Automatic zeroing method, device and equipment for resolver of three-in-one powertrain system

Abstract

The present application provides a method, device, electronic device and computer-readable storage medium for automatic zeroing of a resolver in a three-in-one powertrain system. The method for automatic zeroing of a resolver in the three-in-one powertrain system comprises: receiving a request for automatic zeroing of the resolver; performing rough calibration of the resolver based on the request for automatic zeroing of the resolver; performing two speed loop calibrations respectively to obtain two calibration angles respectively; judging whether the error of the two calibration angles is less than a preset angle; if the error of the two calibration angles is less than the preset angle, the calibration is successful, and the data is written into the electrically erasable programmable read-only memory (EEPROM) of the controller. According to the embodiment of the present application, the zeroing operation can be completed with one click through a host computer or a CAN communication tool without the need for a dynamometer bench or a traction motor. The operation is simple and the zeroing efficiency is high, and the three-in-one powertrain system is suitable for mass production.

Description

Technical Field

[0001] The present application belongs to the field of automatic zeroing of resolvers, and in particular, relates to a method, device, electronic device and computer-readable storage medium for automatic zeroing of resolvers in a three-in-one powertrain system. Background Art

[0002] Currently, the resolver zero position calibration of permanent magnet synchronous motors is mostly completed on a test bench. One solution is to use a dynamometer test bench to fix the motor at a certain speed. According to the relationship between torque and current, Iq=0 and Id=fixed value are given by the host computer, and the resolver zero position is adjusted to make the output torque zero. Another solution is also a dynamometer test bench to fix the motor at a certain speed. According to the relationship between the AC and DC axis voltages and angles, Id=0 and Iq=0 are given by the host computer, the Ud value is read, and the resolver position is adjusted to fix Ud at a specific value.

[0003] However, the above method has a complicated operation process, high requirements on operators, low zero adjustment efficiency, and requires a dynamometer stand or a traction motor.

[0004] In view of this, this application is filed. Summary of the invention

[0005] The embodiments of the present application provide a method, device, electronic device and computer-readable storage medium for automatic zeroing of a resolver of a three-in-one powertrain system, which can complete the zeroing operation with one click through a host computer or a CAN communication tool without the need for a dynamometer stand or a traction motor. The operation is simple and the zeroing efficiency is high, and the method is suitable for mass-produced three-in-one powertrain systems.

[0006] In a first aspect, an embodiment of the present application provides a resolver automatic zeroing method for a three-in-one powertrain system, comprising:

[0007] Receive resolver automatic zeroing request;

[0008] Based on the resolver automatic zeroing request, perform a rough calibration of the resolver;

[0009] Carry out two speed loop calibrations respectively, and obtain two calibration angles respectively;

[0010] Determine whether the error between the two calibration angles is less than the preset angle;

[0011] If the error between the two calibration angles is less than the preset angle, the calibration is successful, and the data is written into the electrically erasable programmable read only memory (EEPROM) of the controller.

[0012] Furthermore, after determining whether the error between the two calibration angles is less than a preset angle, the method further includes:

[0013] If the error between the two calibration angles is not less than the preset angle, the calibration fails and the system returns to re-calibrate the resolver roughly.

[0014] Furthermore, the three-in-one powertrain system is connected to a DC regulated power supply and is also connected to a host computer via CAN communication.

[0015] Further, based on the resolver automatic zeroing request, a resolver rough calibration is performed, including:

[0016] Keep the assembly system in place and read the current resolver angle value;

[0017] Calculate the complementary angle of the current resolver angle value to obtain the resolver zero position deviation value to complete the resolver rough calibration.

[0018] Furthermore, the speed loop is calibrated twice, and two calibration angles are obtained respectively, including:

[0019] After the motor runs stably, read the stable torque angle information;

[0020] After the adjustment is completed, the adjusted torque angle information is recorded again;

[0021] Calculate the average value of the stabilized torque angle information and the adjusted torque angle information;

[0022] Calculate the complementary angle of the mean value to obtain the calibration angle.

[0023] Further, determining whether the error between the two calibration angles is less than a preset angle includes:

[0024] Determine whether the error between the two calibration angles is less than 1 degree.

[0025] In a second aspect, an embodiment of the present application provides a resolver automatic zeroing device for a three-in-one powertrain system, comprising:

[0026] A request receiving module, used for receiving a request for automatic zeroing of a resolver;

[0027] A resolver rough calibration module is used to perform a resolver rough calibration based on a resolver automatic zeroing request;

[0028] The speed loop calibration module is used to perform two speed loop calibrations respectively to obtain two calibration angles respectively;

[0029] An angle error judgment module, used to judge whether the error between two calibration angles is less than a preset angle;

[0030] The calibration success module is used to determine if the error between the two calibration angles is less than a preset angle, indicating that the calibration is successful and writing the data into the controller's electrically erasable programmable read-only memory (EEPROM).

[0031] Furthermore, the device also includes:

[0032] The calibration failure module is used to indicate that the calibration fails if the error between the two calibration angles is not less than the preset angle, and return to re-calibrate the resolver roughly.

[0033] Furthermore, the three-in-one powertrain system is connected to a DC regulated power supply and is also connected to a host computer via CAN communication.

[0034] Furthermore, the resolver rough calibration module is used to: keep the position of the assembly system fixed and read the current resolver angle value; calculate the complementary angle of the current resolver angle value to obtain the zero position deviation value of the resolver to complete the resolver rough calibration.

[0035] Furthermore, the speed loop calibration module is used to: read the stabilized torque angle information after the motor runs stably; after the adjustment is completed, record the adjusted torque angle information again; calculate the average value of the stabilized torque angle information and the adjusted torque angle information; calculate the supplementary angle of the average value to obtain the calibration angle.

[0036] Furthermore, the angle error judgment module is used to judge whether the error between two calibration angles is less than 1 degree.

[0037] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0038] When the processor executes the computer program instructions, the resolver automatic zeroing method of the three-in-one powertrain system as shown in the first aspect is implemented.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, a method for automatic zeroing of a resolver of a three-in-one powertrain system as shown in the first aspect is implemented.

[0040] The automatic zeroing method, device, electronic device and computer-readable storage medium of the resolver of the three-in-one powertrain system of the embodiment of the present application can complete the zeroing operation with one click through a host computer or a CAN communication tool without the need for a dynamometer stand or a traction motor. The operation is simple and the zeroing efficiency is high, and the three-in-one powertrain system is suitable for mass production.

[0041] The resolver automatic zeroing method of the three-in-one powertrain system comprises: receiving a resolver automatic zeroing request; performing a rough resolver calibration based on the resolver automatic zeroing request; performing two speed loop calibrations respectively to obtain two calibration angles respectively; judging whether the errors of the two calibration angles are less than a preset angle; if the errors of the two calibration angles are less than the preset angle, the calibration is successful, and the data is written into an electrically erasable programmable read-only memory (EEPROM) of a controller.

[0042] It can be seen that this method performs two speed loop calibrations and obtains two calibration angles respectively. If the error between the two calibration angles is less than the preset angle, the calibration is successful. This method does not require a dynamometer bench or a drag motor, and can complete the zeroing operation with one click through a host computer or a CAN communication tool. The operation is simple and the zeroing efficiency is high. It is suitable for mass-produced three-in-one powertrain systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a flow chart of a method for automatic zeroing of a resolver of a three-in-one powertrain system provided by an embodiment of the present application;

[0045] Figure 2 is a system wiring diagram provided by an embodiment of the present application;

[0046] Figure 3 It is a fixed vector strong pull algorithm provided by an embodiment of the present application;

[0047] Figure 4 This is a schematic diagram of speed loop zeroing control provided by an embodiment of the present application;

[0048] Figure 5 This is a flowchart of a zeroing system provided by an embodiment of the present application;

[0049] Figure 6 It is a structural schematic diagram of a resolver automatic zeroing device of a three-in-one powertrain system provided by an embodiment of the present application;

[0050] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Implementation

[0051] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0053] In order to solve the problems of the prior art, the embodiments of the present application provide a method, device, electronic device and computer-readable storage medium for automatically adjusting the zero value of a resolver in a three-in-one powertrain system. The following first introduces the method for automatically adjusting the zero value of a resolver in a three-in-one powertrain system provided by the embodiments of the present application.

[0054] Figure 1 FIG. 1 is a flow chart of a method for automatically adjusting the zeroing of a resolver in a three-in-one powertrain system provided by an embodiment of the present application. Figure 1 As shown, the automatic zeroing method of the resolver of the three-in-one powertrain system includes:

[0055] S101, receiving a resolver automatic zeroing request;

[0056] S102, performing a rough calibration of the resolver based on the resolver automatic zeroing request;

[0057] S103, performing two speed loop calibrations respectively, and obtaining two calibration angles respectively;

[0058] S104, determining whether the error between the two calibration angles is less than a preset angle;

[0059] S105: If the error between the two calibration angles is less than the preset angle, the calibration is successful, and the data is written into the electrically erasable programmable read-only memory (EEPROM) of the controller.

[0060] In one embodiment, after determining whether the error between the two calibration angles is less than the preset angle, the method further includes: if the error between the two calibration angles is not less than the preset angle, the calibration fails, and the method returns to re-perform the rough calibration of the resolver.

[0061] In one embodiment, the three-in-one powertrain system is connected to a DC regulated power supply and is also connected to a host computer via CAN communication.

[0062] In one embodiment, based on the resolver auto-zeroing request, a resolver rough calibration is performed, including:

[0063] Keep the assembly system in place and read the current resolver angle value;

[0064] Calculate the complementary angle of the current resolver angle value to obtain the resolver zero position deviation value to complete the resolver rough calibration.

[0065] In one embodiment, the speed loop calibration is performed twice to obtain two calibration angles, including:

[0066] After the motor runs stably, read the stable torque angle information;

[0067] After the adjustment is completed, the adjusted torque angle information is recorded again;

[0068] Calculate the average value of the stabilized torque angle information and the adjusted torque angle information;

[0069] Calculate the complementary angle of the mean value to obtain the calibration angle.

[0070] In one embodiment, determining whether the error between two calibration angles is less than a preset angle includes:

[0071] Determine whether the error between the two calibration angles is less than 1 degree.

[0072] Specifically, Figure 2 is a system wiring diagram provided by an embodiment of the present application; Figure 3 It is a fixed vector strong pull algorithm provided by an embodiment of the present application; Figure 4 This is a schematic diagram of speed loop zeroing control provided by an embodiment of the present application; Figure 5 This is a flowchart of a zeroing system provided in one embodiment of the present application.

[0073] based on Figures 2 to 5 , the specific steps of this application are as follows:

[0074] (1) Wiring of resolver zero adjustment system Figure 2 As shown, you only need to connect the three-in-one powertrain system to a DC regulated power supply and connect it to the host computer via CAN communication;

[0075] (2) The powertrain system is powered by rated voltage, the angle detected by the resolver is set to 0 degrees, and the voltage value is given as Ud=0, Uq=3; through PARK transformation, Ua=0, Ub=2.598, Uc=-2.598 are obtained. The stator magnetic field generated after SVPWM modulation is located in the q-axis direction, as shown in Figure 3 As shown, the d-axis where the rotor magnetic field is located is fixed to the direction of the q-axis by the attraction of the stator magnetic field;

[0076] (3) Keep the assembly system in place and read the current resolver angle value as θ 1 , then the zero position deviation of the resolver is ;Complete the rough calibration of the resolver zero position;

[0077] (4) Compensate the resolver deviation value in step (3) into the resolver detection program, and use the speed loop to set the speed to The output signal of the speed loop PI regulation is the torque angle signal, and the current vector given value is set to , the current vector given value is multiplied by the sine and cosine of the torque angle β to obtain the motor's dq axis current given signal, which is used as the given signal of the current loop. After the motor runs stably under FOC control, the torque angle information after stabilization is read. θ 2 , the system control block diagram is as follows Figure 4 As shown;

[0078] (5) Modify the given speed to , repeat step (4), and after the adjustment is completed, record the torque angle information again, which is recorded as θ 3 ;

[0079] (6) Apply (4) and (5) to obtain θ 2 and θ 3 The average value is recorded as , then the precise calibration value of the system is: ;

[0080] (7) Repeat the above steps (2)-(6) to obtain ,when and If the deviation does not exceed 1 degree, the zero adjustment is considered successful. Otherwise, repeat steps (1) to (6) to re-zero.

[0081] (8) After zeroing is successful, The angle is written into the controller's EEPROM.

[0082] It can be seen that the resolver automatic zeroing system is mainly divided into two parts. The first part completes the rough calibration of the resolver zero position by fixed vector strong pulling. The second part is based on the first part and completes the fine calibration of the resolver zero position through the speed loop.

[0083] The fixed vector is pulled through the voltage open-loop control. Assuming Ud=0, Uq=3, the resolver position angle is given as 0, and the coordinate inverse transformation obtains Ua=0, Ub=2.598, Uc=-2.598. According to the right-hand rule, the generated stator magnetic field is as follows: Figure 3 As shown in the figure, the magnetic field direction is from bottom to top, and the rotor permanent magnet is attracted to the direction of the q axis by the suction force. This method can be used to roughly calibrate the zero position of the motor.

[0084] This application uses fixed vector strong pulling technology. When the motor controller passes direct current into the motor, the stator winding will generate a fixed magnetic field, and the rotor will be attracted to the position of the fixed magnetic field generated by the stator winding.

[0085] The rough calibration helps to find the approximate position of the resolver, but the error is large and the consistency deviation is not suitable for mass production applications. Therefore, the fine calibration of the resolver zero position should be completed through the speed closed loop based on the rough calibration. According to the formula Set the output signal of the speed loop to the torque angle signal, set the current vector amplitude to 100A, set the speed setting to 500rpm, and control the three-in-one system to run at a given speed value by controlling the torque angle β. After the system runs stably, record the torque angle of the system, and then set the speed to -500rpm. After the system runs stably, record the torque angle of the motor again. The average of the two torque angles can get the current angle deviation value.

[0086] This application uses the formula It can be concluded that for a motor with fixed parameters, the torque output is related to the current and torque angle. Assuming that the current remains unchanged, the speed loop is used to control the torque angle to control the motor to run at different speeds.

[0087] To sum up, the automatic zeroing method of the resolver of the three-in-one powertrain system of the embodiment of the present application can complete the zeroing operation with one click through a host computer or a CAN communication tool without the need for a dynamometer stand or a traction motor. The operation is simple and the zeroing efficiency is high, and the method is suitable for mass-produced three-in-one powertrain systems.

[0088] Figure 6 1 is a schematic diagram of the structure of a resolver automatic zeroing device of a three-in-one powertrain system provided by an embodiment of the present application. The resolver automatic zeroing device of the three-in-one powertrain system comprises:

[0089] A request receiving module 601 is used to receive a resolver automatic zeroing request;

[0090] A resolver rough calibration module 602, configured to perform a resolver rough calibration based on a resolver automatic zeroing request;

[0091] The speed loop calibration module 603 is used to perform two speed loop calibrations respectively to obtain two calibration angles respectively;

[0092] An angle error judgment module 604 is used to judge whether the error between the two calibration angles is less than a preset angle;

[0093] The calibration success module 605 is used to determine if the error between the two calibration angles is less than a preset angle, indicating that the calibration is successful, and write the data into the electrically erasable programmable read-only memory (EEPROM) of the controller.

[0094] In one embodiment, the apparatus further comprises:

[0095] The calibration failure module is used to indicate that the calibration fails if the error between the two calibration angles is not less than the preset angle, and return to re-calibrate the resolver roughly.

[0096] In one embodiment, the three-in-one powertrain system is connected to a DC regulated power supply and is also connected to a host computer via CAN communication.

[0097] In one embodiment, the resolver rough calibration module 602 is used to: keep the position of the assembly system fixed and read the current resolver angle value; calculate the complementary angle of the current resolver angle value to obtain the zero position deviation value of the resolver to complete the resolver rough calibration.

[0098] In one embodiment, the speed loop calibration module 603 is used to: read the stabilized torque angle information after the motor runs stably; after the adjustment is completed, record the adjusted torque angle information again; calculate the average value of the stabilized torque angle information and the adjusted torque angle information; calculate the supplementary angle of the average value to obtain the calibration angle.

[0099] In one embodiment, the angle error determination module 604 is used to determine whether the error between two calibration angles is less than 1 degree.

[0100] Figure 6 Each module in the device shown has the function of realizing Figure 1 The functions of each step in the process can achieve the corresponding technical effects, which will not be described in detail here for the sake of brevity.

[0101] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0102] The electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0103] Specifically, the processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0104] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 702 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 702 may be inside or outside the electronic device. In a particular embodiment, the memory 702 may be a non-volatile solid-state memory.

[0105] In one embodiment, the memory 702 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0106] The processor 701 reads and executes the computer program instructions stored in the memory 702 to implement any one of the resolver automatic zeroing methods of the three-in-one powertrain system in the above embodiments.

[0107] In one example, the electronic device may further include a communication interface 703 and a bus 710. Figure 7 As shown, the processor 701, the memory 702, and the communication interface 703 are connected via a bus 710 and communicate with each other.

[0108] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0109] Bus 710 includes hardware, software or both, and couples the components of the electronic device to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 710 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnect.

[0110] In addition, in combination with the automatic zeroing method for a resolver of a three-in-one powertrain system in the above embodiments, the embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the automatic zeroing methods for a resolver of a three-in-one powertrain system in the above embodiments is implemented.

[0111] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0112] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier wave. "Machine-readable medium" may include any medium that can store or transmit information.

[0113] Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments may be downloaded via a computer network such as the Internet, an intranet, etc.

[0114] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0115] The above describes various aspects of the present application with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0116] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A resolver automatic zeroing method for a three-in-one powertrain system, characterized in that: include: Receive resolver automatic zeroing request; Keep the assembly system in place and read the current resolver angle value; Calculate the complementary angle of the current resolver angle value to obtain the resolver zero position deviation value to complete the resolver rough calibration; The zero position deviation value of the resolver is compensated to the resolver detection program to perform speed loop calibration, and the speed loop calibration is performed twice to obtain two calibration angles respectively. The speed loop calibration includes: After the motor runs stably, read the stable torque angle information. After the adjustment is completed, record the adjusted torque angle information again. Calculate the average value of the stabilized torque angle information and the adjusted torque angle information, Calculate the supplementary angle of the average value to obtain the calibration angle; Determine whether the error between the two calibration angles is less than a preset angle; If the error between the two calibration angles is less than the preset angle, the calibration is successful, and the data is written into the electrically erasable programmable read-only memory (EEPROM) of the controller.

2. The resolver automatic zeroing method of a three-in-one powertrain system according to claim 1, characterized in that: After determining whether the error between the two calibration angles is less than a preset angle, the method further includes: If the error between the two calibration angles is not less than the preset angle, the calibration fails and the system returns to re-calibrate the resolver roughly.

3. The automatic zeroing method for a resolver of a three-in-one powertrain system according to claim 1, characterized in that: The three-in-one powertrain system is connected to a DC regulated power supply and is also connected to a host computer via CAN communication.

4. The automatic zeroing method for a resolver of a three-in-one powertrain system according to claim 1, characterized in that: The determining whether the error between the two calibration angles is less than a preset angle includes: Determine whether the error between the two calibration angles is less than 1 degree.

5. A resolver automatic zeroing device for a three-in-one powertrain system, characterized in that: include: A request receiving module, used for receiving a request for automatic zeroing of a resolver; The resolver rough calibration module is used to keep the assembly system in place and read the current resolver angle value; calculate the complementary angle of the current resolver angle value to obtain the resolver zero position deviation value to complete the resolver rough calibration; The speed loop calibration module is used to compensate the zero-position deviation value of the resolver to the resolver detection program to perform speed loop calibration after the resolver rough calibration module performs the resolver rough calibration, and perform the speed loop calibration twice to obtain two calibration angles respectively. The speed loop calibration includes: after the motor runs stably, reading the stabilized torque angle information; after the adjustment is completed, recording the adjusted torque angle information again; calculating the average value of the stabilized torque angle information and the adjusted torque angle information; calculating the supplementary angle of the average value to obtain the calibration angle; An angle error judgment module, used to judge whether the error between the two calibration angles is less than a preset angle; The calibration success module is used to determine if the error between two calibration angles is less than a preset angle, indicating that the calibration is successful, and write the data into the controller's electrically erasable programmable read-only memory (EEPROM).

6. The resolver automatic zeroing device of the three-in-one powertrain system according to claim 5, characterized in that: The device also includes: The calibration failure module is used to indicate that the calibration fails if the error between the two calibration angles is not less than the preset angle, and return to re-calibrate the resolver roughly.

7. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the resolver automatic zeroing method of the three-in-one powertrain system according to any one of claims 1 to 4 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the resolver automatic zeroing method of the three-in-one powertrain system according to any one of claims 1 to 4 is implemented.

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