Rotary transformer electrical angle control method and device of motor controller, vehicle and medium

Abstract

The application relates to the technical field of vehicles, in particular to a resolver electrical angle control method and device of a motor controller, a vehicle and a medium, wherein the method comprises the following steps: a first preset reward function is used to calculate a reward value of each motor resolver electrical position reward; an optimal motor resolver electrical position of the motor controller is determined according to a reward value obtained by the reward value using a second preset reward function; and the optimal resolver electrical angle of the motor controller in the motor resolver assembly process is calculated according to the optimal motor resolver electrical position. Thus, the problem that the vehicle energy consumption is deviated due to inconsistent resolver angles is solved, the performance of the mass-produced vehicle is improved, and the use energy consumption of the mass-produced vehicle is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and medium for reversible electro-angle control of a motor controller. Background Technology

[0002] Due to the manufacturing processes of the resolver itself and the motor assembly processes, there can be deviations in the resolver angle even for motors of the same model. During the vehicle matching stage, due to the complexities of the vehicle's transmission system and internal resistance, the resolver angle will not be completely consistent during the self-learning process of the electronic control system, resulting in energy consumption discrepancies between mass-produced vehicles and prototype vehicles.

[0003] In related technologies, calibration engineers can perform self-learning adjustment of the motor status of each test vehicle using a resolver angle to reduce errors caused by installation process precision.

[0004] However, while this method can address the energy consumption discrepancy between mass-produced vehicles and prototypes to some extent, it significantly increases the time and cost of vehicle testing, a problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a method, device, vehicle, and medium for resolver angle control of a motor controller, in order to solve the problem of deviation in vehicle energy consumption caused by inconsistent resolver angles, improve the performance of mass-produced vehicles, and reduce the energy consumption of mass-produced vehicles.

[0006] The first aspect of this application provides a method for controlling the electric angle of a motor controller, comprising the following steps:

[0007] The reward value for each motor resolver position is calculated using the first preset reward function;

[0008] The optimal motor resolver position of the motor controller is determined based on the reward value obtained from the reward value using a second preset reward function; and

[0009] The optimal resolver angle of the motor controller during the motor resolver assembly process is calculated based on the optimal resolver position of the motor.

[0010] Optionally, before calculating the reward value of each motor resolver position reward using the first preset reward function, the method further includes:

[0011] Collect the actual current under the current zero torque condition;

[0012] The current state of the motor controller is determined based on the actual current.

[0013] Optionally, the reward value obtained from the reward value using a second preset reward function further includes:

[0014] Obtain the vehicle's current energy consumption status at the current moment;

[0015] Calculate the energy consumption state from the current moment to the next moment based on the current energy consumption state, obtain the instantaneous reward, and calculate the reward value based on the instantaneous reward and the reward value.

[0016] Optionally, the step of calculating the energy consumption state from the current moment to the next moment based on the current energy consumption state to obtain the instantaneous reward includes:

[0017] The decision value is determined based on the preset rotation angle parameter;

[0018] The instantaneous reward is obtained based on the decision value and the resolver bias parameters under the current energy consumption state.

[0019] Optionally, the second preset reward function is:

[0020] R s =k1 / R e +k2×R m ,

[0021] Among them, R s The return value is given by k1 and k2, which are proportionality coefficients, and R is the return value. e R is the reward value. m This refers to the instantaneous reward.

[0022] A second aspect of this application provides a motor controller's resolver angle control device, comprising:

[0023] The first calculation module is used to calculate the reward value of each motor resolver position return using the first preset reward function;

[0024] The determining module is used to determine the optimal motor resolver position of the motor controller based on the reward value obtained from the reward value using a second preset reward function; and

[0025] The second calculation module is used to calculate the optimal resolver angle of the motor controller during the motor resolver assembly process based on the optimal motor resolver position.

[0026] Optionally, before calculating the reward value of each motor resolver position return using the first preset reward function, the first calculation module further includes:

[0027] The acquisition unit is used to acquire the actual current under the current zero torque state;

[0028] A determining unit is used to determine the current state of the motor controller based on the actual current.

[0029] Optionally, the determining module further includes:

[0030] The acquisition unit is used to acquire the current energy consumption status of the vehicle at the current moment;

[0031] The calculation unit is used to calculate the energy consumption state from the current moment to the next moment based on the current energy consumption state, obtain the instantaneous reward, and calculate the reward value based on the instantaneous reward and the reward value.

[0032] Optionally, the computing unit includes:

[0033] The decision value is determined based on the preset rotation angle parameter;

[0034] The instantaneous reward is obtained based on the decision value and the resolver bias parameters under the current energy consumption state.

[0035] Optionally, the second preset reward function is:

[0036] R s =k1 / R e +k2×R m ,

[0037] Among them, R s The return value is given by k1 and k2, which are proportionality coefficients, and R is the return value. e R is the reward value. m This refers to the instantaneous reward.

[0038] A third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor controller's resolver angle control method as described in the above embodiments.

[0039] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the motor controller's resolver angle control method as described in the above embodiments.

[0040] Therefore, the reward value for each motor resolver position can be calculated using the first preset reward function, and the optimal motor resolver position of the motor controller can be determined based on the reward value obtained using the second preset reward function. Furthermore, the optimal resolver angle of the motor controller during the motor resolver assembly process can be calculated based on the optimal motor resolver position. This solves the problem of deviations in vehicle energy consumption caused by inconsistent resolver angles, improves the performance of mass-produced vehicles, and reduces the energy consumption of mass-produced vehicles.

[0041] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0042] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0043] Figure 1 This is a flowchart of a motor controller's resolver angle control method according to an embodiment of this application;

[0044] Figure 2 This is an example diagram of the interface for motor resolver bias parameters according to an embodiment of this application;

[0045] Figure 3 This is a flowchart of an electronic control algorithm according to an embodiment of this application;

[0046] Figure 4 This is an example diagram of a resolver angle control device for a motor controller according to an embodiment of this application;

[0047] Figure 5 A schematic diagram of the vehicle structure provided in the application embodiment. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0049] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and medium for controlling the resolver angle of a motor controller according to embodiments of this application. Addressing the issue of vehicle energy consumption deviation caused by inconsistent resolver angles mentioned in the background section, this application provides a method for controlling the resolver angle of a motor controller. In this method, a reward value for each motor resolver position is calculated using a first preset reward function. The optimal resolver position of the motor controller is determined based on the reward value obtained using a second preset reward function. Furthermore, the optimal resolver angle of the motor controller during the motor resolver assembly process is calculated based on the optimal resolver position. This solves the problem of vehicle energy consumption deviation caused by inconsistent resolver angles, improves the performance of mass-produced vehicles, and reduces the energy consumption of mass-produced vehicles.

[0050] Specifically, Figure 1 This is a flowchart illustrating a motor controller's resolver angle control method provided in an embodiment of this application.

[0051] In this embodiment, a reinforcement learning algorithm is employed. First, the motor resolver position decision is considered as a Markov model problem, and a four-element decision process (MDP, Markov Decision Process) is established.<S,A,R,P> .in,

[0052] S: is a finite and discrete state machine that describes the vehicle's operating state under the current rotation angle position state decision algorithm;

[0053] A: Given a finite set of discrete decisions, describe the decision-making algorithm used by the motor controller;

[0054] R: is the reward function after taking the current resolvent decision A, describing the reward value of taking the current resolvent algorithm;

[0055] P: is the state transition probability matrix, used to describe the probability of trying a new position algorithm.

[0056] Let R(s) t ,a,s t+1 ( ) represents the current energy consumption state of the vehicle at the current time t. t At that time, a resolver position decision a is made to adjust the current energy consumption state s. t Transition to the next energy consumption state s t+1 The instantaneous reward obtained afterward; denoted as P(s) t ,a,s t+1 ) represents the vehicle's current energy consumption state s t The resolver algorithm is executed to make a decision 'a' so that the vehicle reaches the energy consumption state 's' at the next time step. t+1 The probability of.

[0057] Specifically, such as Figure 1 As shown, the motor controller's resolver angle control method includes the following steps:

[0058] In step S101, the reward value of each motor resolver position reward is calculated using the first preset reward function.

[0059] The first preset reward function can be:

[0060] R e =|U d |(r=500; and N=0);

[0061] Where r is the current speed of the motor, N is the current torque of the motor, and U d U represents the d-axis voltage derived from the algorithm. d =R s i d -ωL q i q.

[0062] Therefore, in some embodiments, before calculating the reward value of each motor resolver position reward using the first preset reward function, the method further includes: acquiring the actual current in the current zero torque state; and determining the current state of the motor controller based on the actual current.

[0063] It should be understood that adopting different resolver angle positions directly causes inaccurate zero-position of the motor, thereby reducing energy consumption during operation. The current parameter control under the current zero-torque state is used as the current state, and the parameter I is set in the S set. d I q .

[0064] It should be noted that, assuming the resolver angle is accurate, when operating in the weak magnetic region and the torque is 0, U d =0, if there is a deviation in the physical angle of the refractive index, then U d ≠0, the greater the physical deviation, the greater U d The larger the value, the better. This first preset return function can maximize the matching between the resolver electrical angle and the actual physical angle. R e The smaller the value, the more accurate the angle matching of the resolver, and therefore the less power loss.

[0065] In step S102, the optimal motor resolver position of the motor controller is determined based on the reward value obtained from the reward value using the second preset reward function.

[0066] Optionally, in some embodiments, the reward value obtained by using a second preset reward function from the reward value further includes: obtaining the current energy consumption state of the vehicle at the current moment; calculating the energy consumption state from the current moment to the next moment based on the current energy consumption state to obtain an instantaneous reward; and calculating the reward value based on the instantaneous reward and the reward value.

[0067] Optionally, in some embodiments, calculating the energy consumption state from the current moment to the next moment based on the current energy consumption state to obtain an instantaneous reward includes: determining a decision value based on a preset resolver angle parameter; and obtaining an instantaneous reward based on the decision value and the resolver bias parameter in the current energy consumption state.

[0068] Specifically, at the current moment, using the host computer as the interface, as follows: Figure 2 As shown, the parameter set by the resolver angle is defined as the decision value, and the parameter set in set A is a = motor resolver bias parameter. The formula for calculating the instantaneous reward can be as follows:

[0069] R m =|a m -a s |;

[0070] Among them, a mTo set the initial parameters for the resolver bias (i.e., the preset resolver angle parameters), a s These are the resolver bias parameters under the current energy consumption state.

[0071] It should be noted that the instantaneous reward represents the probability of bias error from the original set parameters, R. m The larger the value, the smaller the probability.

[0072] Optionally, in some embodiments, the second preset reward function is:

[0073] R s =k1 / R e +k2×R m ,

[0074] Among them, R s R represents the return value, k1 and k2 are proportionality coefficients, and R is the return value. e R is the reward value. m For an instant reward.

[0075] Specifically, the second preset reward function represents the impact of the current resolver bias parameters on the vehicle's energy consumption behavior and is a key decision-making factor in the Q-learning algorithm. The second preset reward function mainly considers the following two aspects: (1) the energy consumption economy under the current state; and (2) the mechanical deviation is within 5%, and the vehicle's resolver angle position cannot be excessively adjusted.

[0076] Furthermore, the values ​​of k1 and k2 can be set according to the actual situation, without specific limitations here. After calculating the reward value and instantaneous reward, the reward value in the current state is obtained by adjusting the size of the proportional coefficient. At this time, the optimal motor resolver position of the motor controller can be determined accordingly.

[0077] In step S103, the optimal resolver angle of the motor controller during the motor resolver assembly process is calculated based on the optimal motor resolver position.

[0078] It should be understood that the embodiments of this application may have a preset mapping relationship between the motor resolver position and the resolver angle. After the optimal motor resolver position is determined according to the above steps, the optimal resolver angle during the motor resolver assembly process can be obtained by querying the above mapping relationship.

[0079] Furthermore, the flowchart of the resolver angle control method for the motor controller in this application embodiment, which incorporates the electronic control algorithm, is shown below. Figure 3As shown, the resolver electric angle control method is applied to the resolver position decision algorithm module. That is to say, when the required torque is 0, the resolver electric angle control method of the motor controller is executed. This method regards the optimization process of resolver angle position as a Markov decision process. By establishing a reward function, the reward value of different behavior rewards is increased to find the optimal decision of resolver position parameters.

[0080] The motor controller resolver angle control method proposed in this application can calculate the reward value of each motor resolver position using a first preset reward function, determine the optimal motor resolver position based on the reward value obtained from the reward value using a second preset reward function, and calculate the optimal resolver angle of the motor controller during the motor resolver assembly process based on the optimal motor resolver position. This solves the problem of deviations in vehicle energy consumption caused by inconsistent resolver angles, improves the performance of mass-produced vehicles, and reduces the energy consumption of mass-produced vehicles.

[0081] Next, referring to the accompanying drawings, a motor controller reversible angle control device according to an embodiment of this application is described.

[0082] Figure 4 This is a block diagram of the resolver angle control device of the motor controller according to an embodiment of this application.

[0083] like Figure 4 As shown, the motor controller's resolver angle control device 10 includes: a first calculation module 100, a determination module 200, and a second calculation module 300.

[0084] The first calculation module 100 is used to calculate the reward value of each motor resolver position return using the first preset reward function;

[0085] The determining module 200 is used to determine the optimal motor resolver position of the motor controller based on the reward value obtained from the reward value using a second preset reward function; and

[0086] The second calculation module 300 is used to calculate the optimal resolver angle of the motor controller during the motor resolver assembly process based on the optimal motor resolver position.

[0087] Optionally, before calculating the reward value for each motor resolver position reward using the first preset reward function, the first calculation module 100 further includes:

[0088] The acquisition unit is used to acquire the actual current under the current zero torque state;

[0089] The first determining unit is used to determine the current state of the motor controller based on the actual current.

[0090] Optionally, the determining module 200 further includes:

[0091] The acquisition unit is used to acquire the current energy consumption status of the vehicle at the current moment;

[0092] The calculation unit is used to calculate the energy consumption state from the current moment to the next moment based on the current energy consumption state, obtain the instantaneous reward, and calculate the return value based on the instantaneous reward and the reward value.

[0093] Optionally, the computing unit includes:

[0094] The decision value is determined based on the preset rotation angle parameter;

[0095] The instantaneous reward is obtained based on the decision value and the resolver bias parameters under the current energy consumption state.

[0096] Optionally, the second preset reward function is:

[0097] R s =k1 / R e +k2×R m ,

[0098] Among them, R s R represents the return value, k1 and k2 are proportionality coefficients, and R is the return value. e R is the reward value. m For an instant reward.

[0099] It should be noted that the foregoing explanation of the resolver angle control method embodiment for the motor controller also applies to the resolver angle control device for the motor controller in this embodiment, and will not be repeated here.

[0100] The motor controller resolver angle control device proposed in this application can calculate the reward value of each motor resolver position using a first preset reward function, determine the optimal motor resolver position of the motor controller based on the reward value obtained from the reward value using a second preset reward function, and calculate the optimal resolver angle of the motor controller during the motor resolver assembly process based on the optimal motor resolver position. This solves the problem of deviations in vehicle energy consumption caused by inconsistent resolver angles, improves the performance of mass-produced vehicles, and reduces the energy consumption of mass-produced vehicles.

[0101] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0102] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0103] When the processor 502 executes the program, it implements the motor controller's resolver angle control method provided in the above embodiments.

[0104] Furthermore, the vehicle also includes:

[0105] Communication interface 503 is used for communication between memory 501 and processor 502.

[0106] The memory 501 is used to store computer programs that can run on the processor 502.

[0107] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0108] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0109] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0110] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0111] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described motor controller's resolver angle control method.

[0112] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0113] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0114] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0115] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0116] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A method for controlling the electric angle of a motor controller, characterized in that, Includes the following steps: The reward value for each motor resolver position is calculated using the first preset reward function; The first preset reward function is: R e =| U d |( r =500; and N =0); in, As a reward value, r This is the current speed of the motor. N U represents the current torque of the motor. d This represents the d-axis voltage obtained from the algorithm; The optimal motor resolver position of the motor controller is determined based on the reward value obtained from the reward value using a second preset reward function. The reward value obtained by using the second preset reward function based on the reward value includes: obtaining the current energy consumption state of the vehicle at the current moment; calculating the energy consumption state from the current moment to the next moment based on the current energy consumption state to obtain the instantaneous reward; and calculating the reward value based on the instantaneous reward and the reward value. The second preset reward function is: ， in, For the reward value, and This is the proportionality coefficient. As a reward value, For instantaneous reward, the instantaneous reward represents the probability of offset error from the original set parameter; The step of determining the optimal motor resolver position of the motor controller based on the reward value obtained from the reward value using a second preset reward function includes: After calculating the reward value and instantaneous reward, the reward value under the current state is obtained by adjusting the size of the proportional coefficient. At this point, the optimal motor resolver position of the motor controller can be determined accordingly. as well as The optimal resolver angle of the motor controller during the motor resolver assembly process is calculated based on the optimal resolver position of the motor.

2. The method according to claim 1, characterized in that, Before calculating the reward value of each motor resolver position return using the first preset reward function, the method further includes: Collect the actual current under the current zero torque condition; The current state of the motor controller is determined based on the actual current.

3. The method according to claim 1, characterized in that, The step of calculating the energy consumption state from the current moment to the next moment based on the current energy consumption state, and obtaining the instantaneous reward, includes: The decision value is determined based on the preset rotation angle parameter; The instantaneous reward is obtained based on the decision value and the resolver bias parameters under the current energy consumption state.

4. A motor controller's resolver angle control device, characterized in that, The resolver angle control device is used to execute the resolver angle control method of the motor controller according to any one of claims 1-3, including: The first calculation module is used to calculate the reward value of each motor resolver position return using the first preset reward function; The determining module is used to determine the optimal motor resolver position of the motor controller based on the reward value obtained from the reward value using a second preset reward function; and The second calculation module is used to calculate the optimal resolver angle of the motor controller during the motor resolver assembly process based on the optimal motor resolver position.

5. The apparatus according to claim 4, characterized in that, Before calculating the reward value of each motor resolver position reward using the first preset reward function, the calculation module further includes: The acquisition unit is used to acquire the actual current under the current zero torque state; A determining unit is used to determine the current state of the motor controller based on the actual current.

6. The apparatus according to claim 4, characterized in that, The determining module further includes: The acquisition unit is used to acquire the current energy consumption status of the vehicle at the current moment; The calculation unit is used to calculate the energy consumption state from the current moment to the next moment based on the current energy consumption state, obtain the instantaneous reward, and calculate the reward value based on the instantaneous reward and the reward value.

7. A vehicle, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the resolver angle control method of the motor controller as described in any one of claims 1-3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the motor controller's resolver angle control method as described in any one of claims 1-3.

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