagnosis system for rotational-transformation signals of automobile driving motor based on etpu Download PDFInfo
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Abstract
The utility model discloses a rapid diagnosis system of a rotational-change signal of an automobile driving motor based on etpu, which comprises a diagnosis module, a soft decoding module and a detection module, wherein the diagnosis module is used for diagnosing a rotational-change sampling signal and a soft decoding angle signal; the detailed debugging module is used for collecting parameters set by the graphic display module and transmitting the parameters to the etpu module of the lower computer; and the graphic display module comprises a sampling data graphic display module and a decoding result graphic display module. The utility model can rapidly diagnose the rotational-change signal based on the etpu, and is convenient for engineering developers and after-sales personnel to rapidly check and diagnose; the diagnostic system parameter debugging is convenient, parameter setting is carried out through the upper computer, whether the parameter setting is correct or not is judged through the graph, and quick parameter setting and debugging are realized.
Description
Technical Field
The utility model relates to a signal diagnosis system, in particular to a rapid diagnosis system for a rotational-change signal of an automobile driving motor based on etpu, and belongs to the technical field of automobile control.
Background
The speed of the new energy driving motor and the signals collected by the position sensor are critical to motor control. The current widely used sensor is a voltage rotary encoder, which firstly sends an excitation signal to an excitation winding, and along with the rotation of a motor rotor, sine and cosine wave signals of sin and cos are induced in two secondary windings sin and cos which are distributed at an electrical angle of 90 degrees. It is conventional practice to use a dedicated decoding chip to decode the two sets of signals in hardware, such as AD2S1210 using ADI, AU6803 of polymodal and PGA411 of TI. The hard decoding chip decodes the two groups of signals through an internal circuit and outputs the signals to an IO port ABZ signal of the MCU. The MCU converts the ABZ signal into an electrical angle signal after simple processing, and is used for calculating the FOC. Another scheme is a soft decoding scheme, namely, two groups of signals (sin+/1, cos+/-) output by the rotary transformer are respectively sent to an MCU main chip for AD sampling, and the sampled digital quantity result is used for calculating an angle value. The traditional soft decoding algorithm method is arctangent angle value calculation. The motor control algorithm development process personnel can select to independently develop a soft decoding algorithm, such as an improved arc tangent angle calculation method and the like, or adopt a soft decoding algorithm library packaged by a chip manufacturer to directly call a corresponding API (application program interface) to realize soft decoding output.
The hard decoding scheme is adopted as a traditional scheme, but the problems of high cost, complex system and low reliability are faced. The method as described in patent CN111103867a is to solve this type of problem. When the communication between the decoding chip and the MCU main chip is abnormal, even if the rotation signal is normal, the abnormal signal received by the MCU main chip can finally cause the problem of out-of-control or abnormal alarm of the vehicle, and the normal operation of the vehicle is affected.
The soft decoding scheme has the advantages of low cost and high reliability, but has difficult development work, long development and verification period and is not beneficial to rapid development of projects. The soft decoding scheme provided by the sampling chip manufacturer not only has the advantage of low cost of the soft decoding scheme, but also provides a guarantee for the reliability of the soft decoding scheme.
Patent CN115913039a proposes to implement soft decoding by a dual-core communication method for lazy of existing DSADC soft decoding, wherein a coprocessor core is responsible for soft decoding, and a main MCU core is responsible for FOC calculation. Although the method has certain feasibility, the method still does not get rid of the defects of high development difficulty and complex technology, and the integral calculation during decoding can occupy the CPU resource greatly, which is unfavorable for the requirement of the embedded algorithm on real-time response. The utility model patent CN207382222U proposes to design a special hardware detection circuit, and to diagnose the fault of the rotation signal by matching with the MCU software signal. However, the method can only accurately position the signal, and cannot be applied to the research and development stage, and diagnosis and rapid debugging of the signal can not be performed. And this approach adds additional hardware costs.
Soft decoding algorithm software package Resolver of etpu module in Enzhi pump MPC series chip, the software package Resolver possesses processing ability of rotary change signal. The process comprises the generation of excitation signals, triggering sampling, a tracking algorithm of sampling signals and decoding processing thereof. The etpu module is a form of binary microcode configured and automatically generated by the enzhi authorities by the user. At the same time, the enzhi authorities provide API interfaces and corresponding initialization functions for users to call different etpu internal modules.
The etpu module comprises a rotation signal acquisition and processing module Resolver, a PWM wave-generating module, an AS module and the like, and the rotation signal processing module Resolver is adopted.
The process of using the resolution module comprises the initialization of the module, and parameters such as sampling frequency, offset value and the like need to be set in the initialization process; in the process of using the module, a user can acquire whether the rotary module normally operates through a state function, and the shape of a signal needs to be observed through an upper computer graphic interface provided by the authorities of Enzhi pump company, so that whether the signal is correct or not is judged. The process requires more knowledge threshold and experience accumulation for common developers, and has long development period and difficult use. Developers are faced with numerous business needs and often cannot concentrate on this subdivision, making the correct use of the module difficult. Meanwhile, when the soft decoding scheme is used and the rotation signal is problematic, a developer is more difficult to quickly locate the problem by using tools provided by a chip provider and debug the problem.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide a rapid diagnosis system for the rotational-change signal of the driving motor of the automobile based on etpu, which reduces the requirements on developers, saves development time and rapidly positions and debugs chips.
In order to solve the technical problems, the utility model adopts the following technical scheme:
an etpu-based rapid diagnosis system for a rotational signal of an automobile driving motor is characterized in that: comprises
The diagnosis module comprises a rotation sampling signal diagnosis module and a soft decoding angle signal diagnosis module, wherein the rotation sampling signal diagnosis module and the soft decoding angle signal diagnosis module are packaged into a lib library, are loaded into an engineering when in use, and leave corresponding function interfaces for a lower computer to operate and call programs, the rotation sampling signal diagnosis module comprises a high-level diagnosis module of rotation signals and a low-level diagnosis module of rotation signals, and the soft decoding angle signal diagnosis module compares the soft decoding angle signals with artificial electrical angles;
the detailed debugging module is used for collecting parameters set by the graphic display module and transmitting the parameters to the etpu module of the lower computer;
and the graphic display module comprises a sampling data graphic display module and a decoding result graphic display module.
Further, the advanced diagnosis module comprises diagnosis of short circuit and open circuit of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos;
short circuit of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is comprehensively judged by judging whether the average value of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos exceeds a threshold value and whether ATO decoding angle errors occur;
the circuit breaking of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is judged by the following three conditions of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos:
a. whether the signal mean exceeds a set threshold value,
b. whether the difference between the absolute values of the amplitude of the rotation feedback signal sin and the rotation feedback signal cos signal exceeds a set threshold,
c. whether the ATO decoding angle exceeds a threshold;
when the three conditions happen simultaneously, it is determined that the signals of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos are broken.
Further, the low-level diagnosis includes diagnosis of attenuation and loss of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos;
the method for diagnosing the loss of the rotation feedback signal sin and the rotation feedback signal cos is used for judging whether the absolute value of the vector sum of the values of the rotation feedback signal sin and the rotation feedback signal cos is lower than a preset minimum vector sum threshold value or not;
the loss of the rotary excitation signal exc is determined whether the amplitude of the sampling value of the excitation signal triggers the following two conditions simultaneously: a. the vector amplitude of the excitation signal is smaller than a preset threshold value; b. the ATO decoding speed value is larger than a set threshold value;
the attenuation of the rotation feedback signal sin and the rotation feedback signal cos is achieved by judging whether the absolute sum of vectors of the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a maximum vector value threshold value or not; or by judging whether the amplitude difference between the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a threshold value, and if so, attenuation occurs.
Further, the soft decoding angle signal diagnosis module judges the comparison result of the soft decoding angle and the artificial electrical angle, and the comparison of the soft decoding angle signal and the artificial electrical angle comprises qualitative diagnosis and quantitative diagnosis.
Further, the qualitative diagnosis specifically comprises: dragging the motor to run at a lower speed in a V/F mode, and observing the change trend of the artificial electrical angle and the soft decoded electrical angle on a graphical display interface;
the quantitative diagnosis specifically comprises: and creating an artificial rotor electric angle matched with the actual rotor position in the FOC program, and judging the decoding angle by comparing the variation trend and the coincidence degree of the artificial rotor electric angle and the decoding angle value.
Further, the workflow of the detailed debugging module is as follows:
ADC sampling parameter setting, wherein the sampling parameters comprise sampling gain value setting, offset value setting, sampling mode setting and extraction rate setting;
the etpu sampling parameter setting rotary transformer sin and cos signal zero crossing PI adjusting parameter setting comprises excitation period setting, bandwidth setting, sampling period/frequency setting and state value setting;
setting an excitation signal and a feedback signal period alignment point offset value;
collecting parameters set in three structural bodies of the graphic display module;
and sending the acquired parameters to an etpu module of the lower computer through data interaction.
Further, the data interaction mode of the detailed debugging module and the lower computer is as follows:
the detailed debugging module stores the collected setting parameters of the three structural bodies of the graphic display module of the upper computer in the RAM of the upper computer;
the upper computer RAM transmits data to the lower computer MCU through CAN/Lin communication;
the lower computer MCU triggers an updating mechanism and transmits the setting parameters to the corresponding etpu module and the sampling module.
Further, the setting parameter acquisition module is divided into three structural bodies, and the three structural bodies respectively perform sampling parameter setting, rotation sin and cos signal zero crossing point PI adjusting parameter setting and artificial electrical angle comparison parameter setting.
Further, the sampling data graph display module is a rectangular coordinate system graph, wherein the horizontal axis of the rectangular coordinate system is time, the vertical axis is digital quantity, the sampling values of the rotation transformation sin and cos signals obtained from the lower computer are connected together through 32 points of each period by a graph method to form the rectangular coordinate system graph, and whether the rectangular coordinate system graph is coherent, peak clipping and complete period fluctuation are judged, so that whether the original rotation transformation data sampling value is correct is intuitively judged.
Further, the decoding result judging graph module is a rectangular coordinate system graph, wherein the vertical axis of the rectangular coordinate system is sin value of the decoding angle, the horizontal axis is cos value of the decoding angle, and whether the decoding result is correct or not is rapidly judged by judging whether the rectangular coordinate system display graph is right circular or not.
Compared with the prior art, the utility model has the following advantages and effects: the utility model can rapidly diagnose the rotational-change signal based on the etpu, and is convenient for engineering developers and after-sales personnel to rapidly check and diagnose; the diagnostic system parameter debugging is convenient, parameter setting is carried out through the upper computer, whether the parameter setting is correct or not is judged through the graph, and quick parameter setting and debugging are realized.
Drawings
Fig. 1 is a schematic diagram of a hardware connection system of the rapid diagnosis system of the etpu-based automobile driving motor rotation signal of the present utility model.
Fig. 2 is a flowchart of the operation of the rapid diagnostic system of the present utility model based on etpu's motor drive motor torque signal.
FIG. 3 is a schematic diagram of a diagnostic system software interface of the present utility model.
Fig. 4 is a schematic diagram of an original data sampling value judgment graphic module according to the present utility model.
Fig. 5 is a schematic diagram of a perfect circle pattern in an ideal case of the decoding result judging pattern module of the present utility model.
Fig. 6 is a schematic diagram of a non-perfect circle pattern of the decoding result judging pattern module of the present utility model in a non-ideal case.
Fig. 7 is a schematic diagram of the present utility model in which the sampled value is clipped when the gain configuration is not appropriate.
Fig. 8 is a schematic diagram of man-made angle versus decoding angle for an embodiment of the present utility model.
Fig. 9 is another schematic diagram of the man-made angle versus decoding angle of an embodiment of the present utility model.
Detailed Description
In order to explain in detail the technical solutions adopted by the present utility model to achieve the predetermined technical purposes, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments, and that technical means or technical features in the embodiments of the present utility model may be replaced without inventive effort, and the present utility model will be described in detail below with reference to the accompanying drawings in combination with the embodiments.
As shown in FIG. 1, the hardware system of the utility model mainly comprises an upper computer and a lower computer MCU, wherein the upper computer and the lower computer communicate through CAN/Lin.
The utility model relates to a rapid diagnosis system of a rotational-change signal of an automobile driving motor based on etpu, which comprises
The diagnosis module comprises a rotation sampling signal diagnosis module and a soft decoding angle signal diagnosis module, wherein the rotation sampling signal diagnosis module and the soft decoding angle signal diagnosis module are packaged into a lib library, are loaded into an engineering when in use, and leave corresponding function interfaces for a lower computer to operate and call programs, the rotation sampling signal diagnosis module comprises a high-level diagnosis module of rotation signals and a low-level diagnosis module of rotation signals, and the soft decoding angle signal diagnosis module compares the soft decoding angle signals with artificial electrical angles;
the detailed debugging module is used for collecting parameters set by the graphic display module and transmitting the parameters to the etpu module of the lower computer;
and the graphic display module comprises a setting parameter acquisition module and a diagnosis result graphic display module.
As shown in fig. 2, the configuration method of the diagnostic module in the MCU is as follows:
configuring an ATO algorithm and a decoding algorithm in the cores of different etpu modules;
configuring a corresponding switch of the etpu module, and allowing corresponding parameters to be read into the DMA;
configuring a DMA channel, and reading data from a RAM area of the etpu module into a specific structure body;
setting a judging threshold in a graphical interface of an upper computer graphical display module, and transmitting the threshold to a lower computer in real time through CAN/Lin;
enabling DMA in MCU, running check program in interrupt;
the checking result is transmitted to the graphic interface of the upper computer graphic display module through CAN/Lin communication;
and the graphical interface of the upper computer graphical display module outputs a diagnosis result.
The ATO algorithm is divided into 5 modules to be realized, wherein the modules are respectively a modulation module, a comparison module, an adjustment module, a tracking module and a sin/cos generation module.
Firstly, sampling and demodulating sin and cos signals fed back by a rotary encoder arranged at the tail end of a controlled motor through a modulation module. An oversampling algorithm is generally adopted, for example, a sampling frequency of 320khz is adopted, and if the excitation frequency is set to be 10khz (period 0.0001 s), 32 data can be acquired in each period, and 16 data can be acquired in each half period. The ADC sampling module of the singlechip can be configured into single-ended sampling or differential sampling. Depending on the design of the hardware circuit, but differential sampling is recommended. The sampled data is multiplied by a sampling gain and the corresponding offset is increased by a digital amount that is analog-to-digital converted into sampled data. The digital quantity may be captured by software and graphically displayed.
The demodulated sin and cos signal values are sent to a comparison module for comparison operation. Including multiply and add operations. The principle is that the estimated value and the sampling value are subjected to mathematical operation to obtain the difference value of the estimated value and the sampling value. Let a be the angle corresponding to sin or cos of the sampled signal using a mathematical dot product formula (although only two values of sin alpha or cos alpha are actually obtained). Beta is the estimated angle value. Then the estimated and actual sample values are nearly identical when α - β≡0. According to the principle of calculus, sin (e) is given by e.about.0. Therefore, the following can be obtained, assuming that the error symbol is e:
e=α-β=sin(α-β)=sinαcosβ-cosαsinβ
the output of the comparison module is the difference between the sampling value and the estimated value, and the difference is sent to the adjustment module for PI control operation and is output as a speed value.
The speed value is fed into an angle tracking module, which then updates the actual motor angle. Returning to the estimated motor angle.
The estimated motor angle is sent to a sin and cos generation module which converts the angle value into a corresponding sine or cosine value by means of a look-up table or the like.
etpu is a coprocessor integrated in a host MCU, proposed by the encarpium company, and has three cores in the MPC57x series MCU, etpu a, etpu b, etpu c, respectively. In order to fully utilize the resources of etpu, the ATO algorithm and its decoding algorithm are generally placed in different etpu cores, and a data sharing area and a code sharing area are established between the cores. By setting different C code macro switches, different etpu binary microcode contents are placed in different cores.
Wherein the ATO algorithm is configured in the etpuA core and the corresponding decoding algorithm is placed in the etpuB core. Inter-core communication is realized by depending on the hardware characteristics of the etpu, namely, communication between different etpu cores is realized by establishing a data sharing area and a code sharing area. When the system is initialized, the etpu binary microcode stored in the code sharing area can be locked, the MCU can not be changed any more, and only the etpu can access the read-write.
The corresponding etpu module switch is configured in the initialization process, so that the content of the data sharing area in the etpu is allowed to be read into a specific data structure body in the memory of the MCU through the DMA channel.
Generally, by configuring CAN/Lin message encoding and decoding programs in a lower computer program and an upper computer program, data transmission CAN be performed in a CAN/Lin communication mode.
After the corresponding threshold button in the diagnosis module in the upper computer graphical interface is flicked, a corresponding judgment threshold can be set, and the threshold is usually obtained through manual theoretical calculation.
The threshold settings include the following:
an amplitude threshold value with minimum sampling amplitude of Sin/Cos signals;
sin/cos vector sum absolute value threshold minimum;
sin/cos vector sum absolute threshold maximum;
sin/cos vector magnitude difference absolute value;
Sin/cos/EXC signal amplitude mean;
ATO decodes the angle error maximum value;
ATO decoding speed maximum;
ATO decoding angle maximum;
comparing the soft decoding electrical angle with the artificial electrical angle;
the soft decoding electrical angle and the artificial electrical angle direction compare thresholds.
After the threshold is set, the diagnostic system will display the diagnostic results in real time, including both advanced and low-grade diagnostics.
The advanced diagnostic module comprises a diagnosis of short circuit and open circuit of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos.
The short circuit of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is comprehensively judged by judging whether the average value of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos exceeds a threshold value and whether ATO decoding angle errors occur.
The circuit breaking of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is judged by the following three conditions of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos:
a. whether the signal mean exceeds a set threshold value,
b. whether the difference between the absolute values of the amplitude of the rotation feedback signal sin and the rotation feedback signal cos signal exceeds a set threshold,
c. the ATO decoding angle exceeds a threshold.
When the three conditions happen simultaneously, it is determined that the signals of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos are broken.
The low-level diagnostics include diagnostics of attenuation and loss of the rotary excitation signal exc, the rotary feedback signal sin, and the rotary feedback signal cos.
The method for diagnosing the loss of the rotation feedback signal sin and the rotation feedback signal cos is to judge whether the absolute value of the vector sum of the values of the rotation feedback signal sin and the rotation feedback signal cos is lower than a preset minimum vector sum threshold value.
The loss of the rotary excitation signal exc is determined whether the amplitude of the sampling value of the excitation signal triggers the following two conditions simultaneously: a. the vector amplitude of the excitation signal is smaller than a preset threshold value; b. the ATO decoding speed value is greater than the set threshold.
The attenuation of the rotation feedback signal sin and the rotation feedback signal cos is achieved by judging whether the absolute sum of vectors of the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a maximum vector value threshold value or not; or by judging whether the amplitude difference between the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a threshold value, and if so, attenuation occurs.
The soft decoding angle signal diagnosis module judges the comparison result of the soft decoding angle and the artificial electric angle, and the artificial electric angle is characterized in that the electric angle can correctly reflect the change of the electric angle value of the motor. The comparison of the soft decoding angle signal with the artificial electrical angle includes qualitative and quantitative diagnostics.
The qualitative diagnosis specifically comprises: and dragging the motor to run at a lower speed in the V/F mode, observing the variation trend of the artificial electrical angle and the soft decoded electrical angle on the graphical display interface, and judging whether the decoding angle has a problem or not by judging the coincidence ratio of the artificial electrical angle and the soft decoded electrical angle.
As shown in fig. 8, the artificial angle graph is shown as a dotted line, and the decoding angle graph is shown as a solid line. Through the graph, whether the polar logarithmic difference exists or not and whether the decoding angle direction is correct or not can be intuitively judged.
As shown in fig. 8, it is known that the decoding angle value represented by the solid line and the artificial angle value represented by the broken line have opposite variation tendencies. The solid line angle value is changed from 0 to 4095 and then cycled back and forth. Whereas the dashed angle value is reduced from 4095 to 0 and back and forth. This is a case where the rotation direction of the rotation represented by the decoded angle value is reversed from the actual rotation direction, and the angle direction needs to be adjusted.
As shown in fig. 9, the dotted line is a decoding angle value, and the solid line is an artificial angle value. By observing the number of wave peaks, the method can obtain that every 4 sawtooth wave peaks appear in the solid line, one wave peak appears in the broken line. This occurs, indicating that the soft decoding angle values are not electrical angle values, lacking the polar-log variable. It is necessary to check the calculation formula of the electrical angle in the software program for the absence of the motor pole pair factor term.
Through the switch button of the graphic interface, the artificial electric angle value can be used for FOC control to test whether the motor can run smoothly. This way it is possible to locate whether there is a problem with the soft decoding angle value. The quantitative judgment mode is that the direction and angle value of the artificial electric angle, the direction and angle value of the decoding angle are displayed on the upper computer graphic interface through program calculation. The angle difference is judged by judging whether the angle difference is too large or not and whether the directions are consistent or not.
The quantitative diagnosis specifically comprises: and creating an artificial rotor electric angle matched with the actual rotor position in the FOC program, and judging the decoding angle by comparing the variation trend and the coincidence degree of the artificial rotor electric angle and the decoding angle value.
The creation of the artificial rotor electrical angle is specifically: in the pwm calculation periodic function of FOC, setting static variable theta, every time of interrupt triggering, adding 1 to the value of theta, when the accumulated value of theta is greater than 4096, performing zero clearing operation, when the accumulated value is less than 4096, performing conversion electrical periodic operation, multiplying the value by the pole logarithm, calculating the calculated value to 4096, mapping the value obtained by the remainder operation to the range [0,2 pi ], and mapping the mapped value to [ -pi, pi ] after shifting pi. And judging by comparing the change trend of the theta value and the decoding angle value and the coincidence degree.
One of the integration modes of the inspection program in the host program of the lower computer is to encapsulate the above two inspection programs into lib files and load the lib files into the engineering of the lower computer. The corresponding interface of the lib is called in the engineering of the lower computer, and the function checking program is executed in the interrupt triggered by the DMA. By integrating the lib library form into the engineering, the running speed of the lower computer when the checking program is run can be obviously improved, so that the checking program does not have an excessive influence on the running of the main program. Engineering integration can also be directly carried out in the form of a c-language executable file. Different integration forms can be adopted without violating the method.
The output of the diagnostic module is a result of integrating all diagnostic thresholds, indicating whether the diagnosis passed. If the diagnosis is not passed, the next debugging process is carried out, otherwise, the normal rotation soft decoding angle signal is indicated, and the diagnosis is finished.
The work flow of the detailed debugging module is as follows:
the three content parameters including the ADC sampling parameter, the zero crossing point PI parameter, the switching man-made angle and the like are set, and only any one content can be selected for setting. And after the setting, the motor parameter issuing button issues new parameters to the MCU of the lower computer for parameter updating. And then the motor sampling data checking button or the decoding data checking button performs result checking to verify whether the modified parameters are suitable. In many cases, this will be an iterative process whereby parameters are adjusted to achieve a satisfactory result by continually performing diagnostic-debug cycles.
The ADC sampling parameter debugging in the three debugging contents comprises four contents of a sampling gain value, an offset value, a sampling mode and an ADC extraction rate. The ADC acquisition register is mainly configured to ensure that the signal fed back by the rotation is correctly sampled.
The second rotation variation sin and cos signal zero crossing point PI adjusting parameter setting in the three items comprises the following steps: setting an excitation signal and a feedback signal period alignment point offset value; setting the period of the excitation signal; bandwidth setting, sampling frequency and period setting.
The third item of artificial angle switching debugging is mainly used for visually judging the accuracy of the decoding electric angle through signal comparison verification with the artificial electric angle. The method comprises the steps of comparing the artificial angles, switching the directions and switching the polar logarithm setting.
The acquisition graphics module displays the results of the parameters set in the three structures.
And sending the acquired parameters to an etpu module of the lower computer through data interaction.
The data interaction mode of the detailed debugging module and the lower computer is as follows:
the detailed debugging module stores the collected setting parameters of the three structural bodies of the graphic display module of the upper computer in the RAM of the upper computer;
the upper computer RAM transmits data to the lower computer MCU through CAN/Lin communication;
the lower computer MCU triggers an updating mechanism and transmits the setting parameters to the corresponding etpu module and the ADC sampling module.
As shown in fig. 3, the setting parameter acquisition module is divided into three structural bodies, and the three structural bodies respectively perform sampling parameter setting, rotation sin/cos signal zero-crossing point PI adjustment parameter setting and artificial electrical angle comparison parameter setting.
The diagnosis result graphic display module comprises a sampling data graphic display module and a decoding result graphic display module.
The decoding result judging graph module is a rectangular coordinate system graph, wherein the vertical axis of the rectangular coordinate system is sin value of the decoding angle, the horizontal axis is cos value of the decoding angle, and whether the decoding result is correct or not is rapidly judged by judging whether the rectangular coordinate system display graph is a perfect circle or not. Fig. 5 is a schematic diagram of a perfect circle pattern of the decoding result judgment pattern module in an ideal case. Fig. 6 is a schematic diagram of a non-perfect circle pattern of the decoding result judgment pattern module in a non-ideal case. Through the graphic display, the position of the rotation fault can be intuitively and rapidly displayed, and the quick diagnosis of the position of the rotation fault is facilitated.
As shown in FIG. 4, the original data sampling value judging graphic module is a rectangular coordinate system graphic, wherein the horizontal axis of the rectangular coordinate system is time, the vertical axis is digital quantity, the sampling values of the rotation-transformation sin and cos signals obtained from the lower computer are connected together through 32 points of each period by a graphic method to form the rectangular coordinate system graphic, and whether the rectangular coordinate system graphic is coherent, peak-clipping and complete period fluctuation is judged, so that whether the rotation-transformation original data sampling value is correct is intuitively judged. Fig. 7 shows a case where the sampling value is peak-clipped when the gain configuration is not suitable. In this case, the motor control algorithm is problematic due to an error in the angle value, and cannot be operated normally.
The utility model can rapidly diagnose the rotational-change signal based on the etpu, and is convenient for engineering developers and after-sales personnel to rapidly check and diagnose; the diagnostic system parameter debugging is convenient, parameter setting is carried out through the upper computer, whether the parameter setting is correct or not is judged through the graph, and quick parameter setting and debugging are realized.
The present utility model is not limited to the preferred embodiments, but is capable of modification and variation in detail, and other embodiments, such as those described above, of making various modifications and equivalents will fall within the spirit and scope of the present utility model.
Claims (6)
1. An etpu-based rapid diagnosis system for a rotational signal of an automobile driving motor is characterized in that: comprises
The diagnosis module comprises a rotation sampling signal diagnosis module and a soft decoding angle signal diagnosis module, wherein the rotation sampling signal diagnosis module and the soft decoding angle signal diagnosis module are packaged into a lib library, are loaded into an engineering when in use, and leave corresponding function interfaces for a lower computer to operate and call programs, the rotation sampling signal diagnosis module comprises a high-level diagnosis module of rotation signals and a low-level diagnosis module of rotation signals, and the soft decoding angle signal diagnosis module compares the soft decoding angle signals with artificial electrical angles;
the detailed debugging module is used for collecting parameters set by the graphic display module and transmitting the parameters to the etpu module of the lower computer;
and the graphic display module comprises a sampling data graphic display module and a decoding result graphic display module;
the soft decoding angle signal diagnosis module is used for judging the comparison result of the soft decoding angle and the artificial electrical angle, and the comparison of the soft decoding angle signal and the artificial electrical angle comprises qualitative diagnosis and quantitative diagnosis;
the qualitative diagnosis specifically comprises: dragging the motor to run at a lower speed in a V/F mode, and observing the change trend of the artificial electrical angle and the soft decoded electrical angle on a graphical display interface;
the quantitative diagnosis specifically comprises: creating an artificial rotor electric angle matched with the actual rotor position in the FOC program, and judging the decoding angle by comparing the variation trend of the artificial rotor electric angle and the decoding angle value and the coincidence degree;
the workflow of the detailed debugging module is as follows:
ADC sampling parameter setting, wherein the sampling parameters comprise sampling gain value setting, offset value setting, sampling mode setting and extraction rate setting;
the etpu sampling parameter setting rotary transformer sin and cos signal zero crossing PI adjusting parameter setting comprises excitation period setting, bandwidth setting, sampling period/frequency setting and state value setting;
setting an excitation signal and a feedback signal period alignment point offset value;
collecting parameters set in three structural bodies of the graphic display module;
the collected parameters are issued to an etpu module of the lower computer through data interaction;
the data interaction mode of the detailed debugging module and the lower computer is as follows:
the detailed debugging module stores the collected setting parameters of the three structural bodies of the graphic display module of the upper computer in the RAM of the upper computer;
the upper computer RAM transmits data to the lower computer MCU through CAN/Lin communication;
the lower computer MCU triggers an updating mechanism and transmits the setting parameters to the corresponding etpu module and the sampling module.
2. The etpu based rapid diagnostic system for a motor drive motor torque signal of an automobile of claim 1, wherein: the advanced diagnosis module comprises diagnosis of short circuit and open circuit of a rotary excitation signal exc, a rotary feedback signal sin and a rotary feedback signal cos;
short circuit of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is comprehensively judged by judging whether the average value of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos exceeds a threshold value and whether ATO decoding angle errors occur;
the circuit breaking of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos is judged by the following three conditions of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos:
a. whether the signal mean exceeds a set threshold value,
b. whether the difference between the absolute values of the amplitude of the rotation feedback signal sin and the rotation feedback signal cos signal exceeds a set threshold,
c. whether the ATO decoding angle exceeds a threshold;
when the three conditions happen simultaneously, it is determined that the signals of the rotary excitation signal exc, the rotary feedback signal sin and the rotary feedback signal cos are broken.
3. The etpu based rapid diagnostic system for a motor drive motor torque signal of an automobile of claim 1, wherein: the low-level diagnosis comprises the diagnosis of attenuation and loss of a rotary excitation signal exc, a rotary feedback signal sin and a rotary feedback signal cos;
the method for diagnosing the loss of the rotation feedback signal sin and the rotation feedback signal cos is used for judging whether the absolute value of the vector sum of the values of the rotation feedback signal sin and the rotation feedback signal cos is lower than a preset minimum vector sum threshold value or not;
the loss of the rotary excitation signal exc is determined whether the amplitude of the sampling value of the excitation signal triggers the following two conditions simultaneously: a. the vector amplitude of the excitation signal is smaller than a preset threshold value; b. the ATO decoding speed value is larger than a set threshold value;
the attenuation of the rotation feedback signal sin and the rotation feedback signal cos is achieved by judging whether the absolute sum of vectors of the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a maximum vector value threshold value or not; or by judging whether the amplitude difference between the values of the rotation feedback signal sin and the rotation feedback signal cos is larger than a threshold value, and if so, attenuation occurs.
4. The etpu based rapid diagnostic system for a motor drive motor torque signal of an automobile of claim 1, wherein: the parameter setting unit in the graphic display module is divided into three structural bodies, and the three structural bodies respectively perform sampling parameter setting, rotation sin and cos signal zero crossing point PI adjusting parameter setting and artificial electrical angle comparison parameter setting.
5. The etpu based rapid diagnostic system for a motor drive motor torque signal of an automobile of claim 1, wherein: the sampling data graph display module is a rectangular coordinate system graph, wherein the horizontal axis of the rectangular coordinate system is time, the vertical axis is digital quantity, the sampling values of the rotation transformation sin and cos signals obtained from the lower computer are connected together through 32 points of each period by a graph method to form the rectangular coordinate system graph, and whether the sampling values of the rotation transformation original data are correct or not is intuitively judged by judging whether the rectangular coordinate system graph is coherent, is subjected to peak clipping and is subjected to complete period fluctuation or not.
6. The etpu based rapid diagnostic system for a motor drive motor torque signal of an automobile of claim 1, wherein: the decoding result judging graph module is a rectangular coordinate system graph, wherein the vertical axis of the rectangular coordinate system is a sin value of a decoding angle, the horizontal axis of the rectangular coordinate system is a cos value of the decoding angle, and whether the decoding result is correct or not is rapidly judged by judging whether the rectangular coordinate system display graph is a perfect circle or not.
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| CN112511174A (en) * | 2020-09-25 | 2021-03-16 | 上海擎度汽车科技有限公司 | Rotary soft decoding method meeting functional safety requirements |
| WO2021237591A1 (en) * | 2020-05-28 | 2021-12-02 | 华为数字能源技术有限公司 | Motor angle detection and diagnosis device, motor controller, electric vehicle and method |
| CN116264465A (en) * | 2022-12-27 | 2023-06-16 | 菲仕绿能科技(宁波)有限公司 | VADC-based rotation-modification soft decoding method and system |
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| WO2021237591A1 (en) * | 2020-05-28 | 2021-12-02 | 华为数字能源技术有限公司 | Motor angle detection and diagnosis device, motor controller, electric vehicle and method |
| CN112511174A (en) * | 2020-09-25 | 2021-03-16 | 上海擎度汽车科技有限公司 | Rotary soft decoding method meeting functional safety requirements |
| CN116264465A (en) * | 2022-12-27 | 2023-06-16 | 菲仕绿能科技(宁波)有限公司 | VADC-based rotation-modification soft decoding method and system |
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