Motor voltage calibration method, storage medium and vehicle

Abstract

This invention discloses a voltage calibration method for an electric motor, a storage medium, and a vehicle. The method includes: responding to a received control command for the motor; determining an adjustment current for the motor based on the control command, wherein the control command indicates that the motor should be controlled to reach a target state, and the adjustment current indicates the current required to adjust the motor to reach the target state; converting the adjustment current into a voltage to obtain a converted voltage; and calibrating the converted voltage based on the motor resolver position, a preset voltage, and a preset angle to obtain a target voltage, wherein the motor resolver position indicates the angle of the rotor in the motor, and the target voltage is used to control the motor. This invention solves the technical problem of low voltage calibration efficiency for electric motors in related technologies.

Description

Technical Field

[0001] This invention relates to the field of motor control, and more specifically, to a method for voltage calibration of a motor, a storage medium, and a vehicle. Background Technology

[0002] During the development of pure electric vehicle products, due to the modal design problem of permanent magnet synchronous motors, there are 24th and 48th order vibration noises, and this problem cannot be overcome. The industry's solution is the current harmonic injection method, which adds an additional reverse current of the same order of noise as the motor during the current command phase. It is necessary to ensure that the current phase is in the same phase as the noise phase, so manual calibration is required, which is time-consuming.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method for voltage calibration of an electric motor, a storage medium, and a vehicle, to at least solve the technical problem of low voltage calibration efficiency of electric motors in related technologies.

[0005] According to one aspect of the present invention, a voltage calibration method for a motor is provided, comprising: responding to receiving a control command for the motor, determining an adjustment current of the motor based on the control command, wherein the control command is used to indicate that the motor is controlled to reach a target state, and the adjustment current is used to indicate the current that needs to be adjusted when the motor is controlled to reach the target state; converting the adjustment current into a voltage to obtain a converted voltage; calibrating the converted voltage based on the motor resolver position, a preset voltage, and a preset angle to obtain a target voltage, wherein the motor resolver position is used to indicate the angle of the rotor in the motor, and the target voltage is used to control the motor.

[0006] Further, the conversion voltage is calibrated based on the motor resolver position, preset voltage, and preset angle to obtain the target voltage, including: obtaining a first angle based on the product of the motor resolver position and the target order, wherein the target order is the order corresponding to the noise to be eliminated in the motor; obtaining the target angle based on the sum of the first angle and the preset angle; and calibrating the conversion voltage based on the target angle and the preset voltage to obtain the target voltage.

[0007] Furthermore, the conversion voltage is calibrated based on the target angle and the preset voltage to obtain the target voltage, including: processing the target angle using a target function to obtain the target value; obtaining the adjustment voltage based on the product of the target value and the preset voltage; and calibrating the conversion voltage based on the adjustment voltage to obtain the target voltage.

[0008] Furthermore, the conversion voltage is calibrated based on the adjustment voltage to obtain the target voltage, including obtaining the target voltage based on the sum of the adjustment voltage and the conversion voltage.

[0009] Furthermore, the method further includes: in response to receiving a test command for the motor, determining a test current for the motor based on the test command, wherein the test command indicates that the motor has reached a test state, and the test current indicates the current that needs to be adjusted when the motor reaches the test state; converting the test current to obtain a test voltage; calibrating the test voltage based on the motor resolver position, multiple sample voltages, and multiple sample angles to obtain multiple sample calibration voltages; controlling the motor based on the multiple sample calibration voltages to obtain multiple vibration noises, wherein the multiple vibration noises are the vibration noises of the motor corresponding to the multiple sample target voltages collected during the process of controlling the motor respectively; and determining a preset voltage and a preset angle based on the multiple vibration noises from the multiple sample voltages and multiple sample angles.

[0010] Further, determining a preset voltage and preset angle from multiple sample voltages and multiple sample angles based on multiple vibration noises includes: determining a target vibration noise among multiple vibration noises, wherein the target vibration noise is the smallest vibration noise among multiple vibration noises; and determining the preset voltage and preset angle from multiple sample voltages and multiple sample angles based on the target vibration noise.

[0011] Further, determining the adjustment current of the motor based on the control command includes: acquiring the three-phase current of the motor; performing coordinate transformation on the three-phase current to obtain the current of the target axis in the motor; transforming the control command using a preset transformation relationship to obtain the transformed current, wherein the preset transformation relationship is used to represent the correspondence between the control command and the current; and determining the adjustment current based on the difference between the transformed current and the current current.

[0012] Further, determining the adjustment current of the motor based on the control command includes: converting the control command into a target current, wherein the target current is used to represent the current that the motor is to achieve; and determining the adjustment current based on the target current and the actual current of the motor.

[0013] According to another aspect of the present invention, a voltage calibration device for a motor is also provided, comprising: an adjustment current determination module, configured to determine the adjustment current of the motor based on the control command received from the motor, wherein the control command indicates that the motor is controlled to reach a target state, and the adjustment current indicates the current that needs to be adjusted when the motor reaches the target state; a voltage conversion module, configured to convert the adjustment current into a voltage to obtain a converted voltage; and a voltage calibration module, configured to calibrate the converted voltage based on the motor resolver position, a preset voltage, and a preset angle to obtain a target voltage, wherein the motor resolver position indicates the angle of the rotor in the motor, and the target voltage is used to control the motor.

[0014] According to another aspect of the present invention, a vehicle is also provided, including one or more processors and a storage device, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform the above-described motor voltage calibration method.

[0015] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described motor voltage calibration method.

[0016] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described motor voltage calibration method during runtime.

[0017] In this embodiment of the invention, the adjustment current of the motor is determined by the motor control command. The control command indicates that the motor should be controlled to reach a target state, and the adjustment current indicates the current required to adjust the motor to reach the target state. The adjustment current is converted into a voltage to obtain a converted voltage. Based on the motor resolver position, a preset voltage, and a preset angle, the converted voltage is calibrated to obtain a target voltage. The motor resolver position indicates the angle of the rotor in the motor, and the target voltage is used to control the motor. It is readily apparent that by giving a fixed motor speed, a measuring device collects motor system noise corresponding to different voltage amplitudes and voltage angles. The voltage amplitude and voltage angle with the lowest noise are selected as the optimal solution for voltage harmonic injection at the current motor speed. This allows for motor control, achieving the technical effect of improving the efficiency of voltage harmonic injection calibration, thereby solving the technical problem of low voltage calibration efficiency for motors in related technologies. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a voltage calibration method for a motor according to an embodiment of the present invention;

[0020] Figure 2 This is a system block diagram of harmonic injection of electric drive control voltage in a voltage calibration method for an electric motor according to an embodiment of the present invention;

[0021] Figure 3 This is a block diagram of the dq axis voltage processing module in a voltage calibration method for a motor according to an embodiment of the present invention;

[0022] Figure 4This is a block diagram of the voltage harmonic injection test environment in a voltage calibration method for an electric motor according to an embodiment of the present invention;

[0023] Figure 5 This is a flowchart of the automatic voltage harmonic injection calibration in a voltage calibration method for an electric motor according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of a voltage calibration device for a motor according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] According to an embodiment of the present invention, an embodiment of a voltage calibration method for an electric motor is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] Figure 1 This is a flowchart of a voltage calibration method for a motor according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0030] Step S102: In response to receiving a control command for the motor, determine the adjustment current of the motor based on the control command, wherein the control command is used to indicate that the motor is controlled to reach a target state, and the adjustment current is used to indicate the current that needs to be adjusted when the motor is controlled to reach the target state.

[0031] Specifically, the aforementioned control commands are understood as commands to control the operating state of the motor.

[0032] The aforementioned target state can be achieved by controlling the motor's operating parameters to eliminate in-phase vibration noise during operation, thereby enabling the motor to reach its target state.

[0033] The aforementioned adjustment current is understood as the current command values ​​Id and Iq that the dq axis needs to be adjusted when the motor reaches the target state. It is not the actual operating current of the motor, but it can be obtained by converting the actual operating current.

[0034] Generally, the dq axis is a rotating axis relative to the stator of the motor, and its angular velocity is the same as that of the rotor. Here, the d-axis is the direct axis of the motor, and the q-axis is the quadrature axis.

[0035] In one optional embodiment, during the operation of the motor, when a control command is received, the control command can be converted into an adjustment current required for the motor to reach the target state, and then the operation process of the motor can be controlled by adjusting the current.

[0036] Step S104: Convert the adjustment current to voltage to obtain the converted voltage;

[0037] Specifically, the aforementioned conversion voltage can be obtained by converting the adjustment current.

[0038] Specifically, the three-phase currents Ia, Ib, and Ic of the permanent magnet synchronous motor can be obtained. Then, using coordinate transformation, the three-phase currents Ia, Ib, and Ic are transformed into actual dq-axis current values ​​(i.e., the actual operating currents mentioned above) Id_ref and Iq_ref. The difference between Id and Id_ref, and the difference between Iq and Iq_ref, are then input into a PI (Proportional Integral Controller) to obtain the dq-axis voltages UdPI and UqPI output by the controller. These dq-axis voltages UdPI and UqPI are the aforementioned converted voltages.

[0039] Step S106: Based on the motor resolver position, preset voltage and preset angle of the motor, the conversion voltage is calibrated to obtain the target voltage. The motor resolver position is used to represent the angle of the rotor in the motor, and the target voltage is used to control the motor.

[0040] Specifically, the aforementioned motor resolver position is understood as the actual detected angular variable value θcomposed of the motor rotor.

[0041] The aforementioned preset voltage can be determined from multiple known sample voltages and can be denoted as voltage amplitude Us.

[0042] The aforementioned preset angle can be determined from multiple known sample angles and can be denoted as voltage angle θ.

[0043] In an optional embodiment, during the process of determining the preset voltage and preset angle, it is necessary to ensure that the noise spectrum measured by the motor under the preset voltage and preset angle operating parameters is the minimum value under other sample voltage and other sample angle operating parameters.

[0044] The target voltage mentioned above is the voltage required to bring the motor to the target operating state.

[0045] In another optional embodiment, the conversion voltage can be calibrated using the motor resolver position, preset voltage, and preset angle to obtain the target voltage. Specifically, the calibration process involves first determining the motor's adjustment voltage using the motor resolver position, preset voltage, and preset angle, then calibrating the conversion voltage based on the adjustment voltage to obtain the target voltage, which can then be used to control the motor.

[0046] To illustrate the voltage harmonic injection process described above Figure 2 This is a system block diagram of harmonic injection of electric drive control voltage in a voltage calibration method for a motor according to an embodiment of the present invention. Figure 2 As shown:

[0047] Based on the original electric drive control system block diagram, an innovative approach is proposed to eliminate motor modal design problems by increasing voltage amplitude and voltage angle, namely the voltage harmonic injection method. Te represents the motor torque command, MTPA represents the relationship between the dq-axis current and motor torque as calibrated on the bench, Id and Iq are the dq-axis current command values, Id_ref and Iq_ref are the actual dq-axis current values, PI represents the PI controller, UdPI and UqPI are the dq-axis voltages output by the controller, Ud and Uq are the dq-axis voltages output by the dq-axis voltage processing module, Ua and Ub are the ab-axis voltages obtained after transformation, Udc is the detected bus voltage value, PMSM is a permanent magnet synchronous motor, Ia, Ib, and Ic are the three-phase currents, Clark+Park is the coordinate transformation method for converting three-phase currents to dq-axis currents, θcomposed is the motor resolver position, Us is the voltage amplitude, and θ is the voltage angle.

[0048] Specifically, the motor bus voltage Udc can be determined using a three-phase inverter (high-power inverter power supply for electric vehicles). Then, using a permanent magnet synchronous motor, the corresponding three-phase currents Ia, Ib, and Ic are obtained. Based on the three-phase current-axis current coordinate transformation, the three-phase currents are converted into actual dq-axis current values ​​Id_ref and Iq_ref. Simultaneously, through the axis current-motor torque relationship, the motor torque command is converted into dq-axis current command values ​​Id and Iq. Then, using a subtractor, the differences between Id_ref and Id, and between Iq_ref and Iq, are synchronously input to a PI controller for proportional-integral processing, yielding the controller output dq-axis voltages UdPI and UqPI. Furthermore, based on the voltage harmonic injection method, the motor resolver position, preset voltage amplitude, and voltage angle are input to the dq-axis voltage processing module for calibration, resulting in the dq-axis voltages Ud and Uq output by the dq-axis voltage processing module. Then, the DC and AC quantities Ud and Uq of the dq axis are transformed into AC quantities Ua and Ub of the ab axis, thereby controlling the vibration and noise of the motor.

[0049] In summary, by providing a fixed motor speed, the measuring device collects motor system noise corresponding to different voltage amplitudes and voltage angles, and selects the voltage amplitude and voltage angle with the lowest noise as the optimal solution for voltage harmonic injection at the current motor speed. This automated calibration improves the efficiency of voltage harmonic injection calibration, reduces labor costs, and improves the accuracy of manual calibration.

[0050] Optionally, the conversion voltage is calibrated based on the motor resolver position, preset voltage, and preset angle to obtain the target voltage, including: obtaining a first angle based on the product of the motor resolver position and the target order, wherein the target order is the order corresponding to the noise to be eliminated in the motor; obtaining the target angle based on the sum of the first angle and the preset angle; and calibrating the conversion voltage based on the target angle and the preset voltage to obtain the target voltage.

[0051] Optionally, the conversion voltage is calibrated based on the target angle and the preset voltage to obtain the target voltage, including: processing the target angle using a target function to obtain a target value; obtaining an adjustment voltage based on the product of the target value and the preset voltage; and calibrating the conversion voltage based on the adjustment voltage to obtain the target voltage.

[0052] Optionally, the conversion voltage is calibrated based on the adjustment voltage to obtain the target voltage, including obtaining the target voltage based on the sum of the adjustment voltage and the conversion voltage.

[0053] Specifically, the target order mentioned above can be understood as the system noise measured by the test equipment before the addition of calibration variables, that is, the specified order of noise to be eliminated from the motor.

[0054] The first angle mentioned above is the angle corresponding to the product of the motor resolver position θcomposed and the target order.

[0055] The target angle mentioned above is the angle corresponding to the sum of the first angle and the preset angle θ.

[0056] The aforementioned target value includes a first value obtained by processing the target angle using a sine function, and a second value obtained by processing the target angle using a cosine function.

[0057] The aforementioned adjustment voltage includes the q-axis adjustment voltage Uqcomp obtained by multiplying a first value by a preset voltage Us, and the d-axis adjustment voltage Udcomp obtained by multiplying a second value by a preset voltage Us.

[0058] The aforementioned target voltages include Uq, which is the output of the dq-axis voltage processing module obtained by adding the q-axis adjustment voltage Uqcomp and the conversion voltage UqPI, and Ud, which is the output of the dq-axis voltage processing module obtained by adding the d-axis adjustment voltage Udcomp and the conversion voltage UdPI.

[0059] Figure 3 This is a block diagram of the dq-axis voltage processing module in a motor voltage calibration method according to an embodiment of the present invention. Figure 3 As shown, the inputs to the dq axis voltage processing module are the dq axis voltages (UdPI, UqPI) output by the PI controller, the preset voltage amplitude (Us), the preset voltage angle (θ), and the motor resolver position (θcomposed), and the output is the total dq axis voltages (Ud, Uq).

[0060] Specifically, the motor resolver position (θcomposed) is multiplied by the target order N to make the injected dq-axis voltage the same as the noise order. The phase of the voltage angle (θ) is then added to ensure it is completely in phase with the motor noise order. By performing sine and cosine transformations on the sum of these angles, the sine transformation result is multiplied by a preset voltage amplitude (Us) to obtain the q-axis adjustment voltage Uqcomp; the cosine transformation result is multiplied by the preset voltage amplitude (Us) to obtain the d-axis adjustment voltage Udcomp. Then, by summing the d-axis adjustment voltage Udcomp using the conversion voltage UdPI, the d-axis summation result is obtained, which is the Ud output by the dq-axis voltage processing module; similarly, by summing the q-axis adjustment voltage Uqcomp using the conversion voltage UqPI, the q-axis summation result is obtained, which is the Uq output by the dq-axis voltage processing module.

[0061] Figure 4 This is a block diagram of the voltage harmonic injection test environment in a voltage calibration method for a motor according to an embodiment of the present invention. Figure 4As shown, the host computer sends voltage amplitude and voltage angle commands to the electric drive control system (including but not limited to the motor and inverter). The test equipment simultaneously collects the corresponding vibration noise and transmits the vibration noise to the host computer, which then performs an automatic calibration process.

[0062] Optionally, the method further includes: in response to receiving a test command for the motor, determining a test current for the motor based on the test command, wherein the test command indicates that the motor has reached a test state, and the test current indicates the current that needs to be adjusted when the motor reaches the test state; converting the test current to obtain a test voltage; calibrating the test voltage based on the motor resolver position, multiple sample voltages, and multiple sample angles to obtain multiple sample calibration voltages; controlling the motor based on the multiple sample calibration voltages to obtain multiple vibration noises, wherein the multiple vibration noises are the vibration noises of the motor corresponding to the multiple sample target voltages collected during the process of controlling the motor respectively; and determining a preset voltage and a preset angle based on the multiple vibration noises from the multiple sample voltages and multiple sample angles.

[0063] Optionally, determining a preset voltage and preset angle from multiple sample voltages and multiple sample angles based on multiple vibration noises includes: determining a target vibration noise among the multiple vibration noises, wherein the target vibration noise is the smallest vibration noise among the multiple vibration noises; and determining the preset voltage and preset angle from multiple sample voltages and multiple sample angles based on the target vibration noise.

[0064] Specifically, the aforementioned test command can be a command to control the motor to reach a test state, where the test state can be a state in which the vibration and noise of the motor reach a preset value, but is not limited to this.

[0065] The aforementioned test current can be the current that needs to be adjusted when the motor reaches the test state, that is, the current that needs to be adjusted when the vibration and noise of the motor meet the preset value.

[0066] The aforementioned test voltage can be obtained by converting the test current using a PI controller.

[0067] The aforementioned sample voltages can be a pre-obtained set of voltages from several motors. The fixed rotational speed Spdn required for harmonic injection can be measured through a given experiment, and the sample voltages can be determined by deriving from the fixed rotational speed.

[0068] The aforementioned sample voltages can be determined from a pre-obtained set of motor voltages, or from a set of voltages corresponding to multiple motors.

[0069] The aforementioned multiple sample angles can be determined based on a pre-obtained set of voltage angles, or they can be derived from multiple sample voltages.

[0070] The aforementioned multiple sample calibration voltages can be obtained by calibrating the test voltage based on the motor resolver position, multiple sample voltages, and multiple sample angles through the dq axis voltage processing module.

[0071] Specifically, the first sample angle corresponding to the first sample voltage can be determined. Based on the motor resolver position, the first sample voltage, and the first sample angle, the test voltage is calibrated to obtain the first sample calibration voltage. Similarly, the second sample angle corresponding to the second sample voltage can be determined. Based on the motor resolver position, the second sample voltage, and the second sample angle, the test voltage is calibrated to obtain the second sample calibration voltage, and so on. Similarly, the nth sample angle corresponding to the nth sample voltage can be determined. Based on the motor resolver position, the nth sample voltage, and the nth sample angle, the test voltage is calibrated to obtain the nth sample calibration voltage. Thus, the first sample calibration voltage, the second sample calibration voltage, ..., up to the nth sample calibration voltage, constitute the aforementioned multiple sample calibration voltages.

[0072] The aforementioned vibration noises can be the vibration noises of the motor operating at various sample calibration voltages. The motor can be controlled by the aforementioned multiple sample calibration voltages, and then measured by applying testing equipment.

[0073] The target vibration noise mentioned above can be the smallest vibration noise among the multiple vibration noises mentioned above.

[0074] The aforementioned preset voltage can be the target voltage among multiple sample calibration voltages, which can be determined by inversely inferring the target vibration noise.

[0075] The aforementioned preset angle can be the target angle among multiple sample angles, and can be determined by inferring the target vibration noise in reverse.

[0076] In one optional embodiment, when determining the preset voltage and preset angle, several sample voltages and angles can be obtained in advance. Then, by using the motor resolver position and these sample voltages and angles, the test voltages are calibrated one by one, resulting in multiple sample calibration voltages. Simultaneously, based on these multiple sample calibration voltages, the motor is controlled, and multiple vibration noises of the motor operating at each sample calibration voltage are obtained. By filtering the multiple vibration noises for their minimum value, the minimum vibration noise can be determined. Furthermore, by reverse derivation from the minimum vibration noise, the target voltage and target voltage angle corresponding to the minimum vibration noise can be determined. The target voltage is marked as the preset voltage, and the target voltage angle is marked as the preset angle, thereby achieving the purpose of eliminating vibration noise during motor operation by controlling the motor through the preset voltage and preset angle.

[0077] Figure 5This is a flowchart illustrating the automated voltage harmonic injection calibration in a motor voltage calibration method according to an embodiment of the present invention. Figure 5 As shown, when a fixed rotational speed Spdn requiring harmonic injection is given for experimental measurement, different voltage amplitudes and voltage angles are given respectively, and adaptive comparisons are performed to select the minimum vibration noise and the corresponding voltage amplitude Us1 and voltage angle θ1, specifically including:

[0078] S1, increment the value of Spdn by 500 at a fixed rotational speed;

[0079] S2, determine whether the incremented Spdn is less than the preset speed M;

[0080] S3, if it is less than, increment the original voltage amplitude Us by 1;

[0081] S4, if it is not less than, the automatic calibration process for voltage harmonic injection ends;

[0082] S5, determine whether the voltage amplitude after self-applied voltage is less than the preset voltage amplitude N;

[0083] S6, if it is less than, add 5 values ​​to the original voltage angle;

[0084] S7, if not less than, return to S1 to continue incrementing the fixed speed Spdn;

[0085] S8 controls the motor by adjusting the voltage amplitude and voltage angle, and collects NVH (Noise, Vibration, Harshness) data during the motor's operation.

[0086] S9, determine the voltage amplitude Us1 and voltage angle θ1 corresponding to the minimum value among several NVH values.

[0087] Optionally, determining the adjustment current of the motor based on the control command includes: acquiring the three-phase current of the motor; performing coordinate transformation on the three-phase current to obtain the current of the target axis in the motor; transforming the control command using a preset transformation relationship to obtain the transformed current, wherein the preset transformation relationship is used to represent the correspondence between the control command and the current; and determining the adjustment current based on the difference between the transformed current and the current current.

[0088] Specifically, the three-phase current mentioned above can be the AC current value of the motor, which can be obtained by converting the bus voltage value of the motor.

[0089] The aforementioned current can be the current DC current value of the motor's dq axis, which can be obtained by AC-DC conversion of the three-phase current.

[0090] The aforementioned control commands can be torque commands for controlling the motor.

[0091] The aforementioned preset conversion relationship can be the conversion relationship between motor torque command and motor dq axis current.

[0092] The aforementioned conversion current can be the motor's dq-axis current, which can be obtained by converting the motor's control commands (similar to the aforementioned motor torque commands).

[0093] The aforementioned adjustment current can be the absolute value of the difference between the conversion current and the current current.

[0094] In one optional embodiment, determining the motor's adjustment current requires performing an AC-DC conversion on the motor's current three-phase current to obtain the current DC current of the motor's dq axis. Simultaneously, the calibrated relationship between the dq axis current and the motor torque can be used to convert the motor's control command into the dq axis current adjustment required to achieve the target state. Then, the difference between the current DC current of the motor's dq axis and the required adjustment of the dq axis current is calculated, and the absolute value of this difference is marked as the aforementioned adjustment current.

[0095] Optionally, determining the adjustment current of the motor based on the control command includes: converting the control command into a target current, wherein the target current is used to represent the current that the motor is to achieve; and determining the adjustment current based on the target current and the actual current of the motor.

[0096] Specifically, the target current mentioned above can be the current that the motor needs to meet to reach the target state.

[0097] In an optional embodiment, the motor control command can be converted into the current required for the motor to reach the target state through other conversion relationships, and then the adjustment current of the motor can be determined by the current value and the actual current.

[0098] Example 2

[0099] According to an embodiment of the present invention, a voltage calibration device for a motor is also provided. This device can perform a voltage calibration method for a motor provided in Embodiment 1 above. The specific implementation method and preferred application scenario are the same as those in Embodiment 1 above, and will not be described again here.

[0100] Figure 6 This is a schematic diagram of a voltage calibration device for a motor according to an embodiment of the present invention, as shown below. Figure 6 As shown, the device includes:

[0101] The adjustment current determination module 602 is used to determine the adjustment current of the motor based on the received control command for the motor, wherein the control command is used to indicate that the motor is controlled to reach a target state, and the adjustment current is used to indicate the current that needs to be adjusted when the motor is controlled to reach the target state.

[0102] The voltage conversion module 604 is used to convert the adjustment current into a voltage to obtain the converted voltage;

[0103] The voltage calibration module 606 is used to calibrate the converted voltage based on the motor resolver position, preset voltage and preset angle of the motor to obtain the target voltage. The motor resolver position is used to represent the angle of the rotor in the motor, and the target voltage is used to control the motor.

[0104] Optionally, the voltage calibration module 606 includes: a first angle acquisition module, used to obtain a first angle based on the product of the motor resolver position and the target order, wherein the target order is the order corresponding to the noise to be eliminated in the motor; a target angle acquisition module, used to obtain a target angle based on the sum of the first angle and a preset angle; and a conversion voltage calibration module, used to calibrate the conversion voltage based on the target angle and the preset voltage to obtain the target voltage.

[0105] Optionally, the conversion voltage calibration module includes: a target angle processing module, used to process the target angle using a target function to obtain a target value; an adjustment voltage acquisition module, used to obtain an adjustment voltage based on the product of the target value and a preset voltage; and a target voltage acquisition module, used to calibrate the conversion voltage based on the adjustment voltage to obtain the target voltage.

[0106] Optionally, the target voltage acquisition module includes: a voltage sum acquisition module, used to obtain the target voltage based on the sum of the adjusted voltage and the converted voltage.

[0107] Optionally, the device further includes: a test current determination module, used to determine the test current of the motor based on the test command received from the motor, wherein the test command indicates that the motor is controlled to reach a test state, and the test current indicates the current that needs to be adjusted when the motor is controlled to reach the test state; a test current conversion module, used to convert the test current to obtain a test voltage; a test voltage calibration module, used to calibrate the test voltage based on the motor resolver position, multiple sample voltages, and multiple sample angles to obtain multiple sample calibration voltages; a vibration noise acquisition module, used to control the motor based on the multiple sample calibration voltages to obtain multiple vibration noises, wherein the multiple vibration noises are the vibration noises of the motor corresponding to the multiple sample target voltages collected during the control of the motor; and a data acquisition module, used to determine a preset voltage and a preset angle from the multiple sample voltages and multiple sample angles based on the multiple vibration noises.

[0108] Optionally, the data acquisition module includes: a target vibration noise determination unit, used to determine a target vibration noise among multiple vibration noises, wherein the target vibration noise is the smallest vibration noise among the multiple vibration noises; and a data acquisition unit, used to determine a preset voltage and a preset angle from multiple sample voltages and multiple sample angles based on the target vibration noise.

[0109] Optionally, the adjustment current determination module 602 includes: a three-phase current acquisition module for acquiring the three-phase current of the motor; a coordinate transformation module for performing coordinate transformation on the three-phase current to obtain the current of the target axis in the motor; a command transformation module for transforming control commands using a preset transformation relationship to obtain the transformed current, wherein the preset transformation relationship is used to represent the correspondence between control commands and currents; and a difference acquisition module for determining the adjustment current based on the difference between the transformed current and the current current.

[0110] Optionally, the adjustment current determination module 602 further includes: a target current acquisition module, used to convert the control command into a target current, wherein the target current is used to represent the current that the motor is to achieve; and an adjustment current determination module, used to determine the adjustment current based on the target current and the actual current of the motor.

[0111] Example 3

[0112] According to an embodiment of the present invention, a vehicle is also provided, including one or more processors and a storage device, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-described motor voltage calibration method.

[0113] Example 4

[0114] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute the above-described motor voltage calibration method.

[0115] Example 5

[0116] According to an embodiment of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described motor voltage calibration method during operation.

[0117] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0120] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0121] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0122] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0123] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for calibrating the voltage of a motor, characterized in that, include: In response to receiving a control command for the motor, an adjustment current for the motor is determined based on the control command, wherein the control command indicates that the motor is controlled to reach a target state, and the adjustment current indicates the current that needs to be adjusted when the motor is controlled to reach the target state; The adjusted current is converted into a voltage to obtain the converted voltage; The conversion voltage is calibrated based on the motor resolver position, preset voltage, and preset angle of the motor to obtain the target voltage. The motor resolver position is used to represent the angle of the rotor in the motor, and the target voltage is used to control the motor. The conversion voltage is calibrated based on the motor resolver position, preset voltage, and preset angle to obtain a target voltage. This includes: determining a target angle based on the motor resolver position and the preset angle; processing the target angle using a target function to obtain a target value, wherein the target function includes a sine function and a cosine function, and the target value includes a first value obtained by processing the target angle using the sine function and a second value obtained by processing the target angle using the cosine function; obtaining an adjustment voltage based on the product of the target value and the preset voltage, wherein the adjustment voltage includes an adjustment voltage on the dq axis (intersecting axis) and an adjustment voltage on the dq axis (direct axis), the adjustment voltage on the dq axis (intersecting axis) is obtained by multiplying the first value by the preset voltage, and the adjustment voltage on the dq axis (direct axis) is obtained by multiplying the second value by the preset voltage; and calibrating the conversion voltage based on the adjustment voltage to obtain the target voltage. The method further includes: responding to receiving a test command for the motor, determining a test current for the motor based on the test command, wherein the test command indicates that the motor should be controlled to reach a test state, and the test current indicates the current that needs to be adjusted when the motor reaches the test state; converting the test current through a proportional-integral controller to obtain a test voltage; calibrating the test voltage based on the motor resolver position, multiple sample voltages, and multiple sample angles to obtain multiple sample calibration voltages, wherein the multiple sample voltages are derived by deriving a fixed speed requiring harmonic injection, and the fixed speed is obtained by a given experimental measurement; controlling the motor based on the multiple sample calibration voltages to obtain multiple vibration noises, wherein the multiple vibration noises are vibration noises corresponding to the motor collected during the control of the motor by multiple sample target voltages; and determining a preset voltage and a preset angle from the multiple sample voltages and the multiple sample angles based on the multiple vibration noises.

2. The voltage calibration method for a motor according to claim 1, characterized in that, Based on the motor resolver position and the preset angle, the target angle is determined, including: The first angle is obtained based on the product of the motor resolver position and the target order, wherein the target order is the order corresponding to the noise to be eliminated by the motor. The target angle is obtained based on the sum of the first angle and the preset angle.

3. The voltage calibration method for a motor according to claim 1, characterized in that, The conversion voltage is calibrated based on the adjusted voltage to obtain the target voltage, including: The target voltage is obtained based on the sum of the adjusted voltage and the converted voltage.

4. The voltage calibration method for a motor according to claim 1, characterized in that, Determining the preset voltage and the preset angle from the multiple sample voltages and the multiple sample angles based on the multiple vibration noises includes: Determine the target vibration noise among the plurality of vibration noises, wherein the target vibration noise is the smallest vibration noise among the plurality of vibration noises; The preset voltage and the preset angle are determined from the plurality of sample voltages and the plurality of sample angles based on the target vibration noise.

5. The voltage calibration method for a motor according to claim 1, characterized in that, Determining the adjustment current of the motor based on the control command includes: Obtain the three-phase current of the motor; The three-phase currents are transformed into coordinates to obtain the current of the target shaft in the motor; The control command is converted using a preset conversion relationship to obtain a converted current, wherein the preset conversion relationship is used to represent the correspondence between the control command and the current; The adjustment current is determined based on the difference between the conversion current and the current current.

6. The voltage calibration method for a motor according to claim 1, characterized in that, Determining the adjustment current of the motor based on the control command includes: The control command is converted into a target current, wherein the target current is used to represent the current that the motor wants to achieve; The adjustment current is determined based on the target current and the actual current of the motor.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the execution of the voltage calibration method for the motor according to any one of claims 1 to 6 in the processor of the device.

8. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the voltage calibration method for the motor according to any one of claims 1 to 6.

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