A rotor information determination method, device, readable medium and electronic equipment

Abstract

The application discloses a kind of rotor information determination method, device, readable medium and electronic equipment, comprising: determining the input signal of resolver, sampling obtains the first direct sampling output signal and the second direct sampling output signal of the resolver;According to the input signal, the first direct sampling output signal and the second direct sampling output signal, determine first modulation output signal and second modulation output signal;According to the first modulation output signal, determine corresponding first envelope function;According to the second modulation output signal, determine corresponding second envelope function;According to the first envelope function and the second envelope function, determine rotor information;Through the modulation processing of the output signal of direct sampling, and through the output signal solving mode different from prior art, it is realized to avoid the influence of various errors in operation, improve the accuracy and calculation efficiency of determining rotor information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronics, and in particular to a rotor information determination method and device, readable medium and electronic equipment. BACKGROUND

[0002] A resolver is an angular position sensor based on electromagnetic induction principle. By resolving the output signal of the resolver, the rotor information of the motor, i.e. the instantaneous angle of the motor rotor, can be calculated.

[0003] However, due to the characteristics of the electronic equipment, the output signal of the resolver will have a certain error. In the resolving process, the error will affect the accuracy of the resolving result. In the prior art, the specific value of such error is usually calculated quantitatively in combination with the characteristics of the electronic equipment. Then the value of the error is corrected inversely in the resolving process, so as to offset the influence of the error.

[0004] The defect of the prior art is that the process of quantitatively calculating the specific value of the error and the process of inversely correcting the value of the error are very cumbersome, the calculation amount is very large, and the efficiency is relatively low. That is to say, there is a lack of a technical solution in the prior art which can offset the error simply and efficiently, so as to accurately determine the rotor information. SUMMARY

[0005] The present application provides a rotor information determination method, device, readable medium and electronic equipment, which can efficiently realize error offsetting, so as to accurately determine the rotor information.

[0006] In a first aspect, the present application provides a rotor information determination method, comprising:

[0007] determining an input signal of a resolver, and sampling to obtain a first direct sampling output signal and a second direct sampling output signal of the resolver;

[0008] determining a first modulation output signal and a second modulation output signal according to the input signal, the first direct sampling output signal and the second direct sampling output signal;

[0009] determining a corresponding first envelope function according to the first modulation output signal, and determining a corresponding second envelope function according to the second modulation output signal;

[0010] determining rotor information according to the first envelope function and the second envelope function.

[0011] Preferably, the determining the first modulation output signal and the second modulation output signal according to the input signal, the first direct-sampling output signal and the second direct-sampling output signal comprises:

[0012] determining the first modulation output signal by modulating operation with the input signal and the first direct-sampling output signal;

[0013] determining the second modulation output signal by modulating operation with the input signal and the second direct-sampling output signal.

[0014] Preferably, the determining the first envelope function according to the first modulation output signal and the determining the second envelope function according to the second modulation output signal comprises:

[0015] integrating the first modulation output signal to determine the first envelope function;

[0016] integrating the second modulation output signal to determine the second envelope function.

[0017] Preferably, the determining the rotor information according to the first envelope function and the second envelope function comprises:

[0018] determining the instantaneous angle of the motor rotor by arctangent operation with the first envelope function and the second envelope function;

[0019] determining the instantaneous angle of the motor rotor as the rotor information.

[0020] Preferably, before the determining the rotor information according to the first envelope function and the second envelope function, the method further comprises:

[0021] linear error correcting the first envelope function by a first correction coefficient;

[0022] linear error correcting the second envelope function by a second correction coefficient.

[0023] Preferably, the method further comprises:

[0024] pre-determining the first correction coefficient and the second correction coefficient by data training.

[0025] Preferably, the determining the first correction coefficient and the second correction coefficient comprises:

[0026] determining a first initial coefficient and a second initial coefficient;

[0027] determining to-be-verified information by the first initial coefficient, the second initial coefficient, the first envelope function and the second envelope function;

[0028] adjust the first initial coefficient and / or the second initial coefficient when the to-be-verified information satisfies the first preset condition;

[0029] determine the first modified coefficient as the first initial coefficient after adjustment and determine the second modified coefficient as the second initial coefficient after adjustment when the to-be-verified information does not satisfy the first preset condition.

[0030] In a second aspect, the present application provides a rotor information determination apparatus, comprising:

[0031] an input signal determination module configured to determine an input signal of a rotary transformer;

[0032] an output signal sampling module configured to sample a first direct-sampling output signal and a second direct-sampling output signal of the rotary transformer;

[0033] a signal modulation module configured to determine a first modulation output signal and a second modulation output signal according to the input signal, the first direct-sampling output signal and the second direct-sampling output signal;

[0034] an envelope function determination module configured to determine a corresponding first envelope function according to the first modulation output signal and determine a corresponding second envelope function according to the second modulation output signal;

[0035] a rotor information determination module configured to determine rotor information according to the first envelope function and the second envelope function.

[0036] In a third aspect, the present application provides a readable medium comprising execution instructions, when a processor of an electronic device executes the execution instructions, the electronic device executes the method according to any one of the first aspect.

[0037] In a fourth aspect, the present application provides an electronic device comprising a processor and a memory storing execution instructions, when the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of the first aspect.

[0038] The present application provides a rotor information determination method, apparatus, readable medium and electronic device, through modulation processing of the direct-sampling output signal and through an output signal solving manner different from the prior art, direct current bias error is filtered out in operation, thereby avoiding the influence of direct current bias error on operation accuracy; in addition, the specific value of the quantitative calculation of direct current bias error and the cumbersome process of reverse compensation operation are also avoided; the accuracy and calculation efficiency of determining rotor information are improved.

[0039] The further effects of the above-mentioned non-conventional preferred modes will be described in the following in combination with the specific embodiments. Attached Figure Description

[0040] To more clearly illustrate the embodiments of the present invention or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the input and output signals of an RDC in the prior art;

[0042] Figure 2 This is a schematic diagram of the envelope of the RDC output signal in the prior art;

[0043] Figure 3 This is a schematic diagram illustrating the error of the RDC input signal in the prior art;

[0044] Figure 4 This is a flowchart illustrating a rotor information determination method according to an embodiment of the present invention.

[0045] Figure 5 A flowchart illustrating another rotor information determination method provided in an embodiment of the present invention.

[0046] Figure 6 This is a schematic diagram of a rotor information determination device according to an embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0049] A resolver-to-digital converter (RDC) is an angular position sensor based on the principle of electromagnetic induction. By processing the output signal of the RDC, the rotor information of the motor, that is, the instantaneous angle of the motor rotor, can be calculated.

[0050] Structurally, an RDC mainly consists of a rotor winding fixed to the motor shaft and rotating with the motor, and two stator windings perpendicular to each other. In use, a sinusoidal input signal can be input to the rotor winding. Then, as the rotor winding rotates synchronously with the motor rotor, an induced current is generated in each stator winding. This induced current serves as the output signal of the RDC. Typically, the input signal can be represented as U. IN The output signals on the two stator windings can be represented as U. OUT1 and U OUT2 ,like Figure 1 As shown. In Figure 1 In the coordinate system, the horizontal axis represents time; the vertical axis represents the amplitude of the input and output signals.

[0051] The input and output signals, based on trigonometric relationships, can theoretically be represented as follows:

[0052] U IN =sin(ωt); U OUT1 =sinθ*sin(ωt); U OUT2 =cosθ*sin(ωt).

[0053] Where ω represents the frequency of the sinusoidal input signal; t represents time, i.e. Figure 1 The horizontal axis in the equation represents the angle of the motor rotor, which is the rotor information that needs to be solved.

[0054] In existing technologies, the output signal U can be calculated separately. OUT1 and U OUT2 The envelope of the vector. This envelope can be expressed as: km*sinθ and kn*cosθ, where km and kn are constant coefficients determined after calculation, such as... Figure 2 As shown. Figure 2 The dashed curves in the diagram represent the envelope lines km*sinθ and kn*cosθ. Then, the arctangent of the envelope lines is calculated to obtain the angle θ.

[0055] That is, θ=arctan(km*sinθ / kn*cosθ).

[0056] The above calculation process is well known in this field. Therefore, it will not be elaborated further here.

[0057] Due to the characteristics of electronic devices, the output signal of an RDC (Reverse DC oscillation converter) will contain certain errors. In practice, these errors typically include three types: DC bias error ΔVdc, phase shift error Δt, and amplitude gain error ΔA.

[0058] like Figure 3 As shown, Figure 3 The sine wave diagram in the image represents the output signal of the RDC.Figure 3 In the coordinate system, the horizontal axis represents time; the vertical axis represents the amplitude of the output signal. Through... Figure 1 It can be seen that the DC bias error ΔVdc reflects the overall offset error of the output signal relative to the horizontal axis. The phase shift error Δt reflects the overall offset error of the output signal relative to the vertical axis. The amplitude gain error ΔA represents the numerical error of the signal amplitude at various points in the output signal (where A represents the true signal amplitude).

[0059] In practice, it has been found that the DC bias error ΔVdc usually has the most significant impact on the accuracy of subsequent calculations and is the error problem that needs to be addressed first.

[0060] In existing technologies, it is usually necessary to quantitatively calculate the specific value of such errors by considering the characteristics of the electronic device. Then, the error value is reverse-corrected into the solution process to offset the impact of the error. The drawback of existing technologies is that both the quantitative calculation of the specific error value and the reverse correction process are very cumbersome, computationally intensive, and relatively inefficient.

[0061] In view of this, the present invention provides a method for determining rotor information. See also Figure 4 The image shows a specific embodiment of the rotor information determination method provided by the present invention. In this embodiment, the method includes:

[0062] Step 401: Determine the input signal of the rotary transformer and sample the first and second direct sampling output signals of the rotary transformer.

[0063] Since the input signal of an RDC is usually manually set, meaning that its frequency, amplitude, timing, and other information are all known, in this embodiment, the input signal can be directly obtained based on the actual settings. Of course, in other cases, it may also be obtained by sampling the input signal of the RDC. In this embodiment, the input signal is represented as U. IN .

[0064] Based on the aforementioned basic working principle of RDC, it is known that the input signal is a sinusoidal excitation signal. Therefore, similarly to the above, in this embodiment, U IN = sin(ωt); ω represents the frequency of the input signal; t represents the time.

[0065] The output signals are obtained by directly sampling from the two stator windings of the RDC, namely the first direct sampling output signal and the second direct sampling output signal. In this embodiment, the first direct sampling output signal is represented as U1; the second direct sampling output signal is represented as U2.

[0066] It should be noted that, due to the characteristics of electronic equipment, there will be certain errors in the first and second direct sampling output signals, which are not the theoretical true values. The error that has the greatest impact on the accuracy of rotor information is the DC bias error ΔVdc. The purpose of the method in this embodiment is to efficiently filter out the influence of the DC bias error ΔVdc while determining the rotor information.

[0067] Therefore, in this embodiment, the influence of other errors can be ignored for the time being, and only the DC bias error ΔVdc is considered. That is, U1 is considered to be U 1TURE +ΔVdc;U2=U 2TURE +ΔVdc; where U 1TURE and U 2TURE This represents the theoretical true value of the output signal of the two stator windings.

[0068] In this field, theoretically, the true value of the stator winding output signal can be considered as follows:

[0069] U 1TURE =U OUT1 =sinθ*sin(ωt);

[0070] U 2TURE =U OUT2 =cosθ*sin(ωt).

[0071] It should also be noted that the sampling frequency of the first and second direct-sampled output signals should be greater than the frequency of the input signal. That is, the first and second direct-sampled output signals should be sampled multiple times within one sinusoidal period of the input signal to ensure that they have sufficient resolution.

[0072] Step 402: Determine the first modulation output signal and the second modulation output signal based on the input signal, the first direct sampling output signal, and the second direct sampling output signal.

[0073] In this embodiment, in order to filter out the influence of DC bias error ΔVdc, the input signal is used to further modulate the first direct acquisition output signal and the second direct acquisition output signal.

[0074] Specifically, modulation operations can be performed using the input signal and the first direct-sampled output signal to determine the first modulated output signal. Modulation operations can then be performed using the input signal and the second direct-sampled output signal to determine the second modulated output signal.

[0075] The specific operation process of the above modulation operation, namely U3 = U IN *U1;U4=U IN*U2; where U3 represents the first modulation output signal and U4 represents the second modulation output signal.

[0076] Step 403: Determine the corresponding first envelope function based on the first modulation output signal; determine the corresponding second envelope function based on the second modulation output signal.

[0077] Taking the calculation process for the first modulated output signal as an example. Specifically, the first modulated output signal can be integrated to determine the first envelope function. The formula is shown below:

[0078]

[0079] Where, k sin sinθ represents the first envelope function, k sin T is a constant coefficient; E (n)T represents the time period of the input signal; E (n+1)T represents the nth period of the input signal. E This represents the (n+1)th cycle of the input signal.

[0080] Then, substituting the aforementioned formula, we get:

[0081]

[0082] Then, based on the fact that the integral of the sine and cosine functions over one period is 0, further mathematical operations can be performed to obtain:

[0083] k can then be obtained. sin =0.5T E .

[0084] Similarly, it can be calculated that:

[0085] k can then be obtained. cos =0.5T E .

[0086] Where, k cos cosθ represents the second envelope function, k cos is a constant coefficient.

[0087] The above process is a standard mathematical calculation and will not be elaborated upon here. However, it can be proven that in the above calculation process, all terms in the first and second envelope functions that contain the DC bias error ΔVdc can be eliminated. In other words, the first and second envelope functions calculated according to the above algorithm are no longer correlated with the DC bias error ΔVdc, thus filtering out the influence of the DC bias error ΔVdc.

[0088] Step 404: Determine the rotor information based on the first envelope function and the second envelope function.

[0089] In this embodiment, the arctangent operation can be performed using the first envelope function and the second envelope function to determine the instantaneous angle of the motor rotor.

[0090] Right now

[0091] Thus, the instantaneous angle θ of the motor rotor has been calculated in this embodiment. Furthermore, the instantaneous angle θ of the motor rotor can be determined as rotor information. Following the above method, this embodiment completes the process of obtaining rotor information through the output signal of the RDC.

[0092] As can be seen from the above technical solutions, the beneficial effects of this embodiment are: by modulating the output signal of the direct sampling and by using an output signal calculation method different from the existing technology, the DC bias error is filtered out in the calculation, thereby avoiding the impact of the DC bias error on the calculation accuracy; in addition, it also avoids the tedious process of quantitatively calculating the specific value of the DC bias error and performing reverse compensation calculation; and improves the accuracy of determining rotor information and calculation efficiency.

[0093] Figure 4 The embodiments shown are merely basic examples of the method described in this invention. Further optimization and extensions can lead to other preferred embodiments of the method.

[0094] like Figure 5 The image shows another specific embodiment of the rotor information determination method of the present invention. This embodiment is a further description based on the foregoing embodiments. In this embodiment, the method includes the following steps:

[0095] Step 501: Determine the input signal of the rotary transformer and sample the first and second direct sampling output signals of the rotary transformer.

[0096] Step 502: Determine the first modulation output signal and the second modulation output signal based on the input signal, the first direct sampling output signal, and the second direct sampling output signal.

[0097] Step 503: Determine the corresponding first envelope function based on the first modulation output signal; determine the corresponding second envelope function based on the second modulation output signal.

[0098] The content of steps 501 to 503 above is the same as... Figure 4 The corresponding steps in the illustrated embodiments are consistent and will not be repeated here. According to... Figure 4As can be seen from the illustrated embodiment, the influence of DC bias error ΔVdc has been filtered out in the first envelope function and the second envelope function.

[0099] In reality, although the effects of phase shift error Δt and amplitude gain error ΔA are weaker than those of DC bias error ΔVdc, their influence still objectively exists. In some cases where computational accuracy requirements are low, the effects of phase shift error Δt and amplitude gain error ΔA can be directly ignored. However, in other cases where computational accuracy requirements are high, the influence of phase shift error Δt and amplitude gain error ΔA can be further addressed according to the technical solutions described later in this embodiment.

[0100] Step 504: Use the first correction coefficient to correct the linear error of the first envelope function.

[0101] Step 505: Use the second correction coefficient to correct the linearity error of the second envelope function.

[0102] It is well known in the art that both the phase shift error Δt and the amplitude gain error ΔA are linear errors for the envelope function. Therefore, the influence of the phase shift error Δt and the amplitude gain error ΔA can be minimized by linearly correcting the envelope function.

[0103] That is, by using a predetermined first correction coefficient, the first envelope function k is... sin sinθ is linearly corrected to k1(k sin sinθ)+k2. Here, k1 and k2 are the first correction coefficients, and their values ​​are constants. In other words, through linear correction, the overall position of the first envelope function in the Cartesian coordinate system can be adjusted while ensuring that the curve shape itself remains unchanged, thereby compensating for the linear shift caused by the phase shift error Δt and the amplitude gain error ΔA.

[0104] Similarly, the second envelope function k can also be adjusted using a predetermined second correction coefficient. cos cosθ is linearly corrected to k3(k cos cosθ)+k4. Here, k3 and k4 are the second correction coefficients, and their values ​​are constants. Similarly, through linear correction, while ensuring that the curve shape of the second envelope function itself remains unchanged, its overall position in the rectangular coordinate system can be adjusted, thereby compensating for the linear shift caused by the phase shift error Δt and the amplitude gain error ΔA.

[0105] This embodiment does not limit the method for determining the first and second correction coefficients. Any method that can achieve the same or similar effect can be incorporated into the overall technical solution of this application. For example, in some cases, the first and second correction coefficients can be manually set based on experience. In other cases, the first and second correction coefficients can be predetermined using data training.

[0106] The following example illustrates the process of determining the first and second correction coefficients using data training:

[0107] Determine the first initial coefficient and the second initial coefficient; use the first initial coefficient, the second initial coefficient, the first envelope function, and the second envelope function to determine the information to be verified; when the information to be verified meets the first preset condition, adjust the first initial coefficient and / or the second initial coefficient; when the information to be verified does not meet the first preset condition, determine the adjusted first initial coefficient as the first correction coefficient, and determine the adjusted second initial coefficient as the second correction coefficient.

[0108] During data training, first and second initial coefficients can be randomly determined. Then, similarly, the first and second envelope functions are linearly corrected based on these coefficients. Using the corrected envelope functions, subsequent steps are performed to complete the calculation and obtain the instantaneous angle θ of the motor rotor. This calculated instantaneous angle θ is called the information to be verified. Since the first and second initial coefficients are randomly generated, the information to be verified is highly likely to be inaccurate.

[0109] During data training, the true angle θ of the motor rotor can be measured on a standard testing bench. TURE The true angle θ of the motor rotor TURE Its function is similar to "labeling" in supervised learning training, which can be regarded as the "correct answer" of RDC solution. Therefore, under ideal conditions, the information to be verified (that is, the calculated angle value θ) should be close to the true angle θ. TURE equal.

[0110] Therefore, in this embodiment, it is assumed that if the information to be verified is consistent with the true angle θ TURE If the difference is greater than a specific threshold, the information to be verified has a large error and does not meet the requirements, i.e., it meets the first preset condition. At this point, it is determined that the values ​​of the first and second initial coefficients are incorrect, so the values ​​of the first and second initial coefficients are further adjusted. The above process is then repeated using the adjusted values.

[0111] Until the information to be verified matches the true angle θ TUREIf the difference is less than a specific threshold, the information to be verified can be considered sufficiently accurate and meets the requirements, meaning the first preset condition is no longer satisfied. At this point, the first and second initial coefficients obtained after the last adjustment can be determined as the first and second correction coefficients.

[0112] Step 506: Determine the rotor information based on the first envelope function and the second envelope function after linear error correction.

[0113] The content in this step is related to Figure 4 The corresponding steps in the illustrated embodiments are identical and will not be repeated here.

[0114] As can be seen from the above technical solutions, the beneficial effects of this embodiment, based on the aforementioned embodiments, are: it greatly reduces the impact of phase shift error and amplitude gain error, further improves the accuracy of determining rotor information, and meets the requirements of high-precision scenarios.

[0115] like Figure 6 The image shows a specific embodiment of the rotor information determination device described in this invention. The device described in this embodiment is used to perform... Figure 4-5 The physical apparatus of the method is essentially the same as that in the above embodiments, and the corresponding descriptions in the above embodiments also apply to this embodiment. The apparatus in this embodiment includes:

[0116] The input signal determination module 601 is used to determine the input signal of the rotary transformer.

[0117] The output signal sampling module 602 is used to sample the first and second direct sampling output signals of the rotary transformer.

[0118] The signal modulation module 603 is used to determine the first modulation output signal and the second modulation output signal based on the input signal, the first direct sampling output signal and the second direct sampling output signal.

[0119] The envelope function determination module 604 is used to determine the corresponding first envelope function based on the first modulation output signal and to determine the corresponding second envelope function based on the second modulation output signal.

[0120] The rotor information determination module 605 is used to determine rotor information based on the first envelope function and the second envelope function.

[0121] In addition Figure 6 Based on the illustrated embodiments, preferably, it also includes:

[0122] The signal modulation module 603 includes:

[0123] The first modulation unit 631 is used to perform modulation operations using the input signal and the first direct sampling output signal to determine the first modulation output signal.

[0124] The second modulation unit 632 is used to perform modulation operations using the input signal and the second direct sampling output signal to determine the second modulation output signal.

[0125] The envelope function determination module 604 includes:

[0126] The first envelope function determination unit 641 is used to perform an integral operation on the first modulated output signal to determine the first envelope function.

[0127] The second envelope function determination unit 642 is used to perform an integral operation on the second modulated output signal to determine the second envelope function.

[0128] Also includes:

[0129] The linear error correction module 606 is used to perform linear error correction on the first envelope function using a first correction coefficient and on the second envelope function using a second correction coefficient.

[0130] The data training module 607 is used to train data and predetermine the first correction coefficient and the second correction coefficient.

[0131] Data training module 607 includes:

[0132] The initial coefficient determination unit 671 is used to determine the first initial coefficient and the second initial coefficient.

[0133] The verification information determination unit 672 is used to determine the verification information using the first initial coefficient, the second initial coefficient, the first envelope function, and the second envelope function.

[0134] Training unit 673 is used to adjust the first initial coefficient and / or the second initial coefficient when the information to be verified meets the first preset condition; and to determine the adjusted first initial coefficient as the first correction coefficient and the adjusted second initial coefficient as the second correction coefficient when the information to be verified does not meet the first preset condition.

[0135] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include main memory, such as high-speed random-access memory (RAM), or it may also include non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for other services.

[0136] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0137] Memory is used to store instructions for execution. Specifically, instructions for execution are computer programs that can be executed. Memory can include main memory and non-volatile memory, and it provides the processor with execution instructions and data.

[0138] In one possible implementation, the processor reads the corresponding execution instructions from non-volatile memory into main memory and then executes them. Alternatively, it may obtain the corresponding execution instructions from other devices to form a rotor information determination device at the logical level. The processor executes the execution instructions stored in the memory to implement the rotor information determination method provided in any embodiment of the present invention through the executed execution instructions.

[0139] The above is as described in the present invention. Figure 6 The method executed by the rotor information determination device provided in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0140] The steps of the method disclosed in the embodiments of this invention can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0141] This invention also proposes a readable medium storing execution instructions. When these instructions are executed by a processor of an electronic device, the electronic device can perform the rotor information determination method provided in any embodiment of this invention, specifically for performing tasks such as... Figure 4 or Figure 5 The method shown.

[0142] The electronic devices described in the foregoing embodiments may be computers.

[0143] Those skilled in the art will understand that embodiments of the present invention can be provided as methods or computer program products. Therefore, the present invention can be implemented in a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0144] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0145] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0146] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for determining rotor information, characterized in that, include: The input signal of the rotary transformer is determined, and the first and second direct sampling output signals of the rotary transformer are sampled and obtained. Based on the input signal, the first direct sampling output signal, and the second direct sampling output signal, determine the first modulation output signal and the second modulation output signal; Based on the first modulated output signal, determine the corresponding first envelope function; Based on the second modulated output signal, determine the corresponding second envelope function; The first envelope function is corrected for linearity using the first correction coefficient. The second envelope function is corrected for linearity using the second correction coefficient. Using data training, the first and second correction coefficients are predetermined; Determining the first correction factor and the second correction factor includes: Determine the first and second initial coefficients; Using the first initial coefficient, the second initial coefficient, the first envelope function, and the second envelope function, the information to be verified is determined; the information to be verified is the calculated instantaneous angle θ value of the motor rotor. When the information to be verified meets the first preset condition, adjust the first initial coefficient and / or the second initial coefficient; When the information to be verified does not meet the first preset condition, the first initial coefficient obtained from the last adjustment is determined as the first correction coefficient, and the second initial coefficient obtained from the last adjustment is determined as the second correction coefficient. The rotor information is determined based on the modified first and second envelope functions.

2. The method according to claim 1, characterized in that, The step of determining the first modulation output signal and the second modulation output signal based on the input signal, the first direct sampling output signal, and the second direct sampling output signal includes: The first modulated output signal is determined by performing modulation operations using the input signal and the first direct sampling output signal. The second modulated output signal is determined by performing modulation operations using the input signal and the second direct sampling output signal.

3. The method according to claim 1, characterized in that, The first envelope function is determined based on the first modulated output signal; Determining the corresponding second envelope function based on the second modulated output signal includes: The first modulated output signal is integrated to determine the first envelope function; The second modulated output signal is integrated to determine the second envelope function.

4. The method according to claim 1, characterized in that, The step of determining the rotor information based on the modified first envelope function and second envelope function includes: The instantaneous angle of the motor rotor is determined by performing arctangent calculation using the first envelope function and the second envelope function; The instantaneous angle of the motor rotor is determined as the rotor information.

5. A rotor information determination device, characterized in that, include: The input signal determination module is used to determine the input signal of the rotary transformer; The output signal sampling module is used to sample and obtain the first direct sampling output signal and the second direct sampling output signal of the rotary transformer. The signal modulation module is used to determine the first modulation output signal and the second modulation output signal based on the input signal, the first direct sampling output signal and the second direct sampling output signal; The envelope function determination module is used to determine the corresponding first envelope function based on the first modulated output signal; Based on the second modulated output signal, determine the corresponding second envelope function; The first envelope function is corrected for linearity using the first correction coefficient. The second envelope function is corrected for linearity using the second correction coefficient. Using data training, the first and second correction coefficients are predetermined; Determining the first correction coefficient and the second correction coefficient includes: determining a first initial coefficient and a second initial coefficient; using the first initial coefficient, the second initial coefficient, the first envelope function, and the second envelope function, determining the information to be verified; the information to be verified is the calculated instantaneous angle θ value of the motor rotor; when the information to be verified meets a first preset condition, adjusting the first initial coefficient and / or the second initial coefficient; when the information to be verified does not meet the first preset condition, determining the first initial coefficient obtained from the last adjustment as the first correction coefficient, and determining the second initial coefficient obtained from the last adjustment as the second correction coefficient; The rotor information determination module is used to determine rotor information based on the modified first envelope function and second envelope function.

6. A computer-readable storage medium storing a computer program for performing the rotor information determination method according to any one of claims 1-4.

7. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the rotor information determination method according to any one of claims 1-4.

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