Signal processing method and apparatus, storage medium, and vehicle

Abstract

The application discloses a signal processing method and device, a storage medium and a vehicle. The method comprises the following steps: obtaining a sine signal and a cosine signal of a permanent magnet synchronous motor; generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal; sampling the first pulse signal and the second pulse signal to generate excitation data; correcting the sine signal and the cosine signal by using the first pulse signal and the second pulse signal to obtain a target correction result; and demodulating the target correction result and the excitation data to obtain a target signal, wherein the target signal is used to calculate rotor position information of the permanent magnet synchronous motor. The application solves the technical problem of a signal processing method provided by the related art, which has a large signal error, low signal precision and poor calculation accuracy.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more specifically, to a signal processing method, apparatus, storage medium, and vehicle. Background Technology

[0002] Currently, automotive permanent magnet synchronous motors generally employ field-oriented control (FOC). Typically, a resolver is used to obtain the rotor position of the permanent magnet synchronous motor, and control is then performed based on this rotor position. To obtain the rotor position, the resolver usually needs to decode the sine and cosine signals returned by the motor. Decoding methods include: 1. Hardware decoding using resolver decoding chips (such as AD2S1200 and AD2S1210); 2. Software decoding using resolver position calculation.

[0003] Because rotary transformers inevitably introduce errors during manufacturing and installation, including winding harmonics, magnetic circuit saturation, material variations, manufacturing processes, and quadrature-axis magnetic fields, they exhibit functional errors, zero-position errors, linearity errors, electrical errors, and output phase shifts. However, existing signal processing methods do not eliminate or partially eliminate these errors; instead, they incur high costs in controlling the manufacturing and installation processes of rotary transformers, resulting in poor accuracy and high product costs.

[0004] There is currently no effective solution to the problems of large signal error, low signal accuracy, and poor accuracy of the solution results in the signal processing methods provided by the existing technologies. Summary of the Invention

[0005] This invention provides a signal processing method, apparatus, storage medium, and vehicle to at least solve the technical problems of large signal errors, low signal accuracy, and poor accuracy of calculation results in the signal processing methods provided by related technologies.

[0006] According to one aspect of the present invention, a signal processing method is provided, comprising:

[0007] The process involves acquiring the sine and cosine signals of the permanent magnet synchronous motor; generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal; sampling the first and second pulse signals to generate excitation data; using the first and second pulse signals to correct the sine and cosine signals to obtain a target correction result; and demodulating the target correction result and the excitation data to obtain a target signal, which is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0008] Optionally, generating a first pulse signal based on a sine signal and generating a second pulse signal based on a cosine signal includes: modulating the sine signal to obtain a sine envelope signal; generating a first pulse signal based on the positive and negative signal voltages of the sine envelope signal; modulating the cosine signal to obtain a cosine envelope signal; and generating a second pulse signal based on the positive and negative signal voltages of the cosine envelope signal.

[0009] Optionally, sampling the first pulse signal and the second pulse signal to generate excitation data includes: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and using the sampling parameters to sample the first pulse signal and the second pulse signal to generate excitation data.

[0010] Optionally, the sampling parameters include at least: sampling start point, sampling frequency, and sampling period. Using the sampling parameters to sample the first pulse signal and the second pulse signal to generate excitation data includes: aligning the sampling start point with the start point of one of the cycles of the preset excitation signal, sampling the first pulse signal and the second pulse signal respectively according to the sampling frequency and the sampling period, and generating excitation data.

[0011] Optionally, the sine and cosine signals are corrected using the first and second pulse signals to obtain the target correction result, including: comparing the phases of the first and second pulse signals to determine the phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first and second pulse signals; using the phase shift parameter to correct the phases of the sine and cosine signals to obtain a first correction result; and performing a second correction on the first correction result based on a preset time range to obtain the target correction result.

[0012] Optionally, the target correction result includes a second correction result and a third correction result. The first correction result is corrected a second time based on a preset time range to obtain the target correction result, which includes: calculating the signal amplitude and signal bias value based on the signal values ​​of the sine and cosine signals within the preset time range; using the signal amplitude to correct the amplitude of the first correction result to obtain the second correction result; and using the signal bias value to correct the bias of the first correction result to obtain the third correction result.

[0013] Optionally, demodulating the target correction result and excitation data to obtain the target signal includes: demodulating the target correction result according to the excitation cycle corresponding to the excitation data to obtain the demodulation result; and verifying the demodulation result to determine the target signal.

[0014] According to another aspect of the present invention, a signal processing apparatus is also provided, comprising:

[0015] The system comprises: an acquisition module for acquiring sine and cosine signals of the permanent magnet synchronous motor; a generation module for generating a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal; a sampling module for sampling the first and second pulse signals to generate excitation data; a correction module for correcting the sine and cosine signals using the first and second pulse signals to obtain a target correction result; and a processing module for demodulating the target correction result and the excitation data to obtain a target signal, which is used to calculate the rotor position and rotor speed of the permanent magnet synchronous motor.

[0016] Optionally, the above-mentioned generation module further includes: modulating the sine signal to obtain a sine envelope signal; generating a first pulse signal based on the positive and negative signal voltages of the sine envelope signal; modulating the cosine signal to obtain a cosine envelope signal; and generating a second pulse signal based on the positive and negative signal voltages of the cosine envelope signal.

[0017] Optionally, the above sampling module further includes: sampling the first pulse signal and the second pulse signal to generate excitation data, including: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and using the sampling parameters to sample the first pulse signal and the second pulse signal to generate excitation data.

[0018] Optionally, the above sampling module further includes: sampling parameters including at least: sampling start point, sampling frequency and sampling period; sampling the first pulse signal and the second pulse signal using the sampling parameters to generate excitation data includes: aligning the sampling start point with the start point of one cycle of the preset excitation signal; sampling the first pulse signal and the second pulse signal respectively according to the sampling frequency and the sampling period to generate excitation data.

[0019] Optionally, the above correction module further includes: using the first pulse signal and the second pulse signal to correct the sine signal and the cosine signal to obtain the target correction result, including: comparing the phase of the first pulse signal and the second pulse signal to determine the phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first pulse signal and the second pulse signal; using the phase shift parameter to correct the phase of the sine signal and the cosine signal to obtain the first correction result; and performing a second correction on the first correction result based on a preset time range to obtain the target correction result.

[0020] Optionally, the above correction module further includes: the target correction result includes a second correction result and a third correction result; the first correction result is corrected a second time based on a preset time range to obtain the target correction result, which includes: calculating the signal amplitude and signal bias value based on the signal values ​​of the sine and cosine signals within the preset time range; using the signal amplitude to correct the amplitude of the first correction result to obtain the second correction result; and using the signal bias value to correct the bias of the first correction result to obtain the third correction result.

[0021] Optionally, the above processing module further includes: demodulating the target correction result and excitation data to obtain the target signal, including: demodulating the target correction result according to the excitation cycle corresponding to the excitation data to obtain the demodulation result; and performing signal verification on the demodulation result to determine the target signal.

[0022] According to another aspect of the present invention, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is running, the device where the storage medium is located executes the signal processing method of any of the foregoing.

[0023] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to perform the signal processing method of any of the foregoing embodiments.

[0024] In this embodiment of the invention, firstly, the sine and cosine signals of the permanent magnet synchronous motor are acquired. A first pulse signal is generated based on the sine signal, and a second pulse signal is generated based on the cosine signal. Then, the first and second pulse signals are sampled to generate excitation data. The sine and cosine signals are corrected using the first and second pulse signals to obtain the target correction result. Finally, the target correction result and the excitation data are demodulated to obtain the target signal, wherein the target signal is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0025] It is easy to understand that the method provided by the present invention corrects the corresponding sine and cosine signals by generating the first and second pulse signals, thereby eliminating some errors in the signals and achieving the purpose of correcting the sine and cosine signals of the permanent magnet synchronous motor to improve signal accuracy. This achieves the technical effect of improving the signal accuracy of the sine and cosine signals and improving the calculation accuracy of the rotor position information of the permanent magnet synchronous motor. In turn, it solves the technical problems of large signal error, low signal accuracy and poor calculation accuracy of the signal processing methods provided by related technologies. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0027] Figure 1 This is an optional hardware structure block diagram of a vehicle terminal for implementing a signal processing method according to an embodiment of the present invention;

[0028] Figure 2 This is a flowchart of a signal processing method according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of an optional signal correspondence according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the hardware circuit of an optional signal processing method according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of an optional signal processing procedure according to an embodiment of the present invention;

[0032] Figure 6 This is a structural block diagram of a signal processing device according to an embodiment of the present invention. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] According to an embodiment of the present invention, an embodiment of a signal processing method 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.

[0036] Figure 1 This is an optional hardware structure block diagram of a vehicle terminal for implementing a signal processing method according to an embodiment of the present invention, such as... Figure 1 As shown, the vehicle terminal 10 (or a mobile device 10 that communicates with the vehicle) may include one or more processors 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O device), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0037] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).

[0038] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the signal processing method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the above-mentioned signal processing method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0039] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0040] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The signal processing method shown, Figure 2 This is a flowchart of a signal processing method according to an embodiment of the present invention, such as... Figure 2 As shown above, Figure 2 The embodiments shown may include at least the following implementation steps, namely, the technical solutions implemented by steps S21 to S25.

[0041] Step S21: Obtain the sine and cosine signals of the permanent magnet synchronous motor;

[0042] In one optional solution provided by step S21 above, the permanent magnet synchronous motor can be a synchronous motor that uses permanent magnets to establish an excitation magnetic field, which can convert electrical energy into electromagnetic energy, and then into mechanical energy. The permanent magnet synchronous motor can include: a stator and a rotor, wherein the stator is a coil that can be used to generate a rotating magnetic field, and the rotor can be made of permanent magnet material, or it can become a permanent magnet after being supplied with direct current.

[0043] In the solution provided by this invention, the aforementioned permanent magnet synchronous motor can be connected to a rotary transformer via its rotor. For example, the rotor of the permanent magnet synchronous motor can be coaxial with the rotor of the rotary transformer. It should also be noted that the rotary transformer is an electromagnetic sensor used to measure angular position and angular velocity. Furthermore, the rotary transformer can consist of a stator that is fixed during installation and a rotor mounted on a shaft. The stator can accept an external excitation voltage, and the rotor can generate an induced electromotive force through electromagnetic coupling.

[0044] It can also be understood that the aforementioned sine and cosine signals can be periodic signals generated by the aforementioned permanent magnet synchronous motor during operation.

[0045] Figure 3 This is a schematic diagram of an optional signal correspondence according to an embodiment of the present invention, such as... Figure 3 As shown, the excitation signal can be the excitation voltage supplied to the rotary transformer from the outside, and the excitation voltage can be as shown in the following formula (1):

[0046] U a =Esin(ωt) Formula (1)

[0047] Among them, U a ω is the excitation voltage, E is the peak voltage of the excitation input, and ω is the excitation carrier frequency.

[0048] Still as Figure 3 As shown, when an external excitation voltage of a certain frequency is applied to the stator of the rotary transformer, the rotating rotor outputs an amplitude modulation signal whose amplitude is related to the rotor shaft angle by sine and cosine functions, respectively. The sine and cosine signals can be represented by the following formulas (2) and (3):

[0049] U s =Eksin(ωt)sin(ω r t) Formula (2)

[0050] U c =Eksin(ωt)cos(ω r t) Formula (3)

[0051] Among them, U s ω is the output voltage corresponding to the sinusoidal signal, k is the resolver conversion ratio, and ω r t is the angle of the resolver rotor, U c This is the output voltage corresponding to the cosine signal.

[0052] Step S22: Generate a first pulse signal based on a sine signal and a second pulse signal based on a cosine signal;

[0053] In one optional solution provided by step S22 above, the first pulse signal can be a signal output by the comparator corresponding to the sine signal, and the second pulse signal can be a signal output by the comparator corresponding to the cosine signal. It should also be noted that in the solution provided by this invention, a comparator circuit is added to each of the differential signals of the sine and cosine signals. The positive input terminal of the comparator circuit is connected to the positive signal of the sine (or cosine) signal, the inverting input terminal is connected to the inverting signal of the sine (or cosine) signal, and the output terminal of the comparator circuit is connected to the comparison capture port of the microcontroller.

[0054] In the solution provided by the present invention, the sine signal and the cosine signal can be captured by the comparator circuit. After the rotary transformer starts working, the comparator can output the first pulse signal and the second pulse signal according to the sine signal and the cosine signal.

[0055] Step S23: Sample the first pulse signal and the second pulse signal to generate excitation data;

[0056] In one optional scheme provided by step S23 above, the excitation data may be the sampling data of the first pulse signal and the second pulse signal.

[0057] In the solution provided by the present invention, the first pulse signal and the second pulse signal captured by the comparator are sampled to generate excitation data. Specifically, after the rotary transformer starts working, the comparator is used to compare and capture the sine signal and the cosine signal to obtain the pulse signal. Based on the pulse signal, the period, start point and zero-crossing point information of the carrier signal are determined, thereby determining the sampling parameters of the pulse signal. Then, the captured pulse signal is sampled using the sampling parameters to generate excitation data.

[0058] Step S24: Use the first pulse signal and the second pulse signal to correct the sine signal and the cosine signal to obtain the target correction result;

[0059] In one optional scheme provided by step S24 above, the correction of the sine signal and the cosine signal may include phase correction, offset correction and amplitude correction. The target correction result may be the sine data and cosine data obtained after the correction of the sine signal and the cosine signal. The target correction result may be used to calculate the position and speed of the rotary transformer.

[0060] In the solution provided by this invention, the phase difference between the sine and cosine signals can be determined by comparing the captured first and second pulse signals using a comparator, and this phase difference is used to correct the phase of the sine and cosine signals. Furthermore, the amplitude and bias values ​​of the sine and cosine signals can be calculated, and these amplitude and bias values ​​are then used to correct the amplitude and bias of the sine and cosine signals, respectively, to eliminate the deviation caused by partial installation errors of the rotary transformer on the accuracy of the rotary transformer.

[0061] Step S25: Demodulate the target correction result and excitation data to obtain the target signal, which is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0062] In one optional scheme provided by step S25 above, the target signal may include sine envelope data and cosine envelope data. The sine envelope data may be data obtained after demodulating a sine signal, and similarly, the cosine envelope data may be data obtained after demodulating a cosine signal.

[0063] In the solution provided by this invention, the above-mentioned target correction result and the above-mentioned excitation data are demodulated to obtain sinusoidal envelope data and cosine envelope data. Specifically, for example, data within one excitation cycle is acquired, and the data is corrected using phase, bias value, and amplitude respectively to obtain corrected sine and cosine signals. Further, the corrected sine and cosine signals are used to determine the sine signal envelope data points and cosine signal envelope data points of the current excitation cycle, respectively. Then, a method of calculating downwards point by point is used to obtain the sinusoidal envelope data and cosine envelope data.

[0064] In addition, the demodulation processing of the above target correction results and the above excitation data to obtain sine envelope data and cosine envelope data also includes signal verification of the sine envelope data and cosine envelope data. Specifically, it involves calculating whether the data (such as the sum of squares) error of the sine envelope data and cosine envelope data is within a preset range, so as to determine whether the above phase, bias value and amplitude compensation parameters are calculated correctly.

[0065] In this embodiment of the invention, firstly, the sine and cosine signals of the permanent magnet synchronous motor are acquired. A first pulse signal is generated based on the sine signal, and a second pulse signal is generated based on the cosine signal. Then, the first and second pulse signals are sampled to generate excitation data. The sine and cosine signals are corrected using the first and second pulse signals to obtain the target correction result. Finally, the target correction result and the excitation data are demodulated to obtain the target signal, wherein the target signal is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0066] It is easy to understand that the method provided by the present invention corrects the corresponding sine and cosine signals by generating the first and second pulse signals, thereby eliminating some errors in the signals and achieving the purpose of correcting the sine and cosine signals of the permanent magnet synchronous motor to improve signal accuracy. This achieves the technical effect of improving the signal accuracy of the sine and cosine signals and improving the calculation accuracy of the rotor position information of the permanent magnet synchronous motor. In turn, it solves the technical problems of large signal error, low signal accuracy and poor calculation accuracy of the signal processing methods provided by related technologies.

[0067] The methods described in the above embodiments of the present invention will be further described below.

[0068] In an optional embodiment, step S22, generating a first pulse signal based on a sine signal and generating a second pulse signal based on a cosine signal, includes:

[0069] Step S221: Modulate the sinusoidal signal to obtain a sinusoidal envelope signal;

[0070] Step S222: Generate a first pulse signal based on the positive and negative signal voltages of the sinusoidal envelope signal;

[0071] Step S223: Modulate the cosine signal to obtain the cosine envelope signal;

[0072] Step S224: Generate a second pulse signal based on the positive and negative signal voltages of the cosine envelope signal.

[0073] In the optional schemes provided in steps S221 to S224 above, the sinusoidal envelope signal can be used to reflect the change in the amplitude of the sinusoidal signal, and similarly, the cosine envelope signal can be used to reflect the change in the amplitude of the cosine signal.

[0074] The following combination Figure 4 The above methods will be explained. Figure 4 This is a schematic diagram of the hardware circuit of an optional signal processing method according to an embodiment of the present invention, such as... Figure 4 As shown, the excitation generation port 401 is used to generate an excitation voltage. This excitation voltage is amplified by the excitation amplifier 405 and input to the rotary transformer through the rotor R1-R2. When the rotary transformer receives the excitation voltage from the outside, the stator S1-S3 can be induced to output a sine signal. Similarly, the stator S2-S4 can be induced to output a cosine signal.

[0075] Still as Figure 4As shown, the microcontroller 402 can be used to acquire the excitation signal input to the rotary transformer and the sine and cosine signals output. The analog-to-digital converter (ADC) 403 can be used to convert the analog signals acquired by the microcontroller 402 into digital signals. This ADC 403 can be either a SAR-ADC (Successive Approximation Register) or a DS-ADC (Delta-Sigma Analog to Digital Converter). The converter; the comparison capture port 404 can capture sine and cosine signals through the comparison circuit 407; the filter circuit 406 can filter the resolver signal of the resolver to filter out interference signals in the resolver signal; the positive input terminal of the comparison circuit 407 is connected to the positive signal of the sine (or cosine) signal, the inverting input terminal is connected to the inverting signal of the sine (or cosine) signal, and the output terminal is connected to the comparison capture port 404 of the microcontroller 402; the sine circuit 408 and the cosine circuit 409 are used to process the sine and cosine signals output by the resolver, respectively.

[0076] Still as Figure 4 When the rotary transformer starts working, stators S1-S3 and S2-S4 output sine and cosine signals respectively. These sine and cosine signals are fed back as modulated sine and cosine envelope signals. Further, when the positive signal voltage of the sine envelope signal is higher than the negative signal voltage, the comparator (located in comparator circuit 407) outputs a high-level signal; when the positive signal voltage of the sine envelope signal is lower than the negative signal voltage, the comparator outputs a low-level signal, thus obtaining a first pulse signal with a 50% duty cycle. Similarly, when the positive signal voltage of the cosine envelope signal is higher than the negative signal voltage, the comparator (located in comparator circuit 407) outputs a high-level signal; when the positive signal voltage of the cosine envelope signal is lower than the negative signal voltage, the comparator outputs a low-level signal, thus obtaining a second pulse signal with a 50% duty cycle. Based on these first and second pulse signals, the period, start point, and zero-crossing information of the carrier signal can be obtained.

[0077] In one alternative embodiment, for example, if the excitation signal frequency of the rotary transformer is 10kHz, then the comparator of the sine and cosine signals will output a sine pulse signal and a cosine pulse signal with a frequency of 10kHz and a duty cycle of 50%.

[0078] In the above optional embodiments, the technical effect that can be achieved is that by adding a comparison circuit to each of the differential signals of the sine signal and the cosine signal, the sine pulse signal and the cosine pulse signal can be compared and captured, and then the relevant parameters of the carrier signal (such as period, starting point, zero-crossing information) can be determined. Furthermore, the sampling parameters of the sine pulse signal and the cosine pulse signal can be determined for sampling to generate excitation data.

[0079] In an optional embodiment, step S23, sampling the first pulse signal and the second pulse signal to generate excitation data includes:

[0080] Step S231: Analyze the first pulse signal and the second pulse signal to determine the sampling parameters;

[0081] Step S232: Sample the first pulse signal and the second pulse signal using sampling parameters to generate excitation data.

[0082] In the optional schemes provided in steps S231 to S232 above, the sampling parameters may include one or more parameters, which can be used to sample the first pulse signal and the second pulse signal captured by the comparator.

[0083] The following combination Figure 4 , Figure 5 The above methods will be explained. Figure 5 This is a schematic diagram of an optional signal processing procedure according to an embodiment of the present invention, such as... Figure 4 , Figure 5 As shown, the comparison capture port 404 captures sine and cosine pulse signals through the comparison circuit 407 and imports them into the software. The software analysis module then analyzes these sine and cosine pulse signals. Further, the starting point of the sine and cosine pulse signals is determined using the software-analyzed signal start point position, and the sampling frequency is determined using the analyzed frequency. Thus, the sine and cosine pulse signals are sampled based on sampling parameters such as the sampling start point and sampling frequency.

[0084] In one alternative embodiment, for example, the frequency of the excitation signal input to the rotary transformer is 10 kHz, and according to the sampling theorem, the sampling frequency of the sine and cosine signals can be determined to be 100 kHz.

[0085] In an optional embodiment, in step S23, the sampling parameters include at least: sampling start point, sampling frequency, and sampling period. In step S231, the sampling parameters are used to sample the first pulse signal and the second pulse signal to generate excitation data, including:

[0086] Step S2311: Align the sampling start point with the start point of one cycle of the preset excitation signal, and sample the first pulse signal and the second pulse signal respectively according to the sampling frequency and sampling period to generate excitation data.

[0087] In the optional solution provided in step S2311 above, the preset excitation signal can be... Figure 4 The excitation signal generated by the excitation generation port 401 shown can be transmitted via... Figure 4 The excitation amplifier 405 shown amplifies the signal, and then... Figure 4 The rotors R1-R2 of the rotary transformer shown are input to the rotary transformer.

[0088] In the solution provided by this invention, during the sampling process, the first sampling point of the sine pulse signal (or cosine pulse signal) is aligned with the starting point of any cycle of the excitation signal to determine the sampling starting point. Thus, in each sampling cycle, 10 uniformly distributed sampling points can be determined, and the positions of the sampling points are the same in each sampling cycle. Then, according to the sampling frequency and sampling cycle, the sine pulse signal (or cosine pulse signal) is sampled to obtain the excitation data.

[0089] In the optional embodiment provided in step S23 above, the technical effect that can be achieved is: based on the captured pulse signal, the sampling parameters are determined, and the pulse signal is sampled using the sampling parameters, so as to obtain a complete waveform (i.e., excitation data) depicting the sine pulse signal and the cosine pulse signal, which is beneficial to use the excitation data for calculation to improve the accuracy of the resolver.

[0090] In an optional embodiment, in step S24, the sine and cosine signals are corrected using the first pulse signal and the second pulse signal to obtain the target correction result, including:

[0091] Step S241: Perform phase comparison on the first pulse signal and the second pulse signal to determine the phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first pulse signal and the second pulse signal;

[0092] Step S242: Using phase shift parameters, perform phase correction on the sine and cosine signals to obtain the first correction result;

[0093] Step S243: Perform a second correction on the first correction result based on a preset time range to obtain the target correction result.

[0094] In the optional solutions provided in steps S241 to S243 above, the phase shift parameter can represent the phase delay introduced on the sine and cosine signal lines. The phase deviation can be adjusted by the microcontroller 402 to reduce the phase error between the sine and cosine signals. Furthermore, this phase deviation can also be used to reconstruct the carrier waveform data. It should also be noted that the first correction result is the sine signal data and cosine signal data obtained after phase correction.

[0095] The following combination Figure 4 , Figure 5 The above methods will be explained. For example... Figure 4 , Figure 5 As shown, the rotary transformer outputs a sine signal and a cosine signal. The analog-to-digital converter 403 converts the sine signal and the cosine signal into a digital signal. The phase difference between the first pulse signal and the second pulse signal of the comparator is used to obtain the phase shift parameter of the two signals. The phase shift parameter is used to correct the phase of the sine signal and the cosine signal to obtain the first correction result.

[0096] In the above optional embodiments, the technical effect that can be achieved is: based on the phase difference between the captured first pulse signal and the second pulse signal, the sine and cosine signals of the rotary transformer are phase corrected to eliminate the phase shift deviation of the sine and cosine signals, thereby reducing the zero-point drift of the rotary transformer.

[0097] In an optional embodiment, in step S24, the target correction result includes a second correction result and a third correction result. The first correction result is then corrected a second time based on a preset time range to obtain the target correction result, which includes:

[0098] Step S2431: Calculate the signal amplitude and signal bias value based on the signal values ​​of the sine and cosine signals within a preset time range;

[0099] Step S2432: The first correction result is corrected by using the signal amplitude to obtain the second correction result;

[0100] Step S2433: The first correction result is biased and corrected using the signal bias value to obtain the third correction result.

[0101] Still as Figure 4 , Figure 5 As shown, using the sine and cosine signals obtained after phase correction (i.e., the first correction result), the signal amplitude and signal offset values ​​of both are calculated respectively. Specifically, for example, assuming that the maximum and minimum values ​​of the sine (or cosine) signal within a time period t are Offset and Offset respectively... max Offset minThe amplitude of the sinusoidal signal (or cosine signal) can be calculated as shown in the following formula (4):

[0102]

[0103] The sine and cosine signals are divided by the above amplitude values ​​respectively to convert the sine and cosine signals into standard sine curve data and cosine curve data (i.e., the second correction result).

[0104] Similarly, by taking the maximum and minimum values ​​of the sine (or cosine) signal within the same time t, the offset value of the sine (or cosine) signal can be calculated as shown in the following formula (5):

[0105]

[0106] By eliminating the aforementioned bias values ​​of the sine and cosine signals, a sine and cosine signal with a bias of 0 is obtained (i.e., the third correction result mentioned above).

[0107] In the above optional embodiments, the technical effects that can be achieved are: calculating the amplitude and bias values ​​of the sine and cosine signals respectively, and correcting the amplitude and bias values ​​of the sine and cosine signals respectively based on the amplitude and bias values, thereby eliminating the amplitude and bias errors of the resolver, improving the signal accuracy of the sine and cosine signals, and reducing the impact of the manufacturing and installation errors of the resolver on the resolver accuracy.

[0108] In an optional embodiment, in step S25, the target correction result and excitation data are demodulated to obtain the target signal, including:

[0109] S251, according to the excitation cycle corresponding to the excitation data, the target correction result is demodulated to obtain the demodulation result;

[0110] S252 performs signal verification on the demodulation results to determine the target signal.

[0111] Still as Figure 4 , Figure 5As shown, in the solution provided by this invention, the target correction result is demodulated according to the excitation cycle. The specific method can be as follows: acquire data within one excitation cycle, use the above-mentioned bias value and amplitude to correct the sine and cosine signals to obtain the target correction result, then multiply and integrate the sine signal (or cosine signal) with the restored carrier signal to obtain the sine signal envelope data points (or cosine signal envelope data points) of this cycle, and then use the method of calculating downwards one data point at a time to obtain the sine signal envelope data (or cosine signal envelope data), which is the demodulation result.

[0112] Specifically, for example, assuming the sampling frequency of the sine and cosine signals is 100kHz, there are 10 sine signal sampling data points (or cosine signal sampling data points) within one excitation cycle. The first envelope data point is calculated based on this sampling data point. Then, moving down one sampling data point, that is, based on the second to eleventh sampling data points, the second envelope data point is calculated. By calculating downwards in this manner, the sine signal sampling data points (or cosine signal sampling data points) can be obtained.

[0113] Further, the demodulation results are verified to determine the target signal. Specifically, this can be achieved by acquiring the envelope data points of the sine and cosine signals within one excitation cycle, and calculating the sum of squares of these data points. Then, it is determined whether this sum of squares is within a preset error range. If it is, the phase, bias, and amplitude parameters of the sine and cosine signals are correctly calculated, thus obtaining the sine and cosine signals (i.e., the target signal) used for decoding. If the sum of squares is within the preset error range, the phase, bias, and amplitude compensation parameters of the sine and cosine signals are incorrectly calculated, requiring recalculation of these compensation parameters.

[0114] Still as Figure 4 , Figure 5 As shown, in the solution provided by this invention, after the modified sine and cosine signals are successfully demodulated and verified, the envelope data of the successfully verified sine and cosine signals are calculated based on a position tracking algorithm (such as a type II tracking algorithm or a type III tracking algorithm) to obtain the position and rotational speed of the rotary transformer. Then, the position information of the rotary transformer is compensated using the aforementioned phase shift parameters and the rotational speed of the rotary transformer to complete the decoding calculation.

[0115] In the above optional embodiments, the technical effects that can be achieved are as follows: by demodulating and verifying the corrected sine and cosine signals, accurate compensation parameters are determined, and then the position information of the rotary transformer is accurately compensated according to the compensation parameters. This achieves the correction of sine and cosine signals during signal processing to reduce signal errors and improve signal accuracy, thereby improving the calculation accuracy of the rotor position information of the permanent magnet synchronous motor, reducing the manufacturing and installation process development cost of the rotary transformer, and reducing product costs.

[0116] In this embodiment, a signal processing apparatus is also provided for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0117] Figure 6 This is a structural block diagram of a signal processing device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes:

[0118] The acquisition module 601 is used to acquire the sine and cosine signals of the permanent magnet synchronous motor.

[0119] The generation module 602 is used to generate a first pulse signal based on a sine signal and a second pulse signal based on a cosine signal.

[0120] The sampling module 603 is used to sample the first pulse signal and the second pulse signal to generate excitation data;

[0121] The correction module 604 is used to correct the sine signal and the cosine signal using the first pulse signal and the second pulse signal to obtain the target correction result;

[0122] The processing module 605 is used to demodulate the target correction result and excitation data to obtain the target signal, which is used to calculate the rotor position and rotor speed of the permanent magnet synchronous motor.

[0123] Optionally, the generation module 602 further includes: modulating the sine signal to obtain a sine envelope signal; generating a first pulse signal based on the positive and negative signal voltages of the sine envelope signal; modulating the cosine signal to obtain a cosine envelope signal; and generating a second pulse signal based on the positive and negative signal voltages of the cosine envelope signal.

[0124] Optionally, the sampling module 603 further includes: sampling the first pulse signal and the second pulse signal to generate excitation data, including: analyzing the first pulse signal and the second pulse signal to determine sampling parameters; and using the sampling parameters to sample the first pulse signal and the second pulse signal to generate excitation data.

[0125] Optionally, the sampling module 603 further includes: sampling parameters including at least: sampling start point, sampling frequency and sampling period; sampling the first pulse signal and the second pulse signal using the sampling parameters to generate excitation data includes: aligning the sampling start point with the start point of one cycle of the preset excitation signal; sampling the first pulse signal and the second pulse signal respectively according to the sampling frequency and the sampling period to generate excitation data.

[0126] Optionally, the correction module 604 further includes: using the first pulse signal and the second pulse signal to correct the sine signal and the cosine signal to obtain the target correction result, including: comparing the phase of the first pulse signal and the second pulse signal to determine the phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first pulse signal and the second pulse signal; using the phase shift parameter to correct the phase of the sine signal and the cosine signal to obtain the first correction result; and performing a second correction on the first correction result based on a preset time range to obtain the target correction result.

[0127] Optionally, the correction module 604 further includes: the target correction result includes a second correction result and a third correction result; the first correction result is corrected a second time based on a preset time range to obtain the target correction result, which includes: calculating the signal amplitude and signal bias value based on the signal values ​​of the sine and cosine signals within the preset time range; using the signal amplitude to correct the amplitude of the first correction result to obtain the second correction result; and using the signal bias value to correct the bias of the first correction result to obtain the third correction result.

[0128] Optionally, the above-mentioned processing module 605 further includes: demodulating the target correction result and excitation data to obtain the target signal, including: demodulating the target correction result according to the excitation cycle corresponding to the excitation data to obtain the demodulation result; and performing signal verification on the demodulation result to determine the target signal.

[0129] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0130] In this embodiment, a storage medium is also provided, which includes a stored program, wherein the program controls the device where the storage medium is located to execute any of the aforementioned signal processing methods when it is running.

[0131] Optionally, in this embodiment, the storage medium can be configured as a program for performing the following steps:

[0132] Step S1: Obtain the sine and cosine signals of the permanent magnet synchronous motor;

[0133] Step S2: Generate a first pulse signal based on a sine signal and a second pulse signal based on a cosine signal;

[0134] Step S3: Sample the first pulse signal and the second pulse signal to generate excitation data;

[0135] Step S4: Use the first pulse signal and the second pulse signal to correct the sine signal and the cosine signal to obtain the target correction result;

[0136] Step S5: Demodulate the target correction result and excitation data to obtain the target signal, which is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0137] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0138] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to perform the signal processing method of any of the foregoing embodiments.

[0139] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0140] Step S1: Obtain the sine and cosine signals of the permanent magnet synchronous motor;

[0141] Step S2: Generate a first pulse signal based on a sine signal and a second pulse signal based on a cosine signal;

[0142] Step S3: Sample the first pulse signal and the second pulse signal to generate excitation data;

[0143] Step S4: Use the first pulse signal and the second pulse signal to correct the sine signal and the cosine signal to obtain the target correction result;

[0144] Step S5: Demodulate the target correction result and excitation data to obtain the target signal, which is used to calculate the rotor position information of the permanent magnet synchronous motor.

[0145] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.

[0146] 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.

[0147] 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.

[0148] In the several embodiments provided by this invention, 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 example, 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 can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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 signal processing method, characterized in that, include: To obtain the sine and cosine signals of the permanent magnet synchronous motor, a comparator circuit is added to the differential signal between the sine and cosine signals. The positive input terminal of the comparator circuit is connected to the positive signal of the sine signal or the positive signal of the cosine signal, and the negative input terminal is connected to the negative signal of the sine signal or the negative signal of the cosine signal. A first pulse signal is generated based on the sine signal, and a second pulse signal is generated based on the cosine signal, wherein the first pulse signal is a signal output by the comparator circuit corresponding to the sine signal, and the second pulse signal is a signal output by the comparator circuit corresponding to the cosine signal. The first pulse signal and the second pulse signal are analyzed to determine the sampling parameters, wherein the sampling parameters include at least: sampling start point, sampling frequency and sampling period; Align the sampling start point with the start point of one cycle of the preset excitation signal, and sample the first pulse signal and the second pulse signal respectively according to the sampling frequency and the sampling period to generate excitation data; A phase comparison is performed on the first pulse signal and the second pulse signal to determine the phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first pulse signal and the second pulse signal; Using the phase shift parameter, the sine signal and the cosine signal within one excitation cycle corresponding to the excitation data are phase corrected to obtain a first correction result; The signal amplitude and signal bias value are calculated based on the signal values ​​of the sine signal and the cosine signal within a preset time range. The first correction result is corrected for amplitude and bias using the signal amplitude and the signal bias value to obtain the target correction result; The sinusoidal signal in the target correction result is multiplied and integrated with the restored carrier signal to obtain the sinusoidal signal envelope data points within the excitation cycle, wherein the carrier signal is determined based on the first pulse signal and the second pulse signal; The sinusoidal signal envelope data points are calculated by using a method of calculating downwards point by point to obtain sinusoidal signal envelope data, and the sinusoidal signal envelope data is determined as the demodulation result; The demodulation results are subjected to signal verification to determine the target signal. The signal verification of the demodulation results includes: calculating the sum of squares of the sine signal envelope data points and the corresponding cosine signal envelope data points within the excitation cycle, and determining whether the sum of squares is within a preset error range. The target signal is used to solve the rotor position information of the permanent magnet synchronous motor.

2. The signal processing method according to claim 1, characterized in that, Generating the first pulse signal based on the sine signal and generating the second pulse signal based on the cosine signal include: The sinusoidal signal is modulated to obtain a sinusoidal envelope signal; The first pulse signal is generated based on the positive and negative signal voltages of the sinusoidal envelope signal; The cosine signal is modulated to obtain a cosine envelope signal; The second pulse signal is generated based on the positive and negative signal voltages of the cosine envelope signal.

3. A signal processing apparatus, characterized in that, include: The acquisition module is used to acquire the sine and cosine signals of the permanent magnet synchronous motor. A comparator circuit is added to the differential signal between the sine and cosine signals. The positive input terminal of the comparator circuit is connected to the positive signal of the sine signal or the positive signal of the cosine signal, and the negative input terminal is connected to the negative signal of the sine signal or the negative signal of the cosine signal. A generation module is used to generate a first pulse signal based on the sine signal and a second pulse signal based on the cosine signal, wherein the first pulse signal is a signal output by the comparator circuit corresponding to the sine signal, and the second pulse signal is a signal output by the comparator circuit corresponding to the cosine signal; A sampling module is used to analyze the first pulse signal and the second pulse signal to determine sampling parameters, wherein the sampling parameters include at least: sampling start point, sampling frequency, and sampling period; aligning the sampling start point with the start point of one cycle of a preset excitation signal, and sampling the first pulse signal and the second pulse signal according to the sampling frequency and the sampling period to generate excitation data; The correction module is used to compare the phase of the first pulse signal and the second pulse signal to determine a phase shift parameter, wherein the phase shift parameter is used to determine the phase deviation between the first pulse signal and the second pulse signal; using the phase shift parameter, the sine signal and the cosine signal within one excitation cycle corresponding to the excitation data are phase corrected to obtain a first correction result; based on the signal values ​​of the sine signal and the cosine signal within a preset time range, the signal amplitude and the signal bias value are calculated; using the signal amplitude and the signal bias value, the first correction result is corrected for amplitude and bias to obtain a target correction result; The processing module is used to perform amplitude correction and offset correction on the first correction result using the signal amplitude and the signal bias value to obtain a target correction result; multiply and integrate the sine signal in the target correction result with the restored carrier signal to obtain the corresponding sine signal envelope data points within the excitation cycle, wherein the carrier signal is determined based on the first pulse signal and the second pulse signal; calculate the sine signal envelope data points by calculating each data point downwards to obtain sine signal envelope data, and determine the sine signal envelope data as the demodulation result; perform signal verification on the demodulation result to determine the target signal, wherein the signal verification on the demodulation result includes: calculating the sum of squares of the sine signal envelope data points and the corresponding cosine signal envelope data points within the excitation cycle and determining whether the sum of squares is within a preset error range, wherein the target signal is used to calculate the rotor position and rotor speed of the permanent magnet synchronous motor.

4. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the storage medium to perform the signal processing method of any one of claims 1 to 2.

5. A vehicle, characterized in that, It includes an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to perform the signal processing method of any one of claims 1 to 2.

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