Motor angle detection device, motor controller and electric vehicle

Abstract

The present application provides a motor angle detection device, a motor controller and an electric vehicle, the device comprising: an excitation signal generating circuit, a signal processing circuit, a rotary transformer, a rotary transformer feedback processing circuit and a plurality of analog-to-digital converters; the rotary transformer corresponds to the drive motor; the excitation signal generating circuit generates an excitation modulation signal; the signal processing circuit is connected between the excitation signal generating circuit and the rotary transformer, and performs filtering and amplification processing on the excitation modulation signal; the rotary transformer outputs a rotary transformer feedback signal; the rotary transformer feedback processing circuit conditions the signal output by the rotary transformer; and a plurality of analog-to-digital converters respectively sample the rotary transformer feedback signal conditioned by the rotary transformer feedback processing circuit to obtain the angle set of the drive motor. The embodiments of the present application provide a motor angle detection device, a motor controller and an electric vehicle, which can improve the reliability of angle detection while reducing the cost of angle detection.

Description

Technical Field

[0001] The present application relates to the field of motor angle detection, and in particular to a motor angle detection device, a motor controller and an electric vehicle. Background Art

[0002] With the development of the electric vehicle industry, the number of on-board electrical equipment is increasing. As the core component of the electric vehicle power system, the motor controller inverts the power of the power battery through a direct current / alternating current (DC / AC) circuit when the electric vehicle is driving normally, thereby driving the motor.

[0003] Torque safety is the most important criterion for evaluating the safety of motor controllers. Torque safety is generally defined as the absence of unexpected shaft acceleration, deceleration, and unexpected startup. Torque safety can be ensured by real-time detection of the motor rotor angular position and speed. Among them, resolvers, also known as rotary transformers, are widely used to detect the rotor angular position and speed of motors because of their strong adaptability to the working environment. Figure 1 As shown, Figure 1 The figure is a schematic diagram of a rotary transformer. The rotary transformer is a sensor that accurately measures the angular position and speed of rotating parts such as motors through the magnetic coupling of a primary winding (R1-R2 on the rotor side) and two secondary windings (S1-S3 on the stator side, S2-S4 on the stator side). Its primary winding and two secondary windings are installed on the motor rotor and two stators respectively. The excitation signal applied to the primary winding couples the sine resolver feedback signal and the cosine resolver feedback signal in the two secondary windings respectively. The angular position and speed information of the motor rotor can be obtained by demodulating and converting the sine resolver feedback signal and the cosine resolver feedback signal.

[0004] In order to improve the safety level of electric vehicles, the existing technology uses a software decoding / hardware decoding solution to back up each other for motor angle detection, wherein software decoding refers to using the integral analog-to-digital converter (delta-sigma analog-to-digital converter, DSADC) inside the processor to extract the envelope of the sine-cosine resolver feedback signal, and based on the envelope, the resolver software decoding algorithm is used to obtain the angular position and speed, and hardware decoding refers to using the resolver decoding chip to calculate the angle and transmit it to the processor CPU. After the hardware decoding solution fails, it can be switched to the software decoding solution, and the angle information obtained by the software decoding solution is used as the required data of the electric vehicle power system. However, the cost of using the resolver decoding chip is high, and in practical applications, since the excitation signal is a high-frequency analog signal, it is very difficult to switch between soft decoding / hard decoding. In practical applications, only one decoding method (software decoding / hardware decoding) can be used, and the correctness of the current decoding cannot be determined. In view of this, it is necessary to provide a motor angle detection solution to reduce the detection cost while improving the reliability of detection. Summary of the invention

[0005] The motor angle detection device, motor controller and electric vehicle provided in the present application can improve the reliability of angle detection while reducing the cost of angle detection.

[0006] In a first aspect, the present application provides a motor angle detection device, which is applied to a motor controller, and the device includes: an excitation signal generating circuit, a signal processing circuit, at least one rotary transformer, a rotary transformer feedback processing circuit and a plurality of analog-to-digital converters; at least one rotary transformer corresponds to at least one drive motor one-to-one, and each rotary transformer in at least one rotary transformer is connected to the corresponding drive motor; an excitation signal generating circuit, which is used to generate an excitation modulation signal; a signal processing circuit, which is connected between the excitation signal generating circuit and at least one rotary transformer, and is used to filter and amplify the excitation modulation signal to drive at least one rotary transformer to work through the processed excitation modulation signal; each rotary transformer in at least one rotary transformer is used to output a rotary transformer feedback signal; the rotary transformer feedback processing circuit is connected to at least one rotary transformer, and the rotary transformer feedback processing circuit is used to condition the rotary transformer feedback signal output by each rotary transformer in at least one rotary transformer; a plurality of analog-to-digital converters, which are used to sample the rotary transformer feedback signals conditioned by the rotary transformer feedback processing circuit respectively, and obtain at least one group of angle sets of drive motors, wherein the angle set includes a plurality of rotation angles. By using the motor angle detection device provided in the present application, there is no need to use a dedicated hard decoding chip, which can reduce the cost of angle detection. In addition, there are multiple decoding paths for both resolver excitation and feedback signals, which can be decoded through multiple algorithms for decoupling calculations, thereby improving the reliability of angle detection.

[0007] As a possible implementation, each of the at least one rotary transformer comprises: a primary winding, a first secondary winding and a second secondary winding, the primary winding is coupled with the first secondary winding and the second secondary winding; the rotary transformer feedback processing circuit comprises: a first feedback processing module and a second feedback processing module; the first secondary winding and the second secondary winding are both connected to the first feedback processing module and the second feedback processing module; the first feedback processing module and the second feedback processing module are used to condition the sine rotary transformer feedback signal output by the first secondary winding and the cosine rotary transformer feedback signal output by the second secondary winding. Specifically, the first secondary winding and the second secondary winding are orthogonal to each other, and the excitation signal applied to the primary winding can couple and output the sine rotary transformer feedback signal and the cosine rotary transformer feedback signal on the first secondary winding and the second secondary winding, respectively.

[0008] By detecting the resolver feedback signal through different types of analog-to-digital converters, multiple angle values ​​can be obtained. Even when a certain analog-to-digital converter fails to detect or the error obtained by the detection is large, other analog-to-digital converters can also be used to detect the angle, so that multiple decoding methods can serve as backup solutions for each other, and then different decoding paths or different decoding algorithms are used to detect the resolver feedback signal, which ultimately improves the reliability of decoding and ensures the torque safety of the electric vehicle. As a possible implementation, the multiple analog-to-digital converters include: a first analog-to-digital converter and a second analog-to-digital converter, and the motor angle detection device also includes a first demodulation module and a second demodulation module; the first analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the first feedback processing module to obtain a first sampling signal; the first demodulation module is used to demodulate the first sampling signal to determine the first angle; the second analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the second feedback processing module to obtain a second sampling signal; the second demodulation module is used to demodulate the second sampling signal to determine the second angle.

[0009] In addition, in order to ensure the accuracy of sampling, different types of analog-to-digital converters need to be triggered synchronously. As a possible implementation, in order to achieve synchronous triggering of the sampling of multiple analog-to-digital converters, the motor angle detection device can also include a trigger module, which is used to capture the rising edge of the signal, clear the synchronous counter, and use the above counter to obtain a trigger signal, thereby using the trigger signal to trigger the analog-to-digital converter for sampling, interrupt after the sampling is completed, obtain the sampled value, and use the sampled value to calculate the angle, wherein the trigger delay time of the counter can be set to a reasonable value according to the circuit delay, so as to ensure that the sampling is performed at the point near the zero crossing point or peak point of the excitation signal as much as possible, thereby improving the sampling accuracy.

[0010] As a possible implementation, the second feedback processing module is specifically used to: convert the sinusoidal resolver feedback signal into a sinusoidal single-ended feedback signal, and convert the cosine resolver feedback signal into a cosine single-ended feedback signal; the second analog-to-digital converter is specifically used to: sample the sinusoidal single-ended feedback signal and the cosine single-ended feedback signal to obtain a second sampling signal.

[0011] As a possible implementation, the motor angle detection device also includes an angle diagnosis circuit: an angle diagnosis circuit, which is used to compare the size relationship between the first angle and the second angle, and when the first angle is different from the second angle or when the difference between the first angle and the second angle is not within the set angle range, send an alarm signal to the motor controller, so that the motor controller controls at least one drive motor to enter a safe state. The above-mentioned safe state means that after the drive output is turned off, the motor controller enters an active short-circuit state or a state in which the bridge arm is naturally turned off. That is, the inverter circuit of the motor controller stops outputting electrical energy to the drive motor, thereby ensuring that the entire vehicle or components can enter a controllable safe state in the event of a failure in the electronic system, thereby achieving the purpose of protecting the personal safety of driving participants.

[0012] The use of multi-motor drive technology can improve the working efficiency of electric vehicles, thereby increasing the cruising range. For this scenario, a possible implementation method is that when at least one drive motor includes a first drive motor and a second drive motor, at least one rotary transformer includes: a first rotary transformer and a second rotary transformer; the first rotary transformer is connected to the first drive motor, and the second rotary transformer is connected to the second drive motor.

[0013] In order to reduce costs, as a possible implementation, the signal processing circuit includes: a first signal processing module and a second signal processing module; the first signal processing module is used to filter and amplify the excitation modulation signal, and output a first excitation signal; the second signal processing module is used to filter and amplify the excitation modulation signal, and use an inverter to invert the filtered and amplified excitation modulation signal to output a second excitation signal; the first excitation signal and the second excitation signal have opposite phases; the first rotating transformer includes a first connection end and a second connection end, and the second rotating transformer includes a third connection end and a fourth connection end; the second connection end and the third connection end are grounded together; the first signal processing module is connected to the first connection end, and the second signal processing module is connected to the fourth connection end.

[0014] In order to prevent the angle detection of multiple motors from ceasing to work due to damage of a signal processing circuit during signal processing, multiple signal processing sub-modules can be set in the signal processing circuit as redundancy, and excitation signals are respectively input to the first rotating transformer and the second rotating transformer, so as to improve the reliability of the system. As a possible implementation mode, the first rotating transformer includes a first connection terminal and a second connection terminal, and the second rotating transformer includes a third connection terminal and a fourth connection terminal; the second connection terminal and the fourth connection terminal are grounded; and the signal processing circuit is respectively connected to the first connection terminal and the third connection terminal.

[0015] In some scenarios, the voltage amplitude that the excitation signal generating circuit can generate is too low, and it is difficult to meet the minimum input voltage requirement of the rear-end rotary transformer. As a possible implementation, the signal processing circuit includes: a first signal processing module and a second signal processing module; the first signal processing module is used to filter and amplify the excitation modulation signal and output the first excitation signal; the second signal processing module is used to filter and amplify the excitation modulation signal, and use an inverter to invert the filtered and amplified excitation modulation signal and output the second excitation signal; the first excitation signal and the second excitation signal have opposite phases; the first rotary transformer includes a first connection terminal and a second connection terminal, and the second rotary transformer includes a third connection terminal and a fourth connection terminal; the first signal processing module is connected to the first connection terminal and the third connection terminal respectively, and the second signal processing module is connected to the second connection terminal and the fourth connection terminal respectively. Through the above structure, even if the voltage amplitude output by the excitation signal generating circuit is difficult to meet the minimum input voltage requirement of the rear-end rotary transformer, the rotary transformer can also work normally through differential amplification.

[0016] As a possible implementation, the device also includes: a sampling trigger circuit, which is respectively connected to the excitation signal generating circuit and multiple analog-to-digital converters; a sampling trigger circuit, which is used to: sample the excitation modulation signal generated by the excitation signal generating circuit, and when the excitation modulation signal is at a set sampling point, trigger a sampling pulse to drive multiple analog-to-digital converters to perform sampling, and set the sampling point to the zero crossing point or peak point of the excitation modulation signal.

[0017] As a possible implementation, the multiple analog-to-digital converters include at least one of the following types: an integrating analog-to-digital converter DSADC and a successive approximation analog-to-digital converter SAR-ADC.

[0018] In a second aspect, the present application provides a motor controller, comprising an inverter circuit; the input end of the inverter circuit is connected to a power battery, and the output end of the inverter circuit is connected to at least one drive motor; the inverter circuit is used to convert the high-voltage direct current output by the power battery into alternating current to supply at least one drive motor, and the motor controller also includes a motor angle detection device as in the first aspect; at least one rotary transformer corresponds one-to-one to at least one drive motor, and each rotary transformer in the at least one rotary transformer is connected to the corresponding drive motor.

[0019] In a third aspect, the present application provides an electric vehicle, comprising a motor controller as provided in the second aspect.

[0020] In a fourth aspect, the present application provides a motor angle detection method, which is applied to a motor controller, wherein the motor controller is connected to at least one drive motor through at least one rotary transformer, and the motor angle detection method includes: generating an excitation modulation signal; filtering and amplifying the excitation modulation signal to drive at least one rotary transformer to work through the processed excitation modulation signal; conditioning the rotary transformer feedback signal output by each rotary transformer in at least one rotary transformer; and using multiple analog-to-digital converters to sample the rotary transformer feedback signals conditioned by the rotary transformer feedback processing circuit, respectively, to obtain at least one group of drive motor angle sets, wherein the angle set includes multiple rotation angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a rotary transformer;

[0022] Figure 2 The present invention is a structural schematic diagram of an electric vehicle;

[0023] Figure 3 It is the structural diagram of the motor controller;

[0024] Figure 4 A schematic diagram of a motor angle detection device Figure 1 ;

[0025] Figure 5 A schematic diagram of a motor angle detection device Figure 2 ;

[0026] Figure 6 A schematic diagram of the coupling of a rotary transformer in a motor angle detection device;

[0027] Figure 7 It is a structural schematic diagram of a resolver feedback processing circuit;

[0028] Figure 8 A schematic diagram of a motor angle detection device Figure 3 ;

[0029] Fig. 9 It is a connection diagram of dual drive motors;

[0030] Figures 10A to 10C is a structural schematic diagram of a signal processing circuit;

[0031] Fig. 10D It is a schematic diagram of the excitation signal amplitude;

[0032] Fig.11 A schematic diagram of a motor angle detection method. DETAILED DESCRIPTION

[0033] The embodiments of the present application provide a motor angle detection device, a motor controller and an electric vehicle, which can improve the reliability of angle detection while reducing the cost of angle detection.

[0034] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. It should be noted that in the description of the present application, "at least one" refers to one or more, wherein multiple refers to two or more. In view of this, "multiple" can also be understood as "at least two" in the embodiment of the present invention. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and next associated objects are in an "or" relationship. In addition, it should be understood that in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0035] It should also be pointed out that in the embodiments of the present application, "coupling" refers to an energy transfer relationship. For example, the coupling of A and B refers to the ability to transfer energy between A and B, wherein there are many possible specific forms of energy, such as electric energy, magnetic field potential energy, etc. When electric energy can be transferred between A and B, it is reflected in the circuit connection relationship that A and B can be directly electrically connected, or indirectly electrically connected through other conductors or circuit elements. When magnetic field potential energy can be transferred between A and B, it is reflected in the circuit connection relationship that electromagnetic induction can occur between A and B, so that magnetic field potential energy can be transferred from A to B. In view of this, in the embodiments of the present application, "magnetic coupling" specifically refers to the scenario in which energy can be transferred between A and B through the magnetic field.

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0037] An electric vehicle, also known as a new energy vehicle, is a vehicle that is powered by electricity. The electric vehicles provided in the embodiments of the present application may include a battery electric vehicle (BEV), a hybrid electric vehicle (HEV) and a plug-in hybrid electric vehicle (PHEV).

[0038] The structure of electric vehicles is explained by taking a battery electric vehicle as an example. Figure 2 As shown, the electric vehicle 10 specifically includes a motor drive system 100 for driving the vehicle, an on-board energy system 200 for providing energy, and an auxiliary system 300. Specifically, the motor drive system 100 may include a vehicle control unit (VCU) 110, a motor control unit (MCU) 120, a drive motor 130, a transmission device 140, and a wheel 150. The on-board energy system 200 includes a power battery 210, a battery management system 220, and a charging circuit 230.

[0039] The power battery 210 may be a large-capacity, high-power storage battery. When the electric vehicle 10 is running, the power battery 210 may supply power to the drive motor 130 through the motor controller 120, and the drive motor 130 converts the electrical energy provided by the power battery 210 into mechanical energy, thereby driving the wheels 150 to rotate and realize the vehicle running.

[0040] The vehicle controller 110, also called the powertrain controller, is the core control component of the entire electric vehicle 10, which is equivalent to the brain of the electric vehicle 10. It collects the accelerator pedal signal, the brake pedal signal and the input signals of other components, and after making corresponding judgments based on the above input signals, controls the actions of various components in the electric vehicle 10 to drive the electric vehicle 10 to run normally. Specifically, as the command and management center of the electric vehicle 10, the main functions of the vehicle controller 110 include: driving torque control, optimal control of braking energy, energy management of the whole vehicle, maintenance and management of the controller area network (CAN) network, fault diagnosis and processing, and vehicle status monitoring, etc. It plays a role in controlling the operation of the vehicle. Therefore, the quality of the vehicle controller directly determines the stability and safety of the vehicle.

[0041] The motor controller 120 is an integrated circuit or integrated module that actively controls the drive motor 130 to work in a set direction, speed, angle, and response time, and is connected to the vehicle controller 130 by communication. In the electric vehicle 10, the main function of the motor controller 120 is to convert the electric energy stored in the power battery 210 into the electric energy required by the drive motor 130 according to external instructions such as gear position, throttle, and brake, to control the driving states such as the start-up operation, forward and backward speed, and climbing strength of the electric vehicle 10, or the motor controller 120 can also help the electric vehicle 10 brake. Optionally, during the braking process, the motor controller 120 can also store part of the braking energy during braking in the power battery 210.

[0042] The drive motor 130, also called a motor, is an electromagnetic device that realizes electric energy conversion or electric energy transmission according to the law of electromagnetic induction. It is electrically connected to the motor controller 120 and mechanically connected to the transmission device 140. Its main function is to generate driving torque, thereby serving as a power source for the wheel 150.

[0043] Specifically, the drive motor 130 can be a permanent-magnet-synchronous motor (PMSM) type motor. The drive motor 130 can be composed of a stator and a rotor, wherein the stator includes a stator winding. The rotor can rotate around a central axis relative to the stator. The drive motor 130 can control the sinusoidal current by flowing through the stator winding. The amplitude and frequency of the sinusoidal current can be changed to control the torque and speed of the rotor. The current on the stator generates an electromagnetic field, which interacts with the permanent magnets on the component as the rotor. The electromagnetic field causes the rotor to rotate. For example, the drive motor 130 can be a three-phase motor. That is, the stator winding may include three separated phase windings. In order to control the drive motor 130, a three-phase voltage wave or a three-phase current wave is applied to the phase winding. The three-phase wave separates the signal of each phase according to a phase difference of 120 degrees.

[0044] The transmission device 140 is also mechanically connected to the wheels 150, and is used to transmit the power source generated by the drive motor 130 to the wheels 150 to drive the electric vehicle 10. In some possible implementations, the transmission device 140 may include a drive shaft connected between the two wheels 150 and a differential disposed on the drive shaft, etc.

[0045] The power battery 210 in the vehicle energy system 200 is electrically connected to the motor controller 120 for storing and providing electrical energy. The power battery 210 includes but is not limited to lithium batteries, lead-acid batteries, lithium iron phosphate batteries, nickel-metal hydride batteries, nickel-cadmium batteries and the like. In some possible embodiments, the power battery 210 may also include a supercapacitor. The battery management system 220 is electrically connected to the power battery 210 and is communicatively connected to the vehicle controller 110. The battery management system 220 is used to monitor and estimate the state of the power battery 210 under different working conditions, thereby improving the utilization rate of the power battery 210, preventing the power battery 210 from being overcharged and over-discharged, and thus extending the service life of the power battery 210. Specifically, the main functions of the battery management system 220 may include: real-time monitoring of battery physical parameters; battery state estimation; online diagnosis and early warning; charge, discharge and pre-charge control; balancing management and thermal management, etc.

[0046] The charger 230 is electrically connected to the power battery 210 and is used to connect to an external power source to charge the power battery 210. Specifically, when the electric vehicle 10 is connected to an external power source (such as a charging pile, etc.), the charger 230 can convert the AC power provided by the external power source into DC power to charge the power battery 210. In addition, the battery management system 220 is also connected to the charger 230 to monitor the charging process of the power battery 210.

[0047] The auxiliary system 300 includes a direct current-direct current converter (DCDC) converter 310, an auxiliary battery 320, a low voltage load 330 and a high voltage load 340. One end of the direct current-direct current converter 310 is connected to the power battery 210, and the other end is connected to the auxiliary battery 320 and the low voltage load 330 respectively. The DCDC converter 310 is used to convert the high voltage (such as 380V) output by the power battery 210 into a low voltage (such as 12V) to charge the auxiliary battery 320 and power the low voltage load 330. In some possible embodiments, the low voltage load 330 includes low voltage automotive accessories, such as a cooling pump, a fan, a heater, a power steering device, a brake, etc. Of course, the auxiliary battery 320 can also directly power the low voltage load 330. In addition, the power battery 210 is also connected to the high voltage load 340 to power the high voltage load 340.

[0048] It should be noted that the various circuits or modules in the electric vehicle 10 can communicate with each other via one or more vehicle networks. The vehicle network may include multiple channels for communication. One channel in the vehicle network may be a serial bus such as a controller area network. One of the channels in the vehicle network may include Ethernet defined by the Institute of Electrical and Electronics Engineers (IEEE802) family of standards. Other channels in the vehicle network may include discrete connections between circuits or modules. Different signals can be transmitted through different channels in the vehicle network. For example, a video signal can be transmitted via a high-speed channel (e.g., Ethernet), while a control signal can be transmitted via CAN or a discrete signal. The vehicle network may include any hardware components and software components that assist in transmitting signals and data between circuits or modules. The vehicle network is Figure 2 Not shown, the vehicle network can be connected to or exist in any circuit or module in the electric vehicle 10. For example, the vehicle network can exist in the vehicle controller 110, so that the various components in the electric vehicle 10 cooperate to complete the work. It is understandable that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electric vehicle 10. In other embodiments of the present application, the electric vehicle 10 may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0049] As the core power component of the electric vehicle 10, the functional safety of the motor controller 120 is particularly important. Among them, the ISO26262 "Road Vehicle Functional Safety" international standard determines the Automotive Safety Integrity Level (ASIL) from A to D for the system or a component of the system according to the degree of safety risk. The higher the ASIL level, the higher the detection coverage of the functional safety-related circuits and the lower the hardware random failure probability measurement index. This standard provides how to comply with the corresponding specifications from a design perspective so that the product reaches the corresponding ASIL level, ensuring that the entire vehicle or component can enter a controllable safety state in the event of a failure in the electronic system, thereby achieving the purpose of protecting the personal safety of the driving participants.

[0050] Torque safety is the most important functional safety indicator for the motor controller 120. The estimation of torque safety mainly includes two methods: power method and flux method. Among them, the flux method is used for torque safety estimation, and the physical quantities required to be collected are fewer and the accuracy is high. However, the physical quantities required to be collected by the flux method are three-phase current and the electrical angle of the motor. In other words, if the torque safety target level is to reach an accuracy of ASILC or above, the electrical angle of the motor, which is one of the input quantities used to calculate the torque, must be able to achieve an accuracy of at least ASILC or above. The key to whether the motor angle can reach an accuracy of at least ASILC or above lies in the sampling of the angle.

[0051] The structure and corresponding functions of the motor controller 120 in the embodiment of the present application are described in detail below. Among them, the torque function safety of the motor controller 120 in the embodiment of the present application can meet the ASILC level or above.

[0052] See also Figure 3 As shown, the motor controller 120 includes a motor angle detection device 300 and an inverter circuit 310, the input end of the inverter circuit 310 is connected to the power battery 210, and the output end of the inverter circuit 310 is connected to the drive motor 130. The inverter circuit 310 is used to convert the high-voltage direct current output by the power battery 210 into alternating current (such as three-phase alternating current) for the drive motor 130 to work.

[0053] The motor angle detection device 300 can be realized by a resolver / transformer ( Figure 3 The rotary transformer 120 is a sensor that is used to accurately measure the angular position and speed of rotating parts such as motors through the magnetic coupling of a primary winding and two or more secondary windings. The primary winding and two orthogonal secondary windings are respectively mounted on the motor rotor and stator. The excitation signal applied to the primary winding couples a sine rotary transformer feedback signal and a cosine rotary transformer feedback signal in the two secondary windings, respectively. The sine rotary transformer feedback signal and the cosine rotary transformer feedback signal can be collectively referred to as rotary transformer feedback signals. The angular position and speed information of the motor rotor can be obtained by demodulating and converting the sine rotary transformer feedback signal and the cosine rotary transformer feedback signal. It can be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the structure of the motor controller 120. In other embodiments of the present application, the motor controller 120 may include a sine rotary transformer feedback signal and a cosine rotary transformer feedback signal. Figure 3 More components, such as auxiliary power supply circuit, charging circuit, voltage / current detection circuit, etc.

[0054] See also Figure 4 As shown, Figure 4 This is a structural schematic diagram of the motor angle detection device 300 in the above embodiment of the present application, wherein the device includes: an excitation signal generating circuit 301, a signal processing circuit 302, at least one rotary transformer 303, a rotary transformer feedback processing circuit 304, and a plurality of analog-to-digital converters 305; the at least one rotary transformer 303 corresponds one-to-one with at least one drive motor 306, and each rotary transformer 303 in the at least one rotary transformer 303 is connected to the corresponding drive motor 306; the excitation signal generating circuit 301 is used to generate an excitation modulation signal.

[0055] The signal processing circuit 302 in the embodiment of the present application is connected between the excitation signal generating circuit 301 and the at least one rotary transformer 303, and is used to filter and amplify the excitation modulation signal so as to drive the at least one rotary transformer 303 to work through the processed excitation modulation signal.

[0056] Each resolver 303 in the at least one resolver 303 is configured to output a resolver feedback signal.

[0057] The resolver feedback processing circuit 304 is connected to the at least one resolver 303, and the resolver feedback processing circuit 304 is used to condition the resolver feedback signal output by each resolver 303 in the at least one resolver 303;

[0058] The multiple analog-to-digital converters 305 are used to sample the resolver feedback signals conditioned by the resolver feedback processing circuit 304, respectively, to obtain at least one set of angles of the drive motor 306, wherein the angle set includes multiple rotation angles. The sampling clocks of the analog-to-digital converters are synchronized, thereby ensuring synchronous sampling.

[0059] Among them, the excitation signal generating circuit 301 is used to generate at least one excitation modulation signal. In some possible implementations, the excitation modulation signal generated by the excitation signal generating circuit 301 is a sine wave signal. The excitation modulation signal provided in the embodiment of the present application can be a sinusoidal PWM (SPWM) signal. SPWM is a relatively mature and widely used PWM method. The principle is: when narrow pulses with equal impulses but different shapes are added to a link with inertia, the effect is basically the same. By using a PWM waveform whose pulse width changes according to the sinusoidal law and is equivalent to a sine wave, the area of ​​the pulse voltage output is equal to the area of ​​the desired output sine wave in the corresponding interval.

[0060] The signal processing circuit 302 is connected between the excitation signal generating circuit 301 and at least one rotary transformer 303, and is used to amplify and filter the excitation modulation signal to obtain the excitation signal, so that the rotary transformer 303 outputs a rotary transformer feedback signal for characterizing the angle of the drive motor 306. Wherein, the above-mentioned rotary transformer feedback signal includes a sine rotary transformer feedback signal and a cosine rotary transformer feedback signal. Optionally, the signal processing circuit 302 may specifically include an amplifier circuit or a differential amplifier (different amplifier), a push-pull output circuit and a filter circuit. The specific internal structure of the above-mentioned circuit should be known to those skilled in the art, and no excessive restrictions are made here. Wherein, the filter circuit can be an electromagnetic interference (EMI) filter, which can filter out high-frequency burrs on the excitation signal. The amplifier circuit can be a differential amplifier circuit, and the differential amplifier circuit can be a fully differential structure, which can include a single-stage amplifier circuit or a multi-stage amplifier circuit inside. When the differential amplifier circuit is a multi-stage amplifier circuit, the output voltage of the previous amplifier circuit is configured as the input voltage of the next amplifier circuit. The differential amplifier circuit provided in the embodiment of the present application may also include other types of deformations, optimizations and configurations, which are not listed one by one in the embodiment of the present application.

[0061] The resolver feedback processing circuit 304 is connected between the resolver 303 and the plurality of analog-to-digital converters 305, and is used to condition the resolver feedback signal and send the conditioned resolver feedback signal to the plurality of analog-to-digital converters 305. Exemplarily, in this embodiment, the resolver feedback processing circuit 304 can convert the sinusoidal resolver feedback signal into a sinusoidal differential signal that matches the level of the analog-to-digital converter input port, and is also used to convert the cosine resolver feedback signal into a cosine differential signal that matches the level of the analog-to-digital converter input port. Wherein, the differential signal (DS) is two signals with opposite phases and equal amplitudes that are respectively input into the differential amplifier circuit, and after being processed by the differential amplifier circuit, the output signal is the difference between the two signals.

[0062] The multiple analog-to-digital converters 305 in the embodiment of the present application can be various types of analog-to-digital converters, such as an integral analog-to-digital converter (delta-sigma analog-to-digital converter, DSADC) and a successive approximation register analog-to-digital converter (successive approximation register analog-to-digital converter, SAR-ADC), etc. Specifically, the analog-to-digital converters in the multiple analog-to-digital converters 305 are used to sample the sine differential signal and the cosine differential signal to obtain a sampling signal. The motor angle detection device 300 may also include a demodulation circuit for demodulating the sampling signal to separate the excitation modulation signal.

[0063] By detecting the resolver feedback signal through different types of analog-to-digital converters, multiple angle values ​​can be obtained. Even when a certain analog-to-digital converter fails to detect or the error obtained by the detection is large, other analog-to-digital converters can also be used for accurate angle detection. Through multiple decoding methods, different decoding paths or different decoding algorithms are used to detect the resolver feedback signal, which ultimately improves the reliability of decoding and ensures the torque safety of electric vehicles.

[0064] As a possible implementation, each circuit structure in the motor angle detection device 300 can be integrated into any conventional processor or computer. For example, the processor can be a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the contents disclosed in this application.

[0065] It should be noted that the analog-to-digital converter samples the input signal once at the beginning of each conversion, compares it at each clock edge, and adjusts the output of the analog-to-digital converter through control logic until the output closely matches the analog input. Therefore, it requires N clock cycles from an independent external clock to achieve a single N-bit conversion in an iterative manner. In addition, in this embodiment, in order to ensure the accuracy of sampling, different types of analog-to-digital converters need to be triggered synchronously.

[0066] As a possible implementation, in order to achieve synchronous triggering of sampling of multiple analog-to-digital converters 305, the motor angle detection device 300 may also include a trigger module, which is used to capture the rising edge of the signal and clear the synchronous counter. The trigger signal can be obtained by using the above-mentioned counter, so as to use the trigger signal to trigger the analog-to-digital converter for sampling, interrupt after the sampling is completed, obtain the sampling value, and use the sampling value to calculate the angle, wherein the trigger delay duration of the counter can be set to a reasonable value according to the circuit delay, so as to ensure that the sampling is performed near the zero point or peak point of the excitation signal as much as possible, thereby improving the sampling accuracy.

[0067] As a possible implementation, in order to trigger the analog-to-digital converter, the motor angle detection device 300 also includes a shaping circuit, which is connected between the resolver feedback processing circuit 304 and the trigger module, and is used to shape the excitation signal to obtain a square wave signal as a trigger signal. It can be understood that in other embodiments, the above-mentioned shaping circuit can also be omitted, and the excitation signal can be directly sent to multiple analog-to-digital converters 305 for sampling.

[0068] See also Figure 5 As shown, the motor angle detection device 300 may specifically include a sampling trigger circuit 307, which is connected to the excitation signal generation circuit 301 and the multiple analog-to-digital converters 305 respectively; the sampling trigger circuit 307 is used to: sample the excitation modulation signal generated by the excitation signal generation circuit 301, and when the excitation modulation signal is at a set sampling point, the sampling trigger circuit 307 triggers a sampling pulse to drive the multiple analog-to-digital converters 305 to sample, and the set sampling point is the zero crossing point or peak point of the excitation modulation signal. The excitation modulation signal generated by the excitation signal generation circuit 301 is used as a reference signal to provide synchronous sampling pulses for multiple analog-to-digital converters in the multiple analog-to-digital converters.

[0069] See also Figure 6As shown, as a possible implementation, each rotary transformer 303 in the at least one rotary transformer 303 includes: a primary winding 3031, a first secondary winding 3032 and a second secondary winding 3033, and the primary winding 3031 is magnetically coupled with the first secondary winding 3032 and the second secondary winding 3033; the primary winding 3031 is installed on the motor rotor of the drive motor 130, and the first secondary winding 3032 and the second secondary winding 3033 are respectively installed on the motor stator of the drive motor 130, and optionally, the first secondary winding 3032 and the second secondary winding 3033 are orthogonal to each other, and by applying an excitation signal to the primary winding, a sine rotary transformer feedback signal and a cosine rotary transformer feedback signal can be coupled and output on the first secondary winding 3032 and the second secondary winding 3033, respectively.

[0070] See also Figure 7 As shown, as a possible implementation, the resolver feedback processing circuit 304 includes: a first feedback processing module 3041 and a second feedback processing module 3042; the first secondary winding 3032 and the second secondary winding 3033 are both connected to the first feedback processing module 3041 and the second feedback processing module 3042; the first feedback processing module 3041 and the second feedback processing module 3042 are used to condition the sinusoidal resolver feedback signal output by the first secondary winding 3032 and the cosine resolver feedback signal output by the second secondary winding 3033.

[0071] See also Figure 8 As shown, as a possible implementation, the multiple analog-to-digital converters 305 include: a first analog-to-digital converter 30511 and a second analog-to-digital converter 30512, and the motor angle detection device 300 also includes a first demodulation module 30521 and a second demodulation module 30522, the first analog-to-digital converter 30511 is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the first feedback processing module 3041 to obtain a first sampling signal; the first demodulation module 30512 is used to demodulate the first sampling signal to determine the first angle; the second analog-to-digital converter 30521 is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the second feedback processing module to obtain a second sampling signal; the second demodulation module 30522 is used to demodulate the second sampling signal to determine the second angle.

[0072] As a possible implementation, the multiple analog-to-digital converters 305 also include an angle diagnosis circuit: the angle diagnosis circuit is used to compare the size relationship between the first angle and the second angle. When the first angle is different from the second angle, or when the difference between the first angle and the second angle is not within the preset angle range, the angle diagnosis circuit sends an alarm signal to the motor controller, so that the motor controller controls the at least one drive motor to enter a safe state. The above-mentioned preset angle range can be adaptively set by a person skilled in the art. For example, the preset angle range can be [-0.5°, 0.5°]. In addition, the preset angle range can also be related to the sampling accuracy of multiple analog-to-digital converters. When the sampling accuracy of multiple analog-to-digital converters is different, the corresponding preset angle range is also different. The greater the difference in sampling accuracy between multiple analog-to-digital converters (such as an 8-bit sampling analog-to-digital converter and a 12-bit sampling analog-to-digital converter), the larger the preset angle range. Among them, the above-mentioned safe state refers to the state in which the motor controller enters an active short-circuit state or a state in which the bridge arm is naturally turned off after the drive output is turned off. That is, the inverter circuit of the motor controller stops outputting electrical energy to the drive motor, thereby ensuring that the entire vehicle or its components can enter a controllable safe state in the event of a failure in the electronic system, thereby achieving the purpose of protecting the personal safety of driving participants.

[0073] It should be noted that the excitation signal input to the rotary transformer 303 is essentially a high-frequency sinusoidal signal. According to the working principle of the rotary transformer 303, the sinusoidal resolver feedback signal from the first secondary winding 3032 and the cosine resolver feedback signal from the second secondary winding 3033 also contain high-frequency sinusoidal signals. In order to obtain the sine and cosine signals directly related to the angle, the first feedback processing module 3041 and the second feedback processing module 3042 must be used to separate the sine and cosine feedback signals, thereby obtaining the separated sine feedback signal and cosine feedback signal.

[0074] Since some analog-to-digital converters can only sample single-ended signals, as a possible implementation, the second feedback processing module 3042 is specifically used to: convert the sinusoidal resolver feedback signal into a sinusoidal single-ended feedback signal, and convert the cosine resolver feedback signal into a cosine single-ended feedback signal; the second analog-to-digital converter 30521 is specifically used to: sample the sinusoidal single-ended feedback signal and the cosine single-ended feedback signal to obtain a second sampling signal.

[0075] The use of multi-motor drive technology can improve the working efficiency of the electric vehicle 10, thereby increasing the cruising range. The current multi-motor drive technology mainly has three implementation methods: first, using multiple drive motors of the same size and power to increase torque and power; second, using a power split method to make some drive motors responsible for front drive and some drive motors responsible for rear drive. Using this driving method, the high-efficiency working area can be reused to achieve the effect of energy recovery; third, using multiple drive motors of different powers to control the high-speed area and the low-speed area respectively, so that each motor is kept in the high-efficiency working range, and can take into account both low-speed climbing and high-speed cruising.

[0076] Accordingly, based on the above scenario, the motor angle detection device 300 needs to be provided with multiple rotary transformers 303 to detect the angles of different drive motors 306. Here, a dual-motor drive system is used as an example, that is, the electric vehicle 10 has two drive motors 306. Fig. 9 As shown, the at least one rotary transformer 303 includes: a first rotary transformer 3031 and a second rotary transformer 3032 ; the first rotary transformer 3031 is connected to the first drive motor 3061 , and the second rotary transformer 3032 is connected to the second drive motor 3062 .

[0077] To reduce costs, see Fig. 10A As shown, as a possible implementation, the first rotary transformer 3031 includes a first connection terminal 30311 and a second connection terminal 30312, and the second rotary transformer 3032 includes a third connection terminal 30321 and a fourth connection terminal 30322; the second connection terminal 30312 and the fourth connection terminal 30322 are grounded; and the signal processing circuit 302 is respectively connected to the first connection terminal 30311 and the third connection terminal 30321.

[0078] See also Fig. 10BAs shown, as a possible implementation, the signal processing circuit 302 includes: a first signal processing module 3021 and a second signal processing module 3022; in order to prevent the entire signal processing circuit 302 from stopping working due to damage during signal processing, multiple signal processing sub-modules can be set in the signal processing circuit 302 as redundancy, and excitation signals are respectively input to the first rotary transformer 3031 and the second rotary transformer 3032, so as to improve the reliability of the system, the first signal processing module 3021 is used to filter and amplify the excitation modulation signal, and output a first excitation signal; the second signal processing module 3022 is used to filter and amplify the excitation modulation signal, and use an inverter to invert the filtered and amplified excitation modulation signal to output a second excitation signal; the first excitation signal and the second excitation signal are opposite in phase.

[0079] The first rotary transformer includes a first connection terminal 30311 and a second connection terminal 30312, and the second rotary transformer includes a third connection terminal 30321 and a fourth connection terminal 30322; the second connection terminal 30312 and the third connection terminal 30121 are grounded together; the first signal processing module 3021 is connected to the first connection terminal 30311, and the second signal processing module 3022 is connected to the fourth connection terminal 30322. Since the first excitation signal and the second excitation signal output by the first signal processing module 3021 and the second signal processing module 3022 are complementary to each other, in order to ensure the synchronization of the excitation signals, the positions where the first excitation signal and the second excitation signal are respectively input into the first transformer 3031 and the second transformer 3032 are also different.

[0080] See also Fig. 10CAs shown, in some scenarios, the voltage amplitude that the excitation signal generating circuit 301 can generate is too low to meet the minimum input voltage requirement of the rear-end rotary transformer 303. As a possible implementation, the first signal processing module 3021 is used to filter and amplify the excitation modulation signal and output a first excitation signal; the second signal processing module 3022 is used to filter and amplify the excitation modulation signal, and use an inverter to invert the filtered and amplified excitation modulation signal to output a second excitation signal; the first excitation signal and the second excitation signal have opposite phases; the first rotary transformer 3031 includes a first connection terminal 30311 and a second connection terminal 30312, and the second rotary transformer 3032 includes a third connection terminal 30321 and a fourth connection terminal 30322; the first signal processing module 3021 is respectively connected to the first connection terminal 30311 and the third connection terminal 30321, and the second signal processing module 3022 is respectively connected to the second connection terminal 30312 and the fourth connection terminal 30322. Specifically, the first excitation signal and the second excitation signal are differentially amplified to generate an excitation signal with an amplitude equal to twice the first excitation signal and the second excitation signal, and the excitation signal with an amplitude equal to twice the first excitation signal and the second excitation signal is input into the first rotary transformer 3031 and the second rotary transformer 3032 respectively, so that the first rotary transformer 3031 and the second rotary transformer 3032 can work normally. Fig. 10D Schematic diagram of the excitation signal amplitude. After the first excitation signal and the second excitation signal are differentially processed, a differential amplified signal equivalent to twice the amplitude of the signal before differential processing is obtained.

[0081] By using the motor angle detection device provided in the present application, there is no need to use a dedicated hard decoding chip, which can reduce the cost of angle detection. In addition, there are multiple decoding paths for both resolver excitation and feedback signals, which can be decoded through multiple algorithms for decoupling calculations, thereby improving the reliability of angle detection.

[0082] The present application provides a motor angle detection method, which is applied to a motor controller, wherein the motor controller is connected to the at least one driving motor via at least one rotary transformer. Fig.11 As shown, the motor angle detection method includes:

[0083] Step S1101: the motor controller generates an excitation modulation signal.

[0084] Step S1102: the motor controller filters and amplifies the excitation modulation signal to drive the at least one rotary transformer to operate through the processed excitation modulation signal.

[0085] Step S1103: the motor controller conditions the resolver feedback signal output by each resolver of the at least one resolver.

[0086] Step S1104: the motor controller uses a plurality of analog-to-digital converters to respectively sample the resolver feedback signals conditioned by the resolver feedback processing circuit to obtain at least one set of angles of the drive motor, wherein the angle set includes a plurality of rotation angles.

[0087] The present application also provides a motor controller, wherein the input end of the inverter circuit is connected to a power battery, and the output end of the inverter circuit is connected to at least one drive motor; the inverter circuit is used to convert the high-voltage direct current output by the power battery into alternating current to supply the at least one drive motor, and the motor controller also includes the motor angle detection device 300 as described in the above embodiment; the at least one rotary transformer corresponds one-to-one to the at least one drive motor, and each of the at least one rotary transformer is connected to the corresponding drive motor.

[0088] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0089] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0090] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A motor angle detection device, applied to a motor controller, characterized in that: The device comprises: an excitation signal generating circuit, a signal processing circuit, at least one rotary transformer, a rotary transformer feedback processing circuit and a plurality of analog-to-digital converters, wherein each rotary transformer is connected to a driving motor, wherein: The excitation signal generating circuit is used to generate an excitation modulation signal; The signal processing circuit is connected between the excitation signal generating circuit and the at least one rotary transformer, and is used to filter and amplify the excitation modulation signal, so as to drive the at least one rotary transformer to work through the processed excitation modulation signal; Each rotary transformer of the at least one rotary transformer is used to output a rotary transformer feedback signal; The resolver feedback processing circuit is connected to the at least one resolver, and the resolver feedback processing circuit is used to condition the resolver feedback signal output by each resolver in the at least one resolver; The multiple analog-to-digital converters are used to respectively sample the resolver feedback signals conditioned by the resolver feedback processing circuit to obtain at least one set of angles of the drive motor, wherein the angle set includes multiple rotation angles; The multiple analog-to-digital converters include: a first analog-to-digital converter and a second analog-to-digital converter, the first analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the first feedback processing module to obtain a first sampling signal; the second analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the second feedback processing module to obtain a second sampling signal, the first analog-to-digital converter is one of an integral analog-to-digital converter DSADC and a successive approximation analog-to-digital converter SAR-ADC, the second analog-to-digital converter is another of an integral analog-to-digital converter DSADC and a successive approximation analog-to-digital converter SAR-ADC, and the first analog-to-digital converter is of a different type from the second analog-to-digital converter; When the at least one rotary transformer comprises: a first rotary transformer and a second rotary transformer, the first rotary transformer is connected to the first drive motor, and the second rotary transformer is connected to the second drive motor, the signal processing circuit further comprises: a first signal processing module and a second signal processing module; The first signal processing module is used to filter and amplify the excitation modulation signal and output a first excitation signal; The second signal processing module is used to filter and amplify the excitation modulation signal and use an inverter to invert the filtered and amplified excitation modulation signal to output a second excitation signal, and the first excitation signal and the second excitation signal have opposite phases; The first rotary transformer includes a first connection end and a second connection end, the second rotary transformer includes a third connection end and a fourth connection end, the first signal processing module is respectively connected to the first connection end and the third connection end, and the second signal processing module is respectively connected to the second connection end and the fourth connection end.

2. The device according to claim 1, characterized in that Each of the at least one rotary transformer comprises: a primary winding, a first secondary winding and a second secondary winding, wherein the primary winding is coupled with the first secondary winding and the second secondary winding; The resolver feedback processing circuit includes: a first feedback processing module and a second feedback processing module; the first secondary winding and the second secondary winding are both connected to the first feedback processing module and the second feedback processing module; The first feedback processing module and the second feedback processing module are used to condition the sine resolver feedback signal output by the first secondary winding and the cosine resolver feedback signal output by the second secondary winding.

3. The device according to claim 2, characterized in that The motor angle detection device also includes a first demodulation module and a second demodulation module; The first demodulation module is used to demodulate the first sampling signal to determine a first angle; The second demodulation module is used to demodulate the second sampling signal to determine a second angle.

4. The device according to claim 3, characterized in that The second feedback processing module is specifically used for: Converting the sinusoidal resolver feedback signal into a sinusoidal single-ended feedback signal, and converting the cosine resolver feedback signal into a cosine single-ended feedback signal; The second analog-to-digital converter is specifically used to: sample the sine single-ended feedback signal and the cosine single-ended feedback signal to obtain a second sampling signal.

5. The device according to claim 3 or 4, characterized in that The motor angle detection device also includes an angle diagnosis circuit: The angle diagnosis circuit is used to compare the size relationship between the first angle and the second angle, and when the difference between the first angle and the second angle is not within a set angle range, send an alarm signal to the motor controller, so that the motor controller controls at least one of the drive motors to enter a safe state.

6. The device according to claim 1, characterized in that The signal processing circuit comprises: a first signal processing module and a second signal processing module; The first signal processing module is used to filter and amplify the excitation modulation signal and output a first excitation signal; The second signal processing module is used to filter and amplify the excitation modulation signal, and use an inverter to invert the filtered and amplified excitation modulation signal to output a second excitation signal; the first excitation signal and the second excitation signal have opposite phases; The first rotary transformer includes a first connection end and a second connection end, and the second rotary transformer includes a third connection end and a fourth connection end; the second connection end and the third connection end are grounded together; the first signal processing module is connected to the first connection end, and the second signal processing module is connected to the fourth connection end.

7. The device according to claim 1, characterized in that The first rotary transformer includes a first connection end and a second connection end, and the second rotary transformer includes a third connection end and a fourth connection end; the second connection end and the fourth connection end are grounded; and the first signal processing module of the signal processing circuit is respectively connected to the first connection end and the third connection end.

8. The device according to any one of claims 1 to 7, characterized in that: The device further comprises: a sampling trigger circuit, wherein the sampling trigger circuit is respectively connected to the excitation signal generating circuit and the plurality of analog-to-digital converters; The sampling trigger circuit is used to: sample the excitation modulation signal generated by the excitation signal generating circuit, When the excitation modulation signal is at a set sampling point, a sampling pulse is triggered to drive the multiple analog-to-digital converters to perform sampling. The set sampling point is a zero-crossing point or a peak point of the excitation modulation signal.

9. A motor controller, comprising an inverter circuit; the input end of the inverter circuit is connected to a power battery, and the output end of the inverter circuit is connected to at least one of the drive motors; the inverter circuit is used to convert the high-voltage direct current output by the power battery into alternating current to supply at least one of the drive motors, characterized in that: The motor controller also includes a motor angle detection device as described in any one of claims 1-8, and each of the rotary transformers is connected to one of the drive motors.

10. An electric vehicle, characterized in that: Comprising a motor controller as claimed in claim 9.

11. A motor angle detection method, applied to a motor controller, wherein the motor controller is connected to at least one drive motor via at least one rotary transformer, characterized in that: The motor angle detection method comprises: generating an excitation modulation signal; filtering and amplifying the excitation modulation signal, so as to drive the at least one rotary transformer to work through the processed excitation modulation signal; Conditioning a resolver feedback signal output by each resolver of the at least one resolver; Using a plurality of analog-to-digital converters, respectively sampling the resolver feedback conditioned by the resolver feedback processing circuit, to obtain at least one set of angles of the drive motor, wherein the angle set includes a plurality of rotation angles; The multiple analog-to-digital converters include: a first analog-to-digital converter and a second analog-to-digital converter, the first analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the first feedback processing module to obtain a first sampling signal; the second analog-to-digital converter is used to sample the sine resolver feedback signal and the cosine resolver feedback signal conditioned by the second feedback processing module to obtain a second sampling signal, the first analog-to-digital converter is one of an integral analog-to-digital converter DSADC and a successive approximation analog-to-digital converter SAR-ADC, the second analog-to-digital converter is another of an integral analog-to-digital converter DSADC and a successive approximation analog-to-digital converter SAR-ADC, and the first analog-to-digital converter is of a different type from the second analog-to-digital converter; When the at least one rotary transformer comprises: a first rotary transformer and a second rotary transformer, the first rotary transformer is connected to the first drive motor, and the second rotary transformer is connected to the second drive motor; filtering and amplifying the excitation modulation signal to output a first excitation signal; Filtering and amplifying the excitation modulation signal and performing inversion processing on the filtered and amplified excitation modulation signal using an inverter to output a second excitation signal, wherein the first excitation signal and the second excitation signal have opposite phases; The first rotary transformer includes a first connection end and a second connection end, the second rotary transformer includes a third connection end and a fourth connection end, the first excitation signal is respectively input into the first connection end and the third connection end, and the second excitation signal is respectively input into the second connection end and the fourth connection end.

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