WO2018006729A1 - 车轮转速检测装置和检测方法 - Google Patents

车轮转速检测装置和检测方法 Download PDF

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WO2018006729A1
WO2018006729A1 PCT/CN2017/090436 CN2017090436W WO2018006729A1 WO 2018006729 A1 WO2018006729 A1 WO 2018006729A1 CN 2017090436 W CN2017090436 W CN 2017090436W WO 2018006729 A1 WO2018006729 A1 WO 2018006729A1
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wheel
signal
square wave
motor
wave signal
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English (en)
French (fr)
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肖艳杰
石永福
陈映杰
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Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage

Definitions

  • the invention relates to the technical field of a hub motor, and in particular to a wheel rotation speed detecting device and a detecting method for use in a hub motor.
  • the Antilock Brake System determines whether the wheel tends to lock according to the wheel speed signal input by the wheel speed sensor, thereby making an anti-lock control signal.
  • a wheel speed sensor is mounted on a wheel, and a wheel speed sensor is used to test the wheel speed and send it to the ABS.
  • the wheel speed sensor works on the principle that the wheel speed sensor comprises a magnetic coil and an inductive component.
  • the magnetic ring gear is mounted on the wheel, the magnetic ring gear is coaxial with the wheel, and the number of teeth in the magnetic ring gear is w.
  • the sensing assembly is spaced from the magnetic ring gear. When the magnetic ring gear rotates with the wheel, the sensing component can sense a change in the magnetic field and generate a periodic sine wave corresponding to one tooth of the magnetic ring gear.
  • the wheel speed can correspond to the number of sine waves generated per unit time.
  • the sine wave is converted into a square wave and sent to the ABS.
  • the ABS reads the number of high-level occurrences in each square wave signal generation period to determine whether the wheel tends to lock.
  • This square wave signal corresponding to the wheel speed has the following problem: the wheel speed sensor is an external mechanical component with respect to the wheel. Therefore, an additional adapter is required to secure the wheel speed sensor to the wheel, which affects the wheel structure and inconveniences in the layout of the components on the wheel.
  • the problem to be solved by the present invention is that in the field of the existing wheel motor technology, in the wheel speed detecting method, the wheel speed sensor is an external mechanical component with respect to the wheel, and an additional adapter is needed to fix the wheel speed sensor to the wheel, which affects the wheel structure and It is inconvenient for the layout of the components on the wheel.
  • the present invention provides a wheel rotation speed detecting device in which: an in-wheel motor, an excitation unit, and a resolver are integrated, the hub motor is coupled to the wheel to drive the wheel to rotate; and the resolver is connected
  • the hub motor receives an alternating excitation signal from the excitation unit to monitor a motor speed to generate an output signal including motor speed information
  • the wheel speed detecting device is integrated in the wheel, and includes: a conversion unit, configured to: A square wave signal is generated according to the output signal, and the square wave signal is an ABS input signal corresponding to a wheel speed.
  • the wheel rotation speed detecting device further includes: a demodulator, configured to receive the output signal and the alternating excitation signal, and demodulate an envelope signal corresponding to the motor speed; the conversion unit For receiving the envelope signal and converting into the square wave signal.
  • a demodulator configured to receive the output signal and the alternating excitation signal, and demodulate an envelope signal corresponding to the motor speed
  • the conversion unit For receiving the envelope signal and converting into the square wave signal.
  • the conversion unit includes: an operation unit, configured to receive the envelope signal and calculate a phase angle signal corresponding to a wheel rotation angle in the square wave signal generation period every time a square wave signal generation period is calculated; And a square wave generating unit configured to generate the square wave signal according to the phase angle signal in each of the square wave signal generation periods.
  • the converting unit includes: an operating unit, configured to receive an envelope signal of the corresponding motor speed and calculate an envelope signal corresponding to the wheel speed; and a square wave generating unit configured to rotate the corresponding wheel The envelope signal is converted to the square wave signal.
  • the arithmetic unit and the square wave generating unit are integrated.
  • the demodulator, the conversion unit and the excitation unit are integrated in the same housing.
  • the excitation unit is further configured to: receive an output signal of the resolver and demodulate a motor speed signal; and the converting unit is configured to: receive the motor speed signal and convert the signal into the square wave signal.
  • the invention also provides a wheel rotation speed detecting method, which integrates: an in-wheel motor, an excitation unit and a rotary transformer, wherein the hub motor is connected to the wheel to drive the wheel to rotate; the rotary transformer is connected to the hub motor And for receiving an alternating excitation signal from the excitation unit to monitor a motor speed to generate an output signal including motor speed information; the wheel speed detecting method includes: converting the output signal into a square wave signal, the square wave The signal is the ABS input signal corresponding to the wheel speed.
  • the method for converting the output signal into a square wave signal comprises: demodulating an envelope signal corresponding to a motor speed by using the output signal and the alternating excitation signal; converting the envelope signal into a Square wave signal.
  • the method for converting the envelope signal into the square wave signal comprises: calculating, according to the envelope signal, a wheel rotation angle in a square wave signal generation period every time a square wave signal generation period is calculated Corresponding phase angle signal; generating the square wave signal according to the phase angle signal in each square wave signal generation period.
  • the method for converting the envelope signal into the square wave signal comprises: receiving an envelope signal of the corresponding motor speed and calculating an envelope signal corresponding to the wheel speed; and the packet corresponding to the wheel speed The network signal is converted to the square wave signal.
  • the excitation unit receives an output signal of the resolver and demodulates a motor speed signal; and the wheel speed detection method further includes: receiving the motor speed signal and converting the square wave signal.
  • the technical solution utilizes the output signal of the resolver to perform conversion processing to detect the wheel speed, and can replace the conventional scheme of detecting the wheel speed by using the wheel speed sensor.
  • the hub motor, the resolver and the excitation unit are integrated in the wheel, and the conversion unit is an electronic device, which has a very small footprint compared to the wheel speed sensor. Therefore, the wheel speed detecting device can discard the wheel speed sensor, does not require additional external mechanical components, does not change the mechanical structure of the wheel, and does not substantially change the wheel structure and the wheel layout, and does not cause inconvenience to the wheel structure and the wheel layout.
  • FIG. 1 is a schematic structural view of a wheel rotation speed detecting device according to a specific embodiment of the present invention
  • FIG. 2 is a flow chart of a method for detecting a rotational speed of a wheel according to an embodiment of the present invention
  • Fig. 3(a) is an alternating excitation signal generated by an excitation unit in the wheel
  • Fig. 3(b) is an output signal of the rotary transformer in the wheel
  • Fig. 5 is a structural view showing a conversion unit in the wheel rotation speed detecting device shown in Fig. 1.
  • an in-wheel motor (not shown), an energizing unit 2, and a resolver 1 are integrated in the wheel, and the hub motor connects the wheels to drive the wheels to rotate.
  • the excitation unit 2 provides an alternating excitation signal
  • the resolver 1 is coupled to the hub motor and receives an alternating excitation signal from the excitation unit 2 to monitor the motor speed to produce an output signal including motor speed information.
  • the rotor of the resolver 1 is mechanically coupled to the rotor of the motor at a fixed rotational speed ratio.
  • the rotor of the motor is mechanically coupled to the wheel at a fixed rotational speed ratio.
  • the resolver 1, the rotor of the motor and the wheel have a fixed rotational speed ratio with each other, thus the wheel
  • the rotation speed detecting method may include converting the output signal of the resolver 1 into a square wave signal, which is an ABS input signal corresponding to the wheel speed.
  • the present technical solution utilizes the output signal of the resolver 1 to perform conversion processing to detect the wheel speed, and can replace the conventional scheme of detecting the wheel speed by using the wheel speed sensor.
  • the hub motor, the resolver 1 and the excitation unit 2 are all integrated components in the wheel, no additional external mechanical components are needed, and no mechanical improvement of the wheel structure is required. Therefore, the wheel speed detecting method of the present invention does not apply to the wheel. Structure and wheel layout bring inconvenience.
  • the "square wave signal corresponding to the wheel speed” is a square wave signal including wheel speed information.
  • the wheel speed sensor can generate w square wave signals for every 360° rotation of the wheel, and the wheel speed can correspond to the number of sine waves generated per unit time. Therefore, in the technical solution, when the output signal of the resolver 1 is converted into a "square wave signal corresponding to the wheel speed", the ABS can receive w square wave signals per revolution of the wheel as a reference for conversion.
  • w is different, can be set according to specific conditions.
  • the method of converting the output signal of the resolver 1 into a square wave signal may include: performing step S1, demodulating the package corresponding to the motor speed by using the output signal of the resolver 1 and the alternating excitation signal output by the excitation unit 2.
  • the signal is output; step S2 is performed to convert the envelope signal into a square wave signal corresponding to the wheel speed.
  • the stator of the resolver 1 is stationary with respect to the wheel, and the rotor of the resolver 1 is connected to the rotor of the motor.
  • Step S2 the method for converting the envelope signal into a square wave signal may include:
  • the phase angle signal ⁇ corresponding to the wheel rotation angle ⁇ in the square wave signal generation period ⁇ t is calculated every time a square wave signal generation period ⁇ t is obtained; Square wave signal generation phase in period ⁇ t The bit angle signal ⁇ produces the square wave signal.
  • the rotation angle ⁇ of the resolver 1 ⁇ (t2) - ⁇ (t1).
  • the integer N is taken from it, converted into N periodic square waves and output.
  • the initial time of each square wave signal generation period ⁇ t is the end time of the previous square wave signal generation period ⁇ t, and the end time of each square wave signal generation period ⁇ t is the initial time of the next square wave signal generation period ⁇ t.
  • the remainder R is counted in the next square wave signal generation period ⁇ t.
  • the square wave signal is generated every other square wave signal generation period ⁇ t, and the square wave signal generated each time may include N periodic square waves.
  • the ABS receives a square wave signal every other square wave signal generation period ⁇ t, and reads the number of occurrences of the high level to determine whether the wheel tends to lock.
  • the method for converting the envelope signal corresponding to the motor speed into the corresponding square wave signal may include: first, receiving an envelope signal corresponding to the motor speed and calculating an envelope signal corresponding to the wheel speed; and then, corresponding wheels
  • the envelope signal of the speed is converted into square Wave signal.
  • the envelope signal corresponding to the wheel speed can be directly calculated according to the envelope signal corresponding to the motor speed.
  • the envelope signal corresponding to the wheel speed is a sine wave, which can be directly converted into a square wave.
  • the excitation unit 2 also receives the output signal of the resolver 1 and demodulates the motor speed signal. Therefore, as an alternative, according to the corresponding relationship between the motor speed and the wheel speed, the wheel speed detecting method may further include: receiving the motor speed signal from the excitation unit and converting the square wave signal into the square wave signal. With this option, it is not necessary to specifically demodulate the output signal of the resolver, and the square wave signal required by the ABS can be converted by directly using the motor speed signal output by the excitation unit.
  • the output signal of the resolver 1 includes Vsin ⁇ tsin ⁇ and Vsin ⁇ tcos ⁇ , and the square wave signal corresponding to the wheel rotational speed can be obtained by Vsin ⁇ tsin ⁇ conversion.
  • the square wave signal corresponding to the wheel speed can also be obtained by using Vsin ⁇ tcos ⁇ conversion.
  • the wheel rotation speed detecting device may include a rotary transformer 1, an excitation unit 2, and a conversion unit 3.
  • the resolver 1 is in communication with the excitation unit 2, and the excitation unit 2 outputs an alternating excitation signal to the resolver 1, which produces an output signal containing motor speed information and feeds it back to the excitation unit 2.
  • the conversion unit 3 is in communication with the resolver 1 for generating a square wave signal based on an output signal of the resolver 1, the square wave signal being an ABS input signal corresponding to the wheel speed.
  • the hub motor, the resolver 1 and the excitation unit 2 are integrated in the wheel, and the wheel rotation speed detecting means performs the conversion processing using the output signal of the resolver 1 in the wheel to detect the wheel rotation speed, which can discard the conventional wheel rotation speed sensor.
  • the conversion unit 3 belongs to the electronic device and has a very small footprint compared to the wheel speed sensor. Therefore, the wheel speed detecting device does not require additional external mechanical components and does not change the wheel's machine. The mechanical structure, therefore, the wheel speed detecting device of the present technical solution does not substantially change the wheel structure and the wheel layout, and does not cause inconvenience to the wheel structure and the wheel layout.
  • the wheel rotation speed detecting device further includes a demodulator 4 for receiving an alternating excitation signal from the excitation unit 2 and receiving an output signal from the resolver 1 to demodulate an envelope of the corresponding motor speed from the output signal of the resolver 1. signal.
  • the converting unit 3 is configured to: receive the envelope signal and convert it into a square wave signal corresponding to the wheel speed, and send the square wave signal to the ABS.
  • the demodulator 4 and the conversion unit 3 can be integrated on one PCB board, and the PCB board takes up very little space, does not affect the wheel structure and affects the wheel layout. Thereafter, the PCB can be integrated in the excitation unit 2 so that no additional space is occupied.
  • the conversion unit 3 includes an arithmetic unit 30 and a square wave generating unit 31.
  • the operation unit 30 is configured to: receive an envelope signal from the demodulator 4 and calculate a phase angle signal corresponding to the wheel rotation angle in the square wave signal generation period every time a square wave signal generation period is calculated, and the operation method may refer to the foregoing wheel The relevant content of the speed detection method.
  • the square wave generating unit 31 is configured to: generate a square wave signal according to the phase angle signal in each square wave signal generating period, and the specific method for generating the square wave signal may refer to the related content of the foregoing wheel speed detecting method.
  • the arithmetic unit 30 and the square wave generating unit 31 can be integrated together, for example, can be integrated into a Microcontroller Unit (MCU), and the occupied space is very small.
  • MCU Microcontroller Unit
  • the MCU and the excitation unit 2 can be integrated in the same housing.
  • the operation unit 30 may be configured to: receive an envelope signal corresponding to the motor speed and calculate an envelope signal corresponding to the wheel speed; the square wave generating unit 31 may be configured to: convert the envelope signal corresponding to the wheel speed into Square wave signal.
  • the excitation unit 2 can be integrated into a Power Electronic Unit (PEU) to provide an alternating excitation signal.
  • the ADI series demodulation chip is also integrated in the PEU.
  • the ADI series demodulation chip is used to receive the output signal of the resolver 1 and demodulate the motor speed signal. Therefore, as an alternative, the conversion unit can be directly
  • the excitation unit 2 is in communication for receiving a motor speed signal from the excitation unit 2 and converting to the square wave signal.
  • the demodulator 4, the conversion unit 3 and the excitation unit 2 can be integrated in the same housing, for example integrated in the housing of the PEU.
  • the demodulator 4 and the conversion unit 3 effectively utilize the layout space of the PEU without the need to allocate additional layout space for the demodulator 4 and the conversion unit 3, which significantly reduces the influence on the wheel structure and the wheel layout.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
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Abstract

一种车轮转速检测装置，其中在车轮内集成有：轮毂电机、激励单元（2）和旋转变压器（1）；旋转变压器（1）从激励单元（2）接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号；将输出信号转换为方波信号，方波信号为对应车轮转速的ABS输入信号。还提供一种车轮转速检测方法。利用旋转变压器（1）的输出信号进行转换处理来检测车轮转速，取代利用车轮转速传感器来检测车轮转速的传统方案。轮毂电机、旋转变压器（1）和激励单元（2）均集成在车轮内，转换单元（3）属于电子器件，占用空间小。车轮转速检测装置可以舍弃车轮转速传感器，不需要额外的外部机械部件，不会改变车轮的机械结构，不会对车轮结构和车轮布局带来不便。

Description

车轮转速检测装置和检测方法
本申请要求于2016年07月05日提交中国专利局、申请号为201610525008.9、发明名称为“车轮转速检测装置和检测方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及轮毂电机技术领域，特别涉及一种用于轮毂电机中的车轮转速检测装置和检测方法。
背景技术
在汽车制动过程中，防抱死制动系统(Antilock Brake System，简称ABS)会根据车轮转速传感器输入的车轮转速信号判定车轮是否趋于抱死，从而做出是否发出防抱死控制信号。
目前，在轮毂电机技术领域，在车轮上安装有车轮转速传感器，车轮转速传感器用来测试车轮转速，并发送给ABS。车轮转速传感器的工作原理是：车轮转速传感器包括磁性线圈和感应组件。磁性齿圈安装在车轮上，磁性齿圈与车轮同轴，磁性齿圈中齿的数量为w。沿磁性齿圈的径向，感应组件与磁性齿圈间隔设置。在磁性齿圈随车轮转动时，感应组件可以感应磁场变化，并对应磁性齿圈的一个齿产生一个周期的正弦波。在车轮转动一圈时，可以产生w个正弦波，因此车轮转速可以对应单位时间内产生的正弦波的数量。之后，正弦波被转换为方波并发送给ABS。ABS在每个方波信号产生周期内读取高电平出现的次数，进而判断车轮是否趋于抱死。
这种对应车轮转速的方波信号具有以下问题：轮速传感器相对于车轮为外部机械部件。因此，需要额外的适配器来固定车轮转速传感器于车轮，这会影响车轮结构并对车轮上部件的布局带来不便。
发明内容
本发明解决的问题是，在现有轮毂电机技术领域，车轮转速检测方法中，轮速传感器相对于车轮为外部机械部件，需要额外的适配器来固定车轮转速传感器于车轮，这会影响车轮结构并对车轮上部件的布局带来不便。
为解决上述问题，本发明提供一种车轮转速检测装置，在车轮内集成有：轮毂电机、激励单元和旋转变压器，所述轮毂电机连接所述车轮以驱动所述车轮转动；所述旋转变压器连接所述轮毂电机，并从所述激励单元接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号；所述车轮转速检测装置集成于所述车轮内，包括：转换单元，用于根据所述输出信号产生方波信号，所述方波信号为对应车轮转速的ABS输入信号。
可选地，所述车轮转速检测装置还包括：解调器，用于接收所述输出信号和所述交变激励信号，并解调出对应所述电机转速的包络信号；所述转换单元用于：接收所述包络信号并转换成所述方波信号。
可选地，所述转换单元包括：运算单元，用于接收所述包络信号并每经一个方波信号产生周期计算得到在所述方波信号产生周期内车轮转角所对应的相位角信号；方波产生单元，用于根据每个所述方波信号产生周期内的所述相位角信号产生所述方波信号。
可选地，所述转换单元包括：运算单元，用于接收所述对应电机转速的包络信号并计算得到对应车轮转速的包络信号；方波产生单元，用于将所述对应车轮转速的包络信号转换为所述方波信号。
可选地，所述运算单元和所述方波产生单元集成在一起。
可选地，所述解调器、所述转换单元和所述激励单元集成于同一壳体内。
可选地，所述激励单元还用于：接收所述旋转变压器的输出信号并解调出电机转速信号；所述转换单元用于：接收所述电机转速信号并转换为所述方波信号。
本发明还提供一种车轮转速检测方法，在车轮内集成有：轮毂电机、激励单元和旋转变压器，所述轮毂电机连接所述车轮以驱动所述车轮转动；所述旋转变压器连接所述轮毂电机，并用于从所述激励单元接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号；所述车轮转速检测方法包括：将所述输出信号转换为方波信号，所述方波信号为对应车轮转速的ABS输入信号。
可选地，将所述输出信号转换为方波信号的方法包括：利用所述输出信号和所述交变激励信号解调出对应电机转速的包络信号；将所述包络信号转换成所述方波信号。
可选地，将所述包络信号转换成所述方波信号的方法包括：根据所述包络信号，每经一个方波信号产生周期计算得到在所述方波信号产生周期内车轮转角所对应的相位角信号；根据每个所述方波信号产生周期内的所述相位角信号产生所述方波信号。
可选地，将所述包络信号转换成所述方波信号的方法包括：接收所述对应电机转速的包络信号并计算得到对应车轮转速的包络信号；将所述对应车轮转速的包络信号转换为所述方波信号。
可选地，所述激励单元接收所述旋转变压器的输出信号并解调出电机转速信号；所述车轮转速检测方法还包括：接收所述电机转速信号并转换成所述方波信号。
与现有技术相比，本发明的技术方案具有以下优点：
本技术方案利用旋转变压器的输出信号进行转换处理来检测车轮转速，可以取代利用车轮转速传感器来检测车轮转速的传统方案。在轮毂电机技术中，轮毂电机、旋转变压器和激励单元均集成在车轮内，转换单元属于电子器件，相较于车轮转速传感器占用空间非常小。因此，车轮转速检测装置可以舍弃车轮转速传感器，不需要额外的外部机械部件，不会改变车轮的机械结构，基本不会改变车轮结构及车轮布局，不会对车轮结构和车轮布局带来不便。
附图说明
图1是本发明具体实施例的车轮转速检测装置的结构示意图；
图2是本发明具体实施例的车轮转速检测方法的流程图；
图3中，图3(a)是车轮内激励单元产生的交变激励信号，图3(b)是车轮内旋转变压器的一个输出信号；
图4是对应电机转速的包络信号与对应车轮转速的方波信号的一种转换对应关系；
图5是图1所示车轮转速检测装置中转换单元的结构图。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
参照图1，在轮毂电机技术中，在车轮内集成有：轮毂电机(图中未示出)、激励单元2和旋转变压器1，轮毂电机连接车轮以驱动车轮转动。激励单元2提供交变激励信号，旋转变压器1连接轮毂电机，并从激励单元2接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号。
旋转变压器1的转子以固定的转速比机械连接于电机的转子，电机的转子以固定的转速比机械连接于车轮，旋转变压器1、电机转子和车轮中彼此之间具有固定的转速比，因此车轮转速检测方法可以包括：将旋转变压器1的输出信号转换为方波信号，该方波信号为对应车轮转速的ABS输入信号。
本技术方案利用旋转变压器1的输出信号进行转换处理来检测车轮转速，可以取代利用车轮转速传感器来检测车轮转速的传统方案。轮毂电机、旋转变压器1和激励单元2均为车轮内的集成元件，不需要额外的外部机械部件，不需要对车轮的机械结构进行任何改进，因此本技术方案的车轮转速检测方法不会对车轮结构和车轮布局 带来不便。
需要说明的是，“对应车轮转速的方波信号”是包含车轮转速信息的方波信号。参考现有技术中车轮转速检测方法，车轮每转动360°，车轮转速传感器可以产生w个方波信号，车轮的转速可以对应单位时间内产生的正弦波的数量。因此，本技术方案在将旋转变压器1的输出信号转换为“对应车轮转速的方波信号”时，可以以车轮每转一圈ABS可以接收w个方波信号为参考进行转换。对应不同车型，w不同，可根据具体情况进行设置。
结合图2，将旋转变压器1的输出信号转换为方波信号的方法可以包括：执行步骤S1，利用旋转变压器1的输出信号和激励单元2输出的交变激励信号解调出对应电机转速的包络信号；执行步骤S2，将所述包络信号转换成对应车轮转速的方波信号。
结合图3(a)，图3(a)为激励单元2输出的交变激励信号Ur(t)＝Vsinωt，该交变激励信号Ur(t)是交变电压。结合图3(b)，图3(b)为旋转变压器1的一个输出信号Us(t，θ)＝Vsinωtsinθ，θ为旋转变压器1的转角。
旋转变压器1的定子相对车轮静止，旋转变压器1的转子与电机的转子连接。旋转变压器1内具有ρ个极对数，因此，电机每转动一圈，旋转变压器1输出ρ个正弦波，所述θ为该正弦波的相位角。因此，根据旋转变压器1检测电机转速的原理，所述θ不是电机转角，但可以对应电机转速，Us(t，θ)的包络信号Vsinθ包含电机转速信息。同时获取Ur(t)和Us(t，θ)，可以从Us(t，θ)中解调出包含电机转速的包络信号US1(t，θ)＝Vsinθ。
执行步骤S2，将所述包络信号转换成方波信号的方法可以包括：
首先，根据包络信号US1(t，θ)＝Vsinθ，每经一个方波信号产生周期Δt计算得到在该方波信号产生周期Δt内车轮转角α所对应的相位角信号Δφ；之后，根据每个方波信号产生周期Δt内的相 位角信号Δφ产生所述方波信号。
在一个方波信号产生周期Δt内，初始时间为t1，终止时间为t2，Δt＝t2-t1。在初始时间t1，US11(t1，θ)＝Vsinθ(t1)，利用反正弦公式求得θ(t1)。在终止时间t2，US12(t2，θ)＝Vsinθ(t2)，利用反正弦公式求得θ(t2)。在该方波信号产生周期Δt内，旋转变压器1的转角Δθ＝θ(t2)-θ(t1)。
电机的转子每转动一圈，旋转变压器1输出ρ个正弦波，电机转速与车轮转速之比为s，可以计算得到车轮转角α＝Δθ/(ρ*s)。设定车轮每转动一圈，ABS可以接收w个方波信号，α所对应的相位角Δφ＝(Δθ*w)/(ρ*s)。因此，Δφ＝k*Δθ(k＝w/(ρ*s))。
计算在一个方波信号产生周期Δt内，Δφ所对应的正弦波的周期数为：Δφ/360＝N+R，N为整数且R为余数。从中取整数N，转换为N个周期方波并输出。每个方波信号产生周期Δt的初始时间为上一个方波信号产生周期Δt的终止时间，每个方波信号产生周期Δt的终止时间为下一个方波信号产生周期Δt的初始时间。
因此，结合图4，图4为对应电机转速的包络信号US1(t，θ)＝Vsinθ与方波信号的一种对应关系，可以在连续的方波信号产生周期Δt持续产生方波信号。在每个方波信号产生周期Δt内计算得到Δφ所对应的正弦波的周期数中，余数R会计入下一个方波信号产生周期Δt内。
每隔一个方波信号产生周期Δt产生一次方波信号，每次产生的方波信号可以包括N个周期方波。ABS每隔一个方波信号产生周期Δt接收一次方波信号，并读取高电平出现的次数，进而判断车轮是否趋于抱死。
作为可选方案，将对应电机转速的包络信号转换成对应方波信号的方法可以包括：首先，接收对应电机转速的包络信号并计算得到对应车轮转速的包络信号；之后，将对应车轮转速的包络信号转换为方 波信号。请参考前文关于电机转速与车轮转速之间的对应关系，可以根据对应电机转速的包络信号直接计算得到对应车轮转速的包络信号。对应车轮转速的包络信号为正弦波，可以直接将该正弦波转换成方波。
另外，激励单元2还接收旋转变压器1的输出信号并解调出电机转速信号。因此，作为可选方案，根据电机转速与车轮转速的对应关系，车轮转速检测方法可以还包括：从激励单元接收所述电机转速信号并转换成所述方波信号。利用该可选方案，无需专门对旋转变压器的输出信号进行解调，直接利用激励单元输出的电机转速信号，就可以转换得到ABS所需的方波信号。
旋转变压器1的输出信号中包括Vsinωtsinθ和Vsinωtcosθ，可以利用Vsinωtsinθ转换得到对应车轮转速的方波信号。作为可选方案，也可以利用Vsinωtcosθ转换得到对应车轮转速的方波信号，此时需要注意余弦波与正弦波之间具有相位差，在转换为方波的过程中会有延迟，因此在转换过程中需要进行相位调整以获得符合要求的方波信号。
参照图1，车轮转速检测装置可以包括：旋转变压器1、激励单元2和转换单元3。旋转变压器1与激励单元2通信，激励单元2输出交变激励信号给旋转变压器1，旋转变压器1产生包含电机转速信息的输出信号并反馈给激励单元2。
转换单元3与旋转变压器1通信，用于：根据旋转变压器1的输出信号产生方波信号，所述方波信号为对应车轮转速的ABS输入信号。
轮毂电机、旋转变压器1和激励单元2均集成在车轮内，车轮转速检测装置利用了车轮内的旋转变压器1的输出信号进行转换处理来检测车轮转速，这可以舍弃传统的车轮转速传感器。而且，转换单元3属于电子器件，相较于车轮转速传感器占用空间非常小。因此，本车轮转速检测装置不需要额外的外部机械部件，不会改变车轮的机 械结构，因此本技术方案的车轮转速检测装置基本不会改变车轮结构及车轮布局，不会对车轮结构和车轮布局带来不便。
轮转速检测装置还包括：解调器4，用于从激励单元2接收交变激励信号和从旋转变压器1接收输出信号，以从旋转变压器1的输出信号中解调出对应电机转速的包络信号。转换单元3用于：接收所述包络信号并转换成对应车轮转速的方波信号，并将该方波信号发送给ABS。
解调器4和转换单元3可以均集成于一个PCB板上，PCB板占用空间非常小，不会影响车轮结构并影响车轮布局。之后，该PCB板可以集成在激励单元2内，这样就不会再占用其他空间。
结合图5，转换单元3包括：运算单元30和方波产生单元31。运算单元30用于：从解调器4接收包络信号并每经一个方波信号产生周期计算得到在所述方波信号产生周期内车轮转角所对应的相位角信号，运算方法可以参考前文车轮转速检测方法的相关内容。方波产生单元31用于：根据每个方波信号产生周期内的相位角信号产生方波信号，产生方波信号的具体方法可以参考前文车轮转速检测方法的相关内容。
运算单元30和方波产生单元31可以集成在一起，例如可以集成于一个微控制单元(Microcontroller Unit，简称MCU)内，占用空间非常小。该MCU与激励单元2可以集成在同一壳体内。
作为可选方案，运算单元30可以用于：接收对应电机转速的包络信号并计算得到对应车轮转速的包络信号；方波产生单元31可以用于：将对应车轮转速的包络信号转换为方波信号。
激励单元2可以集成于电能动力控制器(Power Electronic Unit，简称PEU)内，以提供交变激励信号。在PEU内还集成有ADI系列解调芯片，该ADI系列解调芯片用于接收旋转变压器1的输出信号并解调出电机转速信号。因此，作为可选方案，转换单元可以直接与 激励单元2通信，用于从激励单元2接收电机转速信号并转换为所述方波信号。解调器4、转换单元3和激励单元2可以集成在同一壳体内，例如集成在PEU的壳体内。这样，解调器4和转换单元3有效利用了PEU的布局空间，不用为解调器4和转换单元3分配额外的布局空间，这显著降低了对车轮结构和车轮布局的影响。
虽然本发明披露如上，但本发明并非限定于此。任何本领域技术人员，在不脱离本发明的精神和范围内，均可作各种更动与修改，因此本发明的保护范围应当以权利要求所限定的范围为准。

Claims (12)

  1. 一种车轮转速检测装置，在车轮内集成有：轮毂电机、激励单元和旋转变压器，所述轮毂电机连接所述车轮以驱动所述车轮转动；
    所述旋转变压器连接所述轮毂电机，并从所述激励单元接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号；
    其特征在于，所述车轮转速检测装置集成于所述车轮内，包括：
    转换单元，用于根据所述输出信号产生方波信号，所述方波信号为对应车轮转速的ABS输入信号。
  2. 如权利要求1所述的车轮转速检测装置，其特征在于，还包括：解调器，用于接收所述输出信号和所述交变激励信号，并解调出对应电机转速的包络信号；
    所述转换单元用于：接收所述包络信号并转换成所述方波信号。
  3. 如权利要求2所述的车轮转速检测装置，其特征在于，所述转换单元包括：运算单元，用于接收所述包络信号并每经一个方波信号产生周期计算得到在所述方波信号产生周期内车轮转角所对应的相位角信号；
    方波产生单元，用于根据每个所述方波信号产生周期内的所述相位角信号产生所述方波信号。
  4. 如权利要求2所述的车轮转速检测装置，其特征在于，所述转换单元包括：运算单元，用于接收所述对应电机转速的包络信号并计 算得到对应车轮转速的包络信号；
    方波产生单元，用于将所述对应车轮转速的包络信号转换为所述方波信号。
  5. 如权利要求3或4所述的车轮转速检测装置，其特征在于，所述运算单元和所述方波产生单元集成在一起。
  6. 如权利要求2所述的车轮转速检测装置，其特征在于，所述解调器、所述转换单元和所述激励单元集成于同一壳体内。
  7. 如权利要求1所述的车轮转速检测装置，其特征在于，所述激励单元还用于：接收所述旋转变压器的输出信号并解调出电机转速信号；所述转换单元用于：接收所述电机转速信号并转换为所述方波信号。
  8. 一种车轮转速检测方法，在车轮内集成有：轮毂电机、激励单元和旋转变压器，所述轮毂电机连接所述车轮以驱动所述车轮转动；
    所述旋转变压器连接所述轮毂电机，并从所述激励单元接收交变激励信号以监测电机转速，产生包含电机转速信息的输出信号；
    其特征在于，所述车轮转速检测方法包括：将所述输出信号转换为方波信号，所述方波信号为对应车轮转速的ABS输入信号。
  9. 如权利要求8所述的车轮转速检测方法，其特征在于，将所述输出信号转换为方波信号的方法包括：
    利用所述输出信号和所述交变激励信号解调出对应电机转速的包络信号；
    将所述包络信号转换成所述方波信号。
  10. 如权利要求9所述的车轮转速检测方法，其特征在于，将所述包络信号转换成所述方波信号的方法包括：
    根据所述包络信号，每经一个方波信号产生周期计算得到在所述方波信号产生周期内车轮转角所对应的相位角信号；
    根据每个所述方波信号产生周期内的所述相位角信号产生所述方波信号。
  11. 如权利要求9所述的车轮转速检测方法，其特征在于，将所述包络信号转换成所述方波信号的方法包括：
    接收所述对应电机转速的包络信号并计算得到对应车轮转速的包络信号；
    将所述对应车轮转速的包络信号转换为所述方波信号。
  12. 如权利要求8所述的车轮转速检测方法，其特征在于，所述激励单元接收所述旋转变压器的输出信号并解调出电机转速信号；所述车轮转速检测方法还包括：接收所述电机转速信号并转换成所述方波信号。
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