Motor Rotation Soft Decoding Processing System, Motor Controller and Electric Vehicle

Abstract

The present invention discloses a soft decoding processing system for motor rotation, a motor controller, and an electric vehicle. The system includes a main control chip, an excitation signal generation module, a sine-cosine signal acquisition module, a sine-cosine signal monitoring module, and a filtering module. The main control chip includes a control module and an operation monitoring module. The excitation signal generation module generates an excitation voltage according to the excitation control signal output by the control module. The control module analyzes the acquired sine-cosine induction signals to obtain the motor rotor angle and speed information. When the operation monitoring module determines that there is a fault in the acquired sine-cosine induction signals according to the first monitoring result, it verifies the first monitoring result based on the sine-cosine induction signals received by the control module, and triggers a safety action when the verification is correct. The system realizes the generation of the excitation voltage and the analysis of the sine-cosine induction signals based on the main control chip, improves the system performance, and further ensures the reliable operation of the motor through operation monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular, to a soft decoding processing system for motor rotation, a motor controller, and an electric vehicle. Background Art

[0002] In recent years, with the rise of electric vehicles, the application of permanent magnet synchronous motors in the field of electric vehicle drive systems has also developed synchronously. The stable and reliable operation of permanent magnet synchronous motors depends on the accurate detection of their position and speed by resolvers. With the continuous development of resolver and decoding chip technology, resolvers are more reliable and decoding circuits are more compact. Most existing resolver decoding schemes adopt hard decoding methods, and the implementation of their monitoring circuits mostly uses CPLD / FPGA, etc., resulting in a high implementation cost of the resolver decoding system. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems in the related art to some extent. For this reason, the first object of the present invention is to provide a soft decoding processing system for motor rotation, which realizes the generation of excitation voltage and the analysis of sine and cosine induction signals based on a main control chip, improves the system performance, and further ensures the reliable operation of the motor through operation monitoring.

[0004] The second object of the present invention is to provide a motor controller.

[0005] The third object of the present invention is to provide an electric vehicle.

[0006] To achieve the above object, an embodiment of the first aspect of the present invention provides a soft decoding processing system for motor rotation, including a main control chip, an excitation signal generation module, a sine-cosine signal acquisition module, a sine-cosine signal monitoring module, and a filtering module. Among them, the main control chip includes a control module and an operation monitoring module. The control module is used to output an excitation control signal to the excitation signal generation module. The excitation signal generation module generates an excitation voltage according to the excitation control signal. The filtering module is used to filter the excitation voltage and apply the filtered excitation voltage to the excitation winding of the resolver, so that the sine winding and cosine winding of the resolver generate sine-cosine induction signals; the filtering module is used to filter the sine-cosine induction signals. The sine-cosine signal acquisition module acquires the filtered sine-cosine induction signals and sends the acquired sine-cosine induction signals to the control module. The control module is used to analyze the sine-cosine induction signals acquired by the sine-cosine signal acquisition module to obtain the motor rotor angle and speed information; the sine-cosine signal monitoring module is used to monitor the sine-cosine induction signals acquired by the sine-cosine signal acquisition module to obtain a first monitoring result and send the first monitoring result to the operation monitoring module. The operation monitoring module is used to determine that there is a fault in the sine-cosine induction signals acquired by the sine-cosine signal acquisition module according to the first monitoring result, verify the first monitoring result according to the sine-cosine induction signals received by the control module, and trigger a safety action when the verification is correct.

[0007] According to the motor rotation soft decoding processing system of the embodiment of the present invention, the control module of the main control chip outputs an excitation control signal to the excitation signal generation module. The excitation signal generation module generates an excitation voltage according to the excitation control signal. The filtering module filters the excitation voltage and applies the filtered excitation voltage to the excitation winding of the resolver, so that the sine winding and the cosine winding of the resolver generate sine and cosine induction signals. The filtering module filters the sine and cosine induction signals. The sine and cosine signal acquisition module acquires the filtered sine and cosine induction signals and sends the acquired sine and cosine induction signals to the control module. The control module analyzes the sine and cosine induction signals acquired by the sine and cosine signal acquisition module to obtain the motor rotor angle and speed information. The sine and cosine signal monitoring module monitors the sine and cosine induction signals acquired by the sine and cosine signal acquisition module to obtain a first monitoring result and sends the first monitoring result to the operation monitoring module. When the operation monitoring module determines that there is a fault in the sine and cosine induction signals acquired by the sine and cosine signal acquisition module according to the first monitoring result, it verifies the first monitoring result according to the sine and cosine induction signals received by the control module, and triggers a safety action when the verification is correct. Thus, on the one hand, the system realizes the generation of the excitation control signal and the analysis and calculation of the sine and cosine induction signals based on the main control chip, improving the system performance. On the other hand, it realizes operation monitoring, reducing the hardware circuit design cost. At the same time, it triggers a safety action based on functional safety, further ensuring the reliable operation of the motor.

[0008] In addition, the motor rotation soft decoding processing system according to the above embodiment of the present invention may further have the following additional technical features:

[0009] According to an embodiment of the present invention, the excitation signal generation module includes a first excitation signal generation unit and a second excitation signal generation unit to generate two paths of excitation voltages through the first excitation signal generation unit and the second excitation signal generation unit, wherein the circuit topologies of the first excitation signal generation unit and the second excitation signal generation unit are the same.

[0010] According to an embodiment of the present invention, the first excitation signal generating unit includes: a first voltage dividing circuit, the first voltage dividing circuit includes a first resistor and a second resistor, one end of the first resistor is powered on, the other end is connected to one end of the second resistor, and a first node is formed, the other end of the second resistor is grounded, and the first node serves as the input end of the first excitation signal generating unit; a first filtering circuit, the first filtering circuit includes a third resistor and a first capacitor, one end of the third resistor is connected to the first node, the other end is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; a second voltage dividing circuit, the second voltage dividing circuit includes a fourth resistor and a fifth resistor, one end of the fourth resistor is powered on, the other end is connected to one end of the fifth resistor, and a second node is formed, the other end of the fifth resistor is grounded; an amplifying circuit, the amplifying circuit includes a first amplifier, the negative input terminal of the first amplifier is connected to the other end of the third resistor through a sixth resistor, the positive input terminal of the amplifier is connected to one end of a second capacitor and the second node, the other end of the second capacitor is grounded, and a seventh resistor and a third capacitor are connected in parallel between the negative input terminal and the output terminal of the amplifier; and a stabilizing circuit, the stabilizing circuit includes a fourth capacitor and a fifth capacitor connected in parallel, one end of the stabilizing circuit is grounded, and the other end is connected to the output terminal of the first amplifier.

[0011] According to an embodiment of the present invention, the sine-cosine signal acquisition module includes a sine signal acquisition unit and a cosine signal acquisition unit. The sine signal acquisition unit is used to acquire the sine induction signal filtered by the filtering module, and the cosine signal acquisition unit is used to acquire the cosine induction signal filtered by the filtering module. Among them, the circuit topologies of the sine signal acquisition unit and the cosine signal acquisition unit are the same.

[0012] According to an embodiment of the present invention, the sine signal acquisition unit includes: a second filter circuit, the second filter circuit includes an eighth resistor and a sixth capacitor, one end of the eighth resistor serves as the first input terminal of the sine signal acquisition unit, the other end is connected to one end of the sixth capacitor, and a third node is formed, and the other end of the sixth capacitor is grounded; a third filter circuit, the third filter circuit includes a ninth resistor and a seventh capacitor, one end of the ninth resistor serves as the second input terminal of the sine signal acquisition unit, the other end is connected to one end of the seventh capacitor to form a fourth node, and the other end of the seventh capacitor is grounded; a first clamping circuit, the first clamping circuit includes a first diode and a second diode, the anode of the first diode is grounded, the cathode of the first diode is connected to the anode of the second diode to form a fifth node, the fifth node is connected to the third node, and the cathode of the second diode is powered on; a second clamping circuit, the second clamping circuit includes a third diode and a fourth diode, the anode of the third diode is grounded, the cathode of the third diode is connected to the anode of the fourth diode to form a sixth node, the sixth node is connected to the fourth node, and the cathode of the fourth diode is powered on; a circuit, the differential filter circuit includes a tenth resistor, an eleventh resistor and an eighth capacitor, one end of the tenth resistor is connected to the third node, the other end is connected to one end of the eighth capacitor, one end of the eleventh resistor is connected to the fourth node, and the other end is connected to the other end of the eighth capacitor; a fourth filter circuit, the fourth filter circuit includes a twelfth resistor and a ninth capacitor, one end of the twelfth resistor is connected to one end of the eighth capacitor, the other end of the twelfth resistor is connected to one end of the ninth capacitor, which serves as the first output terminal of the sine signal acquisition unit, and the other end of the ninth capacitor is grounded; and a fifth filter circuit, the fifth filter circuit includes a thirteenth resistor and a tenth capacitor, one end of the thirteenth resistor is connected to the other end of the eighth capacitor, the other end of the thirteenth resistor is connected to one end of the tenth capacitor, which serves as the second output terminal of the sine signal acquisition unit, and the other end of the tenth capacitor is grounded.

[0013] According to an embodiment of the present invention, the motor rotation soft decoding processing system further includes an excitation signal monitoring module, and the excitation signal monitoring module is used to perform feedback monitoring on the excitation voltage after being filtered by the filtering module to obtain a second monitoring result, and send the second monitoring result to the operation monitoring module, and the operation monitoring module is further used to determine to trigger a safety action when an excitation fault occurs in the resolver according to the second monitoring result.

[0014] According to an embodiment of the present invention, the excitation signal monitoring module includes a first excitation monitoring unit and a second excitation monitoring unit to monitor two paths of excitation voltages generated by the excitation signal generation module through the first excitation monitoring unit and the second excitation monitoring unit, wherein the circuit topologies of the first excitation monitoring unit and the second excitation monitoring unit are the same.

[0015] According to an embodiment of the present invention, the first excitation monitoring unit includes: a fourteenth resistor, a second amplifier, and a third voltage dividing circuit; wherein, one end of the fourteenth resistor serves as the input end of the first excitation monitoring unit, the other end of the fourteenth resistor is connected to the positive input end of the second amplifier, the negative input end of the second amplifier is connected to the output end of the second amplifier, the third voltage dividing circuit includes a fifteenth resistor, a sixteenth resistor, and a seventeenth resistor, one end of the fifteenth resistor is connected to the output end of the second amplifier, the other end of the fifteenth resistor is connected to one end of the sixteenth resistor, the other end of the sixteenth resistor is connected to one end of the seventeenth resistor, serving as the output end of the first excitation monitoring unit, and the other end of the seventeenth resistor is grounded.

[0016] To achieve the above object, an embodiment of the second aspect of the present invention provides a motor controller, including the above-mentioned motor rotation soft decoding processing system.

[0017] The motor controller according to the embodiment of the present invention, based on the aforementioned motor rotation soft decoding processing system, on the one hand, realizes the generation of the excitation control signal and the analytical calculation of the sine and cosine induction signals, improves the performance of the motor controller, on the other hand, realizes the operation monitoring, reduces the hardware circuit design cost, and at the same time triggers the safety action based on functional safety, further ensuring the reliable operation of the motor.

[0018] To achieve the above object, an embodiment of the third aspect of the present invention provides an electric vehicle, including the above-mentioned motor controller.

[0019] The electric vehicle according to the embodiment of the present invention, based on the aforementioned motor controller, reduces the hardware circuit design cost, meets the functional safety requirements, ensures the reliable operation of the motor, and further guarantees the safe operation of the whole vehicle.

[0020] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a block diagram of a motor rotation soft decoding processing system according to an embodiment of the present invention;

[0022] Figure 2 It is a block diagram of a motor rotation soft decoding processing system according to an embodiment of the present invention;

[0023] Figure 3 It is a circuit diagram of a first excitation signal generating unit according to an embodiment of the present invention;

[0024] Figure 4 It is a circuit diagram of a sine signal acquisition unit according to an embodiment of the present invention;

[0025] Figure 5 Circuit diagram of a first excitation monitoring unit according to an embodiment of the present invention;

[0026] Figure 6 Block diagram of a motor controller according to an embodiment of the present invention;

[0027] Figure 7 Block diagram of an electric vehicle according to an embodiment of the present invention. Detailed implementation manners

[0028] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where 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 are intended to explain the present invention, and should not be construed as a limitation of the present invention.

[0029] A motor rotation soft decoding processing system, a motor controller, and an electric vehicle proposed according to embodiments of the present invention will be described below with reference to the accompanying drawings.

[0030] Figure 1 Block diagram of a motor rotation soft decoding processing system according to an embodiment of the present invention. The motor can be a permanent magnet synchronous motor or other types of motors, which is not limited herein.

[0031] As Figure 1 shown, the motor rotation soft decoding processing system according to an embodiment of the present invention includes: a main control chip 10, an excitation signal generation module 20, a sine-cosine signal acquisition module 30, a sine-cosine signal monitoring module 40, and a filtering module 50.

[0032] Among them, the main control chip 10 includes a control module 11 and an operation monitoring module 12. The control module 11 is used to output an excitation control signal to the excitation signal generation module 20. The excitation signal generation module 20 generates an excitation voltage according to the excitation control signal. The filtering module 50 is used to filter the excitation voltage and apply the filtered excitation voltage to the excitation winding 61 of the resolver 60, so that the sine winding 62 and the cosine winding 63 of the resolver 60 generate sine and cosine induction signals. The filtering module 50 is used to filter the sine and cosine induction signals. The sine and cosine signal acquisition module 30 acquires the filtered sine and cosine induction signals and sends the acquired sine and cosine induction signals to the control module 11. The control module 11 is used to analyze the sine and cosine induction signals acquired by the sine and cosine signal acquisition module 30 to obtain the motor rotor angle and speed information. The sine and cosine signal monitoring module 40 is used to monitor the sine and cosine induction signals acquired by the sine and cosine signal acquisition module 30 to obtain a first monitoring result and send the first monitoring result to the operation monitoring module 12. The operation monitoring module 12 is used to determine that there is a fault in the sine and cosine induction signals acquired by the sine and cosine signal acquisition module 30 according to the first monitoring result, verify the first monitoring result according to the sine and cosine induction signals received by the control module 11, and trigger a safety action when the verification is correct.

[0033] Specifically, the PWM (Pulse Width Modulation) signal generated by the main control chip 10 is output to the inverter circuit on the one hand, so as to control the on and off of the switching devices of the inverter circuit, thereby converting the direct current input by the DC bus into three-phase electricity for driving the motor. On the other hand, it is output to the control module 11. The control module 11 processes the PWM signal and outputs two differential sine wave signals as the excitation control signal. For example, the control module 11 can first generate a triangular wave from the PWM signal, and then generate a sine wave through integral operation. The sine wave generates two differential sine wave signals by controlling the on and off of the triode, and these are used as the excitation control signal.

[0034] The excitation signal generation module 20 includes two input terminals and two output terminals. Among them, the two input terminals are respectively connected to the two excitation control signal output terminals of the control module 11, and the two output terminals of the excitation signal generation module 20 are respectively connected to both ends of the excitation winding 61 of the resolver 60. Specifically, the excitation signal generation module 20 receives the above two differential sine wave signals through the two input terminals, and respectively performs operations such as filtering and amplification on the two excitation control signals to improve the load-carrying capacity of the signals and meet the usage requirements of the resolver for the excitation voltage. Thus, two excitation voltages are obtained. The two excitation voltages are respectively input to the excitation winding 61 through the filtering module 50. Among them, the filtering module 50 can filter out the interference, noise, etc. in the excitation voltage to reduce the interference of the surrounding environmental noise on the signal.

[0035] The resolver 60 is a small AC motor for measuring angles and can be used to measure the angular displacement, angular velocity, and rotation direction of the motor shaft. It consists of a stator and a rotor. Among them, the stator winding of the resolver 60 is the excitation winding 61, also known as the primary winding, which is used to receive the excitation voltage output by the excitation signal generation module 20. The rotor windings of the resolver 60 are the sine winding 62 and the cosine winding 63, which are placed on the rotor at a 90-degree angle to each other and are also called secondary windings. They obtain sine and cosine induced voltages through electromagnetic coupling and output sine and cosine induced signals. Among them, the sine and cosine induced signals include sine induced signals and cosine induced signals. That is, when the filtered excitation voltage is input to the excitation winding 61, the sine winding 62 generates and outputs a sine induced signal, and the cosine winding 63 generates and outputs a cosine induced signal. The sine induced signal generated by the sine winding 62 and the cosine induced signal generated by the cosine winding 63 are output to the sine and cosine signal acquisition module 30 after being filtered by the filter module 50.

[0036] The sine and cosine signal acquisition module 30 acquires the filtered sine induced signal and cosine induced signal and sends the acquired sine induced signal and cosine induced signal to the control module 11. Since the magnitude of the signal coupled to the secondary winding is a function of the rotor position relative to the stator, and its attenuation coefficient is called the resolver conversion ratio, the control module 11 can perform soft decoding processing on the voltage signals of the secondary winding, that is, the received sine induced signal and cosine induced signal, so as to obtain information such as the rotor angle and speed of the motor. It can be understood that the control module 11 is a DSADC (Delta-Sigma Analog-to-Digital Converter) module. Thus, the system realizes the generation of the excitation signal and the analysis and calculation of the sine and cosine induced signals in a soft decoding manner based on the DSADC module built into the main control chip 10, improving the system performance. In addition, the rotor angle and speed of the motor obtained by the control module 11 through soft decoding can also be used for current loop control to achieve torque control of the motor.

[0037] In addition, the sine induction signal and cosine induction signal collected by the sine-cosine signal acquisition module 30 are also output to the sine-cosine signal monitoring module 40. The sine-cosine signal monitoring module 40 processes the sine induction signal and cosine induction signal collected by the sine-cosine signal acquisition module 30 to obtain a first monitoring result, and sends the first monitoring result to the operation monitoring module 12. Among them, the first monitoring result corresponds to the collected sine-cosine induction signal to ensure that the first monitoring result can reflect the state of the sine-cosine induction signal, so that the operation monitoring module 12 can judge the sine-cosine induction signal according to the first monitoring result. For example, the first monitoring result can be in a proportional relationship with the sine-cosine induction signal received by the sine-cosine signal monitoring module 40, or the same as the received sine-cosine signal, and its processing method can be set according to the actual situation.

[0038] The operation monitoring module 12 receives the first monitoring result, performs signal hard decoding processing on the first monitoring result, obtains the voltage value of the sine-cosine induction signal through the first monitoring result, and judges the voltage value of the decoded sine-cosine induction signal to determine whether there is a fault. For example, the acquisition path of the sine-cosine induction signal can be judged to be normal through the voltage value decoded by the first monitoring result. Specifically, it can be judged whether there are faults such as ground short circuit, power short circuit or open circuit in the acquisition path of the sine-cosine induction signal according to the voltage value. When the acquisition path is grounded, the voltage value is usually 0. When the acquisition path is shorted to the power supply, the collected voltage value is generally a certain power supply voltage value. When the path is open, the collected voltage value may correspond to the voltage value of a specific circuit module in the circuit design. Among them, the fault corresponding determination conditions can be set according to the actual situation. When the operation monitoring module 12 determines that there is a fault in the sine-cosine induction signal collected by the sine-cosine signal acquisition module, the voltage value of the sine-cosine induction signal obtained by soft decoding through the control module 11 is compared with the voltage value of the sine-cosine induction signal obtained by hard decoding by the operation monitoring module 12, which is used for the verification of the fault judgment of the first monitoring result to ensure the accuracy of the monitoring result. When it is determined that the voltage values are consistent and a fault actually occurs, a safety action is triggered. In addition, when the voltage value of the sine-cosine induction signal obtained by soft decoding through the control module 11 is inconsistent with the voltage value of the sine-cosine induction signal obtained by hard decoding by the operation monitoring module 12, a safety action is also triggered.

[0039] In addition, based on the first monitoring result, the operation monitoring module 12 can also obtain the motor rotor angle and motor speed information through hard decoding. At the same time, it can collect and monitor the DC bus voltage and the three-phase current output by the inverter circuit, and combine the motor rotor angle and speed information obtained from the above-mentioned sine-cosine induction signals to achieve torque monitoring and angle monitoring of the motor. At this time, the fault types determined by the operation monitoring module 12 can also include whether the torque monitoring is normal and whether the angle monitoring is normal. It should be noted that the motor rotor angle and speed information obtained by the operation monitoring module 12 through hard decoding can also be verified by the sine-cosine induction signals received by the control module 11 to ensure the accuracy of the information acquisition. Thus, this system uses a built circuit to monitor and process the sine-cosine induction signals, eliminating high-cost chips such as CPLD / FPGA, reducing the hardware circuit design cost, and further ensuring the reliable operation of the motor based on the functional safety development implementation method. In addition, the operation monitoring module 12 can also be set as a DSADC module to obtain the voltage value of the sine-cosine induction signal and the angle and speed information of the motor through software decoding.

[0040] Furthermore, when the power supply of the sine-cosine signal acquisition module 30 is independent of other power supplies, the sine-cosine signal monitoring module 40 can also monitor the power supply of the sine-cosine signal acquisition module 30 to prevent abnormal acquisition of the sine-cosine induction signal due to a power supply failure of the sine-cosine signal acquisition module 30. For example, the sine-cosine signal acquisition module 30 can collect the voltage value of the power supply of the sine-cosine acquisition module 30 through a voltage division circuit and feedback the obtained power supply signal as a first monitoring result to the sine-cosine signal monitoring module 40. The sine-cosine signal monitoring module 40 can judge whether there is a fault in the power supply through a preset voltage division threshold or voltage division ratio. If it is determined that the preset voltage division threshold or voltage division ratio is not met, it is considered that there is a problem with the power supply. At this time, an alarm signal can be sent to remind the staff to check the circuit accordingly to solve the path problem or perform relevant safety actions.

[0041] It should be noted that the safety actions triggered by the sine-cosine signal monitoring module 40 can be active protection measures for motor control, such as: SPO (Safty Pulse Off), ASC (Active ShortCircuit), etc.

[0042] Furthermore, it should be noted that to ensure the judgment accuracy of the acquisition path of the sine-cosine induction signal, the sine-cosine signal monitoring module 40 performs feedback monitoring at the end close to the input of the acquired sine-cosine induction signal to the main control chip 10.

[0043] In addition, it should be noted that the above-mentioned filtering module 50 filters the noise and interference of the exciting voltage input to the exciting winding 61 and the sine and cosine induction signals output by the sine winding 62 and the cosine winding 63, so as to meet the normal use requirements of the main control chip 10. At the same time, the filtering module 50 can also set the (Electro-Static discharge, electrostatic resistor) and short-circuit protection of the connection terminals, etc.

[0044] According to an embodiment of the present invention, the exciting signal generation module 20 includes a first exciting signal generation unit and a second exciting signal generation unit, so as to generate two paths of exciting voltages through the first exciting signal generation unit and the second exciting signal generation unit. Among them, the circuit topologies of the first exciting signal generation unit and the second exciting signal generation unit are the same.

[0045] That is to say, the exciting signal generation module 20 uses the first exciting signal generation unit and the second exciting signal generation unit with the same circuit to process the two paths of exciting control signals output by the above-mentioned control module 11. Specifically, as Figure 2 shown, two paths of sine exciting control signals EXC_R1 and EXC_R2 are respectively output from the control module 11 to the exciting signal generation module 20. One path of exciting control signal EXC_R1 is processed by the first exciting signal generation unit to generate a path of exciting voltage EM_R1, which enters the filtering module 50, and the filtered exciting voltage EM_R1 is applied to the R1 terminal of the exciting winding 61. And one path of exciting control signal EXC_R2 is processed by the second exciting signal generation unit to generate another path of exciting voltage EM_R2, which enters the filtering module 50, and the filtered exciting voltage EM_R2 is applied to the R2 terminal of the exciting winding 61.

[0046] Next, Figure 3 is taken as an example to detail the circuit connection of the first exciting signal generation unit.

[0047] As Figure 3 shown, according to an embodiment of the present invention, the first exciting signal generation unit includes: a first voltage dividing circuit 21, a first filtering circuit 22, a second voltage dividing circuit 23, an amplifying circuit 24, and a stabilizing circuit 25.

[0048] Among them, the first voltage dividing circuit 21 includes a first resistor R1 and a second resistor R2. One end of the first resistor R1 is powered on, and the other end is connected to one end of the second resistor R2, forming a first node A. The other end of the second resistor R2 is grounded, and the first node A serves as the input end of the first excitation signal generating unit. The first filtering circuit 22 includes a third resistor R3 and a first capacitor C1. One end of the third resistor R3 is connected to the first node A, and the other end is connected to one end of the first capacitor C1. The other end of the first capacitor C1 is grounded. The second voltage dividing circuit 23 includes a fourth resistor R4 and a fifth resistor R5. One end of the fourth resistor R4 is powered on, and the other end is connected to one end of the fifth resistor R5, forming a second node B. The other end of the fifth resistor R5 is grounded. The amplifying circuit 24 includes a first amplifier U2A. The negative input terminal 1 of the first amplifier U2A is connected to the other end of the third resistor R3 through a sixth resistor R6. The positive input terminal 2 of the first amplifier U2A is connected to one end of a second capacitor C2 and the second node B. The other end of the second capacitor C2 is grounded. A seventh resistor R7 and a third capacitor C3 are connected in parallel between the negative input terminal 1 and the output terminal 3 of the first amplifier U2A. The stabilizing circuit 25 includes a fourth capacitor C4 and a fifth capacitor C5 connected in parallel. One end of the stabilizing circuit 25 is grounded, and the other end is connected to the output terminal 3 of the first amplifier U2A.

[0049] Specifically, the first resistor R1 and the second resistor R2 constitute the first voltage dividing circuit 21. The excitation control signal EXC_R1 generated by the control module 11 is output to the first voltage dividing circuit 21. The signal obtained by voltage division through the first resistor R1 and the second resistor R2 is output to the first filtering circuit 22 through the first node A. The first filtering circuit 22 forms a first-order RC filtering circuit through the third resistor R3 and the first capacitor C1, performs a high-frequency filtering operation on the voltage-divided signal, and inputs the filtered signal to the negative input terminal 1 of the first amplifier U2A through the sixth resistor R6. The amplifying circuit 24 amplifies the filtered signal and outputs it through the output terminal 3 of the first amplifier U2A to obtain the excitation voltage EM_R1. The output terminal 3 of the first amplifier U2A is also connected to the stabilizing circuit 25. The parallel fourth capacitor C4 and fifth capacitor C5 stabilize the output capacity of the first excitation signal generating unit based on the large current output by the operational amplifier.

[0050] It should be noted that in the amplifying circuit 24, the second voltage dividing circuit 23 obtains a common-mode voltage through voltage division by the fourth resistor R4 and the fifth resistor R5 and applies it to the positive input terminal 2 of the first amplifier U2A, so as to ensure that the excitation voltage EM_R1 output by the output terminal 3 of the first amplifier U2A will not be negative. At the same time, the parallel seventh resistor R7 and third capacitor C3 form a first-order RC filter between the negative input terminal 1 and the output terminal 3 of the first amplifier U2A to further filter out the high frequency of the signal.

[0051] Further, it should be noted that the amplification factor of the above amplification circuit 24 is determined by the sixth resistor R6 and the seventh resistor R7. However, the value of the third resistor R3 in the first filter circuit 22 will also affect the overall amplification factor of the first excitation signal generation unit. Therefore, the values of the third resistor R3, the sixth resistor R6, and the seventh resistor R7 determine the amplification factor of the first excitation signal generation unit, and the resistance values can be set according to the actual situation.

[0052] In addition, in an embodiment of the present invention, a fuse F1 is connected in series at the output terminal 3 of the first amplifier U2A in the first excitation signal generation unit, which plays a role of overload protection, thereby preventing excessive current caused by resolver failure from damaging the first amplifier U2A and causing irreversible damage.

[0053] According to an embodiment of the present invention, the sine-cosine signal acquisition module 30 includes a sine signal acquisition unit and a cosine signal acquisition unit. The sine signal acquisition unit is used to acquire the sine induction signal filtered by the filter module 50, and the cosine signal acquisition unit is used to acquire the cosine induction signal filtered by the filter module 50. Among them, the circuit topologies of the sine signal acquisition unit and the cosine signal acquisition unit are the same.

[0054] That is to say, the same circuit is used to perform signal acquisition operations on the sine induction signal and the cosine induction signal. Specifically, as Figure 2 shown, the sine induction signals obtained by electromagnetic coupling of the sine winding 62 are respectively output through S1 and S3, and the filtered sine induction signals EM_S1 and EM_S3 are output through the filter module 50 to the sine signal acquisition unit. The sine signal acquisition unit acquires the filtered sine induction signals EM_S1 and EM_S3, and outputs the acquired sine induction signals S1_S3_P and S1_S3_N to the control module 11. The cosine winding 63 outputs cosine induction signals to the filter module 50 through S2 and S3. The cosine signal acquisition unit acquires the filtered cosine induction signals EM_S2 and EM_S4, and outputs the acquired sine induction signals S2_S4_P and S2_S4_N to the control module 11.

[0055] Next, taking Figure 4 as an example, the circuit connection of the sine signal sampling unit will be described in detail.

[0056] As Figure 4 shown, according to an embodiment of the present invention, the sine signal acquisition unit includes: a second filter circuit 31, a third filter circuit 32, a first clamping circuit 33, a second clamping circuit 34, a differential filter circuit 35, a fourth filter circuit 36, and a fifth filter circuit 37.

[0057] Among them, the second filter circuit 31 includes an eighth resistor R8 and a sixth capacitor C6. One end of the eighth resistor R8 serves as the first input terminal of the sine signal acquisition unit, and the other end is connected to one end of the sixth capacitor C6, forming a third node C. The other end of the sixth capacitor C6 is grounded. The third filter circuit 32 includes a ninth resistor R9 and a seventh capacitor C7. One end of the ninth resistor R9 serves as the second input terminal of the sine signal acquisition unit, and the other end is connected to one end of the seventh capacitor C7, forming a fourth node D. The other end of the seventh capacitor C7 is grounded. The first clamping circuit 33 includes a first diode D1 and a second diode D2. The anode of the first diode D1 is grounded, and the cathode of the first diode D1 is connected to the anode of the second diode D2, forming a fifth node E. The fifth node E is connected to the third node C, and the cathode of the second diode D2 is powered on. The second clamping circuit 34 includes a third diode D3 and a fourth diode D4. The anode of the third diode D3 is grounded, and the cathode of the third diode D3 is connected to the anode of the fourth diode D4, forming a sixth node F. The sixth node F is connected to the fourth node D, and the cathode of the fourth diode D4 is powered on. The differential filter circuit 35 includes a tenth resistor R10, an eleventh resistor R11, and an eighth capacitor C8. One end of the tenth resistor R10 is connected to the third node C, and the other end is connected to one end of the eighth capacitor C8. One end of the eleventh resistor R11 is connected to the fourth node D, and the other end is connected to the other end of the eighth capacitor C8. The fourth filter circuit 36 includes a twelfth resistor R12 and a ninth capacitor C9. One end of the twelfth resistor R12 is connected to one end of the eighth capacitor C8, and the other end of the twelfth resistor R12 is connected to one end of the ninth capacitor C9, serving as the first output terminal of the sine signal acquisition unit. The other end of the ninth capacitor C9 is grounded. The fifth filter circuit 37 includes a thirteenth resistor R13 and a tenth capacitor C10. One end of the thirteenth resistor R13 is connected to the other end of the eighth capacitor C8, and the other end of the thirteenth resistor R13 is connected to one end of the tenth capacitor C10, serving as the second output terminal of the sine signal acquisition unit. The other end of the tenth capacitor C10 is grounded.

[0058] Specifically, the filtered sine induction signals EM_S1 and EM_S3 are respectively input into the first input terminal and the second input terminal of the sine signal acquisition unit. The eighth resistor R8 and the sixth capacitor C6 form a first-order RC low-pass filter to filter out the high-frequency interference of the sine induction signal EM_S1. At the same time, a double diode is formed by the first diode D1 and the second diode D2 for clamping to ensure that the input voltage is maintained between ideal states, where the ideal state can be defined by a preset voltage range. For example, the preset voltage range is 0 - 3.3V. At the same time, the double diode clamping circuit composed of the first diode D1 and the second diode D2 can also play a role in protecting against power supply and ground short circuits. Thus, the sine induction signal EM_S1 input through the first input terminal of the sine signal acquisition unit is input into the first input terminal of the differential filtering circuit 35 after high-frequency filtering and voltage clamping by the second filtering circuit 31 and the first clamping circuit 33. Among them, the first input terminal of the differential filtering circuit 35 is the connection end of the tenth resistor R10 and the third node C.

[0059] At the same time, the sine induction signal EM_S3 input through the second input terminal of the sine signal acquisition unit is input into the second input terminal of the differential filtering circuit 35 after high-frequency filtering operation and voltage clamping by the third filtering circuit 32 and the second clamping circuit 34. Among them, the second input terminal of the differential filtering circuit 35 is the connection end of the eleventh resistor R11 and the fourth node D. It can be understood that the working principles of the third filtering circuit 32 and the second clamping circuit 34 are the same as those of the above-mentioned second filtering circuit 31 and the first clamping circuit 33, and will not be elaborated here.

[0060] The differential filtering circuit 35 performs differential filtering on the input sine induction signals EM_S1 and EM_S3. The sine induction signal EM_S1 is output from the first output terminal of the differential filtering circuit 35 to a first-order low-pass filter circuit composed of the twelfth resistor R12 and the ninth capacitor C9 to filter out high-frequency interference and output the acquired sine induction signal S1_S3_P. The sine induction signal EM_S3 is output from the second output terminal of the differential filtering circuit 35 to a first-order low-pass filter circuit composed of the thirteenth resistor R13 and the tenth capacitor C10 to filter out high-frequency interference and output the acquired sine induction signal S1_S3_N. Among them, the differential filtering circuit 35 uses the other end of the connection between the tenth resistor R10 and the eighth capacitor C8 as the first output terminal of the differential filtering circuit 35, and uses the other end of the connection between the eleventh resistor R11 and the eighth capacitor C8 as the second output terminal of the differential filtering circuit 35.

[0061] It should be further noted that the cosine signal acquisition unit and the sine signal acquisition unit have the same circuit. Both adopt the differential signal input method to collect the sine and cosine induction signals sent by the resolver, and output the collected sine and cosine induction signals to the control module 11, which will not be elaborated here. The cosine signal acquisition unit and the sine signal acquisition unit use the differential signal input method to process each group of sine and cosine induction signals. On the one hand, the differential signal input method has strong anti-interference ability. On the other hand, the difference between each group of sine and cosine induction signals is fixed and will not be affected by the terrain difference or external interference, further improving the signal acquisition accuracy.

[0062] As Figure 2 shown, according to an embodiment of the present invention, the motor resolver soft decoding processing system further includes an excitation signal monitoring module 70. The excitation signal monitoring module 70 is used to collect and monitor the filtered excitation voltage, obtain a second monitoring result, and send the second monitoring result to the operation monitoring module. The operation monitoring module 12 is further used to trigger a safety action according to the second monitoring result when the resolver 60 has an excitation fault.

[0063] Specifically, the input end of the excitation signal monitoring module 70 is connected to R1 and R2 of the excitation winding 61, so as to collect the filtered excitation voltages EM_R1 and EM_R2 output by the filtering module 50. The excitation voltages EM_R1 and EM_R2 pass through the filtering module 50 again to output the filtered collected signals EM_R1_M and EM_R1_N to the excitation signal monitoring module 70. The excitation signal monitoring module 70 processes the filtered collected signals EM_R1_M and EM_R1_N and outputs the second monitoring results R1_ADC and R3_ADC to the operation monitoring module 12. The operation monitoring module 12 determines whether the resolver 60 has a fault according to the second monitoring results R1_ADC and R3_ADC, ensuring that the fault of the resolver 60 can be reported as soon as possible at the first time of occurrence, and a safety action is performed to ensure the accuracy of signal acquisition such as the motor speed and position, that is, to ensure the accuracy of subsequent sine and cosine induction signal acquisition. For example, whether the above fault occurs can be judged by the second monitoring results R1_ADC and R3_ADC to determine whether there is a short circuit or open circuit fault in the voltage amplitudes of the excitation voltages EM_R1 and EM_R2. When it is confirmed that a fault has occurred, report the position signal detection loop fault of the main control chip 10. At the same time, corresponding safety actions can also be realized by executing safety controls such as SPO and ASC.

[0064] Furthermore, the acquisition position of the above excitation signal is the connector end of the resolver 60 to ensure that the excitation voltage is collected and monitored at the closest position to the resolver 60.

[0065] According to an embodiment of the present invention, the excitation signal monitoring module 70 includes a first excitation monitoring unit and a second excitation monitoring unit to monitor two paths of excitation voltages generated by the excitation signal generation module 20 through the first excitation monitoring unit and the second excitation monitoring unit. Among them, the circuit topologies of the first excitation monitoring unit and the second excitation monitoring unit are the same.

[0066] That is to say, two paths of excitation signals EM_R1 and EM_R2 generated by the excitation signal generation module 20 are respectively processed by the first excitation monitoring unit and the second excitation monitoring unit with the same circuit to realize feedback monitoring, and the two paths of second monitoring results R1_ADC and R2_ADC obtained by signal processing are sent to the operation monitoring module 12. Specifically, after the excitation signal EM_R1 is sampled and filtered, it corresponds to the sampled signal EM_R1_M. The sampled signal EM_R1_M is monitored by the first excitation monitoring unit and outputs a corresponding second monitoring result R1_ADC. The other path of excitation signal EM_R2 is sampled and filtered to correspond to the sampled signal EM_R2_M. The sampled signal EM_R2_M is monitored by the second excitation monitoring unit and outputs the other second monitoring result R2_ADC.

[0067] The following takes Figure 5 as an example to detail the circuit connection of the first excitation monitoring unit.

[0068] As Figure 5 shown, according to an embodiment of the present invention, the first excitation monitoring unit includes: a fourteenth resistor R14, a second amplifier U1B, and a third voltage dividing circuit.

[0069] Among them, one end of the fourteenth resistor R14 serves as the input end of the first excitation monitoring unit. The other end of the fourteenth resistor R14 is connected to the positive input end 5 of the second amplifier U1B. The negative input end 6 of the second amplifier U1B is connected to the output end 7 of the second amplifier U1B. The third voltage dividing circuit includes a fifteenth resistor R15, a sixteenth resistor R16, and a seventeenth resistor R17. One end of the fifteenth resistor R15 is connected to the output end 7 of the second amplifier U1B, and the other end is connected to one end of the sixteenth resistor R16. The other end of the sixteenth resistor R16 is connected to one end of the seventeenth resistor R17, serving as the output end of the first excitation monitoring unit. The other end of the seventeenth resistor R17 is grounded.

[0070] Specifically, since the current of the excitation voltage signal input to the excitation winding 61 is relatively high, generally about 500 mA, first, the fourteenth resistor R14 is used to limit the current of the feedback signal EM_R1_M, and then it is input to the positive input terminal 5 of the second amplifier U1B. The negative input terminal 6 of the second amplifier U1B is connected to the output terminal 7 of the second amplifier U1B to form a rail-to-rail operational amplifier for the second amplifier U1B, which is configured as a voltage follower to have the function of isolation and buffering. By making the input impedance very high, the influence on the input signal can be made very small. On the other hand, the output impedance becomes very low, so that the output voltage is not affected by the impedance of the subsequent stage. The signal output by the second amplifier U1B is divided by a voltage division circuit composed of the fifteenth resistor R15, the sixteenth resistor R16, and the seventeenth resistor R17 to obtain an analog signal R1_ADC that meets the usage requirements of the main control chip 10.

[0071] It should be noted that the circuit topologies of the above second excitation monitoring unit and the first excitation monitoring unit are the same, and the processing process of the feedback signal EM_R2_M will not be elaborated here.

[0072] Furthermore, it should be noted that the resistance values of the above fourteenth resistor R14, fifteenth resistor R15, sixteenth resistor R16, and seventeenth resistor R17 can be set according to actual situations. For example, in addition to the individual application methods of the above resistors, current limiting can also be achieved in the form of a resistor module, as well as the design of the third voltage division circuit.

[0073] Furthermore, as a specific example of the present invention, Figure 2 is taken as an example to elaborate on the motor rotation soft decoding processing system in detail.

[0074] Such as Figure 2As shown, the control module 11 processes the PWM signal generated by the main control chip 10 to generate two sine signals EXC_R1 and EM_R2 as excitation control signals. The excitation control signals EXC_R1 and EM_R2 are subjected to signal processing such as filtering and amplification through the excitation signal generation module 20 to obtain excitation voltages EM_R1 and EM_R2. Among them, the excitation control signal EXC_R1 outputs the excitation voltage EM_R1 through the first excitation signal generation unit. The other excitation control signal EXC_R2 outputs the excitation voltage EM_R2 through the second excitation signal generation unit. The excitation voltages EM_R1 and EM_R2 are subjected to filtering operations through the filtering module 50 and are respectively input to R1 and R2 of the excitation winding 61 of the resolver 60. When the excitation winding 61 receives the excitation voltages EM_R1 and EM_R2, under the action of electromagnetic coupling, the sine winding 62 and the cosine winding 63 generate sine and cosine induction signals. Among them, the sine winding 62 outputs a set of sine induction signals through S1 and S3. The sine induction signals EM_S1 and EM_S3 after being filtered by the filtering module 50 are input as differential signals through the sine signal acquisition module in the sine and cosine signal acquisition module 30, and two acquired sine induction signals S1_S3_P and S1_S3_N are output. The cosine winding 63 outputs a set of cosine induction signals through S2 and S4. The cosine induction signals EM_S2 and EM_S4 after being filtered by the filtering module 50 are input as differential signals through the cosine signal acquisition module in the sine and cosine signal acquisition module 30, and two acquired cosine induction signals S2_S4_P and S2_S4_N are output. The control module 11 receives the acquired sine induction signals S1_S3_P, S1_S3_N and cosine induction signals S2_S4_P, S2_S4_N, and performs soft decoding processing on the sine and cosine induction signals S1_S3_P, S1_S3_N, S2_S4_P and S2_S4_N to obtain the motor rotor angle and speed information.

[0075] In addition, to ensure the accuracy of collecting information such as the angle and position of the motor rotor, the excitation voltage monitoring module 70 is used to perform feedback monitoring on the excitation voltages of R1 and R2 input to the excitation winding 61. The two-channel feedback excitation voltages are first filtered by the filtering module 50. Among them, the feedback signal EM_R1_M is obtained after filtering the feedback excitation voltage of R1. The feedback signal EM_R1_M is monitored by the first excitation monitoring unit, and an excitation monitoring signal R1_ADC is output. The feedback signal EM_R2_M is obtained after filtering the feedback excitation voltage of R2. The feedback signal EM_R2_M is monitored by the second excitation monitoring unit, and an excitation monitoring signal R2_ADC is output. The excitation monitoring signals R1_ADC and R2_ADC are input to the operation monitoring module 12 as the second monitoring result. The operation monitoring module 12 judges the voltage amplitudes according to the excitation monitoring signals R1_ADC and R2_ADC, so as to judge whether there is a short circuit or an open circuit in the voltage amplitudes of the excitation voltages EM_R1 and EM_R2. For example, when a short circuit occurs, the voltage may be 0. When an open circuit occurs, the voltage value may be a certain voltage value, or correspond to the voltage value of a certain circuit module. The judgment standard can be set according to the actual circuit design. Thus, through the feedback monitoring of the excitation voltages EM_R1 and EM_R2, it is ensured that the excitation fault of the resolver can be reported as soon as possible and a safety action can be taken at the first time, thereby ensuring the accuracy of obtaining the subsequent motor rotor angle and speed information. Among them, the safety action can include an alarm operation, or an active protection measure for motor control, such as SPO, ASC, etc.

[0076] Furthermore, the system also monitors the sine-cosine induction signals S1_S3_P, S1_S3_N, S2_S4_P, and S2_S4_N collected by the sine-cosine signal acquisition module 30 through the sine-cosine signal monitoring module 40. The sine-cosine signal monitoring module 40 collects at the end close to the main control chip 10 of the sine-cosine induction signal input, that is, the acquisition port is close to the input pin of the main control chip 10, so as to ensure that the sine-cosine signal monitoring module 40 can monitor the entire sine-cosine induction signal acquisition path and determine that the path of the sine-cosine induction signal is normal. First, the sine-cosine signal monitoring module 40 collects and monitors the sine-cosine induction signals S1_S3_P, S1_S3_N, S2_S4_P, and S2_S4_N output by the sine-cosine signal acquisition module 30, and outputs the collected sine-cosine induction signals S1_S3_P_M, S1_S3_N_M, S2_S4_P_M, and S2_S4_N_M to the operation monitoring module 12. The operation monitoring module 12 judges the working state of the path according to the voltage values of the signals S1_S3_P_M, S1_S3_N_M, S2_S4_P_M, and S2_S4_N_M to determine whether there are faults such as short circuit to ground, short circuit to power supply or open circuit. In addition, when the power supply of the sine-cosine signal acquisition module 30 is independent of other power supplies, the sine-cosine signal monitoring module 40 can also monitor the power supply of the sine-cosine signal acquisition module 30 to judge whether there is a power supply fault of the sine-cosine signal acquisition module 30, preventing the abnormal acquisition of the sine-cosine induction signal due to the power supply fault of the sine-cosine signal acquisition module 30. When a fault occurs, the sine-cosine induction signal received by the control module 11 can be used for verification. When it is determined that a fault has occurred, an alarm signal can be sent to remind the staff to check the circuit accordingly to solve the path problem, and at the same time, corresponding motor safety control strategies can also be executed, etc.

[0077] In addition, the above-mentioned sine-cosine signal monitoring module 40 can perform one-to-one monitoring output on the sine-cosine induction signals. That is to say, the S1_S3_P_M, S1_S3_N_M, S2_S4_P_M, and S2_S4_N_M output by the sine-cosine signal monitoring module 40 are the same as the sine-cosine induction signals S1_S3_P, S1_S3_N, S2_S4_P, and S2_S4_N. Thus, the sine-cosine induction signals emitted by the sine winding 62 and the cosine winding 63, on the one hand, are input into the control module 11 through the sine-cosine signal acquisition module 30 for soft decoding to obtain the motor rotor angle and speed information, and the obtained motor rotor angle and speed information are used as a link for torque control implementation, so as to be used for the realization of the torque control function. On the other hand, the sine-cosine induction signals are input into the operation monitoring module 12 through the sine-cosine signal monitoring module 40, and information such as the motor rotor angle and speed are obtained through the sine-cosine induction signals, and combined with the collected DC bus voltage and three-phase current for motor control, the motor torque monitoring and angle monitoring are realized, thereby monitoring the motor operation state. In addition, the above two samplings of the sine-cosine induction signals can adopt synchronous triggering. When the operation monitoring module 12 determines a fault according to the monitoring signal, it can be compared and verified with the sine-cosine induction signals received by the sine-cosine signal acquisition module 30. When it is determined that a fault has indeed occurred, a safety action is triggered in a timely manner.

[0078] Taking the application of this motor rotation soft decoding processing system in an electric vehicle as an example, the triggering of the above safety action and the safety control mode are described. Among them, the power battery of the electric vehicle outputs three-phase electricity through an inverter circuit to drive the motor to operate, and the main control chip 10 outputs PWM signals to control the on-off of each switch tube on the inverter circuit bridge arm.

[0079] When the control module 11 determines that torque control has an abnormality, that is, the expected requirements for voltage, current, speed, or angle required for normal motor control cannot be achieved, it enters the Level safety state control module 80. At the same time, the motor speed is judged. If it is determined that the current speed is low, the SPO control is adopted through the Level safety state control module 80. If it is determined that the current speed is high, the ASC control is adopted through the Level safety state control module 80. Specifically, a speed threshold can be preset in advance, and the current motor speed is compared with the speed threshold. If the current motor speed is less than the speed threshold, it is determined that the current motor is in a low-speed operation state, and the Level safety state control module 80 adopts SPO control. The PWM signal output by the main control chip 10 undergoes level conversion, isolation, and other processing through the Level safety state control module 80, and finally is output to the six switching tubes of the inverter circuit to control all six switching tubes to disconnect, realizing the disconnection between the motor and the main control chip 10. If it is judged that the current motor speed is greater than or equal to the speed threshold, it is determined that the current motor is in a high-speed operation state, and the Level safety state control module 80 adopts ASC control. The main control chip 10 undergoes level conversion, isolation, and other processing through the Level safety state control module 80, and finally is output to the six switching tubes of the inverter circuit. The three switching tubes of the upper bridge arm of the inverter circuit are controlled to turn off, and at the same time, the three switching tubes of the lower bridge arm are turned on, or the three switching tubes of the upper bridge arm are turned on, and at the same time, the three switching tubes of the lower bridge arm are turned off, to electrically disconnect the main control chip 10 from the motor and avoid unexpected damage to the main control chip 10. Thus, when torque control has an abnormality, the Level safety state control module 80 disconnects the output of the PWM signal from the main control chip 10 to the Level safety state control module 80 through the low-speed SPO and high-speed ASC safety control modes to ensure the safe operation of the motor. At the same time, the Level safety state control module 80 can also sample the PWM signal input to the inverter circuit and has functions of sampled signal processing and monitoring.

[0080] When the operation monitoring module 12 determines that torque monitoring or angle monitoring has an abnormality, that is, the motor rotor angle and motor speed determined by the received DC bus voltage, three-phase current, or sine-cosine induction signal are abnormal, it enters the ASC mode through the Leve2 safety state control module 90 and adopts the method of turning off the three switching tubes of the upper bridge arm of the inverter circuit and at the same time turning on the three switching tubes of the lower bridge arm, or realizes safety control by turning on the three switching tubes of the upper bridge arm of the inverter circuit and at the same time turning off the three switching tubes of the lower bridge arm. The implementation of the ASC control mode can refer to the implementation method of the above-mentioned Level safety state control module 80 and will not be elaborated here. This safety state control mode can avoid damage to the power battery, DC bus capacitor, and other high-voltage devices caused by too high back electromotive force and ensure the safe operation of the whole vehicle.

[0081] In summary, the soft decoding processing system for motor rotation improves the computing power of the control system through the soft decoding processing method, reduces the hardware circuit design cost at the same time, and based on the development implementation method of functional safety, ensures that the system is always in a controllable operating state through the redundancy and safety design of software and hardware, further ensuring the reliable operation of the motor.

[0082] In summary, for the soft decoding processing system for motor rotation according to the embodiments of the present invention, the control module of the main control chip outputs an excitation control signal to the excitation signal generation module, the excitation signal generation module generates an excitation voltage according to the excitation control signal, the filtering module filters the excitation voltage, and applies the filtered excitation voltage to the excitation winding of the resolver, so that the sine winding and cosine winding of the resolver generate sine and cosine induction signals, and the filtering module filters the sine and cosine induction signals, the sine and cosine signal acquisition module acquires the filtered sine and cosine induction signals, and sends the acquired sine and cosine induction signals to the control module, the control module analyzes the sine and cosine induction signals acquired by the sine and cosine signal acquisition module to obtain the motor rotor angle and speed information, the sine and cosine signal monitoring module monitors the sine and cosine induction signals acquired by the sine and cosine signal acquisition module to obtain a first monitoring result, and sends the first monitoring result to the operation monitoring module. When the operation monitoring module determines that there is a fault in the sine and cosine induction signals acquired by the sine and cosine signal acquisition module according to the first monitoring result, it verifies the first monitoring result according to the sine and cosine induction signals received by the control module, and triggers a safety action when the verification is correct. Thus, on the one hand, this system realizes the generation of the excitation control signal and the analysis and calculation of the sine and cosine induction signals based on the main control chip, improving the system performance. On the other hand, it realizes operation monitoring, reduces the hardware circuit design cost, and at the same time triggers a safety action based on functional safety, further ensuring the reliable operation of the motor.

[0083] Corresponding to the above embodiments, the present invention also proposes a motor controller.

[0084] Figure 6 It is a block diagram of the motor controller according to the embodiments of the present invention.

[0085] As Figure 6 shown, the motor controller 100 according to the embodiments of the present invention includes the above-mentioned soft decoding processing system 110 for motor rotation.

[0086] The motor controller according to the embodiments of the present invention, based on the aforementioned soft decoding processing system for motor rotation, on the one hand realizes the generation of the excitation control signal and the analysis and calculation of the sine and cosine induction signals, improving the performance of the motor controller. On the other hand, it realizes operation monitoring, reduces the hardware circuit design cost, and at the same time triggers a safety action based on functional safety, further ensuring the reliable operation of the motor.

[0087] Corresponding to the above embodiments, the present invention also provides an electric vehicle.

[0088] Figure 7 It is a block diagram of an electric vehicle according to an embodiment of the present invention.

[0089] As Figure 7 shown, the electric vehicle 200 according to an embodiment of the present invention includes the above-mentioned motor controller 100.

[0090] The electric vehicle according to an embodiment of the present invention, based on the foregoing motor controller, reduces the hardware circuit design cost, meets the functional safety requirements at the same time, ensures the reliable operation of the motor, and further ensures the safe operation of the whole vehicle.

[0091] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0092] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0093] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0094] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A soft decoding processing system for motor rotation, characterized in that, It includes a main control chip, an excitation signal generation module, a sine-cosine signal acquisition module, a sine-cosine signal monitoring module, and a filtering module. Among them, the main control chip includes a control module and an operation monitoring module. The control module is used to output an excitation control signal to the excitation signal generation module. The excitation signal generation module generates an excitation voltage according to the excitation control signal. The filtering module is used to filter the excitation voltage and apply the filtered excitation voltage to the excitation winding of the resolver so that the sine winding and the cosine winding of the resolver generate sine-cosine induction signals; the filtering module is used to filter the sine-cosine induction signals. The sine-cosine signal acquisition module acquires the filtered sine-cosine induction signals and sends the acquired sine-cosine induction signals to the control module. The control module is used to analyze the sine-cosine induction signals acquired by the sine-cosine signal acquisition module to obtain the motor rotor angle and speed information; the sine-cosine signal monitoring module is used to monitor the sine-cosine induction signals acquired by the sine-cosine signal acquisition module to obtain a first monitoring result and send the first monitoring result to the operation monitoring module. The operation monitoring module is used to determine that there is a fault in the sine-cosine induction signals acquired by the sine-cosine signal acquisition module according to the first monitoring result, verify the first monitoring result according to the sine-cosine induction signals received by the control module, and trigger a safety action when the verification is correct; It further includes an excitation signal monitoring module. The excitation signal monitoring module is used to perform a feedback monitoring on the excitation voltage filtered by the filtering module to obtain a second monitoring result and send the second monitoring result to the operation monitoring module. The operation monitoring module is also used to trigger a safety action when it determines that an excitation fault occurs in the resolver according to the second monitoring result.

2. The motor rotation soft decoding processing system according to claim 1, characterized in that The excitation signal generation module includes a first excitation signal generation unit and a second excitation signal generation unit to generate two paths of excitation voltages through the first excitation signal generation unit and the second excitation signal generation unit. Among them, the circuit topologies of the first excitation signal generation unit and the second excitation signal generation unit are the same.

3. The motor rotation soft decoding processing system according to claim 2, wherein The first excitation signal generation unit includes: a first voltage division circuit. The first voltage division circuit includes a first resistor and a second resistor. One end of the first resistor is powered on, and the other end is connected to one end of the second resistor to form a first node. The other end of the second resistor is grounded. The first node serves as the input end of the first excitation signal generation unit; a first filtering circuit. The first filtering circuit includes a third resistor and a first capacitor. One end of the third resistor is connected to the first node, and the other end is connected to one end of the first capacitor. The other end of the first capacitor is grounded; a second voltage division circuit. The second voltage division circuit includes a fourth resistor and a fifth resistor. One end of the fourth resistor is powered on, and the other end is connected to one end of the fifth resistor to form a second node. The other end of the fifth resistor is grounded; An amplifier circuit, the amplifier circuit includes a first amplifier, the negative input terminal of the first amplifier is connected to the other end of the third resistor through a sixth resistor, the positive input terminal of the amplifier is connected to one end of a second capacitor and the second node, the other end of the second capacitor is grounded, and the negative input terminal of the amplifier is connected to the output terminal of the amplifier through a seventh resistor and a third capacitor connected in parallel; and A stabilization circuit, the stabilization circuit includes a fourth capacitor and a fifth capacitor connected in parallel, one end of the stabilization circuit is grounded, and the other end is connected to the output terminal of the first amplifier.

4. The motor rotation soft decoding processing system according to claim 1, characterized in that The sine-cosine signal acquisition module includes a sine signal acquisition unit and a cosine signal acquisition unit. The sine signal acquisition unit is used to acquire the sine induction signal filtered by the filtering module, and the cosine signal acquisition unit is used to acquire the cosine induction signal filtered by the filtering module. Among them, the circuit topologies of the sine signal acquisition unit and the cosine signal acquisition unit are the same.

5. The motor rotation soft decoding processing system according to claim 4, wherein The sine signal acquisition unit includes: A second filtering circuit, the second filtering circuit includes an eighth resistor and a sixth capacitor. One end of the eighth resistor serves as the first input terminal of the sine signal acquisition unit, and the other end is connected to one end of the sixth capacitor, forming a third node, and the other end of the sixth capacitor is grounded; A third filtering circuit, the third filtering circuit includes a ninth resistor and a seventh capacitor. One end of the ninth resistor serves as the second input terminal of the sine signal acquisition unit, and the other end is connected to one end of the seventh capacitor to form a fourth node, and the other end of the seventh capacitor is grounded; A first clamping circuit, the first clamping circuit includes a first diode and a second diode. The anode of the first diode is grounded, the cathode of the first diode is connected to the anode of the second diode, forming a fifth node, the fifth node is connected to the third node, and the cathode of the second diode is powered on; A second clamping circuit, the second clamping circuit includes a third diode and a fourth diode. The anode of the third diode is grounded, the cathode of the third diode is connected to the anode of the fourth diode, forming a sixth node, the sixth node is connected to the fourth node, and the cathode of the fourth diode is powered on; A differential filtering circuit, the differential filtering circuit includes a tenth resistor, an eleventh resistor and an eighth capacitor. One end of the tenth resistor is connected to the third node, and the other end is connected to one end of the eighth capacitor. One end of the eleventh resistor is connected to the fourth node, and the other end is connected to the other end of the eighth capacitor; A fourth filtering circuit, the fourth filtering circuit includes a twelfth resistor and a ninth capacitor. One end of the twelfth resistor is connected to one end of the eighth capacitor, and the other end of the twelfth resistor is connected to one end of the ninth capacitor, serving as the first output terminal of the sine signal acquisition unit, and the other end of the ninth capacitor is grounded; and The fifth filter circuit, the fifth filter circuit includes a thirteenth resistor and a tenth capacitor, one end of the thirteenth resistor is connected to the other end of the eighth capacitor, the other end of the thirteenth resistor is connected to one end of the tenth capacitor, serving as the second output end of the sine signal acquisition unit, and the other end of the tenth capacitor is grounded.

6. The motor rotation soft decoding processing system according to claim 1, wherein, The excitation signal monitoring module includes a first excitation monitoring unit and a second excitation monitoring unit to monitor two excitation voltages generated by the excitation signal generation module through the first excitation monitoring unit and the second excitation monitoring unit. Among them, the circuit topologies of the first excitation monitoring unit and the second excitation monitoring unit are the same.

7. The motor rotation soft decoding processing system according to claim 6, wherein The first excitation monitoring unit includes: a fourteenth resistor, a second amplifier, and a third voltage dividing circuit; Wherein, one end of the fourteenth resistor serves as the input end of the first excitation monitoring unit, the other end of the fourteenth resistor is connected to the positive input end of the second amplifier, the negative input end of the second amplifier is connected to the output end of the second amplifier, the third voltage dividing circuit includes a fifteenth resistor, a sixteenth resistor, and a seventeenth resistor, one end of the fifteenth resistor is connected to the output end of the second amplifier, the other end of the fifteenth resistor is connected to one end of the sixteenth resistor, the other end of the sixteenth resistor is connected to one end of the seventeenth resistor, serving as the output end of the first excitation monitoring unit, and the other end of the seventeenth resistor is grounded.

8. A motor controller, characterized in that, It includes the motor rotation soft decoding processing system according to any one of claims 1-7.

9. An electric vehicle, characterized in that, It includes the motor controller according to claim 8.

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