A rotary variable differential transformer zero calibration method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a kind of rotary variable zero calibration method, device, electronic equipment and storage medium, wherein, method includes: drag motor rotor rotation and control its rotating speed;Control motor stator winding by three-phase alternating current inverter ASC enters three-phase short circuit, when the rotating speed of the motor rotor is greater than rotating speed threshold and the fluctuation state value of the rotating speed is less than fluctuation threshold, the three-phase current value of three-phase alternating current motor is acquired;According to the three-phase current value, the rotary variable zero is obtained;The rotary variable zero is written into read-only memory. Implement the above embodiment, can reduce error, so that the precision of the obtained rotary variable zero is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a resolver zero calibration method and device, electronic equipment and storage medium. BACKGROUND

[0002] Currently, there are several methods for resolver zero calibration of electric vehicle motors: 1. Manual zero adjustment, which adjusts the resolver position manually to make the phase voltage consistent with the direction of the resolver voltage. 2. Static voltage adjustment zero method, which gives the motor phase voltage a voltage command, and the electronic rotor rotates an angle under the influence of the electromagnetic torque, and the resolver follows the rotation, and the angle is recorded as the zero angle of the resolver. 3. Rotating voltage deviation calibration method, rotating motor and resolver, by comparing the deviation angle of the peak point of the three-phase voltage and the zero point of the resolver voltage, to calculate the resolver zero of the motor, but the voltage calibration method mainly cannot accurately obtain the peak point of the voltage waveform.

[0003] The above methods need personnel or test equipment to record, calculate and write the resolver zero, and the personnel or test equipment need to have the ability to record, calculate and correctly write, which requires high requirements for personnel or equipment, and certain training or debugging is needed before use. Human operation is also prone to errors such as misrecording, miswriting, and missing writing, which is prone to errors and potential risks for subsequent use of electric drive. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a resolver zero calibration method, device, electronic equipment and storage medium, which can automatically avoid errors.

[0005] In a first aspect, the embodiments of the present application provide a resolver zero calibration method, comprising:

[0006] Dragging the motor rotor to rotate and controlling its speed;

[0007] Controlling the motor stator winding to enter three-phase short circuit by three-phase alternating current inverter ASC;

[0008] When the speed of the motor rotor is greater than the speed threshold and the fluctuation state value of the speed is less than the fluctuation threshold, the three-phase current values of the three-phase alternating current motor are obtained;

[0009] The resolver zero is obtained according to the three-phase current values;

[0010] The resolver zero is written into the read-only memory.

[0011] In the implementation process, when the rotation speed of the motor rotor is greater than the rotation speed threshold and the fluctuation state value of the rotation speed is less than the fluctuation threshold, the three-phase current values of the three-phase alternating current motor are obtained, and the resolver zero position is obtained according to the three-phase current values, so that the error can be reduced, and the resolver zero position obtained has high precision.

[0012] Further, the step of obtaining the three-phase current values of the three-phase alternating current motor comprises:

[0013] When the time during which the motor rotor rotates at the rotation speed is greater than the time threshold, a plurality of groups of the three-phase current values are obtained within a preset time range.

[0014] In the implementation process, when the time during which the motor rotor rotates at the rotation speed is greater than the time threshold, a plurality of groups of the three-phase current values are obtained within a preset time range, so that the three-phase current values obtained are more accurate and have smaller variance, and thus the resolver zero position obtained is more accurate.

[0015] Further, the step of obtaining the resolver zero position according to the three-phase current values comprises:

[0016] A plurality of temporary resolver zero positions corresponding to each group of three-phase current values are obtained.

[0017] The resolver zero position is obtained according to the plurality of temporary resolver zero positions.

[0018] In the implementation process, a plurality of temporary resolver zero positions are obtained, and the resolver zero position is obtained based on the plurality of temporary resolver zero positions, so that the risk of large error caused by a single resolver zero position can be overcome.

[0019] Further, the step of obtaining the temporary resolver zero position corresponding to each group of three-phase current values comprises:

[0020] The three-phase current values of each group are subjected to CLARK transformation to obtain first transformed current values in an ab fixed coordinate system.

[0021] A preset resolver zero position is obtained.

[0022] The first transformed current values are subjected to PARK transformation according to the preset resolver zero position to obtain second transformed current values in a dq rotating coordinate system.

[0023] The second transformed current values are flipped on the q axis to obtain third transformed current values in the dq rotating coordinate system.

[0024] A first angle of the third transformed current values in the dq rotating coordinate system is obtained.

[0025] obtaining a sum of the preset rotary transformer zero position and the first angle to obtain the temporary rotary transformer zero position.

[0026] In the implementation process, a method for obtaining a temporary rotary transformer zero position is provided. Based on the method, a plurality of temporary rotary transformer zero positions can be accurately obtained based on a plurality of sets of three-phase current values.

[0027] Further, the step of writing the rotary transformer zero position into the read-only memory comprises:

[0028] writing the temporary rotary transformer zero position into the random access memory;

[0029] In response to a rising edge signal of the completion identification bit, the rotary transformer zero position obtained based on the plurality of temporary rotary transformer zero positions is written into the read-only memory.

[0030] In the implementation process, the rotary transformer zero position is written into the read-only memory, so that the rotary transformer zero position can be prevented from being tampered with.

[0031] Further, after the step of writing the rotary transformer zero position into the random access memory, the method further comprises:

[0032] In response to a rising edge signal of the completion identification bit, an average value and a variance of the plurality of temporary rotary transformer zero positions are obtained.

[0033] It is determined whether the average value and the variance exceed a preset value. If yes, an alarm information is sent.

[0034] In the implementation process, if the average value and the variance of the plurality of temporary rotary transformer zero positions exceed the preset value, it indicates that the obtained rotary transformer zero position has a large error, and the alarm information is sent.

[0035] Further, the rotation speed threshold is a rotation speed of the three-phase alternating current inverter corresponding to the motor when the three-phase alternating current inverter enters ASC rotation.

[0036] In a second aspect, an embodiment of the present application provides a rotary transformer zero position calibration device, comprising:

[0037] A drag and rotation speed control module is configured to drag a motor rotor to rotate and control a rotation speed thereof.

[0038] A three-phase alternating current inverter control module is configured to control an ASC to make a motor stator winding enter a three-phase short circuit.

[0039] A current value acquisition module is configured to acquire a three-phase current value of a three-phase alternating current motor when the rotation speed of the motor rotor is greater than a rotation speed threshold and a fluctuation state value of the rotation speed is less than a fluctuation threshold.

[0040] A zero position acquisition module is configured to acquire a rotary transformer zero position based on the three-phase current value.

[0041] A write module is configured to write the resolver zero into a read-only memory.

[0042] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the steps of the method according to any one of the first aspect are implemented.

[0043] In a fourth aspect, a computer readable storage medium is provided, which stores instructions. When the instructions run on a computer, the computer executes the method according to any one of the first aspect.

[0044] Other features and advantages of the present application will be described in the following description and other parts will be apparent to those skilled in the art from the specification and the claims.

[0045] In order to make the above objectives, features and advantages of the present application more apparent, the following will specifically describe preferred embodiments in combination with the accompanying drawings, and make a detailed description as follows. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0047] Figure 1 A flowchart of the resolver zero calibration method provided by the embodiments of the present application;

[0048] Figure 2 A structural diagram of the resolver zero calibration device provided by the embodiments of the present application;

[0049] Figure 3 A structural diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0050] The technical solutions of the embodiments of the present application will be described in combination with the drawings in the embodiments of the present application.

[0051] It should be noted that similar reference numerals and letters refer to similar items throughout the accompanying drawings, and once an item is defined in one drawing, it is not necessary to further define and explain it in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0052] Embodiment 1

[0053] Referring to Figure 1 The embodiment of the present application provides a resolver zero calibration method, applied to an electric drive assembly, the electric drive assembly comprising: a three-phase alternating current inverter, a motor stator, an electronic rotor and the like, and the method comprising:

[0054] S1: dragging the motor rotor to rotate and controlling the rotating speed thereof;

[0055] S2: controlling the motor stator winding to enter three-phase short circuit by the three-phase alternating current inverter ASC;

[0056] In the above embodiment, the three-phase alternating current inverter is a motor controller of the electric drive assembly to be calibrated.

[0057] S3: when the rotating speed of the motor rotor is greater than the rotating speed threshold value and the fluctuation state value of the rotating speed is less than the fluctuation threshold value, acquiring the three-phase current values of the three-phase alternating current motor;

[0058] S4: acquiring the resolver zero according to the three-phase current values;

[0059] S5: writing the resolver zero into a read-only memory.

[0060] In the above implementation process, when the rotating speed of the motor rotor is greater than the rotating speed threshold value and the fluctuation state value of the rotating speed is less than the fluctuation threshold value, the three-phase current values of the three-phase alternating current motor are acquired, and the resolver zero is acquired according to the three-phase current values, so that the error can be reduced, and the resolver zero obtained has high precision.

[0061] In a possible implementation, the rotating speed threshold value is the rotating speed of the motor corresponding to the three-phase alternating current inverter entering ASC rotation.

[0062] It should be noted that at this time, the motor controller controls the lower switch tube of the three-phase bridge arm of the driving circuit to enter ASC. The ASC state refers to that the upper switch tube of the three-phase bridge arm of the motor controller or the lower switch tube of the three-phase bridge arm of the switch tube is fully open (turned on), so that the motor stator winding forms a closed loop.

[0063] At this time, the motor controller enters ASC, and the motor rotor is dragged to rotate, the motor stator winding generates an electromotive force by electromagnetic induction, and further generates a current in three phases.

[0064] In a possible implementation, S2 comprises:

[0065] When the time during which the motor rotor rotates at the rotational speed is greater than the time threshold, a plurality of sets of three-phase current values are acquired within a preset time range.

[0066] In the above implementation process, when the time during which the motor rotor rotates at the rotational speed is greater than the time threshold, a plurality of sets of three-phase current values are acquired within a preset time range, which can ensure that the obtained three-phase current values are relatively accurate and have small variance, thereby enabling the obtained rotary transformer zero position to be more accurate.

[0067] In a possible implementation, the step of acquiring the rotary transformer zero position according to the three-phase current values comprises:

[0068] acquiring a temporary rotary transformer zero position corresponding to each set of three-phase current values, to obtain a plurality of temporary rotary transformer zero positions;

[0069] acquiring the rotary transformer zero position according to the plurality of temporary rotary transformer zero positions.

[0070] In the above implementation process, a plurality of temporary rotary transformer zero positions are acquired, and the rotary transformer zero position is acquired based on the plurality of temporary rotary transformer zero positions, which can overcome the risk of large error caused by a single rotary transformer zero position.

[0071] In a possible implementation, the step of acquiring the temporary rotary transformer zero position corresponding to each set of three-phase current values comprises:

[0072] performing CLARK transformation on each three-phase current value to obtain first transformed current values in an ab fixed coordinate system;

[0073] acquiring a preset rotary transformer zero position;

[0074] performing PARK transformation on the first transformed current values according to the preset rotary transformer zero position, to obtain second transformed current values in a dq rotating coordinate system;

[0075] performing flipping on the second transformed current values in the q axis, to obtain third transformed current values in the dq coordinate system;

[0076] acquiring a first angle of the third transformed current values in the dq rotating coordinate system;

[0077] acquiring a sum of the preset rotary transformer zero position and the first angle, to obtain the temporary rotary transformer zero position.

[0078] In the above embodiment, the temporary rotary transformer zero position is a deviation angle of the rotary transformer relative to a U phase of the motor.

[0079] In the above implementation process, a method for acquiring a rotary transformer zero position is provided, and based on the above method, a plurality of temporary rotary transformer zero positions can be accurately acquired based on current values.

[0080] In a possible implementation, the step of writing the resolver null into the read-only memory comprises:

[0081] writing the temporary resolver null into the random access memory;

[0082] writing the resolver null obtained according to the plurality of temporary resolver nulls into the read-only memory in response to a rising edge signal of the completion identification bit.

[0083] In the above implementation process, writing the resolver null into the read-only memory can avoid the resolver null from being tampered.

[0084] In a possible implementation, after detecting the rising edge, it is further required to determine whether the current motor controller is in the resolver calibration mode and the factory mode, and only when the three conditions are met, the motor controller software writes the resolver null value recorded in the random memory into the read-only memory.

[0085] In a possible implementation, after the step of writing the resolver null into the random access memory, the method further comprises:

[0086] obtaining the average value and the variance of the plurality of temporary resolver nulls in response to a rising edge signal of the completion identification bit;

[0087] determining whether the average value and the variance exceed preset values, and if so, issuing an alarm information.

[0088] In the above implementation process, if the average value and the variance of the plurality of temporary resolver nulls exceed the preset values, it indicates that the obtained resolver null error is large, and the alarm information is issued.

[0089] In summary, the motor controller first obtains the deviation angle of the resolver relative to the motor U phase, determines whether the stable running speed threshold and the data recording time threshold are met, when the motor rotor speed is in the target speed fluctuation range and continuously reaches the stable running time threshold, the motor controller starts to automatically record the value of the deviation angle, when the motor rotor is in the target speed fluctuation range and continuously reaches the data recording time threshold, the motor controller calculates the average value of the recorded deviation angle, issues a resolver null recording completion identification bit, and records the average value in the RAM of the motor controller.

[0090] In a possible implementation, the motor controller communicates with the test bench or the host computer through the CAN line, and the method further comprises: when the resolver operation is required, a prompt information is sent to the host computer to remind the test bench operator to adjust the motor speed so that the motor speed reaches the speed threshold.

[0091] In a possible implementation, after the resolver zero position is written into the read-only memory, a prompt message is sent to the upper computer to prompt the bench operator that the test is completed and the subsequent power-off and recovery can be performed.

[0092] In a possible implementation, the method further comprises checking whether the switching resolver calibration mode is successful, including checking the bus voltage and the relay, and checking the motor controller self-checking, and if it fails to enter successfully, a fault is reported and the fault cause is prompted.

[0093] In a possible implementation, the method further comprises checking the resolver zero position calculation condition, and if the motor speed fails to reach the speed threshold value and the duration exceeds the preset unstable operation time threshold value, the motor controller reports a fault and prompts.

[0094] In a possible implementation, the method further comprises: when the motor speed fails to reach the target speed threshold range and the duration exceeds the unrecorded data time threshold, the motor controller reports a fault and prompts.

[0095] In a possible implementation, the method further comprises: after the rising edge of the resolver zero position record completion flag bit is sent, if the write completion flag bit is not received within a certain time threshold, the motor controller reports a fault and prompts.

[0096] Embodiment 2

[0097] Referring to Figure 2 The embodiment of the present application provides a resolver zero position calibration device, comprising:

[0098] A control module 1 is configured to rotate the motor rotor and control the speed thereof.

[0099] A three-phase alternating current inverter control module 2 is configured to control the ASC to make the motor stator winding enter three-phase short circuit.

[0100] A current value acquisition module 3 is configured to acquire the three-phase current values of the three-phase alternating current motor when the speed of the motor rotor is greater than the speed threshold value and the fluctuation state value of the speed is less than the fluctuation threshold value.

[0101] A zero position acquisition module 4 is configured to acquire the resolver zero position according to the three-phase current values.

[0102] A write-in module 5 is configured to write the resolver zero position into the read-only memory.

[0103] In a possible implementation, the current value acquisition module 3 is further configured to acquire a plurality of groups of three-phase current values within a preset time range when the motor rotor rotates at the speed for a time greater than a time threshold value.

[0104] In a possible implementation, the zero position acquisition module 4 is further configured to acquire a temporary rotation variable zero position corresponding to each set of three-phase current values, to obtain a plurality of temporary rotation variable zero positions; and acquire the rotation variable zero position according to the plurality of temporary rotation variable zero positions.

[0105] In a possible implementation, the zero position acquisition module 4 is further configured to perform CLARK transformation on each set of three-phase current values, to obtain first transformed current values in an ab fixed coordinate system; acquire the preset rotation variable zero position; perform PARK transformation on the first transformed current values according to the preset rotation variable zero position, to obtain second transformed current values in a dq rotating coordinate system; perform flipping on the second transformed current values in a q axis, to obtain third transformed current values in the dq rotating coordinate system; acquire a first angle of the third transformed current values in the dq rotating coordinate system; and acquire a sum of the preset rotation variable zero position and the first angle, to obtain a temporary rotation variable zero position.

[0106] In a possible implementation, the zero position acquisition module 4 is further configured to perform CLARK transformation on each set of three-phase current values, to obtain first transformed current values in an ab fixed coordinate system; acquire the preset rotation variable zero position; perform PARK transformation on the first transformed current values according to the preset rotation variable zero position, to obtain second transformed current values in a dq rotating coordinate system; perform flipping on the second transformed current values in a q axis, to obtain third transformed current values in the dq rotating coordinate system; acquire a first angle of the third transformed current values in the dq rotating coordinate system; and acquire a sum of the preset rotation variable zero position and the first angle, to obtain a temporary rotation variable zero position.

[0107] In a possible implementation, the writing module 5 writes the temporary rotation variable zero positions into a random access memory; and in response to a rising edge signal of the completion identification bit, writes the rotation variable zero position acquired according to the plurality of temporary rotation variable zero positions into a read-only memory.

[0108] In a possible implementation, the device further includes a reminding module configured to, in response to a rising edge signal of the completion identification bit, acquire an average value and a variance of the plurality of temporary rotation variable zero positions; and determine whether the average value and the variance exceed preset values, and if so, issue an alarm information.

[0109] In a possible implementation, the rotation speed threshold is a rotation speed when a three-phase alternating current inverter corresponding to the motor enters ASC rotation.

[0110] The application also provides an electronic device, which will be described below with reference to Figure 3 , Figure 3 A structural block diagram of an electronic device provided by the application is shown in FIG. 1. The electronic device can include a processor 31, a communication interface 32, a memory 33 and at least one communication bus 34. The communication bus 34 is configured to realize direct connection and communication among the components. The communication interface 32 of the electronic device in the embodiment of the application is configured to perform signaling or data communication with other node devices. The processor 31 can be an integrated circuit chip with signal processing capability.

[0111] The processor 31 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc. The processor 31 can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor 31 can also be any conventional processor.

[0112] The memory 33 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 33 stores computer readable instructions, which when executed by the processor 31, the electronic device can perform the steps involved in the above method embodiments.

[0113] Optionally, the electronic device can also include a storage controller, an input / output unit.

[0114] The memory 33, the storage controller, the processor 31, the peripheral interface, the input / output unit are directly or indirectly electrically connected to each other to realize the transmission or interaction of data. For example, these elements can be electrically connected to each other through one or more communication buses 34. The processor 31 is configured to execute the executable modules stored in the memory 33, such as software function modules or computer programs included in the electronic device.

[0115] The input / output unit is configured to provide a user with a task creation function and create an optional time period or a preset execution time for the task to realize the interaction between the user and the server. The input / output unit can be, but is not limited to, a mouse and a keyboard, etc.

[0116] It can be understood that Figure 3 The structure shown is only a schematic, and the electronic device can include more or fewer components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 3 The structure shown is only a schematic, and the electronic device can include more or fewer components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 3 The structure shown is only a schematic, and the electronic device can include more or fewer components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 3The components shown in the figures can be implemented in hardware, software, or a combination thereof.

[0117] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores instructions. When the instructions are executed on a computer, the computer program is executed by a processor to implement the method of the method embodiments. To avoid repetition, details are not described here.

[0118] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those described in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0119] In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0120] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0121] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0122] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0123] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Claims

1. A method for zero-point calibration of a resolver, characterized in that, The method comprises the steps of: dragging the motor rotor to rotate and controlling the rotating speed thereof; controlling the motor stator winding to enter three-phase short circuit by the three-phase AC inverter ASC; when the rotating speed of the motor rotor is greater than the rotating speed threshold and the fluctuation state value of the rotating speed is less than the fluctuation threshold, obtaining three-phase current values of the three-phase AC motor; obtaining the rotating variable zero based on the three-phase current values; writing the rotating variable zero into the read-only memory; and the step of obtaining the three-phase current values of the three-phase AC motor comprises the steps of: when the time that the motor rotor rotates at the rotating speed is greater than the time threshold, obtaining multiple sets of the three-phase current values within a preset time range; and the step of obtaining the rotating variable zero based on the three-phase current values comprises the steps of: obtaining a temporary rotating variable zero corresponding to each set of the three-phase current values, to obtain multiple temporary rotating variable zeros; obtaining the rotating variable zero based on the multiple temporary rotating variable zeros; and the step of obtaining the temporary rotating variable zero corresponding to each set of the three-phase current values comprises the steps of: performing CLARK transformation on each set of the three-phase current values to obtain first transformed current values in a two-phase static coordinate system; obtaining a preset rotating variable zero position; performing PARK transformation on the first transformed current values based on the preset rotating variable zero position to obtain second transformed current values in a dq rotating coordinate system; taking the negative of the q-axis current of the second transformed current values to obtain third transformed current values in the dq rotating coordinate system; obtaining a first angle of the third transformed current values in the dq rotating coordinate system; obtaining the sum of the preset rotating variable zero position and the first angle to obtain the temporary rotating variable zero.

2. The method of claim 1, wherein, The step of writing the rotating variable zero into the read-only memory comprises the steps of: writing the temporary rotating variable zero into the random access memory; in response to a rising edge signal of a completion identification bit, writing the rotating variable zero obtained based on the multiple temporary rotating variable zeros into the read-only memory.

3. The method of claim 1, wherein, After the step of writing the rotating variable zero into the read-only memory, the method further comprises the steps of: in response to a rising edge signal of a completion identification bit, obtaining the average value and the variance of the multiple temporary rotating variable zeros; judging whether the average value and the variance exceed preset values, and if so, issuing an alarm information.

4. The method of null calibration of a rotary transducer according to any one of claims 1-3, characterized in that, The rotating speed threshold is the rotating speed of the motor corresponding to the three-phase AC inverter entering the three-phase AC inverter ASC.

5. A device for calibrating a rotary transformer to zero, comprising: The method comprises the steps of: a dragging and rotating speed control module, configured to drag the motor rotor to rotate and control the rotating speed thereof; a three-phase AC inverter control module, configured to control the three-phase AC inverter ASC to make the motor stator winding enter three-phase short circuit; a current value obtaining module, configured to, when the rotating speed of the motor rotor is greater than the rotating speed threshold and the fluctuation state value of the rotating speed is less than the fluctuation threshold, obtain three-phase current values of the three-phase AC motor; a zero obtaining module, configured to obtain the rotating variable zero based on the three-phase current values; a writing module, configured to write the rotating variable zero into the read-only memory; and the step of obtaining the three-phase current values of the three-phase AC motor comprises the steps of: when the time that the motor rotor rotates at the rotating speed is greater than the time threshold, obtaining multiple sets of the three-phase current values within a preset time range; And, the step of obtaining the rotating variable zero according to the three-phase current values comprises: obtaining a temporary rotating variable zero corresponding to each set of three-phase current values, to obtain a plurality of temporary rotating variable zeros; obtaining the rotating variable zero according to the plurality of temporary rotating variable zeros; And, the step of obtaining the temporary rotating variable zero corresponding to each set of three-phase current values comprises: performing CLARK transformation on each set of three-phase current values to obtain first transformed current values in a two-phase static coordinate system; obtaining a preset rotating variable zero position; performing PARK transformation on the first transformed current values according to the preset rotating variable zero position to obtain second transformed current values in a dq rotating coordinate system; taking the q-axis current of the second transformed current values in reverse to obtain third transformed current values in the dq rotating coordinate system; obtaining a first angle of the third transformed current values in the dq rotating coordinate system; obtaining a sum of the preset rotating variable zero position and the first angle to obtain the temporary rotating variable zero.

6. An electronic device, comprising: Comprise: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1-4.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores instructions, when the instructions are executed on the computer, the computer executes the method according to any one of claims 1-4.

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