WO2017107645A1

WO2017107645A1 - Phase current signal sampling method and apparatus, electric motor controller and electric vehicle

Info

Publication number: WO2017107645A1
Application number: PCT/CN2016/103205
Authority: WO
Inventors: 战平; 刘超
Original assignee: 北京新能源汽车股份有限公司
Priority date: 2015-12-25
Filing date: 2016-10-25
Publication date: 2017-06-29
Also published as: CN105548657A; CN105548657B

Abstract

A phase current signal sampling method and apparatus, an electric motor controller (401) and an electric vehicle. The method comprises: collecting an output of a sensor by means of a multi-path analogue signal collection channel, and acquiring a plurality of sampling signals (S101), wherein the sensor is used to sense a phase current output by an electric motor controller (401) and output the sampling signals; and acquiring a sampling result of the phase current according to the plurality of sampling signals (S102).

Description

Phase current signal sampling method and device, motor controller and electric vehicle

Technical field

The invention relates to the field of signal acquisition, and in particular to a phase current signal sampling method and device, a motor controller and an electric vehicle.

Background technique

Electric vehicles are green and environmentally-friendly vehicles powered by on-board power batteries and driven by electric motors. Electric vehicles are the development direction of the automobile industry, and are also the technical products that are currently encouraged and developed. One of the core technologies of electric vehicles is the technology of electric motors and motor controllers. At present, electric motors mostly use permanent magnet synchronous motors as motors. The motor controllers convert the DC power supply of the power battery into variable frequency alternating current, and drive the output of the AC motor. Moment. In digital AC motor control, accurate phase current acquisition and processing is the key to achieving a high performance closed loop control system. Without accurate phase current signals, efficient closed loop control cannot be achieved. The phase current detection time is in the Pulse-Width Modulation (PWM) interrupt cycle of the motor control program, and the Hall signal is used to electromagnetically convert the current signal into a voltage signal through the Hall current sensor, and the voltage signal is input. To the analog signal acquisition port of the motor controller, after the analog signal sampling and data processing, the input voltage signal value is converted into the actual phase current value, which is used to implement the algorithm of the motor control program and the fault diagnosis processing. In the related art, the voltage signal output by the Hall current sensor is only called once for the acquisition conversion process, and the power device is turned on and off due to the high switching frequency of the power device such as the insulated gate bipolar transistor (IGBT). It will affect the current waveform, and the low-voltage acquisition circuit is susceptible to interference. These will cause the three-phase current signal data obtained by the motor control algorithm after the acquisition and conversion to be distorted, which cannot meet the precision requirements of high-precision closed-loop control.

In view of the low sampling accuracy of the phase current signal in the related art, an effective solution has not been proposed yet.

Summary of the invention

The main object of the present invention is to provide a phase current signal sampling method and device, a motor controller and an electric vehicle to solve the problem of low sampling accuracy of phase current signals in the related art.

In order to achieve the above object, according to an aspect of the present invention, a phase current signal sampling method is provided. The method comprises: acquiring the output of the sensor through a multi-channel analog signal acquisition channel to obtain a plurality of sampling signals, wherein the sensor is used for sensing the phase current output by the motor controller, outputting the sampling signal; and acquiring the phase current according to the plurality of sampling signals. Sampling results.

Further, the sensor is a Hall current sensor for sensing the phase current output by the motor controller, outputting a voltage signal, collecting the output of the sensor through a multi-channel analog signal acquisition channel, and acquiring a plurality of sampling signals including: The analog signal acquisition channel collects the output of the Hall current sensor, acquires a plurality of voltage sampling signals, and obtains sampling results of the phase currents according to the plurality of sampling signals, including: calculating a plurality of voltage sampling signals, and obtaining sampling results of the phase currents.

Further, the sensor is a Hall current sensor, and the phase current is a three-phase current. The multi-channel analog signal acquisition channel includes three sets of analog signal acquisition channels, and the output of the sensor is collected through a multi-channel analog signal acquisition channel, and multiple sampling signals are obtained: The output of three Hall current sensors is respectively collected through three sets of analog signal acquisition channels, and three sets of voltage sampling signals are obtained. Among them, three Hall current sensors are used to respectively induce three-phase currents output by the motor controller and output voltage signals.

Further, three sets of analog current signal acquisition channels respectively acquire the output of three Hall current sensors, and three sets of voltage sampling signals are obtained: one analog signal is selected in each of the three sets of analog signal acquisition channels. The acquisition channel obtains three analog signal acquisition channels; the output of three Hall current sensors are respectively acquired by the three analog signal acquisition channels according to the first preset sequence, and the first preset sequence voltage sampling signal is obtained; and three simulations are obtained. The signal acquisition channel separately acquires the outputs of the three Hall current sensors according to the second preset sequence, and acquires the second preset sequence voltage sampling signal.

Further, collecting the output of the sensor through the multi-channel analog signal acquisition channel comprises: starting the acquisition of the output of the sensor at a preset sampling time in the PWM interrupt period, wherein the preset sampling time is the following time in the PWM interrupt period:

Where T is the duration of the PWM interrupt period and t is the length of time from which multiple sampled signals are acquired to the phase current.

Further, the sensor is a Hall current sensor, and the output of the sensor is collected through a multi-channel analog signal acquisition channel, and acquiring a plurality of sampling signals includes: acquiring the output of the Hall current sensor twice through the first analog signal acquisition channel, and acquiring the first a voltage sampling signal and a second voltage sampling signal; and acquiring the output of the Hall current sensor twice through the second analog signal acquisition channel, acquiring the third voltage sampling signal and the fourth voltage sampling signal, and acquiring according to the plurality of sampling signals The sampling result of the phase current includes: sorting the first voltage sampling signal, the second voltage sampling signal, the third voltage sampling signal, and the fourth voltage sampling signal; removing the first voltage sampling signal, the second voltage sampling signal, and the third voltage The maximum value and the minimum value of the sampling signal and the fourth voltage sampling signal are obtained to obtain intermediate values of the two voltage sampling signals; averaging the intermediate values of the two voltage sampling signals to obtain an average value of the voltage sampling signals; and averaging the voltage sampling signals The value is converted to a current value to obtain a sampling result of the phase current.

In order to achieve the above object, according to an aspect of the present invention, a phase current signal sampling device is provided. The device comprises: a sensor, which is arranged on the output cable of the motor controller, is used for sensing the phase current output by the motor controller, and outputs a sampling signal; the sampling chip is connected to the output of the sensor through a multi-channel analog signal acquisition channel, and is used for The output of the sensor is acquired and a plurality of sampling signals are acquired; and a control chip is connected to the sampling chip for acquiring a sampling result of the phase current according to the plurality of sampling signals.

Further, the sensor is a Hall current sensor.

Further, the output cable of the motor controller comprises a first phase current cable, a second phase current cable and a third phase current cable, and the multi-channel analog signal acquisition channel comprises a first group of analog signal acquisition channels and a second group of analog signal acquisition channels. And a third group of analog signal acquisition channels, the Hall current sensor comprises: a first Hall current sensor, which is arranged on the first phase current cable, and is connected to the control chip through the first group of analog signal acquisition channels for induction motor control The first phase current outputted by the device outputs a first voltage signal; the second Hall current sensor is disposed on the second phase current cable and is connected to the control chip through the second group of analog signal acquisition channels for the induction motor controller The output second phase current outputs a second voltage signal; and the third Hall current sensor is disposed on the third phase current cable and is connected to the control chip through the third group of analog signal acquisition channels for the induction motor controller The outputted third phase current outputs a third voltage signal.

Further, the sampling chip comprises: a plurality of analog signal acquisition interfaces, which are connected to the output of the sensor through a plurality of analog signal acquisition channels, and are used for collecting sampling signals output by the sensor, wherein the plurality of analog signal acquisition interfaces and the multi-channel analog signals The acquisition channels correspond one-to-one.

Further, the sensor is a Hall current sensor for sensing a phase current output voltage signal, and the multi-channel analog signal acquisition channel includes a first analog signal acquisition channel and a second analog signal acquisition channel, and the plurality of analog signal acquisition interfaces include: The first analog signal acquisition interface is connected to the output of the Hall current sensor through the first analog signal acquisition channel, and is used for acquiring the voltage signal output by the Hall current sensor to obtain the first voltage sampling signal; and the second analog signal acquisition interface The second analog signal acquisition channel is connected to the output of the Hall current sensor for collecting the voltage signal output by the Hall current sensor to obtain the second voltage sampling signal.

In order to achieve the above object, according to an aspect of the invention, a motor controller is provided. The motor controller comprises: a sampling chip connected to the output of the sensor through a plurality of analog signal acquisition channels for acquiring the output of the sensor and acquiring a plurality of sampling signals, wherein the sensor is used for sensing the phase current output by the motor controller and And outputting the sampling signal; and the control chip is connected to the sampling chip, and is configured to obtain the sampling result of the phase current according to the plurality of sampling signals.

In order to achieve the above object, according to an aspect of the invention, an electric vehicle is provided. The electric vehicle includes the phase current signal sampling device or motor controller of the present invention.

The invention acquires a plurality of sampling signals by collecting the output of the sensor through a multi-channel analog signal acquisition channel, wherein the sensor is used for sensing the phase current output by the motor controller, outputting the sampling signal; and obtaining the sampling result of the phase current according to the plurality of sampling signals The invention solves the problem that the sampling precision of the phase current signal is low in the related art, thereby achieving the effect of improving the sampling precision of the phase current signal.

DRAWINGS

The accompanying drawings, which are incorporated in the claims In the drawing:

1 is a flow chart of a phase current signal sampling method according to a first embodiment of the present invention;

2 is a schematic diagram of sampling timings of a phase current signal sampling method according to an embodiment of the present invention;

3 is a flow chart of a phase current signal sampling method according to a second embodiment of the present invention;

4 is a schematic diagram of a phase current signal sampling device employed by a phase current signal sampling method according to an embodiment of the present invention;

Figure 5 is a schematic illustration of a phase current signal sampling device in accordance with an embodiment of the present invention.

detailed description

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is an embodiment of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.

It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

Embodiments of the present invention provide a phase current signal sampling method.

1 is a flow chart of a phase current signal sampling method in accordance with a first embodiment of the present invention. As shown in Figure 1, the method includes the following steps:

Step S101: Acquire an output of the sensor through a multi-channel analog signal acquisition channel to obtain a plurality of sampling signals.

The analog signal acquisition channel is used to acquire the analog signal output by the sensor to obtain a digital signal. The analog signal acquisition channel may be a sampling interface of the sampling chip and a line connection of the sensor, collecting the signal output by the sensor, and acquiring the sampling signal. The sensor is used to sense the phase current output from the motor controller and output the sampling signal. The sensor can be set on the output cable of the motor controller. The motor controller outputs three-phase current to drive the motor to run. Take the star-connected motor as an example. The phase current is equal to the line current. The sensor can directly fit the line current cable of the motor controller. On, the sense phase current outputs a sampling signal. The sensor may be a current conversion voltage circuit that converts the phase current into a voltage signal output. Preferably, the sensor may use a Hall current sensor to sense the phase current signal and output the voltage signal after electromagnetic conversion. One sensor corresponds to one phase current, and the output of one sensor is collected through multiple analog signal acquisition channels, which can improve the sample. number. The output of the multi-channel analog signal acquisition channel acquisition sensor can acquire a plurality of sampling signals, and the number of the plurality of sampling signals is related to the number of multi-channel analog signal acquisition channels and the number of times the multi-channel analog signal acquisition channel collects the sensors, for example, The output of the sensor is collected by two analog signal acquisition channels, and each of the analog signal acquisition channels collects the output of the sensor twice, and four sampling signals can be obtained for the phase current sensed by the sensor.

Step S102, acquiring a sampling result of the phase current according to the plurality of sampling signals.

After acquiring a plurality of sampling signals, sampling results of the phase currents are obtained according to the plurality of sampling signals. The sampling result of acquiring the phase current according to the plurality of sampling signals includes calculating a plurality of sampling signals to obtain a sampling result of the phase current. The method of calculating a plurality of sampling signals may be a common method of performing data processing on experimental data, or may be a predetermined processing method. Specifically, if the number of the plurality of sampling signals collected for one phase current exceeds three, the collected plurality of sampling signals may be first sorted, and the maximum value and the minimum value of the plurality of sampling signals are removed, and the plurality of sampling signals are removed. The remaining sampling signals in the sampled signal are averaged to obtain an average value of the sampled signals. The sampling signal may be a current signal or a voltage signal. If it is a voltage signal, the average value of the voltage sampling signal needs to be converted into a current value, and the sampling result of the final phase current is obtained. The phase current signal is susceptible to the switching of the power device with a large switching frequency during sampling, which may cause waveform fluctuations. By collecting multiple sampling signals for the same phase current, and removing the maximum and minimum of multiple sampling signals. Value can effectively remove interference. Optionally, the sampling result of acquiring the phase current according to the plurality of sampling signals may further be: directly averaging the plurality of sampling signals to obtain an average value of the sampling signal, and if the sampling signal is not the current value, converting the average value of the sampling signal into a current. The value gives the sampling result of the phase current. The present invention does not limit the specific algorithm for calculating a plurality of sampled signals, depending on the circumstances.

Preferably, the output of the sensor is collected through the multi-channel analog signal acquisition channel during the PWM interrupt period, and the sampling moment of the acquisition sensor may be determined first, and the output of the sensor is started at the sampling moment in the PWM interruption period. The sampling instant can be calculated by the following formula:

Where T is the duration of the PWM interrupt period, and t is the length of time from the acquisition of the plurality of sampled signals to the acquisition of the phase current, that is, t is the total duration of the signal sampling and data processing calculated according to the predetermined sampling operation, t This can be determined by the unit operating time of the chip that performs the sampling and data processing operations.

2 is a schematic diagram of sampling timing of a phase current signal sampling method according to an embodiment of the present invention. As shown in FIG. 2, the duration of the PWM interrupt period is Tpwm, the center point time is t2, and the time t2 is Tpwm/2, time t1. As the sampling moment, the phase current signal acquisition and conversion operation is triggered at the time t1. The phase current signal acquisition and conversion operation is performed by the main control chip of the motor controller, and the motor controller main control chip performs once for one analog signal acquisition channel. The time for analog signal acquisition and conversion is ts. The predetermined sampling operation includes collecting and converting the six analog signal acquisition channels twice, and the sampling result of acquiring multiple sampling signals to obtain the phase current is about 12*. Ts, thus available The time t1 is (t2-6*ts), and the time t1 is before the center point time t2 of the PWM interruption period, the time at which the sampling result of the phase current is acquired is at time t3, and the time t3 is (t2+6*ts). Near the center of the PWM interrupt period, the power device switching tube has less influence on the phase current waveform, and the phase current is relatively stable. By determining the sampling time near the center point of the PWM interrupt period, and starting the phase current signal at the sampling time. The acquisition and conversion can avoid the influence of the switching circuit of the power device on the phase current waveform, and the collected phase current value is more accurate.

Preferably, the three-phase currents output by the motor controller are respectively induced by three Hall current sensors, and each of the Hall current sensors corresponds to one phase current. The multi-channel analog signal acquisition channel includes three sets of analog signal acquisition channels, each set of analog signal acquisition channels includes multiple analog signal acquisition channels, and each set of analog signal acquisition channels correspondingly collects the output of one Hall current sensor, that is, each group of simulations The signal acquisition channel acquires a plurality of voltage sampling signals of one phase current, and calculates a sampling result of the phase current by calculating a plurality of voltage sampling signals. Preferably, the three-phase current can be sampled by a preset sequence. Specifically, one analog signal acquisition channel is selected in each of the three sets of analog signal acquisition channels to obtain three analog signal acquisition channels. The three-channel analog signal acquisition channel respectively collects the outputs of the three Hall current sensors according to the first preset sequence, acquires the first preset sequence voltage sampling signal, and then separately passes the three-way analog signal acquisition channels according to the second preset sequence. The outputs of the three Hall current sensors are acquired to obtain a second preset sequential voltage sampling signal. For example, each of the three sets of analog signal acquisition channels includes two analog signal acquisition channels, and one of the two analog signal acquisition channels in each set of analog signal acquisition channels is selected to obtain A, B, C three-way analog signal acquisition channel, used to separately collect the output of three Hall current sensors A, B, C, that is, separately collect three-phase current, when sampling in the PWM interrupt period, A, B, C three way The analog signal acquisition channel is sequentially acquired. The sequence is analog signal acquisition channel A, analog signal acquisition channel B, and analog signal acquisition channel C. The output of the three Hall current sensors A, B, and C are collected once and get the first. The sequential three-phase current voltage sampling signal is then sequentially collected through the analog signal acquisition channel C, the analog signal acquisition channel B, and the analog signal acquisition channel A for the output of the three Hall current sensors C, B, and A, respectively. A voltage sampling signal of the second sequence of three phase currents is obtained. After the voltage sampling signal is obtained, a plurality of voltage sampling signals corresponding to the respective phase currents are calculated to obtain sampling results of the respective phase currents. When sampling during the PWM interrupt period, the waveform of the phase current may be different at different times due to the interference of the power device. By calculating the value of the three-phase current by changing the order, the interference of the power device can be dispersed to some extent to the same phase. The effect of current generation, the multiple sampling signals collected by the same phase current can better reflect the overall situation.

The phase current signal sampling method provided by the embodiment obtains a plurality of sampling signals by acquiring the output of the sensor through a multi-channel analog signal acquisition channel, wherein the sensor is used for sensing the phase current output by the motor controller, and outputting the sampling signal; The sampling signal obtains the sampling result of the phase current, which solves the problem that the sampling precision of the phase current signal is low in the related art, thereby achieving the effect of improving the sampling precision of the phase current signal.

3 is a flow chart of a phase current signal sampling method in accordance with a second embodiment of the present invention. This embodiment can be used as A preferred embodiment of the first embodiment is described.

4 is a schematic diagram of a phase current signal sampling device employed by a phase current signal sampling method in accordance with an embodiment of the present invention. The phase current signal sampling means shown in Fig. 4 can be used to perform the phase current signal sampling method of the second embodiment of the present invention. As shown in FIG. 4, the phase current signal sampling means includes a motor controller 401, a motor 402, a Hall current sensor A, a Hall current sensor B, and a Hall current sensor C.

The motor controller 401 includes an analog signal acquisition interface AD0, an analog signal acquisition interface AD1, an analog signal acquisition interface AD2, an analog signal acquisition interface AD3, an analog signal acquisition interface AD4, an analog signal acquisition interface AD5, a phase current U output interface, and a phase current V. Output interface, phase current W output interface. The motor controller 401 outputs the three-phase currents U, V, W to the motor 402 through a wire cable for driving the motor 402. Hall current sensor A, Hall current sensor B, and Hall current sensor C are respectively set on the line cables corresponding to the three-phase currents U, V, and W for respectively sensing the phase current signals of the three-phase currents U, V, and W. Output voltage signal. AD0 and AD1 collect the output of Hall current sensor A, AD2 and AD3 collect the output of Hall current sensor B, and AD4 and AD5 collect the output of Hall current sensor C.

As shown in FIG. 3, the phase current signal sampling method of this embodiment includes the following steps:

In step S301, the outputs of the Hall current sensors A, B, and C are respectively collected through the analog signal acquisition interfaces AD0, AD2, and AD4, and the voltage sampling signals U1, V1, and W1 corresponding to the three-phase currents are obtained.

In step S302, the outputs of the Hall current sensors C, B, and A are respectively collected through the analog signal acquisition interfaces AD4, AD2, and AD0, and the voltage sampling signals W2, V2, and U2 corresponding to the three-phase currents are obtained.

In step S303, the outputs of the Hall current sensors A, B, and C are respectively collected through the analog signal acquisition interfaces AD1, AD3, and AD5, and the voltage sampling signals U3, V3, and W3 corresponding to the three-phase currents are obtained.

In step S304, the outputs of the Hall current sensors C, B, and A are respectively collected through the analog signal acquisition interfaces AD5, AD3, and AD1, and the voltage sampling signals W4, V4, and U4 corresponding to the three-phase currents are obtained.

Step S305, sorting the sampling signals of the phase currents. The sampling signals of the U-phase current are U1, U2, U3, and U4, and the sampling signals of the V-phase current are V1, V2, V3, and V4, and the sampling signals of the W-phase current are W1, W2, W3, and W4. Four sampling signals are collected for each phase current, and four sampling signals of each phase current are sorted.

Step S306, after sorting the sampling signals of the phase currents, the maximum value and the minimum value of the sampling signals of the phase currents are removed. Removing the maximum and minimum values can remove the more severely interfered sampling signals and reduce the influence of the heavily interfered sampling signals on the sampling results.

Step S307, averaging the sampling signals retained by the respective phase currents to obtain an average value of the sampling signals of the respective phase currents.

In step S308, the average value of the sampling signals of the respective phase currents is converted into a current value, and the sampling result of each phase current is obtained. The sampling results can be used for motor control.

It should be noted that the steps shown in the flowchart of the accompanying drawings may be in a calculation such as a set of computer executable instructions. The steps are performed in a machine system, and although the logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

Embodiments of the present invention also provide a phase current signal sampling device. It should be noted that the phase current signal sampling device of the embodiment of the present invention can be used to perform the phase current signal sampling method of the present invention.

Figure 5 is a schematic illustration of a phase current signal sampling device in accordance with an embodiment of the present invention. As shown in FIG. 5, the device includes a sensor 10, a sampling chip 20, and a control chip 30.

The sensor 10 is set on the output cable of the motor controller for sensing the phase current output by the motor controller and outputting the sampling signal. The sampling chip 20 is connected to the output of the sensor 10 through a plurality of analog signal acquisition channels for acquiring the output of the sensor 10 and acquiring a plurality of sampling signals. The control chip 30 is connected to the sampling chip 20 for acquiring the sampling result of the phase current according to the plurality of sampling signals.

Preferably, sensor 10 is a Hall current sensor.

Preferably, the output cable of the motor controller comprises a first phase current cable, a second phase current cable and a third phase current cable, and the multi-channel analog signal acquisition channel comprises a first group of analog signal acquisition channels and a second group of analog signal acquisition channels. And the third group of analog signal acquisition channels, the Hall current sensor comprises three Hall current sensors, wherein the first Hall current sensor is set on the first phase current cable, and the first group of analog signal acquisition channels and the control chip are The connection is used for sensing the first phase current of the motor controller output, and outputting the first voltage signal; the second Hall current sensor is set on the second phase current cable, and is connected to the control chip through the second group of analog signal acquisition channels, a second phase current for sensing the output of the motor controller, and outputting a second voltage signal; the third Hall current sensor is disposed on the third phase current cable, and is connected to the control chip through the third group of analog signal acquisition channels, and is used for The third phase current output by the induction motor controller outputs a third voltage signal.

Preferably, the sampling chip 20 includes a plurality of analog signal acquisition interfaces, and is connected to the output of the sensor through a plurality of analog signal acquisition channels for collecting sampling signals output by the sensor, wherein the plurality of analog signal acquisition interfaces and the plurality of analog signals The acquisition channels correspond one-to-one.

Preferably, the sensor 10 is a Hall current sensor for sensing a phase current output voltage signal, and the multi-channel analog signal acquisition channel includes a first analog signal acquisition channel and a second analog signal acquisition channel, and the plurality of analog signal acquisition interfaces include The first analog signal acquisition interface and the second analog signal acquisition interface. The first analog signal acquisition interface is connected to the output of the Hall current sensor through the first analog signal acquisition channel, and is used for acquiring the voltage signal output by the Hall current sensor to obtain the first voltage sampling signal. The second analog signal acquisition interface is connected to the output of the Hall current sensor through the second analog signal acquisition channel, and is used for acquiring the voltage signal output by the Hall current sensor to obtain the second voltage sampling signal.

Embodiments of the present invention also provide a motor controller. The motor controller includes a sampling chip and a control chip. The sampling chip is connected to the output of the sensor through a multi-channel analog signal acquisition channel, and is used to acquire the output of the sensor and obtain A plurality of sampling signals are taken, wherein the sensor is used to sense the phase current output by the motor controller and output the sampling signal. The control chip is connected to the sampling chip and is configured to acquire sampling results of the phase currents according to the plurality of sampling signals.

Embodiments of the present invention also provide an electric vehicle. The electric vehicle includes a phase current signal sampling device or a motor controller of an embodiment of the present invention.

It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in a storage device by a computing device, or they may be fabricated into individual integrated circuit modules, or Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A phase current signal sampling method, comprising:

Acquiring a plurality of sampling signals by acquiring the output of the sensor through a multi-channel analog signal acquisition channel, wherein the sensor is used to sense a phase current output by the motor controller, and output a sampling signal;

And acquiring a sampling result of the phase current according to the plurality of sampling signals.
The method according to claim 1, wherein the sensor is a Hall current sensor for sensing a phase current output by the motor controller, and outputting a voltage signal.

Acquiring the output of the sensor through the multi-channel analog signal acquisition channel, acquiring the plurality of sampling signals includes: collecting the output of the Hall current sensor through the multi-channel analog signal acquisition channel, and acquiring a plurality of voltage sampling signals,

Acquiring the sampling result of the phase current according to the plurality of sampling signals includes: calculating the plurality of voltage sampling signals, and acquiring sampling results of the phase currents.
The method according to any one of claims 1-2, wherein the sensor is a Hall current sensor, the phase current is a three-phase current, and the multi-channel analog signal acquisition channel comprises three sets of analog signal acquisition. The channel collects the output of the sensor through a multi-channel analog signal acquisition channel, and acquires multiple sampling signals including:

Acquiring three outputs of the Hall current sensor through the three sets of analog signal acquisition channels to obtain three sets of voltage sampling signals, wherein the three Hall current sensors are respectively used to sense the output of the motor controller Three-phase current, output voltage signal.
The method according to claim 3, wherein three outputs of the Hall current sensors are respectively acquired through the three sets of analog signal acquisition channels, and the three sets of voltage sampling signals are obtained:

Selecting one analog signal acquisition channel in each of the three sets of analog signal acquisition channels to obtain three analog signal acquisition channels;

Acquiring, by the three analog signal acquisition channels, the outputs of the three Hall current sensors according to a first preset sequence to obtain a first preset sequence voltage sampling signal;

And acquiring, by the three analog signal acquisition channels, the outputs of the three Hall current sensors according to a second preset sequence, and acquiring a second preset sequence voltage sampling signal.
The method according to any one of claims 1 to 4, wherein the output of the acquisition sensor through the multi-channel analog signal acquisition channel comprises:

The output of the sensor is started at a preset sampling time within the PWM interrupt period,

The preset sampling time is the following time in the PWM interrupt period:

Where T is the duration of the PWM interrupt period, and t is the duration from which the plurality of sampled signals are acquired to obtain the phase current.
The method according to any one of claims 1 to 5, wherein the sensor is a Hall current sensor,

Acquiring the output of the sensor through the multi-channel analog signal acquisition channel, and acquiring the plurality of sampling signals includes: acquiring the output of the Hall current sensor twice through the first analog signal acquisition channel, and acquiring the first voltage sampling signal and the second voltage Sampling the signal; and collecting the output of the Hall current sensor twice through the second analog signal acquisition channel to obtain the third voltage sampling signal and the fourth voltage sampling signal,

Acquiring the sampling result of the phase current according to the plurality of sampling signals includes: performing the first voltage sampling signal, the second voltage sampling signal, the third voltage sampling signal, and the fourth voltage sampling signal Sorting; removing the maximum value and the minimum value of the first voltage sampling signal, the second voltage sampling signal, the third voltage sampling signal, and the fourth voltage sampling signal to obtain an intermediate value of two voltage sampling signals And averaging the intermediate values of the two voltage sampling signals to obtain an average value of the voltage sampling signals; and converting the average value of the voltage sampling signals into current values to obtain sampling results of the phase currents.
A phase current signal sampling device, comprising:

a sensor, disposed on an output cable of the motor controller, for sensing a phase current output by the motor controller, and outputting a sampling signal;

a sampling chip connected to an output of the sensor through a plurality of analog signal acquisition channels for acquiring an output of the sensor and acquiring a plurality of sampling signals;

And a control chip connected to the sampling chip, configured to acquire a sampling result of the phase current according to the plurality of sampling signals.
The device of claim 7 wherein said sensor is a Hall current sensor.
The apparatus according to claim 8 wherein said output cable of said motor controller comprises a first phase current cable, a second phase current cable and a third phase current cable, said plurality of analog signal acquisition channels comprising A set of analog signal acquisition channels, a second set of analog signal acquisition channels, and a third set of analog signal acquisition channels, the Hall current sensors comprising:

a first Hall current sensor, disposed on the first phase current cable, connected to the control chip through the first set of analog signal acquisition channels, for sensing a first phase current output by the motor controller , outputting a first voltage signal;

a second Hall current sensor, disposed on the second phase current cable, connected to the control chip through the second set of analog signal acquisition channels, for sensing a second phase current output by the motor controller , outputting a second voltage signal;

a third Hall current sensor, disposed on the third phase current cable, and collected by the third group of analog signals The channel is connected to the control chip for sensing a third phase current output by the motor controller and outputting a third voltage signal.
The apparatus according to any one of claims 7-9, wherein the sampling chip comprises:

a plurality of analog signal acquisition interfaces connected to the output of the sensor through the multi-channel analog signal acquisition channel for collecting sampling signals output by the sensor, wherein the plurality of analog signal acquisition interfaces and the plurality of The analog signal acquisition channels of the road correspond one-to-one.
The device according to claim 10, wherein the sensor is a Hall current sensor for sensing the phase current output voltage signal, and the multi-channel analog signal acquisition channel comprises a first analog signal acquisition channel and The second analog signal acquisition channel, the multiple analog signal acquisition interfaces include:

The first analog signal acquisition interface is connected to the output of the Hall current sensor through the first analog signal acquisition channel, and is configured to acquire a voltage signal output by the Hall current sensor to obtain a first voltage sampling signal;

The second analog signal acquisition interface is connected to the output of the Hall current sensor through the second analog signal acquisition channel, and is configured to acquire a voltage signal output by the Hall current sensor to obtain a second voltage sampling signal.
A motor controller, comprising:

a sampling chip connected to an output of the sensor through a plurality of analog signal acquisition channels for acquiring an output of the sensor and acquiring a plurality of sampling signals, wherein the sensor is configured to sense a phase current output by the motor controller and Output sampling signal;

And a control chip connected to the sampling chip, configured to acquire a sampling result of the phase current according to the plurality of sampling signals.
An electric vehicle characterized by comprising the phase current signal sampling device according to any one of claims 7 to 11 or the motor controller according to claim 12.