Rotor angle confirmation method and device, vehicle and equipment

Abstract

The invention relates to a rotor angle confirmation method and device, a vehicle and equipment, and relates to the technical field of vehicles. The method comprises the following steps: acquiring sine and cosine signals output by a motor position sensor; the sine and cosine signals are associated with angle information of the motor rotor; calculating a compensation value of direct current bias deviation and a compensation value of amplitude deviation based on the first sine and cosine signal; the first sine and cosine signal is a sine and cosine signal acquired in a first time interval; the first time interval at least comprises a first period; performing phase compensation on the second sine and cosine signal, and determining the angle of the motor rotor according to the sine and cosine signal after phase compensation; wherein the second sine and cosine signal is a compensated sine and cosine signal obtained in a second time interval; the second sine and cosine signal is obtained by performing compensation based on the compensation value of the direct current bias deviation and the compensation value of the amplitude deviation; the second time interval at least comprises a second period. Therefore, there is a deviation between the calculated rotor angle and the actual rotor angle.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, particularly to the field of vehicle motor position acquisition, and specifically to a rotor angle confirmation method, device, vehicle, and equipment. Background Art

[0002] As the core component for driving a permanent magnet synchronous motor, the control effect of the motor controller of a new energy vehicle is directly affected by the accuracy of the motor rotor position information. Currently, the motor rotor position information is mainly determined by an eddy current resolver sensor. The working principle of the eddy current sensor is based on the eddy current effect. By measuring the change in the impedance of the sensor coil, it reflects the change in the measured physical quantity. Its output is sine and cosine signals, and these signals reflect the real-time angular position of the motor rotor.

[0003] However, due to phase delay or phase distortion during signal transmission, the phase relationship of the sine and cosine signals may change, resulting in a deviation between the calculated angle and the actual angle.

[0004] In a related technology, a method of calculating the angle of the motor rotor by coordinate rotation digital calculation is proposed, and the calculation is performed by transforming the vectors corresponding to the sine and cosine signals into the first quadrant to obtain the angle of the motor rotor.

[0005] In another related technology, on the basis of retaining the position sensor at the motor shaft end, the hardware decoding chip is omitted at the system level, and the main control chip is directly connected to the signal of the motor position sensor. The motor position decoding is realized through a software algorithm to obtain the rotor angle information. Summary of the Invention

[0006] This application provides a rotor angle confirmation method, device, vehicle, and equipment to at least solve the technical problem that there is a deviation between the calculated rotor angle and the actual rotor angle in the related technology. The technical solution of this application is as follows:

[0007] According to the first aspect provided by this application, a rotor angle determination method is provided, including: obtaining sine and cosine signals output by a motor position sensor; the sine and cosine signals are associated with the angle information of the motor rotor; calculating a compensation value for the DC bias deviation and a compensation value for the amplitude deviation based on the first sine and cosine signals; the first sine and cosine signals are the sine and cosine signals obtained in the first time interval; the first time interval includes at least the first period; performing phase compensation on the second sine and cosine signals, and determining the angle of the motor rotor according to the phase-compensated sine and cosine signals; wherein, the second sine and cosine signals are the compensated sine and cosine signals obtained in the second time interval; the second sine and cosine signals are compensated based on the compensation value for the DC bias deviation and the compensation value for the amplitude deviation; the second time interval includes at least the second period.

[0008] According to the above technical means, the present application can obtain the sine and cosine signals of the motor in real time, and based on the obtained sine and cosine signals, correct the motor position deviation that may be caused by factors such as signal fluctuations, noise, or sensor errors. Moreover, through the method of compensating in stages, the present application can eliminate the DC, amplitude, and phase errors step by step, avoid error accumulation, and can more accurately eliminate errors.

[0009] In a possible implementation manner, performing phase compensation on the second sine and cosine signals includes: determining the phase error of the second sine and cosine signals, where the phase error is the error between the standard phase difference and the actual phase difference; the actual phase difference is used to represent the phase difference between the sine signal and the cosine signal in the second sine and cosine signals;

[0010] Based on the phase error, determining the amplitude of the vector sum and the amplitude of the vector difference of the second sine and cosine signals; compensating the second sine and cosine signals based on the amplitude of the vector sum and the amplitude of the vector difference to obtain the compensated sine and cosine signals.

[0011] According to the above technical means, the present application can eliminate or reduce the error between the standard phase difference and the actual phase difference by performing phase compensation on the second sine and cosine signals, accurately calculate the angle of the motor rotor, and ensure the normal operation of the motor.

[0012] In a possible implementation manner, based on the phase error, determining the amplitude of the vector sum and the amplitude of the vector difference of the second sine and cosine signals includes: based on the phase error, calculating the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference between the sine signal and the cosine signal in the third sine and cosine signals; the third sine and cosine signals are obtained by adjusting the second sine and cosine signals based on the phase error; based on the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference, calculating the amplitude of the vector sum and the amplitude of the vector difference.

[0013] According to the above technical means, the present application can more precisely quantify the influence of the phase error on the second sine and cosine signals by calculating the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference in the third sine and cosine signals, so as to accurately determine the phase amplitude.

[0014] In a possible implementation manner, based on the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference, calculating the amplitude of the vector sum and the amplitude of the vector difference; includes: based on the maximum vector sum and the minimum vector sum, calculating the amplitude of the vector sum; based on the maximum vector difference and the minimum vector difference, calculating the amplitude of the vector difference.

[0015] According to the above technical means, the present application can divide the phase amplitude into the amplitude of the vector sum and the amplitude of the vector difference, can more carefully analyze the relationship between the sine and cosine signals, and thus perform more accurate phase compensation.

[0016] In a possible implementation manner, the second sine-cosine signal is compensated based on the magnitude of the vector sum and the magnitude of the vector difference to obtain the compensated sine-cosine signal, including: normalizing the sine-cosine vector sum of the second sine-cosine signal based on the magnitude of the vector sum to obtain the compensated sine-cosine vector sum; normalizing the sine-cosine vector difference of the second sine-cosine signal based on the magnitude of the vector difference to obtain the compensated sine-cosine vector difference; determining the compensated sine-cosine signal based on the compensated sine-cosine vector sum and the compensated sine-cosine vector difference.

[0017] According to the above technical means, the present application can perform normalization processing based on the magnitude of the vector sum and the magnitude of the vector difference, realize targeted compensation for different components in the second sine-cosine signal, and thus improve the accuracy and effectiveness of the compensation.

[0018] In a possible implementation manner, determining the angle of the motor rotor according to the sine-cosine signal after phase compensation includes: determining the tangent value of the angle of the motor rotor according to the compensated sine-cosine signal; determining the angle of the motor rotor based on the tangent value.

[0019] According to the above technical means, the present application can first determine the tangent value of the angle of the motor rotor according to the sine-cosine signal after phase compensation, and then determine the angle based on the tangent value, improving the accuracy of the angle calculation.

[0020] In a possible implementation manner, calculating the compensation value of the DC offset deviation and the compensation value of the amplitude deviation based on the first sine-cosine signal includes: determining the first cosine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value based on the first sine-cosine signal; calculating the compensation value of the DC offset deviation and the compensation value of the amplitude deviation according to the first sine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value.

[0021] According to the above technical means, the present application can effectively eliminate the DC offset and amplitude deviation in the first sine-cosine signal by calculating the compensation value of the DC offset deviation and the compensation value of the amplitude deviation, and improve the accuracy and reliability of the sine-cosine signal.

[0022] In a possible implementation manner, the compensation value of the DC offset deviation includes a DC sine compensation value and a DC cosine compensation value, and the compensation value of the amplitude deviation includes an amplitude sine compensation value and an amplitude cosine compensation value. Calculating the compensation value of the DC offset deviation and the compensation value of the amplitude deviation according to the first sine maximum value, the first sine minimum value, the first cosine minimum value, and the first sine minimum value includes: calculating the DC sine compensation value and the amplitude sine compensation value based on the first sine maximum value and the first sine minimum value; calculating the DC cosine compensation value and the amplitude cosine compensation value based on the first cosine maximum value and the first cosine minimum value.

[0023] According to the above technical means, the present application can calculate the DC sine compensation value, DC cosine compensation value, amplitude sine compensation value, and amplitude cosine compensation value respectively, and perform targeted compensation for the DC offset deviation and amplitude deviation in the sine signal and cosine signal, so as to more effectively reduce errors and improve the accuracy of the signal.

[0024] In a possible implementation manner, the first sine-cosine signal is obtained in the following way: the time interval when the integral value of the motor speed is less than the first threshold is determined as the first time interval; the integral value of the motor speed is used to represent the value accumulated by the motor speed over time; the sine-cosine signal output by the motor position sensor within the first time interval is determined as the first sine-cosine signal.

[0025] According to the above technical means, the present application can obtain the sine-cosine signal within the first time interval, that is, obtain the sine-cosine signal ensuring at least one sine-cosine period, so that when calculating the rotor angle, there are enough data points to reflect the actual position of the rotor.

[0026] According to the second aspect provided by the present application, a rotor angle determination device is provided, including: an acquisition unit, a calculation unit, and a determination unit; the acquisition unit is used to acquire the sine-cosine signal output by the motor position sensor; the sine-cosine signal is associated with the angle information of the motor rotor; the calculation unit is used to calculate the compensation value of the DC offset deviation and the compensation value of the amplitude deviation based on the first sine-cosine signal; the first sine-cosine signal is the sine-cosine signal obtained in the first time interval; the first time interval includes at least the first period; the determination unit is used to perform phase compensation on the second sine-cosine signal and determine the angle of the motor rotor according to the phase-compensated sine-cosine signal; wherein, the second sine-cosine signal is the compensated sine-cosine signal obtained in the second time interval; the second sine-cosine signal is compensated based on the compensation value of the DC offset deviation and the compensation value of the amplitude deviation; the second time interval includes at least the second period.

[0027] In a possible implementation manner, the determination unit is specifically used to: determine the phase error of the second sine-cosine signal, where the phase error is the error between the standard phase difference and the actual phase difference; the actual phase difference is used to represent the phase difference between the sine signal and the cosine signal in the second sine-cosine signal; based on the phase error, determine the amplitude of the vector sum and the amplitude of the vector difference of the second sine-cosine signal;

[0028] Compensate the second sine-cosine signal based on the amplitude of the vector sum and the amplitude of the vector difference to obtain the compensated sine-cosine signal.

[0029] In a possible implementation manner, the determining unit is specifically configured to: calculate the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference between the sine signal and the cosine signal in the third sine-cosine signal based on the phase error; the third sine-cosine signal is obtained by adjusting the second sine-cosine signal based on the phase error; calculate the amplitude of the vector sum and the amplitude of the vector difference based on the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference.

[0030] In a possible implementation manner, the determining unit is specifically configured to: calculate the amplitude of the vector sum based on the maximum vector sum and the minimum vector sum; calculate the amplitude of the vector difference based on the maximum vector difference and the minimum vector difference.

[0031] In a possible implementation manner, the determining unit is specifically configured to: normalize the sine-cosine vector sum of the second sine-cosine signal based on the amplitude of the vector sum to obtain the compensated sine-cosine vector sum; normalize the sine-cosine vector difference of the second sine-cosine signal based on the amplitude of the vector difference to obtain the compensated sine-cosine vector difference; determine the compensated sine-cosine signal based on the compensated sine-cosine vector sum and the compensated sine-cosine vector difference.

[0032] In a possible implementation manner, the determining unit is specifically configured to: determine the tangent value of the angle of the motor rotor according to the compensated sine-cosine signal; determine the angle of the motor rotor based on the tangent value.

[0033] In a possible implementation manner, the calculating unit is specifically configured to: determine the first cosine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value based on the first sine-cosine signal; calculate the compensation value of the DC bias deviation and the compensation value of the amplitude deviation according to the first sine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value.

[0034] In a possible implementation manner, the calculating unit is specifically configured to: calculate the DC sine compensation value and the amplitude sine compensation value based on the first sine maximum value and the first sine minimum value; calculate the DC cosine compensation value and the amplitude cosine compensation value based on the first cosine maximum value and the first cosine minimum value.

[0035] In a possible implementation manner, the determining unit is further configured to determine the time interval when the integral value of the motor speed is less than the first threshold as the first time interval; the integral value of the speed is used to represent the value accumulated by the motor speed over time; the determining unit is further configured to determine the sine-cosine signal output by the motor position sensor within the first time interval as the first sine-cosine signal.

[0036] According to the third aspect provided by the present application, a vehicle is provided, including a rotor angle determining device.

[0037] According to a fourth aspect provided by the present application, there is provided an electronic device, including: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method according to the first aspect and any possible implementation manner thereof as described above.

[0038] According to a fifth aspect provided by the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enabling the electronic device to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0039] According to a sixth aspect provided by the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on an electronic device, enabling the electronic device to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0040] It should be noted that, for the technical effects brought by any implementation manner in the second aspect to the sixth aspect, reference may be made to the technical effects brought by the corresponding implementation manner in the first aspect, which will not be elaborated herein.

[0041] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application, and do not constitute an improper limitation to the present application.

[0043] Figure 1 is a schematic diagram of the hardware structure of a vehicle shown according to an exemplary embodiment;

[0044] Figure 2 is a flowchart of a rotor angle determination method shown according to an exemplary embodiment;

[0045] Figure 3 is a comparison schematic diagram of sine and cosine signals shown according to an exemplary embodiment;

[0046] Figure 4 is a schematic diagram of sine and cosine signals after normalization processing shown according to an exemplary embodiment;

[0047] Figure 5 is a schematic diagram of a rotor angle determination process shown according to an exemplary embodiment;

[0048] Figure 6 is a block diagram of a rotor angle determination device shown according to an exemplary embodiment;

[0049] Figure 7 is a block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0050] To enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such used data may be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] First, some terms and related technologies involved in the present application are explained to facilitate the understanding of those skilled in the art.

[0053] Eddy current sensor: The eddy current sensor can statically and dynamically measure the distance between the measured metal conductor and the probe surface non-contact, with high linearity and high resolution. The eddy current sensor is a non-contact linear measurement tool that can accurately measure the static and dynamic relative displacement changes between the measured object and the probe end face.

[0054] In the motor control system of new energy vehicles, the permanent magnet synchronous motor is the main control object, and usually the field-oriented control (FOC) strategy is adopted for efficient management. The prerequisite for the accurate implementation of this control strategy is to accurately obtain the position information of the motor rotor, and its accuracy directly affects the efficiency and performance of the entire controller.

[0055] Currently, the eddy current resolver sensor is gradually emerging due to its advantages such as light weight, low cost, excellent stability, and direct output of sine and cosine voltage signals (without an additional demodulation chip).

[0056] The eddy current sensor, as a measurement device based on the eddy current effect, can convert the change of the physical quantity to be measured into the change of the impedance of the sensor coil. Its output signal has distinct characteristics, specifically manifested as a sine signal Es1 and a cosine signal Ec1, including the first formula and the second formula. The first formula:

[0057] Es1 = ksinθ First formula

[0058] Second formula:

[0059] Ec1 = kcosθ Second formula

[0060] Wherein, Es1 can be used to represent the sine signal output by the eddy current sensor. Ec1 can be used to represent the cosine signal output by the eddy current sensor. k can be used to represent the amplitude of the signal. θ can be used to represent the real-time angular position of the motor.

[0061] By the first formula and the second formula, Es1 can be divided by Ec1 to obtain the tangent value of θ, and then processed by the arctangent function, so as to accurately solve the real-time position θ of the motor.

[0062] However, in practical applications, during the process of transmitting the sine and cosine signals output by the eddy current sensor to the software for angle calculation, it is inevitable to be affected by signal transmission delay and potential interference, resulting in errors such as DC offset, amplitude offset and phase offset. If these errors are not effectively compensated, it will directly interfere with the accuracy of the decoded angle, and further affect the final result of the motor position calculation.

[0063] In a related technology, it is proposed that the sine and cosine vectors output by the eddy current can be obtained, and the vectors are subjected to coordinate transformation and vector rotation, and the angle of the motor rotor is determined according to the angle of the transformed vector. This related technology does not consider the amplitude, phase, and DC offset errors that may exist in the sine and cosine signals output by the eddy current sensor. These errors may cause the finally calculated angle to be inaccurate and affect the output torque of the motor.

[0064] Another related technology proposes that through a soft decoding method, the original sine and cosine signals output by the eddy current are modulated and demodulated to obtain the envelope sine and cosine signals of the original signal, and the real-time angle and speed information of the motor rotor are calculated according to the envelope signal to correct the calculated angle. However, this correction method only corrects the finally obtained angle, rather than directly correcting the output sine and cosine.

[0065] As in the background art, to solve the problem that the sine and cosine signals output by the eddy current sensor in the related technology have errors, the present application provides a method for correcting the motor position, which can obtain the sine and cosine signals output by the motor position sensor, and calculate the compensation value of the DC offset deviation and the compensation value of the amplitude deviation based on the first sine and cosine signals, so as to further perform phase compensation on the second sine and cosine signals, and determine the angle of the motor rotor according to the phase-compensated sine and cosine signals.

[0066] Based on this, the present application can obtain the sine and cosine signals of the motor in real time, and based on the obtained sine and cosine signals, correct the motor position deviation that may be caused by factors such as signal fluctuations, noise, or sensor errors. Moreover, through the method of compensating in stages, the present application can eliminate the DC, amplitude, and phase errors step by step, avoid error accumulation, and can more accurately eliminate errors.

[0067] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0068] The rotor angle determination method provided by the embodiments of the present application can be applied to vehicles. Vehicles can also be referred to as transportation means (vehicle), mobile carriers (mobile carrier), electric vehicles (electric vehicle, EV), hybrid electric vehicles (hybrid electric vehicle, HEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), fuel cell vehicles (fuel cell vehicle, FCV), autonomous vehicles (autonomous vehicle), intelligent and connected vehicles (intelligent and connected vehicle, ICV), driverless vehicles (driverless vehicle), etc.

[0069] In the embodiments of the present application, the vehicle can be a sedan, a sport utility vehicle (sport utility vehicle, SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), a driverless taxi, an intelligent and connected bus, an autonomous logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not make specific limitations on this.

[0070] Figure 1 A schematic diagram of the hardware structure of a vehicle 100 is shown.

[0071] In a possible implementation manner, the vehicle 100 may include a rotor angle determination device 101 and a data acquisition device 102.

[0072] Optionally, Figure 1 a communication connection may be established between the rotor angle determination device 101 and the data acquisition device 102 in

[0073] In practical applications, the rotor angle determination device 101 can be communicatively connected to one or more data acquisition devices 102.

[0074] For ease of understanding, this application takes the communicative connection between one rotor angle determination device 101 and one data acquisition device 102 as an example for illustration.

[0075] Optionally, Figure 1 the rotor angle determination device 101 and the data acquisition device 102 in can be functional modules integrated in the same device, or can be devices independently set up. This application does not limit this.

[0076] It is easy to understand that when the rotor angle determination device 101 and the data acquisition device 102 are functional modules integrated in the same device, the communication method between the rotor angle determination device 101 and the data acquisition device 102 is the communication between internal modules of the device. In this case, the communication process between the two is the same as the "communication process when the rotor angle determination device 101 and the data acquisition device 102 are independently set up".

[0077] For ease of understanding, this application mainly takes the case where the rotor angle determination device 101 and the data acquisition device 102 are independently set up as an example for illustration.

[0078] Figure 1 The data acquisition device 102 in collects the sine and cosine signals output by the motor position sensor in real time.

[0079] The rotor angle determination device 101 can obtain the sine and cosine signals output by the motor position sensor, and calculate the compensation value of the DC offset deviation and the compensation value of the amplitude deviation based on the first sine and cosine signals, so as to further perform phase compensation on the second sine and cosine signals, and determine the angle of the motor rotor according to the phase-compensated sine and cosine signals.

[0080] Optionally, Figure 1 the rotor angle determination device 101 in can be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in is only an example of the device form of the rotor angle determination device 101, and does not limit it.

[0081] When the rotor angle determination device 101 is a terminal, the terminal can be a device that provides voice and / or data connectivity for a user, a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100, which exchanges language and / or data with the radio access network. For example, mobile phones, tablets, laptops, netbooks, personal digital assistants (PDAs). This application does not impose any restrictions on this.

[0082] When the rotor angle determination device 101 is a server, the server can be a single server, or alternatively, it can be a server cluster composed of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any restrictions on this.

[0083] It should be noted that the structure illustrated in the embodiments of this application does not limit the vehicle 100. It can include more or fewer components than those shown, or combine certain components, or split certain components, or have different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0084] For ease of understanding, the rotor angle determination method provided in this application will be specifically introduced below in conjunction with the accompanying drawings.

[0085] Figure 2 is a flowchart of a rotor angle determination method shown according to an exemplary embodiment. As Figure 2 shown, the rotor angle determination method includes the following steps: S201 - S203.

[0086] S201. Obtain the sine and cosine signals output by the motor position sensor.

[0087] Among them, the sine and cosine signals can be associated with the angle information of the motor rotor.

[0088] In a possible implementation manner, the motor position sensor can output the sine and cosine signals of the motor in real time when the motor is running. The rotor angle determination device can obtain the sine and cosine signals output by the motor position sensor.

[0089] Optionally, the motor position sensor can be set according to actual needs. For example, the motor position sensor can be an eddy current sensor or a resolver sensor. This application does not make specific restrictions on this.

[0090] Exemplarily, when the motor position sensor is an eddy current sensor, the manner in which the eddy current sensor outputs sine and cosine signals may refer to the description in the related art. This will not be elaborated here.

[0091] S202. Calculate the compensation value for the DC bias deviation and the compensation value for the amplitude deviation based on the first sine and cosine signals.

[0092] Wherein, the first sine and cosine signals are the sine and cosine signals obtained in the first time interval, and the first time interval includes at least the first period. The first period may include a complete sine and cosine signal period.

[0093] It should be noted that the first time interval is related to the rotational speed of the motor. The rotor angle determination device may, when the motor is running, integrate the rotational speed of the motor and determine the time interval from zero to the first threshold of the rotational speed integral value of the motor as the first time interval. The rotor angle determination device may determine the sine and cosine signals output by the motor position sensor when the rotational speed integral value of the motor is less than the first threshold as the first sine and cosine signals, that is, the rotor angle determination device may determine the sine and cosine signals output by the motor position sensor within the first time interval as the first sine and cosine signals.

[0094] Optionally, the rotational speed involved in the rotational speed integral value is within a pre-set enabling interval. For example, the enabling interval may be that the motor rotational speed is greater than 50 revolutions per minute (RPM) and less than 6000 RPM. The present application does not make specific limitations on this.

[0095] Optionally, the first threshold may be 160,000, or the first threshold may be 320,000. The present application does not make specific limitations on this.

[0096] In a possible implementation manner, the rotor angle determination device may determine the first cosine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value based on the first sine and cosine signals.

[0097] Wherein, the first cosine maximum value may be the maximum value of the cosine signal in the first sine and cosine signals. The first cosine minimum value may be the minimum value of the cosine signal in the first sine and cosine signals. The first sine maximum value may be the maximum value of the sine signal in the first sine and cosine signals. The first sine minimum value may be the maximum value of the sine signal in the first sine and cosine signals.

[0098] It should be noted that the sine and cosine signals output by the motor position sensor may have a fixed voltage offset, resulting in a DC offset deviation in the sine and cosine signals, causing the waveform center of the sine and cosine signals to deviate from zero. The amplitude deviation is manifested as inconsistent peaks of the sine and cosine signals (for example, the sine amplitude is greater than the cosine amplitude). The existence of the DC offset deviation and the amplitude deviation makes it impossible to accurately calculate the position of the motor rotor.

[0099] In a possible implementation manner, the rotor angle determination device can calculate the compensation value of the DC bias deviation and the compensation value of the amplitude deviation according to the first cosine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value.

[0100] Among them, the compensation value of the DC bias deviation can include a DC sine compensation value and a DC cosine compensation value. The compensation value of the amplitude deviation can include an amplitude sine compensation value and an amplitude cosine compensation value.

[0101] Specifically, the rotor angle determination device can calculate the DC sine compensation value based on the first maximum sine value and the first minimum sine value. Among them, the following third formula can be satisfied among the first maximum sine value, the first minimum sine value, and the DC sine compensation value:

[0102]

[0103] Among them, C1 can be used to represent the DC sine compensation value. Max(vsinθ) can be used to represent the first maximum sine value. Min(vsinθ) can be used to represent the first minimum sine value.

[0104] The rotor angle determination device can calculate the DC cosine compensation value based on the first maximum cosine value and the first minimum cosine value. Among them, the following fourth formula can be satisfied among the first maximum cosine value, the first minimum cosine value, and the DC cosine compensation value:

[0105]

[0106] Among them, C2 can be used to represent the DC cosine compensation value. Max(vcosθ) can be used to represent the first maximum cosine value. Min(vcosθ) can be used to represent the first minimum cosine value.

[0107] The rotor angle determination device can calculate the amplitude sine compensation value based on the first maximum sine value and the first minimum sine value. Among them, the following fifth formula can be satisfied among the first maximum sine value, the first minimum sine value, and the amplitude sine compensation value:

[0108]

[0109] Among them, A2 can be used to represent the amplitude sine compensation value. Max(vsinθ) can be used to represent the first maximum sine value. Min(vsinθ) can be used for the first minimum sine value.

[0110] The rotor angle determination device can calculate the amplitude cosine compensation value based on the first maximum cosine value and the first minimum cosine value. Among them, the following sixth formula can be satisfied among the first maximum cosine value, the first minimum cosine value, and the amplitude cosine compensation value:

[0111]

[0112] Among them, A1 can be used to represent the amplitude cosine compensation value. Max(vcosθ) can be used to represent the first maximum cosine value. Min(vcosθ) can be used to represent the first minimum cosine value.

[0113] S203. Perform phase compensation on the second sine-cosine signal, and determine the angle of the motor rotor according to the phase-compensated sine-cosine signal.

[0114] Among them, the second sine-cosine signal can be the compensated sine-cosine signal obtained in the second time interval. The second sine-cosine signal is compensated based on the compensation value of the DC bias deviation and the compensation value of the amplitude deviation. The second time interval includes at least a second period. The second period can include a complete sine-cosine signal period.

[0115] It should be noted that the second time interval is related to the rotational speed of the motor. The rotor angle determination device can integrate the rotational speed of the motor during the operation of the motor, and determine the time interval from the first threshold to the second threshold of the rotational speed integral value of the motor as the second time interval. The rotor angle determination device can determine the sine-cosine signal output by the motor position sensor when the rotational speed integral value of the motor is less than the second threshold and greater than the first threshold as the second sine-cosine signal, that is, the rotor angle determination device can determine the sine-cosine signal output by the motor position sensor within the second time interval as the second sine-cosine signal.

[0116] Optionally, the second threshold can be 320000, or the first threshold can be 640000. This application does not make specific limitations on this.

[0117] In a possible implementation manner, in order to perform phase compensation on the second sine-cosine signal, the rotor angle determination device may determine the phase error of the second sine-cosine signal, and based on the phase error, determine the magnitude of the vector sum and the magnitude of the vector difference of the second sine-cosine signal, so as to further compensate the second sine-cosine signal based on the magnitude of the vector sum and the magnitude of the vector difference to obtain the compensated sine-cosine signal. For the specific implementation manner of the rotor angle determination device to perform phase compensation on the second sine-cosine signal, reference may be made to the following S301-S303. Details are not described herein again.

[0118] Based on the above technical solution, the present application can obtain the sine-cosine signal of the motor in real time, and based on the obtained sine-cosine signal, correct the motor position deviation that may be caused by factors such as signal fluctuation, noise, or sensor error. Moreover, through the method of performing compensation in stages, the present application can gradually eliminate the DC, amplitude, and phase errors, avoid error accumulation, and can more accurately eliminate the errors.

[0119] In some embodiments, in order to perform phase compensation on the second sine-cosine signal, the rotor angle determination method provided by the present application further includes: S301-S303.

[0120] S301. Determine the phase error of the second sine-cosine signal, where the phase error is the error between the standard phase difference and the actual phase difference.

[0121] Among them, the actual phase difference is used to represent the phase difference between the sine signal and the cosine signal in the second sine-cosine signal.

[0122] In a possible implementation manner, the rotor angle determination device may determine the phase difference between the sine signal and the cosine signal in the second sine-cosine signal, and determine this phase difference as the actual phase difference.

[0123] Optionally, the standard phase difference can be set according to actual needs. For example, the standard phase difference can be 90 degrees or 100 degrees. The present application does not make specific limitations on this.

[0124] Exemplarily, as Figure 3 shown, Figure 3 is a comparison schematic diagram of a sine-cosine signal provided by the present application. Figure 3 In it, the phase difference A is the standard phase difference of the sine-cosine signal, that is, the phase difference between cosθ and sinθ is 90 degrees. Figure 3 In it, the phase difference B is the actual phase difference with a phase error, that is, the phase difference between cosθ and sinθ is less than 90 degrees. α can be used to represent the phase error.

[0125] S302. Based on the phase error, determine the magnitude of the vector sum and the magnitude of the vector difference of the second sine-cosine signal.

[0126] In a possible implementation manner, the rotor angle determination device may calculate the maximum vector sum, minimum vector sum, maximum vector difference, and minimum vector difference between the sine signal and the cosine signal in the third sine-cosine signal based on the phase error.

[0127] Wherein, the third sine-cosine signal is obtained by adjusting the second sine-cosine signal based on the phase error.

[0128] Specifically, the rotor angle determination device may calculate the vector sum and vector difference of the sine signal and the cosine signal in the second sine-cosine signal based on the phase error. The rotor angle determination device may determine the maximum vector sum, minimum vector sum, maximum vector difference, and minimum vector difference from multiple vector sums and multiple vector differences.

[0129] Exemplarily, in combination with Figure 3 , the third sine-cosine signal, phase error, vector sum, and vector difference satisfy the following seventh formula:

[0130]

[0131] Wherein, V c+s (θ) can be used to represent the vector sum. V c-s (θ) can be used to represent the vector difference. V” cos (θ + α) can be used to represent the cosine signal in the third sine-cosine signal. V” sin (θ - α) can be used to represent the cosine signal in the third sine-cosine signal. α can be used to represent the phase error. θ can be used to represent the angle of the motor rotor.

[0132] In a possible implementation manner, based on the maximum vector sum, minimum vector sum, maximum vector difference, and minimum vector difference, calculate the amplitude of the vector sum and the amplitude of the vector difference.

[0133] Specifically, the rotor angle determination device may calculate the amplitude of the vector sum based on the maximum vector sum and minimum vector sum, and calculate the amplitude of the vector difference based on the maximum vector difference and minimum vector difference.

[0134] Exemplarily, the amplitude of the vector sum, the amplitude of the vector difference, the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference satisfy the following eighth formula:

[0135]

[0136] Wherein, B1 can be used to represent the amplitude of the vector sum. B2 can be used to represent the amplitude of the vector difference. Max[V c+s (θ)] can be used to represent the maximum vector sum. Min[V c+s (θ)] can be used to represent the minimum vector sum. Max[V c-s(θ) can be used to characterize the maximum vector difference, Min[V c-s (θ) can be used to characterize the minimum vector difference.

[0137] S303. Compensate the second sine-cosine signal based on the magnitude of the vector sum and the magnitude of the vector difference to obtain the compensated sine-cosine signal.

[0138] In a possible implementation manner, the rotor angle determination device can normalize the sine-cosine vector sum of the second sine-cosine signal based on the magnitude of the vector sum to obtain the compensated sine signal, and normalize the sine-cosine vector difference of the second sine-cosine signal based on the magnitude of the vector difference to obtain the compensated cosine signal.

[0139] Exemplarily, the following ninth formula is satisfied among the compensated sine signal, the compensated cosine signal, the magnitude of the vector sum, the magnitude of the vector difference, and the second sine-cosine signal:

[0140]

[0141] Among them, V' c+s (θ) can be used to characterize the compensated sine-cosine vector sum. V' c-s (θ) can be used to characterize the compensated sine-cosine vector difference. B1 can be used to characterize the magnitude of the vector sum. B2 can be used to characterize the magnitude of the vector difference. V” c+s (θ) can be used to characterize the sine-cosine vector sum of the second sine-cosine signal. V” c+s (θ) can be used to characterize the sine-cosine vector difference of the second sine-cosine signal.

[0142] Exemplarily, as Figure 4 shown, Figure 4 is a schematic diagram of the sine-cosine signal after normalization processing. Figure 4 Among them, V' c+s (θ) can be used to characterize the compensated sine-cosine vector sum. V' c-s (θ) can be used to characterize the compensated sine-cosine vector difference. V c+s (θ) can be used to characterize the sine-cosine vector sum of the third sine-cosine signal. V c-s (θ) can be used to characterize the sine-cosine vector difference of the third sine-cosine signal.

[0143] In a possible implementation manner, the rotor angle determination device can calculate the compensated sine-cosine signal based on the compensated sine-cosine vector sum and the compensated sine-cosine difference.

[0144] In yet another possible implementation, the rotor angle determination device can determine the tangent value of the angle of the motor rotor based on the compensated sine and cosine signals. The rotor angle determination device can perform a look-up table based on the tangent value to determine the angle of the motor rotor.

[0145] It can be understood that the tangent value of the angle of the motor rotor can be used to represent the ratio between the compensated sine signal and the compensated cosine signal.

[0146] Based on the above technical solution, the present application can eliminate or reduce the error between the standard phase difference and the actual phase difference by performing phase compensation on the second sine and cosine signals, accurately calculate the angle of the motor rotor, and ensure the normal operation of the motor.

[0147] In one embodiment, as Figure 5 shown, it is a schematic diagram of a rotor angle determination process provided by the present application.

[0148] In one implementation manner, the rotor angle determination device can be initialized. The rotor angle determination device can set the motor speed calculation enable interval and perform integral processing on the speed. Otherwise, write the calculated compensation value into the software for compensation and arctangent calculation of the angle and speed. The rotor angle determination device can output the first cosine signal when the speed integral value is greater than the first threshold, and calculate the DC bias error and amplitude error based on the first cosine signal. Otherwise, write the calculated compensation value into the software for compensation and arctangent calculation of the angle and speed. The rotor angle determination device can compensate the sine signal and cosine signal based on the DC bias error and amplitude error, and cycle to find the normalized signal. The rotor angle determination device can calculate the phase compensation value using the original sine signal and cosine signal when the speed integral value is greater than the second threshold. Otherwise, write the calculated compensation value into the software for compensation and arctangent calculation of the angle and speed.

[0149] Figure 6 It is a block diagram of a rotor angle determination device shown according to an exemplary embodiment. Referring to Figure 6 , the rotor angle determination device includes: an acquisition unit 401, a calculation unit 402, and a determination unit 403.

[0150] In one possible implementation manner, the acquisition unit 401 is configured to acquire the sine and cosine signals output by the motor position sensor.

[0151] In one possible implementation manner, the calculation unit 402 is configured to calculate the compensation value of the DC bias deviation and the compensation value of the amplitude deviation based on the first sine and cosine signals.

[0152] In a possible implementation manner, a determining unit 403 is configured to perform phase compensation on a second sine-cosine signal, and determine the angle of the motor rotor according to the sine-cosine signal after the phase compensation.

[0153] In a possible implementation manner, the determining unit 403 is specifically configured to: determine the phase error of the second sine-cosine signal, where the phase error is the error between the standard phase difference and the actual phase difference. The actual phase difference is used to characterize the phase difference between the sine signal and the cosine signal in the second sine-cosine signal. Based on the phase error, determine the amplitude of the vector sum and the amplitude of the vector difference of the second sine-cosine signal. Compensate the second sine-cosine signal based on the amplitude of the vector sum and the amplitude of the vector difference to obtain the compensated sine-cosine signal. In a possible implementation manner, the determining unit 403 is specifically configured to: based on the phase error, calculate the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference between the sine signal and the cosine signal in a third sine-cosine signal. The third sine-cosine signal is obtained by adjusting the second sine-cosine signal based on the phase error. Based on the maximum vector sum, the minimum vector sum, the maximum vector difference, and the minimum vector difference, calculate the amplitude of the vector sum and the amplitude of the vector difference.

[0154] In a possible implementation manner, the determining unit 403 is specifically configured to: calculate the amplitude of the vector sum based on the maximum vector sum and the minimum vector sum. Calculate the amplitude of the vector difference based on the maximum vector difference and the minimum vector difference.

[0155] In a possible implementation manner, the determining unit 403 is specifically configured to: perform normalization processing on the sine-cosine vector sum of the second sine-cosine signal based on the amplitude of the vector sum to obtain the compensated sine-cosine vector sum. Perform normalization processing on the sine-cosine vector difference of the second sine-cosine signal based on the amplitude of the vector difference to obtain the compensated sine-cosine vector difference. Determine the compensated sine-cosine signal based on the compensated sine-cosine vector sum and the compensated sine-cosine vector difference.

[0156] In a possible implementation manner, the determining unit 403 is specifically configured to: determine the tangent value of the angle of the motor rotor according to the compensated sine-cosine signal. Determine the angle of the motor rotor based on the tangent value.

[0157] In a possible implementation manner, the calculating unit 402 is specifically configured to: determine the first cosine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value based on the first sine-cosine signal. Calculate the compensation value of the DC offset deviation and the compensation value of the amplitude deviation according to the first sine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value.

[0158] In a possible implementation manner, the calculation unit 402 is specifically configured to: calculate a DC sine compensation value and an amplitude sine compensation value based on a first sine maximum value and a first sine minimum value; calculate a DC cosine compensation value and an amplitude cosine compensation value based on a first cosine maximum value and a first cosine minimum value.

[0159] In a possible implementation manner, the determination unit 403 is further configured to determine a time interval when the rotational speed integral value of the motor is less than a first threshold as a first time interval; the rotational speed integral value is used to represent the value accumulated by the rotational speed of the motor over time; the determination unit is further configured to determine the sine-cosine signals output by the motor position sensor within the first time interval as first sine-cosine signals.

[0160] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0161] Figure 7 is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 7 shown, the electronic device includes but is not limited to: a processor 501 and a memory 502.

[0162] Among them, the above-mentioned memory 502 is used to store executable instructions of the above-mentioned processor 501. It can be understood that the above-mentioned processor 501 is configured to execute instructions to implement the rotor angle determination method in the above embodiments.

[0163] It should be noted that those skilled in the art can understand that Figure 7 the structure of the electronic device shown in Figure 7 does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than

[0164] shown, or combine certain components, or have different component arrangements.

[0165] The memory 502 can be used to store software programs and various data. The memory 502 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.). In addition, the memory 502 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0166] In an exemplary embodiment, there is also provided a computer-readable storage medium including instructions, such as the memory 502 including instructions. The above instructions can be executed by the processor 501 of the electronic device to implement the method in the above embodiment.

[0167] In actual implementation, Figure 6 the functions of the acquisition unit 401, the calculation unit 402, and the determination unit 403 in Figure 7 can all be implemented by the processor 501 in

[0168] calling the computer program stored in the memory 502. The specific execution process can refer to the description of the method part in the above embodiment, which will not be elaborated here.

[0169] Optionally, the computer-readable storage medium can be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0170] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above method embodiment are implemented, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be elaborated here.

[0171] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0172] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0173] The units described as separate components may or may not be physically separated. The components displayed as units may be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the classified units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0175] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs and other various media that can store program codes.

[0176] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining a rotor angle, characterized in that: The method comprises: Acquire the sine and cosine signals output by the motor position sensor; the sine and cosine signals are associated with the angle information of the motor rotor; Calculating a compensation value of a DC bias deviation and a compensation value of an amplitude deviation based on a first sine-cosine signal; the first sine-cosine signal is a sine-cosine signal acquired in a first time interval; the first time interval includes at least a first period; Phase compensation is performed on the second sine-cosine signal, and the angle of the motor rotor is determined based on the phase-compensated sine-cosine signal; wherein the second sine-cosine signal is a compensated sine-cosine signal obtained in a second time interval; the second sine-cosine signal is compensated based on the compensation value of the DC bias deviation and the compensation value of the amplitude deviation; the second time interval includes at least a second period.

2. The method according to claim 1, characterized in that The phase compensation of the second sine-cosine signal comprises: Determine a phase error of the second sine-cosine signal, where the phase error is an error between a standard phase difference and an actual phase difference; the actual phase difference is used to characterize a phase difference between a sine signal and a cosine signal in the second sine-cosine signal; Determining the magnitude of the vector sum and the magnitude of the vector difference of the second sine and cosine signals based on the phase error; The second sine and cosine signals are compensated based on the amplitude of the vector sum and the amplitude of the vector difference to obtain the compensated sine and cosine signals.

3. The method according to claim 2, characterized in that The determining, based on the phase error, the magnitude of the vector sum of the second sine and cosine signals and the magnitude of the vector difference comprises: Based on the phase error, calculating the maximum vector sum, the minimum vector sum, the maximum vector difference and the minimum vector difference between the sine signal and the cosine signal in the third sine-cosine signal; the third sine-cosine signal is obtained by adjusting the second sine-cosine signal based on the phase error; Based on the maximum vector sum, the minimum vector sum, the maximum vector difference and the minimum vector difference, the magnitude of the vector sum and the magnitude of the vector difference are calculated.

4. The method according to claim 3, characterized in that The calculating the magnitude of the vector sum and the magnitude of the vector difference based on the maximum vector sum, the minimum vector sum, the maximum vector difference and the minimum vector difference comprises: Calculating the magnitude of the vector sum based on the maximum vector sum and the minimum vector sum; The magnitude of the vector difference is calculated based on the maximum vector difference and the minimum vector difference.

5. The method according to claim 4, characterized in that The compensating the second sine and cosine signals based on the amplitude of the vector sum and the amplitude of the vector difference to obtain the compensated sine and cosine signals includes: Normalizing the sine and cosine vector sum of the second sine and cosine signal based on the amplitude of the vector sum to obtain a compensated sine and cosine vector sum; Normalizing the sine-cosine vector difference of the second sine-cosine signal based on the amplitude of the vector difference to obtain a compensated sine-cosine vector difference; The compensated sin-cos signals are determined based on the compensated sin-cos vector sum and the compensated sin-cos vector difference.

6. The method according to claim 5, characterized in that The method of determining the angle of the motor rotor according to the phase-compensated sine and cosine signals comprises: Determining the tangent value of the angle of the motor rotor according to the compensated sine and cosine signals; Based on the tangent value, the angle of the motor rotor is determined.

7. The method according to claim 1, characterized in that The step of calculating a compensation value of a DC bias deviation and a compensation value of an amplitude deviation based on the first sine and cosine signals comprises: determining a first cosine maximum value, a first sine maximum value, a first cosine minimum value, and a first sine minimum value based on the first sine-cosine signal; A compensation value of the DC bias deviation and a compensation value of the amplitude deviation are calculated according to the first sine maximum value, the first sine maximum value, the first cosine minimum value, and the first sine minimum value.

8. The method according to claim 7, characterized in that The compensation value of the DC bias deviation includes a DC sine compensation value and a DC cosine compensation value, the compensation value of the amplitude deviation includes an amplitude sine compensation value and an amplitude cosine compensation value, and the compensation value of the DC bias deviation and the compensation value of the amplitude deviation are calculated according to the first sine maximum value, the first sine minimum value, the first cosine minimum value and the first sine minimum value, including: Calculating the DC sinusoidal compensation value and the amplitude sinusoidal compensation value based on the first sinusoidal maximum value and the first sinusoidal minimum value; The DC cosine compensation value and the amplitude cosine compensation value are calculated based on the first cosine maximum value and the first cosine minimum value.

9. The method according to claim 1, characterized in that: The first sine and cosine signals are obtained in the following manner: The time interval in which the integral value of the motor speed is less than the first threshold is determined as the first time interval; the integral value of the motor speed is used to represent the value accumulated over time of the motor speed; The sine and cosine signals output by the motor position sensor in the first time interval are determined as the first sine and cosine signals.

10. A rotor angle determination device, characterized in that: The device comprises: an acquisition unit, a calculation unit and a determination unit; The acquisition unit is used to acquire the sine and cosine signals output by the motor position sensor; the sine and cosine signals are associated with the angle information of the motor rotor; The calculation unit is used to calculate a compensation value of a DC bias deviation and a compensation value of an amplitude deviation based on a first sine-cosine signal; the first sine-cosine signal is a sine-cosine signal acquired in a first time interval; the first time interval includes at least a first period; The determination unit is used to perform phase compensation on the second sine-cosine signal and determine the angle of the motor rotor according to the phase-compensated sine-cosine signal; wherein the second sine-cosine signal is a compensated sine-cosine signal obtained in a second time interval; the second sine-cosine signal is compensated based on the compensation value of the DC bias deviation and the compensation value of the amplitude deviation; and the second time interval includes at least a second period.

11. A vehicle, characterized in that: The vehicle comprises the rotor angle determination device of claim 10 .

12. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method as claimed in any one of claims 1 to 9.

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