A method, apparatus, device and storage medium for determining zero drift current

Abstract

This invention discloses a method, apparatus, device, and storage medium for determining zero-drift current. The method includes: acquiring the voltage curve of the power circuit when the current is zero during the power-on phase, measured by a sensor; sampling the voltage curve to determine a sequence of estimated zero-drift current values; using the estimated zero-drift current values ​​in the sequence to determine the median zero-drift current estimate and the average zero-drift current estimate; under a first condition, using the median zero-drift current estimate as the zero-drift current; and under a second condition, using the average zero-drift current estimate as the zero-drift current. Using the proposed method, the zero-drift current can be accurately determined. Furthermore, this method is applicable to zero-drift compensation in different scenarios, exhibiting strong versatility.

Description

Technical Field

[0001] The embodiments of the present invention relate to zero drift compensation technology, and more particularly to a method, apparatus, device and storage medium for determining zero drift current. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the requirements for the accuracy of the battery SOX (State of X) algorithm are getting higher and higher. As current is one of the important judgment criteria of the SOX algorithm, the accuracy of the current acquisition scheme is becoming increasingly important.

[0003] Currently, there are two main solutions for current acquisition: Hall effect sensors and shunts. Zero-drift processing of the acquired current is primarily achieved as follows: Each time the vehicle is connected to low voltage, the current values ​​of the three phases of the motor are collected as the zero-drift values ​​for each phase. These zero-drift values ​​are then processed to obtain the actual current zero-drift value. The advantage of this approach is that it can automatically calculate the zero-drift value based on actual conditions, making the obtained zero-drift value more appropriately and correspondingly disclosed, thus providing more accurate current values. This provides more precise data for the control of the entire vehicle and improves the reliability of the vehicle's control.

[0004] However, this approach has several drawbacks: the scope of discussion is too broad, without specifically distinguishing between Hall effect sensors and shunts, or the different current acquisition schemes used for the same vehicle model; the zero-drift calculation uses the average value method, and the calculation results are greatly affected by sampling anomalies; and it does not take into account some special cases, such as if the time for the vehicle to go from low voltage to high voltage is too short or the system initialization time is too long, which will greatly reduce the accuracy of the zero-drift calculation results. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for determining zero drift current, so as to accurately determine the zero drift compensation current.

[0006] In a first aspect, embodiments of the present invention provide a method for determining zero-drift current, including:

[0007] The voltage curve of the power circuit measured by the sensor is obtained when the current of the power circuit is zero during the power-on phase.

[0008] The voltage curve of the power circuit is sampled, and the zero drift current estimation sequence is determined by the sampled values ​​of the voltage curve of the power circuit.

[0009] The median zero-drift current estimate and the average zero-drift current estimate of the zero-drift current estimate sequence are determined using the zero-drift current estimates in the zero-drift current estimate sequence.

[0010] Under the first condition, the median zero-drift current estimate is used as the zero-drift current; under the second condition, the average value of the zero-drift current estimate is used as the zero-drift current.

[0011] Optionally, the first condition includes:

[0012] The sensor is a Hall sensor and the variance of the sampled values ​​in the zero-drift current estimation sequence is greater than a set variance.

[0013] The second condition includes:

[0014] The sensor is a Hall sensor and the variance of the sampled values ​​in the zero-drift current estimation sequence is less than a set variance.

[0015] Alternatively, the sensor may employ a shunt.

[0016] Optionally, when the sensor is a Hall sensor, the zero-drift current estimate in the zero-drift current estimate sequence is determined by the following formula:

[0017]

[0018] In the formula, under the condition that the sensor is a Hall sensor, I h V is the estimated value of the zero-drift current. c V1 is the power supply voltage of the Hall sensor, V0 is the sampled value of the voltage curve of the power supply circuit, G is the theoretical voltage of the Hall sensor when the current is zero, and G is the Hall conversion coefficient.

[0019] Optionally, when the sensor employs a shunt, the zero-drift current estimate in the zero-drift current estimate sequence is determined by the following formula:

[0020]

[0021] In the formula, when the sensor is a shunt, I s V is the estimated value of the zero-drift current. s R is the sampled value of the voltage curve of the power circuit. s Measure the resistance of the shunt.

[0022] Optionally, it also includes determining whether the zero-drift current is within a set range; if not, the zero-drift current is determined to be abnormal.

[0023] Optionally, when the zero-drift current is abnormal, the historical zero-drift current is used to replace the zero-drift current.

[0024] Optionally, the shunt measurement resistance can also be adjusted based on temperature and usage duration.

[0025] Secondly, embodiments of the present invention also provide a zero-drift current determination device, including a zero-drift current determination unit, the zero-drift current determination unit being used for:

[0026] The voltage curve of the power circuit measured by the sensor is obtained when the current of the power circuit is zero during the power-on phase.

[0027] The voltage curve of the power circuit is sampled, and the zero drift current estimation sequence is determined by the sampled values ​​of the voltage curve of the power circuit.

[0028] The median zero-drift current estimate and the average zero-drift current estimate of the zero-drift current estimate sequence are determined using the data in the zero-drift current estimate sequence.

[0029] Under the first condition, the median zero-drift current estimate is used as the zero-drift current; under the second condition, the average value of the zero-drift current estimate is used as the zero-drift current.

[0030] Thirdly, embodiments of the present invention also provide an electronic device, including at least one processor and a memory communicatively connected to the at least one processor;

[0031] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the zero-drift current determination method described in the embodiments of the present invention.

[0032] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the zero-drift current determination method described in the embodiments of the present invention.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention proposes a method for determining zero drift current. In this method, the voltage in the power circuit when the current in the power circuit is zero during the power-on stage is obtained, and the zero drift current is determined by the voltage, which can accurately achieve zero drift compensation. Specifically, when determining the zero drift current, a sequence of zero drift current estimates is first determined based on the aforementioned voltage, and the median zero drift current estimate and the average zero drift current estimate of the sequence are calculated. Depending on the conditions of the vehicle, either the median zero drift current estimate or the average zero drift current estimate is used as the zero drift current, and then zero drift compensation is achieved by using the zero drift current. Based on this, when the same vehicle model adopts different customized designs, it is not necessary to design multiple zero drift current compensation schemes, avoiding redundant design work. Attached Figure Description

[0034] Figure 1 This is a flowchart of the zero-drift current determination method in the embodiment;

[0035] Figure 2 This is a schematic diagram of the electronic device structure in the embodiment. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0037] Example 1

[0038] Figure 1 This is a flowchart of the zero-drift current determination method in the embodiment, for reference. Figure 1 Methods for determining zero drift current include:

[0039] S101. Obtain the voltage curve of the power circuit measured by the sensor when the current of the power circuit is zero during the power-on phase.

[0040] For example, in this embodiment, the zero-drift current determination method is applicable to the determination of zero-drift current for a vehicle power platform, wherein the power platform includes at least a battery system for supplying power to loads in the vehicle.

[0041] For example, in this embodiment, the battery system may include a battery, a BMS (Battery Management System), and a boost / buck converter, etc.

[0042] For example, in this embodiment, the sensor is set at a designated voltage sampling point in the power circuit of the load (e.g., the output terminal of the battery system used to connect to the load).

[0043] For example, in this embodiment, the power-on phase is used to represent the period when the current in the power circuit is zero and the voltage is not zero during the process of powering on the load.

[0044] For example, in this embodiment, during the power-on phase, the voltage signal of the voltage sampling point is obtained by the sensor, and then the voltage signal is used to form the voltage value curve of the power circuit.

[0045] S102. Sample the voltage curve of the power circuit and determine the zero drift current estimation sequence through the sampled values ​​of the voltage curve of the power circuit.

[0046] For example, in this embodiment, the voltage value curve of the power circuit can be sampled based on a fixed time interval, or a specified number of sampled values ​​can be randomly obtained from the voltage value curve of the power circuit.

[0047] For example, in this embodiment, after determining the sampled value, the sampled value is converted into a zero-drift current estimate, and the set of all zero-drift current estimates is the zero-drift current estimate sequence.

[0048] For example, in this embodiment, there is no specific limitation on the method of converting the sampled value (voltage) into a zero-drift current estimate (current). For example, the above conversion can be achieved by fitting a function or a neural network.

[0049] S103. Use the zero drift current estimates in the zero drift current estimate sequence to determine the median zero drift current estimate and the average zero drift current estimate of the zero drift current estimate sequence.

[0050] For example, in this embodiment, when determining the median zero drift current estimate, all zero drift current estimates are arranged in ascending or descending order, and then the median of the sorted zero drift current estimate sequence is determined. This median is the median zero drift current estimate.

[0051] For example, in this embodiment, the sorting method of the zero drift current estimates in the zero drift current estimate sequence is not specifically limited. For example, the sorting can be achieved by using the bubble sort method.

[0052] For example, in this embodiment, after sorting the zero-drift current estimates, the median is determined according to the different numbers of zero-drift current estimates as follows:

[0053]

[0054] In the above formula, I m I represents the median zero-drift current estimate. i This represents the i-th zero-drift current estimate after sorting, and N represents the number of zero-drift current estimates.

[0055] For example, in this embodiment, the average value of the zero drift current estimate is the average value of all zero drift current estimates in the zero drift current estimate sequence.

[0056] S104. Under the first condition, the median zero drift current estimate is used as the zero drift current; under the second condition, the average value of the zero drift current estimate is used as the zero drift current.

[0057] For example, in this embodiment, the first condition and the second condition can be divided according to the type of sensor used. For instance, it can be set that the first condition is met when sampling a first type of sensor, and the second condition is met when sampling a second type of sensor.

[0058] Alternatively, the first and second conditions can be determined based on the variance (or standard deviation) of the zero drift current estimates in the zero drift current estimate sequence. For example, it can be set that the first condition is met when the variance is greater than a set variance, and the second condition is met when the variance is less than a set variance.

[0059] For example, in this embodiment, the zero-drift current is used to compensate for the zero-drift of the sampled current when the current in the power circuit is stable, so as to determine the actual current. Specifically, the actual current can be determined by the following formula:

[0060] I r =I t -I0

[0061] In the formula, I r For the actual current, I t I0 is the sampling current when the current is stable, and I0 is the zero-drift current determined in this step.

[0062] For example, in this embodiment, when implementing zero-drift compensation, the sampled current when the current is stable can also be filtered.

[0063] By filtering the sampled current, the inaccuracy of current sampling results can be reduced due to factors such as poor contact in the connection harness between the sensor and the BCU, and electromagnetic interference from the external environment during the current acquisition process.

[0064] This invention proposes a method for determining zero-drift current. In this method, the voltage in the power circuit when the current is zero during the power-on phase is obtained. The zero-drift current is then determined using this voltage, enabling accurate zero-drift compensation. Specifically, when determining the zero-drift current, a sequence of estimated zero-drift current values ​​is first determined based on the aforementioned voltage. The median and average estimated zero-drift current values ​​are then calculated. Depending on the vehicle's conditions, either the median or the average estimated zero-drift current value is used as the zero-drift current. Zero-drift compensation is then achieved using this zero-drift current. Therefore, when the same vehicle model employs different customized designs, it is unnecessary to design multiple zero-drift current compensation schemes, avoiding redundant design work.

[0065] As one possible implementation, based on the content recorded in step S104, this solution divides the first condition and the second condition according to the type of sensor used;

[0066] Specifically, the first condition is satisfied when the sensor uses a Hall sensor, and the second condition is satisfied when the sensor uses a shunt.

[0067] For example, in this solution, when a Hall sensor is used, the conversion between the sampled value (voltage) and the zero-drift current estimate can be achieved through the following method:

[0068]

[0069] In the formula, under the condition that the sensor is a Hall sensor, I h V is the estimated value of the zero-drift current. c V1 is the power supply voltage of the Hall sensor, V0 is the sampled value of the voltage curve of the power supply circuit, G is the theoretical voltage of the Hall sensor when the current is zero, and G is the Hall conversion coefficient.

[0070] For example, in this solution, the type of Hall sensor used is not specifically limited. It can be a single-range Hall sensor or a dual-range Hall sensor. When a dual-range Hall sensor is used, V1 is the sampled value of the circuit voltage curve under the current range.

[0071] For example, in this solution, when the sensor uses a shunt, the zero-drift current estimate can be determined using the following formula:

[0072]

[0073] In the formula, when the sensor is a shunt, I s V is the estimated value of the zero-drift current. s R is the sampled value of the voltage curve of the power circuit. s Measure the resistance of the shunt.

[0074] For example, in this solution, the BCU (Bus Control Unit) is configured to connect to the sensor, and the sensor type is distinguished based on the sensor pin signal type acquired by the BCU.

[0075] For example, it can be set that when the voltage signal of the PIN pin of the BCU connected to the sensor is within a certain range and lasts for a certain period of time, the sensor currently being used is determined to be a shunt; otherwise, the sensor being used is determined to be a Hall sensor.

[0076] As one possible implementation, based on the content recorded in step S104, in this scheme, the first condition and the second condition are divided according to the variance of the zero drift current estimate;

[0077] Specifically, the first condition is satisfied when the variance of the zero drift current estimate is greater than the set variance, and the second condition is satisfied when the variance of the zero drift current estimate is less than the set variance.

[0078] For example, in this solution, if a Hall sensor is used, the conversion between the sampled value (voltage) and the zero-drift current estimate can be achieved through the following method:

[0079]

[0080] In the formula, under the condition that the sensor is a Hall sensor, I h V is the estimated value of the zero-drift current. c V1 is the power supply voltage of the Hall sensor, V0 is the sampled value of the voltage curve of the power supply circuit, G is the theoretical voltage of the Hall sensor when the current is zero, and G is the Hall conversion coefficient.

[0081] If the sensor uses a shunt, the zero-drift current estimate can be determined using the following formula:

[0082]

[0083] In the formula, when the sensor is a shunt, I s V is the estimated value of the zero-drift current. s R is the sampled value of the voltage curve of the power circuit. s Measure the resistance of the shunt.

[0084] As one possible implementation, based on the content recorded in step S104, in this scheme, the first condition and the second condition are divided according to the type of sensor used and the zero drift current estimate.

[0085] Specifically, the first condition includes:

[0086] The sensor uses a Hall sensor and the variance of the zero-drift current estimates in the zero-drift current estimate sequence is greater than the set variance.

[0087] The second condition includes:

[0088] The sensor uses a Hall sensor and the variance of the zero-drift current estimates in the zero-drift current estimate sequence is less than the set variance; or, the sensor uses a shunt.

[0089] For example, in this solution, when a Hall sensor is used, the conversion between the sampled value (voltage) and the zero-drift current estimate is achieved through the following method:

[0090]

[0091] In the formula, under the condition that the sensor is a Hall sensor, I h V is the estimated value of the zero-drift current. c V1 is the power supply voltage of the Hall sensor, V0 is the sampled value of the voltage curve of the power supply circuit, G is the theoretical voltage of the Hall sensor when the current is zero, and G is the Hall conversion coefficient.

[0092] When the sensor uses a shunt, the zero-drift current estimate is determined by the following formula:

[0093]

[0094] In the formula, when the sensor is a shunt, I s V is the estimated value of the zero-drift current. s R is the sampled value of the voltage curve of the power circuit. s Measure the resistance of the shunt.

[0095] For example, in this solution, when a shunt is used, the method further includes correcting the shunt measuring resistance based on the shunt temperature and the shunt usage time, and using the corrected shunt measuring resistance to determine the zero drift current estimate.

[0096] For example, in this solution, the temperature can be obtained through measurement, and the usage time can be determined through historical stored data. The relationship between temperature, usage time, and the correction amount of the shunt measuring resistance can be determined through experience or calibration tests.

[0097] As a feasible solution, in Figure 1 Based on the scheme shown, after determining the zero-drift current, the following steps are also included:

[0098] Determine if the zero drift current is within the set range; if not, determine that the zero drift current is abnormal.

[0099] For example, in this solution, when the zero drift current is abnormal, the abnormal zero drift current is not used for zero drift compensation. Instead, a zero drift compensation fault indication command can be generated.

[0100] Furthermore, in this scheme, when the zero-drift current is abnormal, the historical zero-drift current can be used to replace the zero-drift current, thereby completing the zero-drift compensation. Specifically, the zero-drift current can be used in the following way:

[0101] When the zero drift current is within the set range, the zero drift current value is stored before each BMS power-down sleep, and the zero drift current is read each time the BMS wakes up.

[0102] After completing the zero-drift current calculation, if the zero-drift current exceeds the set range, the zero-drift current calculated in this instance will not be used. Instead, the zero-drift current stored in the previous instance will be read after the BMS is woken up to achieve zero-drift compensation.

[0103] For example, when the zero-drift current is abnormal, the following control process can also be configured:

[0104] If the power platform enters the high-voltage power distribution stage, the fault maintenance indicator of the battery system will be lit. If the power platform has not entered the high-voltage power distribution stage, it will be prohibited from entering the high-voltage power distribution stage. The power platform will be powered off and the fault will be restored. Only if there is no fault after powering on again will it be allowed to enter the high-voltage power distribution stage.

[0105] Example 2

[0106] This embodiment proposes a zero-drift current determination device, including a zero-drift current determination unit, which is used for:

[0107] The voltage curve of the power circuit measured by the sensor is obtained when the current of the power circuit is zero during the power-on phase.

[0108] The voltage curve of the power circuit is sampled, and the zero drift current estimation sequence is determined by the sampled values ​​of the voltage curve of the power circuit.

[0109] The median zero drift current estimate and the average zero drift current estimate are determined using data from the zero drift current estimate sequence.

[0110] Under the first condition, the median zero-drift current estimate is used as the zero-drift current; under the second condition, the average value of the zero-drift current estimate is used as the zero-drift current.

[0111] Specifically, in this embodiment, a zero-drift current determination unit can be configured to implement any of the zero-drift current determination methods described in Embodiment 1. The implementation process and beneficial effects are the same as the corresponding content described in Embodiment 1, and will not be repeated here.

[0112] Example 3

[0113] Figure 2 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0114] like Figure 2As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0115] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0116] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the zero-drift current determination method.

[0117] In some embodiments, the zero-drift current determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the zero-drift current determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the zero-drift current determination method by any other suitable means (e.g., by means of firmware).

[0118] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0119] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0120] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0123] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0124] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method of zero drift current determination, the method comprising: The method comprises: obtaining a voltage curve of the power circuit measured by the sensor when the current of the power circuit is zero in the power-up stage; sampling the voltage curve of the power circuit, and determining a zero-drift current estimation value sequence through the sampling values of the voltage curve of the power circuit; determining a median zero-drift current estimation value and a zero-drift current estimation average value of the zero-drift current estimation value sequence through the zero-drift current estimation values in the zero-drift current estimation value sequence; under a first condition, using the median zero-drift current estimation value as the zero-drift current, and under a second condition, using the zero-drift current estimation average value as the zero-drift current; the first condition comprises that the sensor is a Hall sensor and the variance of the zero-drift current estimation values in the zero-drift current estimation value sequence is greater than a set variance; the second condition comprises that the sensor is a Hall sensor and the variance of the zero-drift current estimation values in the zero-drift current estimation value sequence is less than a set variance; when the sensor is a Hall sensor, the zero-drift current estimation values in the zero-drift current estimation value sequence are determined by the following formula: wherein, under the condition that the sensor is a Hall sensor, is a zero-drift current estimate, is a power supply voltage of the Hall sensor, is a sampling value of the power supply voltage value curve, is a theoretical voltage of the Hall sensor when the current is zero, is a Hall conversion coefficient.

2. The zero drift current determination method of claim 1, wherein, The method further comprises determining whether the zero-drift current is in a set interval, and if not, determining that the zero-drift current is abnormal.

3. The zero drift current determination method of claim 2, wherein, When the zero-drift current is abnormal, the zero-drift current is replaced by a historical zero-drift current.

4. A zero drift current determination apparatus characterized by comprising: The method comprises: obtaining a voltage curve of the power circuit measured by the sensor when the current of the power circuit is zero in the power-up stage; sampling the voltage curve of the power circuit, and determining a zero-drift current estimation value sequence through the sampling values of the voltage curve of the power circuit; determining a median zero-drift current estimation value and a zero-drift current estimation average value of the zero-drift current estimation value sequence through the zero-drift current estimation values in the zero-drift current estimation value sequence; under a first condition, using the median zero-drift current estimation value as the zero-drift current, and under a second condition, using the zero-drift current estimation average value as the zero-drift current; the first condition comprises that the sensor is a Hall sensor and the variance of the zero-drift current estimation values in the zero-drift current estimation value sequence is greater than a set variance; the second condition comprises that the sensor is a Hall sensor and the variance of the zero-drift current estimation values in the zero-drift current estimation value sequence is less than a set variance; when the sensor is a Hall sensor, the zero-drift current estimation values in the zero-drift current estimation value sequence are determined by the following formula: wherein, under the condition that the sensor is a Hall sensor, is a zero-drift current estimate, is a power supply voltage of the Hall sensor, is a sampling value of the power supply voltage value curve, is a theoretical voltage of the Hall sensor when the current is zero, is a Hall conversion coefficient.

5. An electronic device, comprising: The method comprises at least one processor and a memory connected in communication with the at least one processor; the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the zero-drift current determination method in any one of claims 1-3.

6. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the zero-drift current determination method in any one of claims 1-3.

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