Vehicle motor resolver angle decoding method, system, device and storage medium

Abstract

The present application relates to a method, system, device, and storage medium for decoding the resolver angle of a vehicle motor. The method includes: collecting sine and cosine envelope signals of the initial rotation angle of the rotating motor according to the rotation of the vehicle's rotating motor; determining whether the offset and gain of the envelope signal have been updated, and performing initial offset and initial gain calibration on the envelope signal; dynamically correcting the offset and gain-adjusted envelope signal, and calculating a decoded rotation angle after the correction; obtaining an electrical angular velocity based on the decoded rotation angle, and performing phase compensation on the decoded rotation angle using the electrical angular velocity to complete the resolution of the initial rotation angle. In an embodiment of the present invention, a more accurate real-time angle is obtained by initially calibrating the offset and gain of the resolver signal and dynamically correcting the offset and gain of the resolver signal. Furthermore, phase compensation of the resolver angle further ensures accuracy.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicles, and in particular to a method, system, device and storage medium for decoding the rotation angle of a vehicle motor. Background Art

[0002] As a core component of new energy vehicles, the performance of the three-in-one powertrain is crucial. The motor's resolver angle is a crucial signal in its control, directly impacting the drive system's external characteristics. Currently, vehicle motor resolver angle analysis primarily involves hardware decoding and software decoding. While hardware decoding offers high accuracy, the decoding circuit requires a decoding chip, adding additional cost. Consequently, software decoding has become the mainstream solution. However, current mainstream software decoding suffers from issues such as decoding delay and insufficient accuracy, necessitating further technological innovation to address these issues. Summary of the Invention

[0003] Based on this, it is necessary to provide a method, system, device and storage medium for decoding the vehicle motor rotation angle to address the above technical problems.

[0004] In a first aspect, an embodiment of the present invention provides a method for decoding a vehicle motor resolver angle, the method comprising:

[0005] According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor;

[0006] Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0007] Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0008] An electrical angular velocity is obtained according to the decoded rotation angle, and phase compensation is performed on the decoded rotation angle using the electrical angular velocity to complete the analysis of the initial rotation angle.

[0009] Furthermore, the determining whether the offset and gain of the envelope signal are updated and performing initial offset calibration and initial gain calibration on the envelope signal include:

[0010] When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively;

[0011] Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias;

[0012] According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0013] Furthermore, the envelope signal after bias and gain is dynamically corrected, and the decoded rotation angle is calculated after the correction, including:

[0014] Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression;

[0015] Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively;

[0016] The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

[0017] Furthermore, obtaining an electrical angular velocity according to the decoded rotation angle, performing phase compensation on the decoded rotation angle by using the electrical angular velocity, and completing the analysis of the initial rotation angle includes:

[0018] Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0019] Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0020] A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

[0021] On the other hand, an embodiment of the present invention further provides a vehicle motor resolver angle decoding system, comprising:

[0022] A signal acquisition module, configured to acquire envelope signals of the sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle;

[0023] An offset gain module, configured to determine whether the offset and gain of the envelope signal are updated, and perform initial offset calibration and initial gain calibration on the envelope signal;

[0024] A dynamic correction module, configured to dynamically correct the envelope signal after bias and gain, and calculate the decoded rotation angle after correction;

[0025] A phase compensation module is used to obtain an electrical angular velocity according to the decoded rotation angle, perform phase compensation on the decoded rotation angle through the electrical angular velocity, and complete the analysis of the initial rotation angle.

[0026] Furthermore, the bias gain module includes an amplitude adjustment unit, and the amplitude adjustment unit is used to:

[0027] When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively;

[0028] Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias;

[0029] According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0030] Furthermore, the dynamic correction module includes an angle calculation unit, which is used to:

[0031] Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression;

[0032] Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively;

[0033] The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

[0034] Furthermore, the phase compensation module includes a compensation calculation unit, which is configured to:

[0035] Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0036] Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0037] A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

[0038] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0039] According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor;

[0040] Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0041] Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0042] An electrical angular velocity is obtained according to the decoded rotation angle, and phase compensation is performed on the decoded rotation angle using the electrical angular velocity to complete the analysis of the initial rotation angle.

[0043] When the vehicle meets the conditions for stopping heating, a signal to exit vehicle heating is sent to the battery management system.

[0044] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0045] According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor;

[0046] Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0047] Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0048] An electrical angular velocity is obtained according to the decoded rotation angle, and phase compensation is performed on the decoded rotation angle using the electrical angular velocity to complete the analysis of the initial rotation angle.

[0049] The above-mentioned method, system, device, and storage medium for decoding the resolver angle of a vehicle motor include: collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the vehicle's rotating motor; determining whether the offset and gain of the envelope signal are updated, and performing initial offset and initial gain calibration on the envelope signal; dynamically correcting the envelope signal after the offset and gain, and calculating the decoded rotation angle after the correction; obtaining an electrical angular velocity based on the decoded rotation angle, and performing phase compensation on the decoded rotation angle using the electrical angular velocity to complete the resolution of the initial rotation angle. In this embodiment of the present invention, a more accurate initial angle is obtained by initially calibrating the offset and gain of the resolver signal. Simultaneously, the offset and gain of the resolver signal are dynamically corrected to obtain a more accurate real-time angle. Furthermore, phase compensation of the resolver angle further ensures accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 11 is a flow chart of a method for decoding a vehicle motor resolver angle in one embodiment;

[0051] Figure 2 Schematic diagram of a process for performing offset calibration and gain calibration in one embodiment;

[0052] Figure 3 1 is a schematic diagram of a process for dynamically correcting an envelope signal in one embodiment;

[0053] Figure 4 1 is a schematic diagram of a process for performing phase compensation on a resolver angle in one embodiment;

[0054] Figure 5 1 is a structural block diagram of a vehicle motor resolver angle decoding system according to an embodiment;

[0055] Figure 6 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] In one embodiment, Figure 1 As shown, a method for decoding the resolver angle of a vehicle motor is provided, the method comprising:

[0058] Step 101, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor of the vehicle according to the rotation of the rotating motor;

[0059] Step 102: determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0060] Step 103, dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0061] Step 104 : Obtain an electrical angular velocity according to the decoded rotation angle, perform phase compensation on the decoded rotation angle using the electrical angular velocity, and complete the analysis of the initial rotation angle.

[0062] Specifically, for the entire vehicle, software decoding has gradually become the mainstream technical solution, and its position resolution accuracy is also constantly improving, and it also has certain cost advantages. The rotation angle analysis performed in this embodiment through the following aspects can actually be divided into: 1) initial bias and gain calibration, 2) dynamic bias and gain correction, 3) resolver angle calculation, and 4) phase compensation. By initially calibrating the bias and gain of the resolver signal, a more accurate initial angle is obtained. At the same time, the bias and gain of the resolver signal are dynamically corrected to obtain a more accurate real-time angle. In addition, phase compensation is performed on the resolver angle to further ensure accuracy.

[0063] In one embodiment, Figure 2 As shown in FIG, the process of performing offset calibration and gain calibration on the envelope signal includes the following steps:

[0064] Step 201: When the offset and gain of the envelope signal are not updated, initial offset calibration and initial gain calibration are performed on the envelope signal respectively;

[0065] Step 202: Calibrate the positive and negative amplitudes of the envelope signal to be the same according to the initial offset;

[0066] Step 203: According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0067] In one embodiment, Figure 3 As shown in FIG, the process of dynamically correcting the envelope signal includes:

[0068] Step 301: Perform Fourier series expression on the envelope signal, and obtain the harmonic amplitude expression of the envelope signal after bias based on the Fourier series expression;

[0069] Step 302: Calculate a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal;

[0070] Step 303: Perform arctangent processing on the envelope signal after the sum and gain, to obtain the decoded rotation angle.

[0071] Specifically, the sampled SIN and COS signals are first processed with offset and gain to obtain SINCOR and COSCOR, and then divided to perform inverse tangent processing to obtain the resolver angle. The SIN and COS envelope signals are expressed in Fourier series, based on the Fourier series expression:

[0072] but

[0073] in, SIN sampling value amplitude, SIN sampling value, Rotation angle

[0074] but

[0075] in, COS sampling value amplitude, COS sampling value, Rotation angle.

[0076] In addition, the amplitude after SIN and COS correction must be 1.

[0077] In one embodiment, Figure 4 As shown in Figure 1, the process of phase compensation for the resolver angle includes:

[0078] Step 401: Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0079] Step 402: Acquire a second time difference between the resolver signal acquisition and the phase current acquisition, obtain a second compensation coefficient based on the second time difference, and multiply the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0080] Step 403 : Obtain a second compensation coefficient according to the delay of the first-order low-pass filter of the rotating electrical machine, and implement a third compensation phase by multiplying the second compensation coefficient by the electrical angular velocity.

[0081] Specifically, phase compensation consists of three main components: 1) The time difference between the resolver signal acquisition timestamp and the PWM interrupt processing timestamp is achieved by multiplying the time difference by the electrical angular velocity. 2) The time difference between the resolver signal acquisition and the phase current acquisition is achieved by multiplying the compensation coefficient by the electrical angular velocity.

[0082] 3) The delay of the first-order low-pass filter is achieved by multiplying the compensation coefficient by the electrical angular velocity. The accuracy of the real-time resolver angle analysis is improved through software algorithm design and phase compensation.

[0083] It should be understood that, although the various steps in the above flow chart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above flow chart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0084] In one embodiment, Figure 5 As shown, a decoding system for a vehicle motor resolver angle is provided, comprising:

[0085] The signal acquisition module 501 is used to collect the envelope signals of the sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle;

[0086] The offset gain module 502 is used to determine whether the offset and gain of the envelope signal are updated, and perform initial offset calibration and initial gain calibration on the envelope signal;

[0087] A dynamic correction module 503 is used to dynamically correct the envelope signal after bias and gain, and calculate the decoded rotation angle after correction;

[0088] The phase compensation module 504 is configured to obtain an electrical angular velocity according to the decoded rotation angle, perform phase compensation on the decoded rotation angle using the electrical angular velocity, and complete the analysis of the initial rotation angle.

[0089] In one embodiment, Figure 5 As shown, the bias gain module 502 includes an amplitude adjustment unit 5021, and the amplitude adjustment unit 5021 is used to:

[0090] When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively;

[0091] Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias;

[0092] According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0093] In one embodiment, the dynamic correction module 503 includes an angle calculation unit 5031, and the angle calculation unit 5031 is used to:

[0094] Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression;

[0095] Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively;

[0096] The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

[0097] In one embodiment, the phase compensation module 504 includes a compensation calculation unit 5041, and the compensation calculation unit 5041 is configured to:

[0098] Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0099] Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0100] A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

[0101] The specific definition of the decoding system of the vehicle motor rotation angle can be found in the definition of the decoding method of the vehicle motor rotation angle above, which will not be repeated here. The various modules in the above-mentioned decoding system of the vehicle motor rotation angle can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0102] Figure 6 FIG. 1 shows an internal structure diagram of a computer device in one embodiment. Figure 6As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for decoding the rotation angle of a vehicle motor. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for decoding the rotation angle of a vehicle motor. The display screen of the computer device may be a liquid crystal display or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0103] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0104] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0105] According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor;

[0106] Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0107] Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0108] An electrical angular velocity is obtained according to the decoded rotation angle, and phase compensation is performed on the decoded rotation angle using the electrical angular velocity to complete the analysis of the initial rotation angle.

[0109] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0110] When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively;

[0111] Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias;

[0112] According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0113] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0114] Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression;

[0115] Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively;

[0116] The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

[0117] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0118] Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0119] Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0120] A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

[0121] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0122] According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor;

[0123] Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal;

[0124] Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction;

[0125] An electrical angular velocity is obtained according to the decoded rotation angle, and phase compensation is performed on the decoded rotation angle using the electrical angular velocity to complete the analysis of the initial rotation angle.

[0126] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0127] When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively;

[0128] Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias;

[0129] According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

[0130] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0131] Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression;

[0132] Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively;

[0133] The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

[0134] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0135] Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase;

[0136] Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase;

[0137] A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

[0138] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0139] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for decoding the resolver angle of a vehicle motor, characterized in that: The method comprises: According to the rotation of the vehicle's rotating motor, collecting envelope signals of the sine and cosine of the initial rotation angle of the rotating motor; Determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal; Dynamically correcting the envelope signal after bias and gain, and calculating the decoded rotation angle after correction; Obtaining an electrical angular velocity according to the decoded rotation angle, performing phase compensation on the decoded rotation angle using the electrical angular velocity, and completing the analysis of the initial rotation angle; The envelope signal after bias and gain is dynamically corrected, and the decoded rotation angle is calculated after correction, including: Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression; Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively; The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

2. The method for decoding the vehicle motor resolver angle according to claim 1, wherein: The determining whether the offset and gain of the envelope signal are updated, and performing initial offset calibration and initial gain calibration on the envelope signal, includes: When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively; Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias; According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

3. The method for decoding the vehicle motor resolver angle according to claim 1, wherein: Obtaining an electrical angular velocity according to the decoded rotation angle, performing phase compensation on the decoded rotation angle by using the electrical angular velocity, and completing the analysis of the initial rotation angle includes: Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase; Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase; A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

4. A vehicle motor resolver angle decoding system, characterized in that: include: A signal acquisition module, configured to acquire envelope signals of the sine and cosine of the initial rotation angle of the rotating motor according to the rotation of the rotating motor of the vehicle; An offset gain module, configured to determine whether the offset and gain of the envelope signal are updated, and perform initial offset calibration and initial gain calibration on the envelope signal; A dynamic correction module, configured to dynamically correct the envelope signal after bias and gain, and calculate the decoded rotation angle after correction; a phase compensation module, configured to obtain an electrical angular velocity according to the decoded rotation angle, perform phase compensation on the decoded rotation angle using the electrical angular velocity, and complete the analysis of the initial rotation angle; The dynamic correction module includes an angle calculation unit, which is used to: Performing a Fourier series expression on the envelope signal, and obtaining an expression for the harmonic amplitude of the envelope signal after the envelope signal is biased based on the Fourier series expression; Calculating a constant component of the envelope signal to obtain a correction gain of the sine signal and a correction gain of the cosine signal respectively; The envelope signal after summing and gaining is subjected to arc tangent processing to obtain the decoded rotation angle.

5. The vehicle motor resolver angle decoding system according to claim 4, characterized in that: The bias gain module includes an amplitude adjustment unit, and the amplitude adjustment unit is used to: When the offset and gain of the envelope signal are not updated, performing initial offset calibration and initial gain calibration on the envelope signal respectively; Calibrate the envelope signal so that the positive and negative amplitudes are the same according to the initial bias; According to the initial gain calibration, the maximum amplitude of the calibrated envelope signal is set to 1.

6. The vehicle motor resolver angle decoding system according to claim 4, characterized in that: The phase compensation module includes a compensation calculation unit, which is configured to: Acquire a first time difference between resolver signal acquisition and PWM interrupt processing of the rotating motor, and multiply the first time difference by the electrical angular velocity to achieve a first compensation phase; Obtaining a second time difference between the resolver signal acquisition and the phase current acquisition, obtaining a second compensation coefficient according to the second time difference, and multiplying the second compensation coefficient by the electrical angular velocity to achieve a second compensation phase; A second compensation coefficient is obtained according to a delay of a first-order low-pass filter of the rotating electrical machine, and a third compensation phase is realized by multiplying the second compensation coefficient by the electrical angular velocity.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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