Signal decoding method and apparatus, motor driving unit, and storage medium

Abstract

The application discloses a signal decoding method and device, a motor driving unit and a storage medium. The signal decoding method comprises: continuously sampling a resolver recovery signal received, wherein the resolver recovery signal is fed back by a resolver based on a received excitation signal; judging whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; if not, adjusting the phase of the excitation signal so as to synchronously adjust the phase of the resolver recovery signal; and if the voltage absolute values of two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, stopping adjusting the phase of the excitation signal. According to the application, the zero-crossing point of the resolver recovery signal can be positioned at the middle of the two sampling points with equal voltage absolute values and opposite signs, thereby solving the problem that the zero-crossing point of the resolver recovery signal cannot be accurately obtained due to the zero-crossing point deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a signal decoding method and device, a motor driving unit and a storage medium. BACKGROUND

[0002] A new energy automobile motor driving control system needs to obtain motor angle, speed, running direction and other information in real time, and then control the motor to accelerate, decelerate and run in forward and reverse directions. A method for obtaining motor angle, speed and other information is to install a rotary transformer on a motor shaft, input a high-frequency sinusoidal excitation signal to the excitation winding of the rotary transformer, then recover the sine and cosine winding signals of the rotary transformer and calculate the rotary transformer angle, and then obtain the motor angle, speed and other information based on the rotary transformer angle. The accurate zero-crossing point position of the sine and cosine winding signals is the key to realizing high-precision calculation of the motor angle, speed and other information.

[0003] However, due to the influence of natural factors such as temperature fluctuation and service life aging of the device, the delay between the excitation signal and the recovered signal of the rotary transformer decoding system will dynamically change, causing the zero-crossing point of the sine and cosine rotary transformer recovered signals to dynamically shift left and right.

[0004] The traditional soft decoding algorithm relies on the judgment of the positive and negative signs of adjacent sampling points to obtain the position of the zero-crossing point. When the accurate zero-crossing point of the recovered signal fluctuates left and right within the range of adjacent sampling points due to delay changes, the decoding algorithm cannot capture and identify the shift of this zero-crossing point, which ultimately leads to errors in the software calculation of the motor angle and speed, and the decoding accuracy decreases.

[0005] In summary, the change of the hardware condition will cause the zero-crossing point of the rotary transformer recovered signal to shift, and then cause the accurate zero-crossing point position to be unable to be obtained. SUMMARY

[0006] The main purpose of the present application is to provide a signal decoding method, device, motor and storage medium, which aims to solve the problem that the shift of the zero-crossing point of the rotary transformer recovered signal causes the accurate zero-crossing point position to be unable to be obtained.

[0007] To achieve the above purpose, the present application provides a signal decoding method, which comprises:

[0008] continuously sampling the received rotary transformer recovered signal, wherein the rotary transformer recovered signal is fed back by a rotary transformer based on a received excitation wave signal;

[0009] determining whether the voltage absolute values of two sampling points with opposite signs are equal;

[0010] If not, the phase of the excitation wave signal is adjusted to synchronously adjust the phase of the rotary transformer recovered signal;

[0011] If two sampling points with equal voltage absolute value, opposite sign and continuity are obtained by sampling the adjusted rotary variable recovery signal, the phase adjustment of the excitation signal is stopped.

[0012] Optionally, the phase adjustment of the excitation signal comprises:

[0013] The phase of the excitation signal is adjusted based on the sampling information of the rotary variable recovery signal, so that the voltage absolute value of two sampling points with opposite sign and continuity obtained by subsequent sampling tends to be equal.

[0014] Optionally, the phase adjustment of the excitation signal based on the sampling information of the rotary variable recovery signal comprises:

[0015] A phase adjustment value is determined based on the sampling information of the rotary variable recovery signal.

[0016] The phase of the excitation signal is adjusted based on the phase adjustment value.

[0017] If two sampling points with equal voltage absolute value, opposite sign and continuity cannot be obtained by sampling the adjusted rotary variable recovery signal, the step of determining a phase adjustment value based on the sampling information of the rotary variable recovery signal is executed.

[0018] If two sampling points with equal voltage absolute value, opposite sign and continuity are obtained by sampling the adjusted rotary variable recovery signal, the step of stopping the phase adjustment of the excitation signal is executed.

[0019] Optionally, the excitation signal is controlled by a preset comparison register, and the phase adjustment of the excitation signal comprises:

[0020] The phase of the excitation signal is adjusted by adjusting the storage value of the comparison register.

[0021] Optionally, after the step of stopping the phase adjustment of the excitation signal, the method further comprises:

[0022] A zero-crossing point position is located based on the middle position of the two sampling points with equal voltage absolute value, opposite sign and continuity, to obtain zero-crossing point position information.

[0023] Rotary variable decoding angle information is obtained by decoding based on the zero-crossing point position information.

[0024] Optionally, after the step of obtaining rotary variable decoding angle information by decoding based on the zero-crossing point position information, the method further comprises:

[0025] Calculate motor angle and motor speed based on the resolver decoding angle information;

[0026] Observe and compensate the motor angle and the motor speed through a preset observer to obtain compensated motor angle and compensated motor speed.

[0027] Optionally, before the step of adjusting the phase of the excitation signal, the method further comprises:

[0028] Calculate the phase difference between the excitation signal and the resolver recovery signal;

[0029] According to the phase difference, perform phase compensation processing on the excitation signal and the resolver recovery signal.

[0030] Embodiments of the present application also propose a signal decoding device, the signal decoding device comprises:

[0031] The sampling module is configured to continuously sample the received resolver recovery signal, wherein the resolver recovery signal is fed back by a resolver based on the received excitation signal;

[0032] The judging module is configured to judge whether the voltage absolute values of two sampling points with opposite signs and in succession are equal;

[0033] The adjusting module is configured to adjust the phase of the excitation signal to make the phase of the resolver recovery signal adjust synchronously if the voltage absolute values of the two sampling points are not equal;

[0034] The stopping module is configured to stop adjusting the phase of the excitation signal if the voltage absolute values of the two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal.

[0035] Embodiments of the present application also propose a motor driving unit, the motor driving unit comprises a memory, a processor and a signal decoding program stored in the memory and executable on the processor, and the signal decoding program implements the steps of the signal decoding method when executed by the processor.

[0036] Embodiments of the present application also propose a computer readable storage medium, the computer readable storage medium stores a signal decoding program, and the signal decoding program implements the steps of the signal decoding method when executed by a processor.

[0037] The signal decoding method, device, motor and storage medium provided by the embodiments of the present application are characterized in that: the received resolver recovery signal is continuously sampled, wherein the resolver recovery signal is fed back by a resolver based on a received excitation signal; it is determined whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; if not, the phase of the excitation signal is adjusted to synchronize the phase adjustment of the resolver recovery signal; if the voltage absolute values of two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, the adjustment of the phase of the excitation signal is stopped. Based on the present application, the received resolver recovery signal is sampled to obtain a plurality of sampling points, and the zero-crossing point is located between two sampling points with opposite signs and in succession. It is further determined whether the voltage absolute values of the two sampling points with opposite signs and in succession are equal. Since the signal waveform of the resolver recovery signal is periodically symmetric, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal, it can be known that the zero-crossing point is located in the middle of the two sampling points; if the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, the phase of the excitation signal is adjusted to synchronize the phase adjustment of the resolver recovery signal. After the adjustment, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, it indicates that the zero-crossing point is located between the two sampling points, and at this time, the adjustment of the phase of the excitation signal is stopped, and the correction of the excitation signal and the resolver recovery signal is completed. In this way, the corrected excitation signal actually adapts to the changes of device temperature drift, aging or other hardware conditions. The corrected resolver recovery signal is obtained based on the corrected excitation signal, and the zero-crossing point position can be easily positioned in the middle of the two sampling points with equal voltage absolute values and opposite signs based on the corrected resolver recovery signal, thereby solving the problem that the zero-crossing point of the resolver recovery signal deviates to cause the accurate zero-crossing point position to be unable to be obtained. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A functional module schematic diagram of a terminal device to which the signal decoding device of the present application belongs;

[0039] Figure 2 A flowchart schematic diagram of a first exemplary embodiment of the signal decoding method of the present application;

[0040] Figure 3 A flowchart schematic diagram of a second exemplary embodiment of the signal decoding method of the present application;

[0041] Figure 4 A flowchart schematic diagram of a third exemplary embodiment of the signal decoding method of the present application;

[0042] Figure 5 A flowchart schematic diagram of a fourth exemplary embodiment of the signal decoding method of the present application;

[0043] Figure 6 Flow chart of the fifth exemplary embodiment of the signal decoding method of the present application;

[0044] Figure 7 Flow chart of the sixth exemplary embodiment of the signal decoding method of the present application;

[0045] Figure 8 Flow chart of the seventh exemplary embodiment of the signal decoding method of the present application;

[0046] Figure 9 Flow chart of the eighth exemplary embodiment of the signal decoding method of the present application;

[0047] Figure 10 Schematic diagram of the rotary variable recovery signal sampling and zero-crossing offset involved in the signal decoding method of the present application;

[0048] Figure 11 Schematic diagram of the relationship between the excitation wave signal and the rotary variable recovery signal involved in the signal decoding method of the present application;

[0049] Figure 12 Schematic diagram of the storage value of the adjustment comparison register involved in the signal decoding method of the present application;

[0050] Figure 13 Schematic diagram of the motor angle calculation involved in the signal decoding method of the present application;

[0051] Figure 14 Schematic diagram of the signal delay leading to motor angle calculation error involved in the signal decoding method of the present application.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein merely serve to explain the present application and are not intended to limit the present application.

[0054] The main solution of the embodiment of the present application is: continuously sampling the received resolver recovery signal, wherein the resolver recovery signal is fed back by a resolver based on a received excitation signal; judging whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; if not, adjusting the phase of the excitation signal to make the phase of the resolver recovery signal adjust synchronously; if the voltage absolute values of two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, stopping adjusting the phase of the excitation signal. Based on the solution of the present application, a plurality of sampling points are obtained by sampling the received resolver recovery signal, and the zero-crossing point is located between two sampling points with opposite signs and in succession. Further, whether the voltage absolute values of the two sampling points with opposite signs and in succession are equal is judged. Since the signal waveform of the resolver recovery signal is periodically symmetric, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal, it can be known that the zero-crossing point is located in the middle of the two sampling points; if the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, the phase of the excitation signal can be adjusted to make the phase of the resolver recovery signal adjust synchronously. After the adjustment, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, it indicates that the zero-crossing point is located between the two sampling points, and at this time, the phase of the excitation signal is stopped adjusting, and the correction of the excitation signal and the resolver recovery signal is completed. In this way, the corrected excitation signal actually adapts to the change of the device temperature drift, aging or other hardware conditions, and the corrected resolver recovery signal is obtained based on the corrected excitation signal. Based on the corrected resolver recovery signal, the zero-crossing point position can be easily positioned in the middle of the two sampling points with equal voltage absolute values and opposite signs, thereby solving the problem that the zero-crossing point of the resolver recovery signal deviates to cause the accurate zero-crossing point position to be unable to be obtained.

[0055] Specifically, referring to Figure 1 , Figure 1 is a schematic diagram of a function module of a terminal device to which the signal decoding device of the present application belongs. The signal decoding device can be a device capable of signal decoding independent of the terminal device, which can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal such as a mobile phone or a tablet computer having a data processing function, and can also be a fixed terminal device or a server having a data processing function.

[0056] In the embodiment, the terminal device to which the signal decoding device belongs at least includes an output module 110, a processor 120, a memory 130 and a communication module 140.

[0057] The memory 130 stores an operating system and a signal decoding program. The signal decoding device can store the sampling information obtained by continuously sampling the resolver recovery signal received, the resolver recovery signal fed back by the resolver, the determination result of whether the voltage absolute values of two sampling points with opposite signs and in succession are equal, the adjustment parameter for adjusting the phase of the excitation launch signal, and the sampling information of two sampling points with equal voltage absolute values, opposite signs and in succession obtained by sampling the adjusted resolver recovery signal in the memory 130. The output module 110 can be a display screen and the like. The communication module 140 can include a WIFI module, a mobile communication module, a Bluetooth module and the like, and communicates with external devices or servers through the communication module 140.

[0058] When the signal decoding program in the memory 130 is executed by the processor, the following steps are implemented:

[0059] Continuously sampling the resolver recovery signal received, wherein the resolver recovery signal is fed back by the resolver based on the received excitation launch signal;

[0060] Determining whether the voltage absolute values of two sampling points with opposite signs and in succession are equal;

[0061] If not, adjusting the phase of the excitation launch signal to synchronously adjust the phase of the resolver recovery signal;

[0062] If two sampling points with equal voltage absolute values, opposite signs and in succession are obtained by sampling the adjusted resolver recovery signal, the adjustment of the phase of the excitation launch signal is stopped.

[0063] Further, when the signal decoding program in the memory 130 is executed by the processor, the following steps are implemented:

[0064] Adjusting the phase of the excitation launch signal based on the sampling information of the resolver recovery signal to make the voltage absolute values of two sampling points with opposite signs and in succession obtained by subsequent sampling tend to be equal.

[0065] Further, when the signal decoding program in the memory 130 is executed by the processor, the following steps are implemented:

[0066] Determining a phase adjustment value based on the sampling information of the resolver recovery signal;

[0067] Adjusting the phase of the excitation launch signal based on the phase adjustment value;

[0068] If two sampling points with equal voltage absolute values, opposite signs and in succession cannot be obtained by sampling the adjusted resolver recovery signal, the step of determining a phase adjustment value based on the sampling information of the resolver recovery signal is returned to be executed.

[0069] If two sampling points with equal absolute value and opposite sign are found in the adjusted resolver recovered signal, then the following step is performed: stop adjusting the phase of the excitation signal.

[0070] Further, the signal decoding program in the memory 130, when executed by the processor, further implements the following steps:

[0071] The phase of the excitation signal is adjusted by adjusting the storage value of the comparison register.

[0072] Further, the signal decoding program in the memory 130, when executed by the processor, further implements the following steps:

[0073] The zero-crossing point position information is obtained based on the intermediate position of the two sampling points with equal absolute value and opposite sign.

[0074] The resolver decoding angle information is obtained based on the zero-crossing point position information.

[0075] Further, the signal decoding program in the memory 130, when executed by the processor, further implements the following steps:

[0076] The motor angle and the motor speed are calculated based on the resolver decoding angle information.

[0077] The motor angle and the motor speed are observed and compensated by a preset observer to obtain the compensated motor angle and the compensated motor speed.

[0078] Further, the signal decoding program in the memory 130, when executed by the processor, further implements the following steps:

[0079] The phase difference between the excitation signal and the resolver recovered signal is calculated.

[0080] The excitation signal and the resolver recovered signal are phase-completed according to the phase difference.

[0081] The embodiment corrects the excitation signal and the resolver recovery signal by continuously sampling the received resolver recovery signal, wherein the resolver recovery signal is fed back by the resolver based on the received excitation signal, determining whether the voltage absolute values of two sampling points with opposite signs and in succession are equal, adjusting the phase of the excitation signal if the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, and stopping adjusting the phase of the excitation signal if the voltage absolute values of the two sampling points with opposite signs and in succession are equal after the adjustment. In the basic embodiment, the received resolver recovery signal is sampled to obtain a plurality of sampling points, and a zero-crossing point is located between two sampling points with opposite signs and in succession. Further, it is determined whether the voltage absolute values of the two sampling points with opposite signs and in succession are equal. Since the signal waveform of the resolver recovery signal is periodically symmetric, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal, it can be known that the zero-crossing point is located in the middle of the two sampling points. If the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, the phase of the excitation signal can be adjusted to synchronize the phase of the resolver recovery signal. After the adjustment, if the voltage absolute values of the two sampling points with opposite signs and in succession are equal after the adjustment, it indicates that the zero-crossing point is located between the two sampling points, and at this time, the adjustment of the phase of the excitation signal is stopped, and the correction of the excitation signal and the resolver recovery signal is completed. In this way, the corrected excitation signal actually adapts to the changes of the device temperature drift, aging or other hardware conditions. The corrected resolver recovery signal is obtained based on the corrected excitation signal, and the zero-crossing point position can be easily positioned in the middle of the two sampling points with equal voltage absolute values and opposite signs based on the corrected resolver recovery signal, thereby solving the problem that the zero-crossing point of the resolver recovery signal deviates to cause the accurate zero-crossing point position to be unable to be obtained.

[0082] A new energy automobile motor driving control system needs to obtain motor position information in real time to determine motor angle, speed, running direction and other information, and then control motor acceleration, deceleration and forward and reverse rotation. Generally, the method for obtaining motor position information is to install a resolver on the motor shaft, and to input a high-frequency sinusoidal excitation signal (i.e., an excitation signal) to the excitation winding of the resolver, and then to recover the sine and cosine winding signals (i.e., resolver recovery signals) of the resolver. More specifically, when the motor runs, the motor rotor drives the resolver rotor to rotate synchronously, which causes the sine and cosine winding signals of the resolver to change periodically with the change of the resolver rotor position. The key point of obtaining motor angle, speed and other information lies in decoding the change rule of the sine and cosine winding signals.

[0083] For the technical requirement of obtaining the resolver angle by decoding the periodically changing sine and cosine winding signals, there are currently solutions based on hardware decoding or software decoding. Hardware decoding involves adding a resolver decoding chip, using the chip's own calculation capabilities to obtain the resolver angle. Software decoding involves sampling the sine and cosine winding signals and developing software decoding algorithms to calculate the resolver angle and direction of operation in real time.

[0084] The core of a hardware decoding solution is the decoding chip. Currently, the chip shortage in the new energy vehicle industry leads to frequent chip replacements, which further increases product development cycles and costs. Furthermore, given the market trend of increasingly higher peak motor speeds in new energy vehicles, ordinary decoding chips struggle to meet the requirements for high-precision decoding performance. At the same time, high-precision, low-latency decoding chips are expensive and operate under demanding conditions; when decoding failures occur, only chip replacement is possible, which is detrimental to product technology development and industry adoption.

[0085] Traditional software decoding solutions suffer from significant deviations and fluctuations in decoding bandwidth, accuracy, and dynamic performance when faced with issues such as temperature drift, aging of the decoding circuit, and inconsistencies in the manufacturing process of the resolver itself. For example... Figure 14 As shown, Figure 14 This diagram illustrates the error in motor angle calculation caused by signal delay. Curve 1 is constructed from laboratory simulation data, and curve 2 is constructed from measured data from the HIL test bench. It is evident that both the simulation and measured results exhibit a certain degree of angle error due to signal delay. Therefore, traditional software decoding methods cannot solve the problem of zero-crossing position offset caused by signal delay, thus failing to meet the urgent market demand of the new energy vehicle industry for improving the peak operating speed and control torque accuracy of motors.

[0086] Reference Figure 2 The first embodiment of the signal decoding method of this application provides a flowchart, the signal decoding method including:

[0087] Step S10: Continuously sample the received resolver recovery signal, wherein the resolver recovery signal is fed back by the resolver based on the received excitation wave signal.

[0088] Specifically, such as Figure 11 As shown, Figure 11This diagram illustrates the relationship between the excitation signal and the resolver recovery signal. The MCU (Microcontroller Unit) is connected to the DSP (Digital Signal Processing) module. The DSP module generates a PWM (Pulse Width Modulation) wave based on preset parameters. This PWM wave is processed by a hardware filtering circuit to obtain the corresponding sinusoidal excitation signal (AC signal), which is the excitation signal. The excitation signal is then sent from the MCU to the resolver, where its AC excitation winding receives it. Additionally, the resolver contains sinusoidal and cosine recovery windings to generate the resolver recovery signal. Because the resolver rotor rotates synchronously with the motor rotor, the sinusoidal and cosine recovery signals exhibit a periodic variation as the rotor position changes. These signals are then sent to the MCU for reception.

[0089] Furthermore, the electronic control MCU samples the received resolver recovery signal based on a preset sampling frequency, obtaining several sampling points. For example... Figure 10 As shown, Figure 10 This diagram illustrates the sampling and zero-crossing offset of the resolver recovery signal. A single resolver recovery signal cycle is sampled 16 times, resulting in 16 sampling points. The time interval between two adjacent sampling points is 6.25 μs. Additionally, Figure 10 The three signals with different phases (signal 1, signal 2, and signal 3) represent resolver recovery signals obtained under different hardware conditions. The main difference between the three signals is their phase, which is actually caused by a delay fluctuation. More specifically, the reason for the different phases of these resolver recovery signals is the change in hardware conditions, such as temperature fluctuations, aging, or changes in hardware conditions caused by other natural factors. Figure 10It can be seen that the zero-crossing point voltage is located between two sampling points with opposite signs and continuity (or adjacent). The opposite signs mean that the voltage values represented by the two sampling points are opposite in sign. Or the sampling point directly falls at the zero-crossing point position, which is very rare, and the embodiment does not consider it. Generally, if the hardware condition changes cause the phase of the rotary variable recovery signal to change, the zero-crossing point position will move left and right between two sampling points with opposite signs and continuity. The traditional software decoding method will take one of the two sampling points closer to the zero-crossing point as the approximate zero-crossing point position, but still cannot track and identify the zero-crossing point position offset caused by the delay fluctuation. Even if the sampling rate is increased and the time interval between adjacent sampling points is reduced, the change of the zero-crossing point signal between adjacent sampling points cannot be tracked and identified. When the actual recovery signal accurately crosses zero within the adjacent sampling point interval, the error between the motor angle obtained by sampling signal soft decoding and the actual motor angle is also dynamically changing. Obviously, the traditional software decoding method uses this approximate zero-crossing point position for subsequent motor angle, speed and other information calculation, and naturally obtains a larger error calculation result.

[0090] Step S20, judging whether the voltage absolute values of the two sampling points with opposite signs and continuity are equal.

[0091] Since the rotary variable recovery signal is a continuous signal, if the signs of the two sampling points are opposite and continuous, that is, if the voltage value of the previous sampling point is positive and the voltage value of the next sampling point is negative, the voltage value between the two sampling points must pass through a process of decreasing from positive to negative, so it can be determined that the zero-crossing point is located between the two sampling points. More specifically, since the rotary variable recovery signal is a sine or cosine signal, its signal waveform presents a periodic symmetry characteristic. Based on this characteristic, if it is judged that the voltage absolute values of the two sampling points with opposite signs and continuity are equal, it can be known that the position of the two sampling points is the zero-crossing point position. For this reason, the motor MCU sets a judgment step. After sampling the rotary variable recovery signal, the two sampling points with opposite signs and continuity are determined, and then the voltage absolute values of the two sampling points with opposite signs and continuity are taken to further judge whether the voltage absolute values are equal. If the judgment result shows that the voltage absolute values of the two sampling points with opposite signs and continuity are equal, it means that the zero-crossing point position is at the middle position of the two sampling points.

[0092] Step S30, if not, adjusting the phase of the excitation wave signal to synchronize the phase adjustment of the rotary variable recovery signal.

[0093] Specifically, if the judgment result of the previous step indicates that the absolute values of the voltages of two sampling points with opposite signs are not equal, it means that the zero-crossing position is not in the middle of the two sampling points, and the phase of the resolver recovery signal needs to be further adjusted so that the zero-crossing position falls in the middle of the two sampling points with opposite signs. Since the phase changes of the excitation signal and the resolver recovery signal are synchronized, adjusting the phase of the excitation signal is equivalent to adjusting the phase of the resolver recovery signal. Therefore, the electric control MCU adjusts the signal parameters to adjust the phase of the excitation signal towards the expected target, where the expected target refers to making the absolute values of the voltages of two sampling points with opposite signs equal, that is, the phase adjustment of the excitation signal is directional. On the other hand, the excitation signal may need to be adjusted at least once during this process, that is, the phase adjustment of the excitation signal is in a step-by-step fine-tuning manner.

[0094] Step S40, if the adjusted resolver recovery signal is sampled to obtain two sampling points with equal absolute values of voltages and opposite signs, the phase of the excitation signal is stopped.

[0095] Specifically, the electric control MCU adjusts the signal parameters to adjust the phase of the excitation signal towards the expected target at least once, while also sampling and judging the received resolver recovery signal. If the electric control MCU samples the adjusted resolver recovery signal to obtain two sampling points with equal absolute values of voltages and opposite signs (based on the resolver recovery signal being a sine or cosine signal, two sampling points with equal absolute values of voltages are actually two sampling points with opposite signs), it means that the zero-crossing position is in the middle of the two sampling points with equal absolute values of voltages and opposite signs. At this time, the electric control MCU stops adjusting the phase of the excitation signal, and the excitation signal emitted by the current signal parameters is the corrected excitation signal. The electric control MCU sends the corrected excitation signal to the resolver to obtain the corrected resolver recovery signal, where the meaning of the word "corrected" refers to the correction of the zero-crossing position. Sampling the corrected resolver recovery signal can obtain two sampling points with equal absolute values of voltages and opposite signs, and further determine that the zero-crossing position is in the middle of the two sampling points with equal absolute values of voltages and opposite signs, which provides the necessary parameter conditions for the accurate calculation of the motor position information in the subsequent process.

[0096] The embodiment adjusts the phase of the excitation signal based on the sampling information of the resolver recovery signal, so that the voltage absolute values of the two sampling points obtained by subsequent sampling tend to be equal. The embodiment adjusts the phase of the excitation signal based on the sampling information of the resolver recovery signal, so that the voltage absolute values of the two sampling points obtained by subsequent sampling tend to be equal.

[0097] Further, with reference to Figure 3 The second embodiment of the signal decoding method of the present application provides a flowchart. Based on the above Figure 2 As shown in the embodiment, the step S30 of adjusting the phase of the excitation signal is further refined, including:

[0098] Step S301, adjust the phase of the excitation signal based on the sampling information of the resolver recovery signal, so that the voltage absolute values of the two sampling points obtained by subsequent sampling tend to be equal.

[0099] Specifically, if the judgment result of the previous step indicates that the absolute values of the voltages of the two sampling points with opposite signs are not equal, it means that the zero-crossing point is not in the middle of the two sampling points, and the phase of the rotating variable recovery signal needs to be further adjusted so that the zero-crossing point falls in the middle of the two sampling points with opposite signs. Since the phase changes of the excitation signal and the rotating variable recovery signal are synchronized, adjusting the phase of the excitation signal is equivalent to adjusting the phase of the rotating variable recovery signal. Therefore, the electric control MCU adjusts the parameters of the excitation signal to adjust the phase of the excitation signal towards the expected target, where the expected target refers to making the absolute values of the voltages of the two sampling points with opposite signs equal, that is, the adjustment of the phase of the excitation signal is directional. On the other hand, the excitation signal may need to be adjusted at least once in this process, that is, the adjustment of the phase of the excitation signal is in the form of step-by-step fine tuning.

[0100] More specifically, the motor MCU can determine the voltage values corresponding to the two sampling points with opposite signs according to the sampling information of the rotating variable recovery signal, for example, the voltage values corresponding to the two sampling points with opposite signs are +0.2V and -0.8V, then the motor MCU can set the corresponding parameters of the excitation signal to adjust the phase of the excitation signal so that the voltage values corresponding to the two sampling points with opposite signs of the rotating variable recovery signal sampled at the same time are close to +0.5V and -0.5V. That is, the voltage value of the positive sampling point is adjusted from +0.2V to +0.5V, and the voltage value of the negative sampling point is adjusted from -0.8V to -0.5V.

[0101] The embodiment adjusts the phase of the excitation signal based on the sampling information of the rotating variable recovery signal to make the absolute values of the voltages of the two sampling points with opposite signs tend to be equal. In this embodiment, the motor MCU can determine the specific voltage values of the two sampling points on the left and right of the zero-crossing point according to the sampling information of the rotating variable recovery signal, and further adjust the phase of the excitation signal according to the specific voltage values to make the absolute values of the voltages of the two sampling points with opposite signs tend to be equal. In this way, the zero-crossing point of the rotating variable recovery signal can be gradually corrected.

[0102] Further, referring to Figure 4 , the third embodiment of the signal decoding method provides a flowchart based on the above Figure 3 , step S301, the adjustment of the phase of the excitation signal based on the sampling information of the rotating variable recovery signal is further refined, including:

[0103] Step S3011, determining a phase adjustment value based on the sampling information of the resolver recovery signal.

[0104] Specifically, if the judgment result of the previous step indicates that the absolute values of the voltages of the two sampling points with opposite signs are not equal, it means that the zero-crossing point is not in the middle of the two sampling points, and the phase of the resolver recovery signal needs to be further adjusted so that the zero-crossing point falls in the middle of the two sampling points with opposite signs. Since the phase changes of the excitation signal and the resolver recovery signal are synchronized, adjusting the phase of the excitation signal is equivalent to adjusting the phase of the resolver recovery signal. Therefore, the electric control MCU adjusts the signal emission parameters to adjust the phase of the excitation signal towards the expected target, where the expected target refers to making the absolute values of the voltages of the two sampling points with opposite signs equal, that is, the phase adjustment of the excitation signal is directional. On the other hand, at least one adjustment of the excitation signal may be required during this process, that is, the phase adjustment of the excitation signal is in a step-by-step fine-tuning manner.

[0105] More specifically, the motor MCU can determine the voltage values corresponding to the two sampling points with opposite signs according to the sampling information of the resolver recovery signal. When adjusting the phase of the excitation signal in a step-by-step fine-tuning manner, the size of each adjustment needs to be determined, which is determined according to the deviation between the actual voltage values corresponding to the two sampling points with opposite signs and the target voltage values. For example, the actual voltage values corresponding to the two sampling points with opposite signs obtained by sampling are +0.2V and -0.8V, and the target voltage values are +0.5V and -0.5V. That is, the deviation between the actual voltage value +0.2V of the positive sampling point and the target voltage value +0.5V is 0.3V, and the deviation between the actual voltage value -0.8V of the negative sampling point and the target voltage value -0.5V is 0.3V. Then, a phase adjustment value less than or equal to 0.3V can be set according to the deviation of 0.3V.

[0106] Step S3012, adjusting the phase of the excitation signal based on the phase adjustment value.

[0107] Specifically, after obtaining the phase adjustment value, the motor MCU further changes the signal emission settings to adjust the phase of the excitation signal, and at the same time, the motor MCU also receives the resolver recovery signal fed back by the resolver, samples the received resolver recovery signal, takes the absolute values of the voltages of the two sampling points with opposite signs obtained by sampling, and judges whether the two absolute values are equal, that is, whether the two sampling points with opposite signs and equal absolute values are obtained by sampling.

[0108] Step S3013: If the two sampling points with equal absolute value and opposite sign cannot be obtained by sampling the adjusted resolver recovery signal, return to step S3011.

[0109] Specifically, if the two sampling points with equal absolute value and opposite sign cannot be obtained by sampling the adjusted resolver recovery signal, it means that the zero-crossing point is not located at the middle position of the two sampling points with equal absolute value and opposite sign, and the phase of the resolver recovery signal needs to be further adjusted so that the zero-crossing point is located at the middle position of the two sampling points with equal absolute value and opposite sign. Therefore, the motor MCU determines the phase adjustment value based on the sampling information of the resolver recovery signal, and then adjusts the phase of the excitation launch signal based on the phase adjustment value. That is, steps S3011, S3012 and S3013 may be repeatedly executed until the two sampling points with equal absolute value and opposite sign are obtained.

[0110] Step S3014: If the two sampling points with equal absolute value and opposite sign are obtained by sampling the adjusted resolver recovery signal, execute step S3015.

[0111] Specifically, if the two sampling points with equal absolute value and opposite sign are obtained by sampling the adjusted resolver recovery signal, it means that the zero-crossing point is located at the middle position of the two sampling points with equal absolute value and opposite sign. At this time, the motor MCU stops adjusting the phase of the excitation launch signal, and the excitation launch signal launched by the current launch parameter is the corrected excitation launch signal, i.e., step S40 is executed. The motor MCU sends the corrected excitation launch signal to the resolver to obtain the corrected resolver recovery signal, and samples the corrected resolver recovery signal to obtain the two sampling points with equal absolute value and opposite sign, which is easy to determine that the zero-crossing point is located at the middle position of the two sampling points with equal absolute value and opposite sign, and provides necessary parameter conditions for accurate calculation of subsequent motor angle, speed and other information.

[0112] The embodiment determines a phase adjustment value based on the sampling information of the rotary variable recovery signal, adjusts the phase of the excitation wave signal based on the phase adjustment value, returns to the step of determining the phase adjustment value based on the sampling information of the rotary variable recovery signal if two sampling points with equal voltage absolute values and opposite signs and in succession cannot be sampled from the adjusted rotary variable recovery signal, and executes the step of stopping adjusting the phase of the excitation wave signal if two sampling points with equal voltage absolute values and opposite signs and in succession can be sampled from the adjusted rotary variable recovery signal. In the embodiment, the motor MCU determines the phase adjustment value based on the sampling information of the rotary variable recovery signal, adjusts the phase of the excitation wave signal based on the phase adjustment value, and repeatedly adjusts the phase of the excitation wave signal several times until the target of adjustment is reached if two sampling points with equal voltage absolute values and opposite signs and in succession cannot be sampled from the adjusted rotary variable recovery signal. The introduction of the phase adjustment value in the embodiment can effectively control the size of each phase adjustment and gradually correct the zero-crossing point position of the rotary variable recovery signal.

[0113] Further, with reference to Figure 5 , the fourth embodiment of the signal decoding method provides a flowchart, based on the above Figure 2 indicated embodiment, the excitation wave signal is controlled by the storage value of a preset comparison register, and the step S30 of adjusting the phase of the excitation wave signal is further refined, including:

[0114] The step S302 adjusts the phase of the excitation wave signal by adjusting the storage value of the comparison register.

[0115] Specifically, the electronic control MCU (micro control unit) is connected to the DSP module (digital signal processing module), and the DSP module sends a PWM wave (pulse width modulation) based on the storage value in the comparison register (CMP register), and the PWM wave is processed by a hardware filtering circuit to obtain a corresponding sinusoidal excitation signal (alternating current signal), that is, a corresponding excitation wave signal.

[0116] If the judgment result of the step S20 indicates that the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, it indicates that the zero-crossing point position is not in the middle position of the two sampling points, and the phase of the rotary variable recovery signal needs to be further adjusted so that the zero-crossing point position falls in the middle position of the two sampling points with opposite signs and in succession. Since the phases of the excitation wave signal and the rotary variable recovery signal change synchronously, adjusting the phase of the excitation wave signal is to adjust the phase of the rotary variable recovery signal. Therefore, the electronic control MCU adjusts the storage value of the comparison register for wave emission, such asFigure 12 As shown, Figure 12 As shown, signal 4 is the unadjusted rotary transformer recovery signal, and signal 5 is the adjusted rotary transformer recovery signal. It can be seen that there is a phase difference between signal 4 and signal 5. The DSP module sends a corresponding PWM wave based on the storage value of the comparison register, and then converts the PWM wave into an excitation wave signal, so that the phase of the excitation wave signal is adjusted towards the expected target. The expected target refers to the absolute value of the voltage of the two sampling points being equal, and the signs of the two sampling points being opposite. In other words, the phase adjustment of the excitation wave signal is directional. On the other hand, the excitation wave signal may need to be adjusted at least once during this process, that is, the phase adjustment of the excitation wave signal is in the form of step-by-step fine adjustment.

[0117] In this embodiment, the motor MCU controls the output PWM wave based on the storage value of the comparison register, and obtains the excitation wave signal based on the PWM wave. Therefore, adjusting the storage value of the comparison register can adjust the phase of the excitation wave signal, and dynamic adjustment of the phase of the excitation wave signal is achieved.

[0118] Further, referring to Figure 6 , the fifth embodiment of the signal decoding method provides a flowchart. Based on the above Figure 2 As shown in the above embodiment, after step S40 of stopping adjusting the phase of the excitation wave signal, the method further includes:

[0119] In step S001, the zero-crossing point position is located based on the middle position of the two sampling points with equal absolute values and opposite signs, and zero-crossing point position information is obtained.

[0120] Specifically, the electric control MCU sends the corrected excitation wave signal to the rotary transformer to obtain a corrected rotary transformer recovery signal. Sampling the corrected rotary transformer recovery signal can obtain two sampling points with equal absolute values and opposite signs. Further, the electric control MCU calculates the middle position of the two sampling points with equal absolute values and opposite signs, such as Figure 1 As shown in the above embodiment, the horizontal axis of the coordinate axis represents the time base, and the vertical axis represents the amplitude. The horizontal coordinate average value of the two sampling points with equal absolute values and opposite signs is taken as the horizontal coordinate of the middle position, and zero is taken as the vertical coordinate of the middle position. In this way, the middle position of the two sampling points is determined. Then, the zero-crossing point position can be further located based on the middle position (in fact, the two positions are almost equal), and zero-crossing point position information is obtained.

[0121] Step S002, decoding based on the zero-crossing position information to obtain the resolver decoding angle information.

[0122] Specifically, based on the determination of the zero-crossing position, as shown in Figure 13 , Figure 13 the motor angle calculation diagram. According to the delay information obtained by analyzing the zero-crossing position information of the resolver recovery signal and the zero-crossing position information of the excitation wave signal, the phase of the resolver recovery signal is compensated based on the delay information, so that the phase of the resolver recovery signal and the excitation wave signal is aligned. Then, based on the half cycle of the excitation wave signal, the sampling points of the half cycle of the resolver recovery signal are sign-reversed, and the corresponding envelope values are obtained by calculating the sampling points of the resolver recovery signal through discrete integration calculation. Finally, the resolver decoding angle information is determined by the inverse tangent lookup table method, and the motor angle can be obtained according to the resolver decoding angle information, or the motor speed can be obtained on this basis.

[0123] The embodiment obtains the zero-crossing position information by positioning the zero-crossing position based on the middle position of the two sampling points with equal voltage absolute value, opposite sign and continuity; and decodes the resolver decoding angle information based on the zero-crossing position information. Based on the periodic symmetry characteristics of the resolver recovery signal, the middle position of the two sampling points with equal voltage absolute value, opposite sign and continuity is determined as the zero-crossing position, and the zero-crossing position information is obtained therefrom. Further, the resolver decoding angle information is decoded based on the zero-crossing position information. The zero-crossing position determined by the above-mentioned method is more accurate than the zero-crossing position determined by the traditional software decoding method, thereby improving the accuracy of decoding the resolver decoding angle information.

[0124] Further, referring to Figure 7 , the sixth embodiment of the signal decoding method provides a flowchart, based on the above-mentioned Figure 6 embodiment, step S002, decoding based on the zero-crossing position information to obtain the resolver decoding angle information, further comprising:

[0125] Step S003, calculating the motor angle and the motor speed based on the resolver decoding angle information.

[0126] Specifically, the motor angle can be calculated based on the preset calculation rule and the resolver decoding angle information, and the motor speed can be further calculated based on the motor angle and the time information.

[0127] Step S004, observing and compensating the motor angle and the motor speed by a preset observer to obtain the compensated motor angle and the compensated motor speed.

[0128] Specifically, the motor MCU needs to consume a certain time from receiving the resolver recovery signal to calculating the motor angle and the motor speed, and after the motor angle and the motor speed are calculated, the actual motor angle and the motor speed have already changed. Therefore, the motor MCU, on the basis of calculating the motor angle and the motor speed based on the resolver recovery signal, observes and compensates a certain motor angle and motor speed through a preset observer, so that the calculated motor angle and motor speed are synchronized with the actual motor angle and motor speed.

[0129] In the embodiment, the motor MCU calculates the motor angle and the motor speed based on the resolver decoding angle information, considers that there is a certain error between the calculated motor angle and motor speed and the actual motor angle and motor speed, introduces an observer to calculate the error and compensate it, so that the calculated motor angle and motor speed are more consistent with the actual motor angle and motor speed.

[0130] Further, referring to Figure 8 , the seventh embodiment of the signal decoding method provides a flowchart, which is based on the above Figure 2 indicated embodiment, and before the step S30 of adjusting the phase of the excitation wave signal, further includes:

[0131] Step S005: calculating the phase difference between the excitation wave signal and the resolver recovery signal.

[0132] Specifically, due to the reason of the hardware circuit, there is a certain signal delay between the motor MCU sending the excitation wave signal and receiving the resolver recovery signal, that is, there is a phase difference between the excitation wave signal and the resolver recovery signal, so it is necessary to align the phases of the excitation wave signal and the resolver recovery signal. Specifically, the SDCAP value is introduced to represent the phase difference between the excitation wave signal and the resolver recovery signal. The motor MCU will learn the SDCAP value to obtain the learned SDCAP value. However, if the resolver fails or the line connection between the motor MCU and the resolver is abnormal, the motor MCU may not receive the resolver recovery signal in time, at which time the calibrated SDCAP value needs to be read. The calibrated SDCAP value refers to the SDCAP value about a specific product obtained through experiments in advance and stored in the motor MCU as a backup.

[0133] Step S006: performing phase alignment processing on the excitation wave signal and the resolver recovery signal according to the phase difference.

[0134] Specifically, after obtaining the learned SDCAP value or reading the calibrated SDCAP value, the motor MCU further performs phase compensation processing on the excitation signal and the resolver recovery signal based on the SDCAP value, so that the phases of the excitation signal and the resolver recovery signal are synchronized.

[0135] The embodiment considers that there is a phase difference between the excitation signal and the resolver recovery signal, and the motor MCU calculates the phase difference between the two signals and performs compensation processing, so that the excitation signal and the resolver recovery signal are phase-synchronized, and the control of the excitation signal and the resolver recovery signal is better realized.

[0136] Referring to Figure 9 The eighth embodiment of the signal decoding method provides a flowchart, and the eighth embodiment is an example of the complete process of the signal decoding method.

[0137] First, the electric control MCU (micro control unit) is connected with the resolver (resolver), and the electric control MCU can receive the resolver recovery signal from the resolver when powered on. At this time, the resolver recovery signal reflects a voltage reference value. Further, the motor MCU samples the resolver recovery signal and performs zero drift calculation processing. Zero drift refers to the voltage of the resolver recovery signal received by the electric control MCU without sending the excitation signal. More specifically, when powered on, the electric control MCU does not send the excitation signal to the resolver, but directly receives the resolver recovery signal sent by the resolver, samples and analyzes the received resolver recovery signal, and determines whether the voltage amplitude of the sampling point of the resolver recovery signal is zero. If yes, it indicates that the resolver recovery signal has no zero drift. If not, it indicates that the resolver recovery signal has zero drift. At this time, the electric control MCU determines the non-zero voltage amplitude of the sampling point as the zero drift voltage difference, and performs zero drift processing on the subsequent received resolver recovery signal based on the zero drift voltage difference, so that the reference voltage of the resolver recovery signal is zero. That is, the reference voltage of the zero drift processed resolver recovery signal received by the electric control MCU without sending the excitation signal is zero.

[0138] After the zero drift processing of the resolver recovery signal, the electric control MCU further sends an excitation wave signal to the resolver. More specifically, the electric control MCU is connected to a DSP module (digital signal processing module), and the DSP module sends a PWM wave (pulse width modulation) based on the storage value of the preset comparison register, and the PWM wave is processed by a hardware filter circuit to obtain a corresponding sinusoidal excitation signal (alternating current signal), that is, a corresponding excitation wave signal. Further, the excitation wave signal is sent to the resolver by the electric control MCU, and the alternating current excitation winding of the resolver receives the excitation wave signal. In addition, the resolver is also provided with a sine recovery winding and a cosine recovery winding to generate a resolver recovery signal. Since the resolver rotor is driven to rotate synchronously by the motor rotor, the sine recovery signal and the cosine recovery signal on the resolver will change periodically with the change of the resolver rotor position. The sine recovery signal and the cosine recovery signal of the resolver are sent to the electric control MCU and received by the electric control MCU.

[0139] Due to the hardware circuit, there is a certain signal delay between the electric control MCU sending the excitation wave signal and receiving the resolver recovery signal, that is, there is a phase difference between the excitation wave signal and the resolver recovery signal. Therefore, it is necessary to align the phases of the excitation wave signal and the resolver recovery signal. Specifically, the electric control MCU will learn the SDCAP value, and the SDCAP value obtained after the electric control MCU learns is used to fill the phase difference between the excitation wave signal and the resolver recovery signal. However, if the resolver fails or the line connection between the electric control MCU and the resolver is abnormal, the electric control MCU may not be able to receive the resolver recovery signal in time, at which time the calibration SDCAP value is needed to fill the phase difference between the excitation wave signal and the resolver recovery signal. The calibration SDCAP value refers to the SDCAP value of a specific product obtained through experiments in advance and stored in the electric control MCU as a backup.

[0140] Further, the motor MCU adjusts the wave generation parameters in the case of phase delay of the resolver recovery signal, so that the phase of the excitation wave generation signal is adjusted towards the expected target. The expected target refers to the absolute values of the voltages of two sampling points of the resolver recovery signal being equal and the signs of the two sampling points being opposite. In other words, the adjustment of the phase of the excitation wave generation signal is directional. On the other hand, the excitation wave generation signal needs to be adjusted at least once in this process, that is, the adjustment of the phase of the excitation wave generation signal is in the form of step-by-step fine adjustment. If the motor MCU samples the adjusted resolver recovery signal to obtain two sampling points with equal absolute values of voltages and opposite signs (based on the resolver recovery signal being a sine or cosine signal, the two sampling points with equal absolute values of voltages are actually two sampling points with opposite signs), it indicates that the zero-crossing point is located at the middle position of the two sampling points. At this time, the motor MCU stops adjusting the phase of the excitation wave generation signal, and the excitation wave generation signal emitted by the current wave generation parameters is the corrected excitation wave generation signal. The motor MCU sends the corrected excitation wave generation signal to the resolver to obtain the corrected resolver recovery signal. Sampling the corrected resolver recovery signal can obtain two sampling points with equal absolute values of voltages and opposite signs, and the zero-crossing point is located at the middle position of the two sampling points. Then, based on the position information of the zero-crossing point of the resolver recovery signal and the position information of the zero-crossing point of the excitation wave generation signal, the delay information can be obtained. Based on the delay information, the phase of the resolver recovery signal is compensated to align the phase of the resolver recovery signal with the phase of the excitation wave generation signal. Then, the sampling points of the half cycle of the resolver recovery signal are inverted based on the half cycle of the excitation wave generation signal. The sampling points of the resolver recovery signal are calculated by the discrete integration calculation method to obtain the corresponding envelope values. Based on the envelope values, the resolver decoding angle information is determined by the inverse tangent lookup table method. The motor position information can be obtained according to the resolver decoding angle information. Based on the motor position information and the time information, the motor angle and the motor speed can be further calculated.

[0141] The motor MCU needs to consume a certain amount of time from receiving the resolver recovery signal to calculating the motor angle and the motor speed. After the motor angle and the motor speed are calculated, the actual motor angle and the actual motor speed have changed. Therefore, based on the calculated motor angle and the calculated motor speed, the motor MCU observes and compensates a certain motor angle and a certain motor speed by an observer, so that the calculated motor angle and the calculated motor speed are synchronized with the actual motor angle and the actual motor speed.

[0142] Further, the motor MCU judges whether the resolver is faulty in real time, for example, open circuit of power supply or other connection problems. The fault is generally that the motor MCU cannot receive the resolver feedback signal. If the judgment result shows that the resolver is not faulty, the motor MCU can continuously calculate the motor angle and motor speed, and send the calculated motor angle and motor speed to the motor control unit (such as the C28 core motor control unit) for motor vector control, for example, control of the motor speed and forward and reverse rotation. If the judgment result shows that the resolver is faulty, the motor MCU sends the estimated motor angle and motor speed to the motor control unit for motor vector control, and requests the motor control unit to stop.

[0143] In the embodiment, after power-on, the motor MCU performs zero drift calculation and processing on the received resolver feedback signal, so that the reference voltage is zero. Then, the motor MCU sends the excitation wave signal to the resolver, and receives the feedback resolver feedback signal. The motor MCU further performs SDCAP learning to compensate for the phase difference between the excitation wave signal and the resolver feedback signal. Then, the motor MCU corrects the zero-crossing point position of the resolver feedback signal by adjusting the phase of the excitation wave signal, and obtains the resolver decoding angle information by envelope line and inverse tangent lookup table. Based on the resolver decoding angle information, the motor position information, motor angle and motor speed are calculated. Further, the calculated motor angle and motor speed are compensated by the observer, so as to be closer to the actual motor angle and motor speed. Finally, it is judged whether the resolver is faulty. If there is no fault, the calculated motor angle and motor speed are sent to the motor control unit for motor vector control. If there is a fault, the estimated motor angle, motor speed and fault flag are sent to the motor control unit for motor vector control and request for shutdown. The steps of the embodiment are combined into a complete signal decoding process. Based on the adjustment of the phase of the excitation wave signal to correct the zero-crossing point position of the resolver feedback signal, more accurate motor position information can be calculated, and more accurate motor vector control can be realized.

[0144] In addition, the embodiment of the application further provides a signal decoding device, which comprises:

[0145] The sampling module is configured to continuously sample the received resolver feedback signal, wherein the resolver feedback signal is fed back by the resolver based on the received excitation wave signal.

[0146] The judgment module is configured to judge whether the voltage absolute values of the two sampling points with opposite signs and in succession are equal.

[0147] The adjustment module is configured to adjust the phase of the excitation wave signal if the voltage absolute values of the two sampling points with opposite signs and in succession are not equal, so that the phase of the resolver feedback signal is adjusted synchronously.

[0148] A stopping module is configured to stop adjusting the phase of the excitation signal if two sampling points are obtained from the adjusted rotary variable recovery signal, and the absolute values of the two sampling points are equal, the signs of the two sampling points are opposite, and the two sampling points are continuous.

[0149] The signal decoding apparatus further comprises a phase correction module and an angle decoding module.

[0150] The phase correction module is configured to calculate a delay between the adjusted rotary variable recovery signal and the excitation signal emitted at the moment, and perform phase compensation on the rotary variable recovery signal.

[0151] The angle decoding module is configured to decode the motor angle and the motor speed from the adjusted rotary variable recovery signal.

[0152] The principle and implementation process of the signal decoding are achieved in the embodiment, and please refer to the above embodiments, which will not be repeated here.

[0153] In addition, the embodiment of the present application further provides a motor driving unit, which comprises a memory, a processor, and a signal decoding program stored in the memory and executable on the processor. When the signal decoding program is executed by the processor, the steps of the signal decoding method described above are implemented.

[0154] Since the signal decoding program is executed by the processor, all the technical solutions of the above-mentioned embodiments are adopted, and at least all the beneficial effects brought by all the technical solutions of the above-mentioned embodiments are achieved, which will not be repeated here.

[0155] In addition, the embodiment of the present application further provides a computer readable storage medium, which stores a signal decoding program. When the signal decoding program is executed by the processor, the steps of the signal decoding method described above are implemented.

[0156] Since the signal decoding program is executed by the processor, all the technical solutions of the above-mentioned embodiments are adopted, and at least all the beneficial effects brought by all the technical solutions of the above-mentioned embodiments are achieved, which will not be repeated here.

[0157] Compared with the prior art, the signal decoding method, device, motor and storage medium provided by the embodiments of the present application, by continuously sampling the resolver recovery signal received, wherein the resolver recovery signal is fed back by a resolver based on the received excitation signal; it is judged whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; if not, the phase of the excitation signal is adjusted to make the phase of the resolver recovery signal synchronous adjustment; if the voltage absolute values of two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, the phase of the excitation signal is stopped adjusting. Based on the scheme of the present application, the received resolver recovery signal is sampled to obtain a plurality of sampling points, and the zero-crossing point is located between two sampling points with opposite signs and in succession. It is further judged whether the voltage absolute values of two sampling points with opposite signs and in succession are equal. Since the signal waveform of the resolver recovery signal is periodically symmetric, if the voltage absolute values of two sampling points with opposite signs and in succession are equal, it can be known that the zero-crossing point is located in the middle of the two sampling points; if the voltage absolute values of two sampling points with opposite signs and in succession are not equal, the phase of the excitation signal can be adjusted to make the phase of the resolver recovery signal synchronous adjustment. After adjustment, if the voltage absolute values of two sampling points with opposite signs and in succession are equal after sampling the adjusted resolver recovery signal, it indicates that the zero-crossing point is located between the two sampling points, and at this time the phase of the excitation signal is stopped adjusting, and the correction of the excitation signal and the resolver recovery signal is completed. In this way, the corrected excitation signal actually adapts to the change of device temperature drift, aging or other hardware conditions, and the corrected resolver recovery signal is obtained corresponding to the corrected excitation signal, and based on the corrected resolver recovery signal, the zero-crossing point position can be easily positioned in the middle of two sampling points with equal voltage absolute values and opposite signs, thereby solving the problem that the zero-crossing point of the resolver recovery signal deviates to cause the accurate zero-crossing point position cannot be obtained.

[0158] It should be noted that in this paper, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitation, the element defined by the sentence "including a…" does not exclude the existence of other same elements in the process, method, article or system including the element.

[0159] The above sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0160] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be through hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in the above-mentioned storage medium (such as ROM / RAM, magnetic disc, optical disc), including a number of instructions to make a terminal device (may be a mobile phone, computer, server, controlled terminal, or network equipment, etc.) executes the method of each embodiment of the present application.

[0161] The above is only the preferred embodiment of the present application, not therefore limit the patent scope of the present application, any equivalent structure or equivalent process transformation using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A signal decoding method characterized by, The signal decoding method comprises: continuously sampling a resolver recovery signal received, wherein the resolver recovery signal is fed back by a resolver based on a received excitation signal; judging whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; if not, adjusting the phase of the excitation signal to make the phase of the resolver recovery signal synchronously adjusted; if two sampling points with equal voltage absolute values, opposite signs and in succession are obtained by sampling the adjusted resolver recovery signal, stopping adjusting the phase of the excitation signal.

2. The signal decoding method of claim 1, wherein, The step of adjusting the phase of the excitation signal comprises: adjusting the phase of the excitation signal based on the sampling information of the resolver recovery signal to make the voltage absolute values of two sampling points with opposite signs and in succession obtained by subsequent sampling tend to be equal.

3. The signal decoding method of claim 2, wherein, The step of adjusting the phase of the excitation signal based on the sampling information of the resolver recovery signal comprises: determining a phase adjustment value based on the sampling information of the resolver recovery signal; adjusting the phase of the excitation signal based on the phase adjustment value; if two sampling points with equal voltage absolute values, opposite signs and in succession cannot be obtained by sampling the adjusted resolver recovery signal, returning to the step of determining a phase adjustment value based on the sampling information of the resolver recovery signal; if two sampling points with equal voltage absolute values, opposite signs and in succession are obtained by sampling the adjusted resolver recovery signal, executing the step of stopping adjusting the phase of the excitation signal.

4. The signal decoding method of claim 1, wherein, The excitation signal is controlled by a storage value of a preset comparison register, and the step of adjusting the phase of the excitation signal comprises: adjusting the phase of the excitation signal by adjusting the storage value of the comparison register.

5. The signal decoding method of claim 1, wherein, After the step of stopping adjusting the phase of the excitation signal, the method further comprises: locating a zero-crossing point position based on the middle position of the two sampling points with equal voltage absolute values, opposite signs and in succession to obtain zero-crossing point position information; decoding based on the zero-crossing point position information to obtain resolver decoding angle information.

6. The signal decoding method of claim 5, wherein, After the step of decoding based on the zero-crossing point position information to obtain resolver decoding angle information, the method further comprises: calculating motor angle and motor speed based on the resolver decoding angle information; observing and compensating the motor angle and the motor speed by a preset observer to obtain compensated motor angle and compensated motor speed.

7. The signal decoding method of claim 1, wherein, Before the step of adjusting the phase of the excitation signal, the method further comprises: calculating the phase difference between the excitation signal and the resolver recovery signal; performing phase completion processing on the excitation signal and the resolver recovery signal according to the phase difference.

8. A signal decoding apparatus characterized by comprising: The signal decoding device comprises: a sampling module configured to continuously sample a resolver recovery signal received, wherein the resolver recovery signal is fed back by a resolver based on a received excitation signal; a judging module configured to judge whether the voltage absolute values of two sampling points with opposite signs and in succession are equal; The adjusting module is configured to adjust the phase of the excitation outgoing signal if not, so as to synchronously adjust the phase of the rotary variable recovery signal. The stopping module is configured to stop adjusting the phase of the excitation outgoing signal if two sampling points with equal absolute values and opposite signs are continuously obtained by sampling the adjusted rotary variable recovery signal.

9. An electric motor drive unit characterized by comprising: The motor drive unit comprises a memory, a processor, and a signal decoding program stored in the memory and executable on the processor, and the signal decoding program, when executed by the processor, implements the steps of the signal decoding method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a signal decoding program, and the signal decoding program, when executed by the processor, implements the steps of the signal decoding method according to any one of claims 1-7.

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