Motor position compensation device, method and vehicle

Abstract

The present invention discloses a motor position compensation device, method and vehicle. The motor position compensation device includes an angle acquisition module, an angle information processing module and an angle compensation module; the angle acquisition module is used to be connected to a position sensor, and generate a position compensation array according to a system clock signal and an output signal of the position sensor; the angle information processing module is connected to the angle acquisition module, and is used to receive data in the position compensation array carried by DMA, generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays; the angle compensation module is connected to the angle information processing module, and is used to calculate angle compensation values at different time points according to the time deviation array and the cache array. The embodiments of the present invention can utilize the DMA resources of the system itself to perform fast data transfer processing, which is beneficial to shortening the motor compensation period, improving the response speed of motor compensation, and reducing the occupation of system resources.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a motor position compensation device, method and vehicle. Background Art

[0002] As the core control information of an in-vehicle motor controller, the accuracy and precision of position information directly affect the stability and robustness of motor closed-loop control. During actual application, the position information is prone to fluctuations due to factors such as circuit, and thus it is necessary to perform adaptive compensation on the motor position.

[0003] Currently, there are various existing motor position compensation schemes. For example, a scheme that fits the rotor position using the rotor position and corresponding time data, and then calculates the compensated rotor position using the relative time corresponding to this time and the linear equation obtained by this fitting; since this scheme needs to integrate data of multiple calculation cycles, there are problems such as long software calculation time consumption and limited dynamic step response of the rotational speed. Another example is a scheme that compensates the motor position through a position estimation and compensation algorithm of a neural network based on the longitudinal vibration information and operating state of the vehicle; although this scheme can effectively compensate for small-angle deviations, it needs to obtain the longitudinal vibration information of the vehicle, thus additionally increasing the communication or sensor cost. At the same time, the calculation of the neural network also consumes a large amount of system resources and is not easy to implement. Summary of the Invention

[0004] The present invention provides a motor position compensation device, method and vehicle to shorten the motor compensation cycle, improve the response speed of motor compensation, and reduce the occupation of system resources.

[0005] According to an aspect of the present invention, a motor position compensation device is provided, including an angle acquisition module, an angle information processing module and an angle compensation module;

[0006] The angle acquisition module is used to be connected to a position sensor, and generate a position compensation array according to the system clock signal and the output signal of the position sensor;

[0007] The angle information processing module is connected to the angle acquisition module, and is used to receive the data in the position compensation array transported by direct memory access (DMA), generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two of the cache arrays;

[0008] The angle compensation module is connected to the angle information processing module, and is used to calculate the angle compensation value at different time points according to the time deviation array and the cache array.

[0009] Optionally, the angle information processing module includes at least two data cache units;

[0010] The data cache unit is configured to sequentially and circularly receive the data in the position compensation array transported by DMA, and circularly store the data in the position compensation array in the cache array.

[0011] Optionally, when the number of the data cache units is 4 and the number of bits of the cache array is n, the time deviation array is determined by the following method:

[0012]

[0013] In the formula, ErrorTime0[n], ErrorTime1[n], ErrorTime2[n] and ErrorTime3[n] represent the time deviation array, and Array0[n], Array1[n], Array2[n], Array3[n] and Array0’[n] represent the cache array.

[0014] Optionally, the angle compensation value is determined by the following method:

[0015]

[0016] In the formula, ErrorAg0[n], ErrorAg1[n], ErrorAg2[n] and ErrorAg3[n] represent the angle compensation array including the angle compensation value, and K represents the angle compensation coefficient.

[0017] Optionally, the angle compensation coefficient is obtained through bench calibration.

[0018] Optionally, the position sensor adopts a rotary encoder, and the decoding chip in the rotary encoder is AU6805.

[0019] Optionally, the angle compensation module is further configured to fit an angle compensation curve according to the angle compensation value, and output the angle compensation value to the motor control system to perform real-time compensation on the motor position.

[0020] According to another aspect of the present invention, there is provided a method for compensating a motor position. The method is executed by the motor position compensation device provided in one aspect of the present invention, and includes:

[0021] Through the angle acquisition module, a position compensation array is generated according to the system clock signal and the output signal of the position sensor;

[0022] Through the angle information processing module, the data in the position compensation array transported by DMA is received, a cache array is generated based on the data in the position compensation array, and a time deviation array is calculated according to at least two of the cache arrays;

[0023] Through the angle compensation module, calculate the angle compensation values at different time points according to the time deviation array and the cache array.

[0024] Optionally, after calculating the angle compensation values at different time points through the angle compensation module according to the time deviation array and the cache array, it further includes:

[0025] Through the angle compensation module, fit an angle compensation curve according to the angle compensation values, and output the angle compensation values to the motor control system to perform real-time compensation on the motor position.

[0026] According to another aspect of the present invention, a vehicle is provided, which is integrated with the motor position compensation device provided by one aspect of the present invention.

[0027] The technical solution of the embodiment of the present invention is as follows: By setting an angle acquisition module connected to a position sensor to generate a position compensation array according to the system clock signal and the output signal of the position sensor; by setting an angle information processing module to receive the data in the position compensation array transported by DMA, generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays; by setting an angle compensation module to calculate the angle compensation values at different time points according to the time deviation array and the cache array. Thus, compared with the existing motor position compensation solutions, the embodiment of the present invention can utilize the DMA resources of the system itself to perform fast data transportation and processing, which is beneficial to shortening the motor compensation cycle, improving the response speed of motor compensation, and reducing the occupation of system resources.

[0028] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0030] Figure 1 is a schematic structural diagram of a motor position compensation device provided by an embodiment of the present invention;

[0031] Figure 2 is a diagram showing the relationship of the output signals of a position sensor during the forward rotation of a motor provided by an embodiment of the present invention;

[0032] Figure 3 It is a time acquisition position diagram of an angle acquisition module provided by an embodiment of the present invention;

[0033] Figure 4 It is a curve change diagram of an angle compensation value provided by an embodiment of the present invention;

[0034] Figure 5 It is a structural schematic diagram of another motor position compensation device provided by an embodiment of the present invention;

[0035] Figure 6 It is a generation process diagram of a time deviation array provided by an embodiment of the present invention;

[0036] Figure 7 It is a flowchart of a motor position compensation method provided by an embodiment of the present invention;

[0037] Figure 8 It is a flowchart of another motor position compensation method provided by an embodiment of the present invention. Detailed implementation manners

[0038] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0040] Figure 1 It is a structural schematic diagram of a motor position compensation device provided by an embodiment of the present invention. Refer to Figure 1 , the motor position compensation device includes an angle acquisition module 110, an angle information processing module 120, and an angle compensation module 130.

[0041] An angle acquisition module 110 is used to connect to a position sensor 140 and generate a position compensation array according to the system clock signal T and the output signal of the position sensor 140. An angle information processing module 120 is connected to the angle acquisition module 110 and is used to receive the position compensation array transported by direct memory access (DMA), generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays. An angle compensation module 130 is connected to the angle information processing module 120 and is used to calculate the angle compensation value at different time points according to the time deviation array and the cache array.

[0042] Wherein, the position sensor 140 can be a contact or proximity position sensor. Optionally, the position sensor 140 adopts a rotary encoder, and the decoding chip in the rotary encoder is AU6805. It can be understood that the system clock signal T is used to provide a time reference benchmark for the angle acquisition module 110 to generate a position compensation array, and the output signal of the position sensor 140 is used to provide a counting reference benchmark for the angle acquisition module 110 to generate a position compensation array.

[0043] Exemplarily, Figure 2 is a diagram showing the relationship of the output signals of the position sensor when the motor rotates forward according to an embodiment of the present invention. Refer to Figure 2 , the output signals of the position sensor include A, B, and Z signals, and the period correspondence relationships of the above signals are shown in Equations (1) and (2):

[0044] T Z = 1024T A (1)

[0045] T Z = 1024T B (2)

[0046] In the above formula, T Z is the period of the Z signal, T A is the period of the A signal, and T B is the period of the B signal.

[0047] Figure 3 is a time acquisition position diagram of an angle acquisition module according to an embodiment of the present invention. Refer to Figure 1 and Figure 3 , it can be understood that the process of the angle acquisition module 110 generating a position compensation array according to the system clock signal T and the output signal of the position sensor is as follows:

[0048] The angle acquisition module 110 acquires and analyzes the A, B, and Z signals uploaded by the decoding chip in the position sensor 140. In an electrical angle cycle of a motor, that is, between two Z signals, the angle acquisition module 110 triggers the system clock signal count 16 times. According to Equations (1) and (2), it can be known that the system clock signal count is triggered once every 64 A or B signals. The angle acquisition module 110 stores the timestamps generated by the 16 system clock signal counts in a 16-bit array to generate a position compensation array.

[0049] It is known that DMA is a high-speed data transfer operation that allows direct reading and writing of data between devices and memory. Based on this, in this embodiment, DMA can directly and quickly transfer the data in the position compensation array to the angle information processing module 120 without system scheduling processing, which is beneficial to improving the efficiency of motor position compensation and reducing the occupation of system resources. It can be understood that since DMA can achieve direct reading and writing of data, the data in the cache array is the same as the data in the position compensation array, both of which are the timestamps generated by the system clock signal count, and the number of bits of the cache array is the same as that of the position compensation array.

[0050] It can be understood that the angle information processing module 120 calculates the time deviation array according to at least two cache arrays means that the angle information processing module 120 calculates multiple time deviation arrays according to the data in two adjacent cache arrays among at least two cache arrays. Therefore, the time deviation array has the same number of bits as the cache array.

[0051] In addition, the angle compensation values at different time points refer to multiple angle compensation values corresponding to multiple system clock signal counts; the angle compensation values are used to compensate the motor position.

[0052] Based on this, optionally, the angle compensation module 130 is further configured to fit an angle compensation curve according to the angle compensation values and output the angle compensation values to the motor control system to perform real-time compensation on the motor position.

[0053] Among them, fitting means connecting multiple angle compensation values corresponding to multiple system clock signal counts with a smooth curve, and this smooth curve is the angle compensation curve. It is known that there are various fitting methods for the angle compensation curve. For example, the least squares curve fitting method can be used.

[0054] Exemplarily, Figure 4 is a curve change diagram of an angle compensation value provided by an embodiment of the present invention. As Figure 4 shown, this curve change diagram shows the change of the angle compensation value in an electrical angle cycle. It can be understood that the angle compensation module 130 can use the angle compensation values corresponding to different angles in the motor coordinate transformation algorithm in the motor control system, thereby realizing real-time compensation of the motor position.

[0055] In an embodiment of the present invention, an angle acquisition module connected to a position sensor is provided to generate a position compensation array according to a system clock signal and an output signal of the position sensor; an angle information processing module is provided to receive data in the position compensation array transported by DMA, generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays; an angle compensation module is provided to calculate an angle compensation value at different time points according to the time deviation array and the cache array. It can be seen that, compared with the existing motor position compensation scheme, the embodiment of the present invention can utilize the DMA resources of the system itself to perform fast data transportation processing, which is beneficial to shortening the motor compensation period, improving the response speed of motor compensation, and reducing the occupation of system resources.

[0056] Based on the above embodiment, the specific structure of the angle information processing module, and the determination methods of the time deviation array and the angle compensation value are described below, but it does not limit the present invention.

[0057] Figure 5 is a schematic structural diagram of another motor position compensation device provided by an embodiment of the present invention. Refer to Figure 5 Optionally, the angle information processing module 120 includes at least two data cache units 121. The data cache unit 121 is configured to sequentially and circularly receive data in the position compensation array transported by DMA, and circularly store the data in the position compensation array in the cache array.

[0058] Among them, the data cache unit 121 sequentially and circularly receives data in the position compensation array transported by DMA, and circularly stores the data in the position compensation array in the cache array means that within the electrical angle periods of multiple motors, at least two data cache units 121 receive data in the position compensation array transported by DMA according to the time sequence, and circularly store the data in the position compensation array in the cache array.

[0059] Specifically, by way of example, the angle information processing module 120 may include four data cache units 121, and each data cache unit 121 may correspond to a cache array. Optionally, when the number of data cache units 121 is 4 and the number of bits of the cache array is n, the time deviation array is determined in the following manner:

[0060]

[0061] In Equation (3), ErrorTime0[n], ErrorTime1[n], ErrorTime2[n], and ErrorTime3[n] represent the time deviation arrays, and Array0[n], Array1[n], Array2[n], Array3[n], and Array0’[n] represent the buffer arrays.

[0062] Based on this, Figure 6 is a process diagram for generating a time deviation array provided by an embodiment of the present invention. Refer to Figure 6 , after DMA transfer, the first data buffer unit in the angle information processing module generates the first buffer array Array0[n] according to the data in the position compensation array ArrayTime[n]1 generated by the angle acquisition module between the Z1 signal and the Z2 signal; the second data buffer unit in the angle information processing module generates the first buffer array Array1[n] according to the data in the position compensation array ArrayTime[n]2 generated by the angle acquisition module between the Z2 signal and the Z3 signal; the third data buffer unit in the angle information processing module generates the first buffer array Array2[n] according to the data in the position compensation array ArrayTime[n]3 generated by the angle acquisition module between the Z3 signal and the Z4 signal; the fourth data buffer unit in the angle information processing module generates the first buffer array Array3[n] according to the data in the position compensation array ArrayTime[n]4 generated by the angle acquisition module between the Z4 signal and the Z5 signal.

[0063] After that, continue to refer to Figure 6 , the first data buffer unit in the angle information processing module generates the second buffer array Array0[n] according to the data in the position compensation array ArrayTime[n]5 generated by the angle acquisition module between the Z5 signal and the Z6 signal; the second data buffer unit in the angle information processing module generates the second buffer array Array1[n] according to the data in the position compensation array ArrayTime[n]6 generated by the angle acquisition module between the Z6 signal and the Z7 signal; the third data buffer unit in the angle information processing module generates the second buffer array Array2[n] according to the data in the position compensation array ArrayTime[n]7 generated by the angle acquisition module between the Z7 signal and the Z8 signal; the fourth data buffer unit in the angle information processing module generates the second buffer array Array3[n] according to the data in the position compensation array ArrayTime[n]8 generated by the angle acquisition module between the Z8 signal and the Z9 signal.

[0064] It can be seen that Array3[n] in the fourth sub-expression of formula (3) refers to the first cache array Array3[n], and Array0’[n] in the fourth sub-expression of formula (3) represents the second cache array Array0[n].

[0065] Continue to refer to Figure 6 , in the process of generating the above cache arrays, the angle information processing unit subtracts the first cache array Array1[n] from the first cache array Array0[n] to calculate the first time deviation array ErrorTime0[n]; the angle information processing unit subtracts the first cache array Array2[n] from the first cache array Array1[n] to calculate the first time deviation array ErrorTime1[n]; the angle information processing unit subtracts the first cache array Array3[n] from the first cache array Array2[n] to calculate the first time deviation array ErrorTime2[n]; the angle information processing unit subtracts the second cache array Array0[n] from the first cache array Array3[n] to calculate the first time deviation array ErrorTime3[n]; the angle information processing unit subtracts the second cache array Array1[n] from the second cache array Array0[n] to calculate the second time deviation array ErrorTime0[n]; the angle information processing unit subtracts the second cache array Array2[n] from the second cache array Array1[n] to calculate the second time deviation array ErrorTime1[n]; the angle information processing unit subtracts the second cache array Array3[n] from the second cache array Array2[n] to calculate the second time deviation array ErrorTime2[n].

[0066] Specifically, optionally, the angle compensation value is determined in the following manner:

[0067]

[0068] In the formula, ErrorAg0[n], ErrorAg1[n], ErrorAg2[n] and ErrorAg3[n] represent the angle compensation arrays containing the angle compensation values, and K represents the angle compensation coefficient.

[0069] It is known that there are various methods for obtaining the angle compensation coefficient. For example, it can be the on-vehicle calibration method. In this embodiment, optionally, the angle compensation coefficient is obtained through bench calibration. It can be understood that, continue to refer to Figure 4 , the angle compensation values such as errorN[0], errorN[9], errorN

[15] , etc. are the respective array elements in the angle compensation array when n is equal to 16.

[0070] In summary, the embodiments of the present invention can effectively compensate for the motor position. At the same time, compared with the existing motor position compensation solutions, the embodiments of the present invention can also use the DMA resources of the system itself to quickly transfer and process data, which is beneficial to shortening the motor compensation cycle, improving the response speed of motor compensation, and reducing the occupation of system resources.

[0071] Based on the above embodiments, the present invention also provides a method for compensating the motor position. Based on the Figure 1 motor position compensation device shown as follows, Figure 7 FIG. is a flowchart of a method for compensating the motor position provided by an embodiment of the present invention. This embodiment is applicable to the scenarios of motor position compensation and angle control. This method can be, but is not limited to, executed by the motor position compensation device in the embodiments of the present invention as the execution subject, and the execution subject can be implemented in software and / or hardware. As Figure 7 shown, the method for compensating the motor position specifically includes the following steps:

[0072] S610. Through the angle acquisition module, generate a position compensation array according to the system clock signal and the output signal of the position sensor.

[0073] S620. Through the angle information processing module, receive the data in the position compensation array transported by DMA, generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays.

[0074] S630. Through the angle compensation module, calculate the angle compensation values at different time points according to the time deviation array and the cache array.

[0075] In the embodiments of the present invention, through the angle acquisition module, a position compensation array is generated according to the system clock signal and the output signal of the position sensor; through the angle information processing module, the data in the position compensation array transported by DMA is received, a cache array is generated based on the data in the position compensation array, and a time deviation array is calculated according to at least two cache arrays; through the angle compensation module, the angle compensation values at different time points are calculated according to the time deviation array and the cache array. It can be seen that, compared with the existing motor position compensation solutions, the embodiments of the present invention can use the DMA resources of the system itself to quickly transfer and process data, which is beneficial to shortening the motor compensation cycle, improving the response speed of motor compensation, and reducing the occupation of system resources.

[0076] Based on the above embodiments, Figure 8 FIG. is a flowchart of another method for compensating the motor position provided by an embodiment of the present invention. As Figure 8 shown, the method for compensating the motor position specifically includes the following steps:

[0077] S710. Generate a position compensation array through an angle acquisition module according to the system clock signal and the output signal of the position sensor.

[0078] S720. Receive the data in the position compensation array transported by DMA through an angle information processing module, generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two cache arrays.

[0079] S730. Calculate the angle compensation values at different time points through an angle compensation module according to the time deviation array and the cache array.

[0080] S740. Fit an angle compensation curve through an angle compensation module according to the angle compensation values, and output the angle compensation values to the motor control system to perform real-time compensation on the motor position.

[0081] It can be seen that the embodiments of the present invention can effectively compensate the motor position based on the angle compensation values. Compared with the existing motor position compensation solutions, the embodiments of the present invention can also use the DMA resources of the system itself to quickly transport and process data, which is beneficial to shortening the motor compensation cycle, improving the response speed of motor compensation, and reducing the occupation of system resources.

[0082] The embodiments of the present invention also provide a vehicle integrated with the motor position compensation device provided in any embodiment of the present invention, which has the same technical principle and functional effect and will not be elaborated here.

[0083] It should be understood that the various forms of the flow shown above can be reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0084] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A motor position compensation device, characterized in that, It includes an angle acquisition module, an angle information processing module, and an angle compensation module; The angle acquisition module is used to be connected to a position sensor, and generate a position compensation array according to the system clock signal and the output signal of the position sensor; The angle information processing module is connected to the angle acquisition module, and is used to receive the data in the position compensation array transported by direct memory access (DMA), generate a cache array based on the data in the position compensation array, and calculate a time deviation array according to at least two of the cache arrays; The angle compensation module is connected to the angle information processing module, and is used to calculate the angle compensation values at different time points according to the time deviation array and the cache array; The angle information processing module includes at least two data cache units; The data cache unit is used to sequentially and circularly receive the data in the position compensation array transported by DMA, and circularly store the data in the position compensation array in the cache array; When the number of the data cache units is 4 and the number of bits of the cache array is n, the time deviation array is determined by the following method: In the formula, ErrorTime0[n], ErrorTime1[n], ErrorTime2[n], and ErrorTime3[n] represent the time deviation array, and Array0[n], Array1[n], Array2[n], Array3[n], and Array0’[n] represent the cache array; The angle compensation value is determined by the following method: In the formula, ErrorAg0[n], ErrorAg1[n], ErrorAg2[n], and ErrorAg3[n] represent the angle compensation array including the angle compensation value, and K represents the angle compensation coefficient.

2. The device according to claim 1, characterized in that, The angle compensation coefficient is obtained through bench calibration.

3. The device according to claim 1, characterized in that The position sensor uses a rotary encoder, and the decoding chip in the rotary encoder is AU6805.

4. The device according to claim 1, characterized in that, The angle compensation module is further used to fit an angle compensation curve according to the angle compensation value, and output the angle compensation value to the motor control system to perform real-time compensation on the motor position.

5. A method for compensating the position of an electric motor, characterized in that, Using the motor position compensation device described in claim 1 to execute the method, the method includes: Through the angle acquisition module, generating a position compensation array according to the system clock signal and the output signal of the position sensor; Through the angle information processing module, receiving the data in the position compensation array transported by DMA, generating a cache array based on the data in the position compensation array, and calculating a time deviation array according to at least two of the cache arrays; Through the angle compensation module, calculating the angle compensation values at different time points according to the time deviation array and the cache array.

6. The method according to claim 5, characterized in that After calculating the angle compensation values at different time points through the angle compensation module according to the time deviation array and the cache array, it further includes: Through the angle compensation module, fitting an angle compensation curve according to the angle compensation value, and outputting the angle compensation value to the motor control system to perform real-time compensation on the motor position.

7. A vehicle, characterized in that, Integrated with the motor position compensation device as described in any one of claims 1-4.

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