Reverse harmonic injection control parameter determination method, device, equipment and storage medium

Abstract

The application provides a reverse harmonic injection control parameter determination method, device, equipment and storage medium. The reverse harmonic injection control parameter determination method comprises the following steps: determining a plurality of working conditions of a driving system according to vehicle motor parameters; for each working condition, determining an initial control parameter of reverse harmonic injection corresponding to the working condition according to motor vibration noise intensity fed back by an NVH test system; and determining optimal control parameters of reverse harmonic injection according to key performance parameters of the driving system and the initial control parameters of reverse harmonic injection. The application can calibrate harmonic injection control data, and the steps are simple, thereby reducing the workload of calibration.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, apparatus, device, and storage medium for determining reverse harmonic injection control parameters. Background Technology

[0002] In the field of pure electric vehicles, permanent magnet synchronous motors (PMSMs) are widely used in drive systems due to their advantages such as high power density and high efficiency. For pure electric vehicles, the smoothness of the drive system's power output and vehicle operating noise are crucial indicators of the passenger experience. Therefore, it is desirable for PMSMs to rotate electromagnetically as smoothly as possible to ensure smooth power output. However, due to limitations in the motor's manufacturing process and the operating characteristics of the motor controller, completely eliminating torque pulses in the motor's power output is an unattainable goal; it can only be mitigated through hardware and software methods. From the perspective of the entire vehicle, torque pulses in the drive motor's power output are a significant cause of electromagnetic noise and torsional vibration, thereby compromising the vehicle's noise, vibration, and harshness (NVH) performance and reducing the passenger's driving experience. The electromagnetic noise generated by the vehicle drive system is different from the noise of the traditional automobile internal combustion engine. Its noise frequency is higher and it is more likely to cause discomfort. On the other hand, severe motor torque pulses will cause the motor hysteresis and eddy current losses to increase, which will increase the electrical stress on the motor materials and shorten the service life of the motor. How to overcome the electromagnetic noise and torque pulsation of permanent magnet synchronous motors has become the current research focus of pure electric vehicles.

[0003] For permanent magnet synchronous motors (PMSMs), cogging torque is a significant cause of torque pulsation. Cogging torque is the reluctance torque generated by the interaction between the rotor permanent magnets and the stator core slots. When the stator slots and rotor permanent magnet poles are in different positions, the permeability of the main magnetic circuit changes. Even when the stator windings are not energized, the rotor tends to remain stationary at certain positions on its circumference due to the cogging torque. When the motor rotates, the cogging torque causes torque pulsation in the motor's power output. This torque pulsation does not increase or decrease the average output torque of the motor, but it does cause vibration and noise problems in the drive system. Improving or reducing the cogging torque pulsation of the motor is key to solving the NVH (noise, vibration, and harshness) problems of the drive system. Currently, technical solutions for addressing cogging torque pulsation can be divided into two approaches based on hardware and software: a hardware approach, which improves cogging torque pulsation by optimizing the motor design; and a software approach, which suppresses cogging torque pulsation by implementing reverse harmonic injection control.

[0004] In software-based reverse harmonic injection control, high-frequency harmonic currents are typically injected through closed-loop or open-loop control to counteract cogging torque and thus improve NVH (noise, vibration, and harshness) issues caused by cogging torque pulsation. For permanent magnet synchronous motors (PMSMs), cogging torque pulsation is essentially equivalent to the pulsation of the combined magnetic field of the stator and rotor. Since the combined magnetic field of the stator and rotor is strongly correlated with factors such as current and temperature, the high-frequency harmonic current parameters (harmonic injection control data) injected in reverse harmonic injection control need to be adjusted according to changes in the motor's operating state. This introduces a significant workload for parameter calibration. Currently, there is no unified and mature technical solution, either domestically or internationally, to address the practical problems in the calibration process, including comprehensive evaluation of calibration results and simplification of operation procedures. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for determining reverse harmonic injection control parameters, in order to solve the problem of large calibration workload for harmonic injection control data in the prior art.

[0006] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] This invention provides a method for determining reverse harmonic injection control parameters, including:

[0008] Based on the vehicle motor parameters, determine multiple operating conditions of the drive system;

[0009] For each of the aforementioned operating conditions, the initial control parameters for reverse harmonic injection corresponding to the operating condition are determined based on the motor vibration and noise intensity fed back by the NVH testing system.

[0010] Based on the key performance parameters of the drive system and the initial control parameters of the reverse harmonic injection, the optimal control parameters for the reverse harmonic injection are determined.

[0011] Optionally, the initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection.

[0012] The step of determining the initial control parameters for reverse harmonic injection corresponding to the operating condition based on the motor vibration and noise intensity feedback from the NVH testing system includes:

[0013] The first control phase parameter is determined based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration noise intensity fed back by the NVH test system.

[0014] The first control amplitude parameter is determined based on the first control phase parameter and the motor vibration noise intensity fed back by the NVH test system.

[0015] Based on the motor vibration and noise intensity fed back by the NVH test system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter, the reverse harmonic injection initial control phase parameter and the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition are determined.

[0016] The preset reverse harmonic injection control parameters are determined by calibrating a preset NVH test system.

[0017] Optionally, determining the initial control phase parameter and initial control amplitude parameter for reverse harmonic injection corresponding to the operating condition based on the motor vibration and noise intensity fed back by the NVH testing system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter includes:

[0018] When the preset initial motor vibration noise intensity is greater than the motor vibration noise intensity fed back by the NVH test system, the first control phase parameter is determined to be the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition, and the first control amplitude parameter is the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition.

[0019] If the preset initial motor vibration noise intensity is less than or equal to the motor vibration noise intensity fed back by the NVH test system, the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0.

[0020] Optionally, determining the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection includes:

[0021] If the key performance parameters of the drive system do not meet the preset conditions, the initial control parameters for reverse harmonic injection are determined to be the optimal control parameters for reverse harmonic injection.

[0022] When the key performance parameters of the drive system meet the preset conditions, the initial control parameters of the reverse harmonic injection are adjusted to obtain the optimal control parameters of the reverse harmonic injection.

[0023] Optionally, the preset conditions include at least one of the following:

[0024] The absolute value of the difference between the absolute value of the desired output torque and the absolute value of the target output torque of the drive system is greater than the absolute value of the preset torque value; the target output torque is the output torque of the drive system after reverse harmonic injection control using the initial control parameters of the reverse harmonic injection.

[0025] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the ratio of the output power of the drive system to the input power of the drive system is less than the preset ratio.

[0026] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the harmonic content of the drive system is greater than the preset threshold.

[0027] Optionally, the harmonic content of the drive system is determined using a preset low-pass filter and the DC component of a preset order harmonic current.

[0028] Optionally, adjusting the initial control parameters of the reverse harmonic injection to obtain the optimal control parameters for the reverse harmonic injection includes:

[0029] The initial control amplitude parameter of the reverse harmonic injection is sequentially decreased and adjusted according to a preset step size. After each decrease, it is determined whether the key performance parameters of the drive system meet a first condition. If they do, the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. If they do not meet the condition, it is determined whether the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is less than 0. If it is, 0 is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. Otherwise, the initial control amplitude parameter of the reverse harmonic injection is continued to be decreased and adjusted according to the preset step size until the key performance parameters of the drive system meet the first condition. The decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is then taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. The first condition includes the preset condition and the decreased and adjusted initial control amplitude parameter being greater than or equal to 0.

[0030] The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

[0031] This invention also provides a reverse harmonic injection control parameter determination device, comprising:

[0032] The first determining module is used to determine multiple operating conditions of the drive system based on the vehicle motor parameters;

[0033] The second determining module is used to determine the initial control parameters for reverse harmonic injection corresponding to each operating condition based on the motor vibration noise intensity fed back by the NVH test system.

[0034] The third determining module is used to determine the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection.

[0035] This invention also provides a reverse harmonic injection control parameter determination device, comprising: a transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; when the processor executes the program or instructions, it implements the steps in the reverse harmonic injection control parameter determination method as described above.

[0036] This invention also provides a readable storage medium storing a program or instructions thereon, which, when executed by a processor, implement the steps in the reverse harmonic injection control parameter determination method as described above.

[0037] The beneficial effects of this invention are:

[0038] The reverse harmonic injection control parameter determination method provided in this invention determines multiple operating conditions of the drive system based on vehicle motor parameters. For each operating condition, the initial control parameters for reverse harmonic injection are determined based on the motor vibration and noise intensity fed back by the NVH test system. The optimal control parameters for reverse harmonic injection are then determined based on the key performance parameters of the drive system and the initial control parameters. This method can calibrate harmonic injection control data, with simple steps and reduced calibration workload. Attached Figure Description

[0039] Figure 1 This diagram illustrates the principle architecture of the vector control system for the permanent magnet synchronous motor provided by this invention.

[0040] Figure 2 This diagram illustrates the reverse harmonic injection control architecture for a permanent magnet synchronous motor provided by this invention.

[0041] Figure 3 A flowchart illustrating the method for determining reverse harmonic injection control parameters provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the reverse harmonic injection control data calibration system provided in an embodiment of the present invention;

[0043] Figure 5 A flowchart illustrating the initial control amplitude parameters for reverse harmonic injection corresponding to the determined operating condition provided in the embodiments of the present invention;

[0044] Figure 6 A flowchart illustrating parameter adjustment provided in an embodiment of the present invention;

[0045] Figure 7 This is a flowchart illustrating the method for determining reverse harmonic injection control parameters provided in this embodiment of the invention.

[0046] Figure 8This is a schematic diagram of the reverse harmonic injection control parameter determination device provided in an embodiment of the present invention.

[0047] Figure 9 This is a schematic diagram of the reverse harmonic injection control parameter determination device provided in an embodiment of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] Before describing the specific embodiments of the present invention, the following will be explained first:

[0050] Reverse harmonic injection control principle of permanent magnet synchronous motor:

[0051] like Figure 1 As shown, Figure 1 This is a schematic diagram of the vector control principle architecture for a permanent magnet synchronous motor (PMSM). Reverse harmonic injection control is based on the vector control principle of PMSM, where the Insulated Gate Bipolar Transistor (IGBT) is the power conversion module in the motor controller; PMSM is the permanent magnet synchronous motor; i d * with i q * This represents the given dq-axis current command, which is determined based on the vehicle's required torque and drive system status through maximum torque current ratio control, maximum torque voltage ratio control, and field weakening control; the three-phase current i of the permanent magnet synchronous motor. A i B i C After two coordinate transformations (Clark transformation and Park transformation), the actual dq-axis current i is obtained. d with i q The difference between the commanded dq-axis current and the actual current is used as the input to the PI controller for current loop adjustment. The purpose is to ensure that the actual output dq-axis current of the motor matches the commanded current through PI control. The dq-axis voltage command U is obtained through two PI controllers. d with U q U d with U q After coordinate transformation, the control signal for the IGBT module is obtained through space vector pulse width modulation, with a constant DC bus voltage U at the motor controller input. DC Under the action of , current (i) is generated in the three-phase windings of the motor. A i B iC This allows the motor to output torque as expected.

[0052] The above describes the implementation principle of vector control for permanent magnet synchronous motors. Reverse harmonic injection control involves injecting a specific frequency harmonic signal before or after the current loop of vector control to counteract cogging torque pulsation, thereby reducing high-frequency noise in the drive system and improving the overall NVH performance of the vehicle.

[0053] The diagram of the reverse harmonic injection control architecture for a permanent magnet synchronous motor is shown below. Figure 2 As shown, it characterizes a closed-loop reverse harmonic injection control method, which uses vector control of the d-axis current command i d * Superimposed excitation current command i motor This achieves suppression and control of motor cogging torque pulsation. Based on the vector control principle of permanent magnet synchronous motors, the excitation i... motor After coordinate transformation and space vector pulse width modulation, a current of a specific frequency is generated in the three-phase current of the motor. Reverse harmonic injection control uses this specific frequency current to counteract the cogging torque pulsation of the motor, thereby improving the NVH performance of the whole vehicle. It can improve the cogging torque pulsation through software measures without changing the motor hardware structure, which is very suitable for engineering implementation and is therefore the current mainstream engineering solution.

[0054] i motor =K motor ·sin(ω e t+θ motor Formula 1

[0055] Formula 1 is the excitation current command i motor The expression is essentially a sinusoidal signal with a fixed frequency, varying amplitude, and phase, where the fundamental amplitude of the sinusoidal signal is K. motor The frequency is ω e The phase value is θ motor The frequency ω of a sinusoidal signal e The frequency should be consistent with the frequency of the motor cogging torque pulsation that needs to be suppressed. The specific frequency value is determined based on the motor design parameters, and this frequency value remains constant throughout the control process. The fundamental amplitude K of the sinusoidal signal in Formula 1... motor With phase θ motor Determined through NVH bench calibration.

[0056] like Figure 3 As shown, this embodiment of the invention provides a method for determining reverse harmonic injection control parameters, including:

[0057] Step 301: Determine multiple operating conditions of the drive system based on the vehicle motor parameters.

[0058] It should be noted that this embodiment of the invention provides a reverse harmonic injection control data calibration system, and the structural schematic diagram of the reverse harmonic injection control data calibration system is shown below. Figure 4 As shown, under actual operating conditions, the frequency of cogging torque pulsation in a motor is fixed, but the amplitude and phase of the pulsation exhibit complex nonlinear characteristics. These characteristics are generally related to the current in the motor stator windings, motor speed, motor temperature, and the DC bus voltage of the motor controller, and need to be determined through actual calibration. Determining the reverse harmonic injection control parameters involves finding the optimal control parameter K under different motor operating conditions. motor With θ motor .

[0059] like Figure 4 The reverse harmonic injection control data calibration system shown comprises five parts: a calibration host computer, a motor controller, a permanent magnet synchronous motor, an NVH testing system, a dynamometer, and a data acquisition system. The calibration host computer receives various types of information from the motor controller, NVH testing system, and dynamometer via the data acquisition system, summarizes this information, and outputs the reverse harmonic injection control parameter K according to a predetermined calibration logic. motor With θ motor This parameter is output to the motor controller, which then generates the excitation current i according to Formula 1. motor The excitation current is according to Figure 2 The reverse harmonic injection control architecture of the permanent magnet synchronous motor (PMSM) illustrates that the reverse harmonic injection control principle acts on the three-phase current of the drive motor, generating suppressed torque to counteract cogging torque pulsation. The NVH testing system places sensors on the PMSM housing to detect high-frequency noise generated by cogging torque pulsation. A dynamometer is connected to the power output shaft of the PMSM to detect the motor's output torque and power. The data acquisition system is responsible for collecting various signals with different signal periods and transmitting them to the calibration host computer to ensure the smooth execution of its control logic.

[0060] The reverse harmonic injection control parameter determination method provided by this invention is based on Figure 4 The system implementation is shown.

[0061] The vehicle motor parameters include the motor's current output torque, motor speed, and motor stator temperature.

[0062] In this step, the current output torque and motor speed of the vehicle motor parameters are segmented according to a preset step size. Specifically, the current output torque of the motor is divided into N segments (T... q1 T q2 ...T qN The motor speed is divided into Q segments (S1, S2...S...).Q At this point, the drive system can be divided into multiple operating conditions; based on this, it can be further segmented according to the motor stator temperature, dividing the motor stator temperature into T points (T1, T2...T...). T The drive system was ultimately divided into N×Q×T operating conditions, as shown in Table 1 below. During subsequent calibration, the optimal control parameter K for reverse harmonic injection for each operating condition was determined by iterating through all the above operating conditions. motor With θ motor .

[0063] Table 1. Driving System Operating Conditions Diagram

[0064]

[0065] Step 302: For each operating condition, determine the initial control parameters for reverse harmonic injection corresponding to the operating condition based on the motor vibration noise intensity fed back by the NVH test system.

[0066] In this step, during the drive system operating condition traversal, after entering any operating condition, the optimal NVH performance control parameters (i.e., reverse harmonic injection initial control parameters) are first found based on the motor vibration and noise intensity fed back by the NVH test system.

[0067] Step 303: Determine the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection.

[0068] In this step, the initial control parameters for reverse harmonic injection determined through the above steps have the best NVH performance. However, for the drive system, good NVH performance alone is far from enough during the implementation of reverse harmonic control. It is also necessary to ensure that the implementation of reverse harmonic control does not damage the key performance of other systems. Therefore, in this step, the system performance compliance check is performed based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection to obtain the optimal control parameters for reverse harmonic injection.

[0069] In an optional embodiment of the present invention, the initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection. The process for determining the control parameters (initial control parameters for reverse harmonic injection) for optimal NVH performance is as follows:

[0070] It should be noted that for reverse harmonic injection control, the first step is to determine the phase parameter θ in Formula 1. motor Only when the phase is accurate can the amplitude parameter K be adjusted. motor Only in this way can the cogging torque pulsation be canceled out and the vibration and noise of the drive system caused by the torque pulsation be reduced.

[0071] Therefore, in this embodiment, determining the initial control parameters for reverse harmonic injection corresponding to the operating condition based on the motor vibration noise intensity fed back by the NVH testing system includes:

[0072] Define the initial vibration and noise intensity of the drive system under a certain operating condition as dB. INT (i.e., the preset initial motor vibration and noise intensity), the motor vibration and noise intensity fed back by the NVH test system of this system after implementing reverse harmonic injection control is defined as dB. CTRL ;

[0073] Based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration and noise intensity fed back by the NVH test system, the first control phase parameter is determined. The preset reverse harmonic injection control parameters are determined by calibrating the preset NVH test system. Specifically, the process of determining the preset reverse harmonic injection control parameters is as follows: determine the amplitude value K of the sine signal according to the above formula. motor The phase value θ of the sinusoidal signal motor Wherein, the amplitude value K of the sinusoidal signal motor This refers to the preset control amplitude parameter K, which is then fixed. motor Use it as the initial value K motor_INT K motor_INT >0, then starting from 0°, traverse the control phase parameters in steps of 1°, increasing the control phase parameters from 0° to 360°. During this process, record the motor vibration noise intensity (dB) fed back by the NVH test system for each control phase parameter. CTRL Select the minimum motor vibration noise intensity dB CTRL The corresponding control phase parameter is the first control phase parameter θ. motor ;

[0074] Based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration and noise intensity fed back by the NVH test system, the first control phase parameter is determined. Specifically, the aforementioned first control phase parameter θ motor Defined as θ motor_C The control phase parameter in the reverse harmonic injection control is fixed at θ. motor_C Starting from 0, the control amplitude parameter K is traversed in steps of 0.1. motor Record each K during the traversal. motor The corresponding NVH testing system feedback motor vibration noise intensity dB CTRL Then filter out the smallest dB CTRL The control amplitude parameter K corresponding to the value motor And define it as K motor_C That is, the first control amplitude parameter K.motor .

[0075] Based on the motor vibration and noise intensity fed back by the NVH testing system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter, the initial control phase parameter and the initial control amplitude parameter for the reverse harmonic injection corresponding to the operating condition are determined; wherein, the first control phase parameter θ motor_C and the first control amplitude parameter K motor_C The control parameters are a set of parameters obtained based on the motor vibration and noise intensity feedback from the NVH testing system. It is also necessary to verify the control parameters based on the motor vibration and noise intensity feedback from the NVH testing system and the preset initial motor vibration and noise intensity. That is, to check whether the reverse harmonic injection control implemented with the control parameters can reduce the vibration and noise caused by cogging torque pulsation. The reason for verification is that under certain special operating conditions, the implementation of reverse harmonic injection control may actually excite the vibration and noise problem of the system, which is contrary to the original intention of control. Therefore, it is necessary to add a verification step to avoid this situation.

[0076] Further, determining the initial control phase parameter and initial control amplitude parameter for reverse harmonic injection corresponding to the operating condition based on the motor vibration and noise intensity fed back by the NVH testing system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter includes:

[0077] When the preset initial motor vibration noise intensity is greater than the motor vibration noise intensity fed back by the NVH test system, the first control phase parameter is determined to be the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition, and the first control amplitude parameter is the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition.

[0078] If the preset initial motor vibration noise intensity is less than or equal to the motor vibration noise intensity fed back by the NVH test system, the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0.

[0079] The specific process is as follows, taking K as an example. motor_C With θ motor_C To implement reverse harmonic injection control for the control parameters, the initial motor vibration and noise intensity (dB) is compared with the preset value. INT The motor vibration noise intensity dB reported by the NVH test system after implementing reverse harmonic injection control. CTRL The size, if dB INT >dB CTRLThis indicates that the braking control is effective; otherwise, the reverse harmonic injection control is ineffective. The above process is for verifying the optimal NVH performance control parameters. The specific formula is shown in Formula 2 below:

[0080]

[0081] In formula two above, K motor θ represents the initial control amplitude parameter for the reverse harmonic injection corresponding to the operating condition. motor This represents the initial control amplitude parameter for the reverse harmonic injection corresponding to the operating condition.

[0082] According to Formula 2 above, when the reverse harmonic injection control is ineffective (the vibration and noise problem of the system is not improved), the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition and the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition are both taken as 0. At this time, it is equivalent to exiting the reverse harmonic injection control.

[0083] The following is combined with Figure 5 The following describes in detail the process of determining the initial control amplitude parameters for reverse harmonic injection corresponding to the operating condition, as provided in the embodiments of the present invention:

[0084] Fixed preset control amplitude parameter K motor The control phase parameter θ is traversed according to the specified step size (1°). motor The minimum motor vibration noise intensity dB is determined by iterating through the data. CTRL The corresponding control phase parameter θ motor Define it as θ motor_C Fixed control phase parameter θ motor_C The control amplitude parameter K is traversed according to the specified step size (0.1). motor Determine the minimum dB by traversing the data. CTRL The control amplitude parameter K corresponding to the value motor And define it as K motor_C Optimal NVH performance control parameters were verified to obtain the initial control amplitude parameters for reverse harmonic injection and the initial control amplitude parameters for reverse harmonic injection (K) corresponding to the operating conditions. motor θ motor ).

[0085] Although the initial control amplitude parameters for reverse harmonic injection obtained through the above NVH control parameter determination process have optimal NVH performance, for the drive system, good NVH performance alone is far from sufficient during real-time reverse harmonic control. It is also necessary to ensure that the implementation of reverse harmonic control does not damage other key performance characteristics of the drive system. For permanent magnet synchronous motor vector control, the high-frequency signal injected in reverse harmonic injection control can be considered as interference in the drive system. While improving the system's NVH performance, it can damage other performance characteristics of the drive system. In view of this characteristic of reverse harmonic injection control, in an optional embodiment of the present invention, determining the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection includes:

[0086] If the key performance parameters of the drive system do not meet the preset conditions, the initial control parameters for reverse harmonic injection are determined to be the optimal control parameters for reverse harmonic injection.

[0087] When the key performance parameters of the drive system meet the preset conditions, the initial control parameters of the reverse harmonic injection are adjusted to obtain the optimal control parameters of the reverse harmonic injection.

[0088] The key performance parameters of the drive system include at least one of the following:

[0089] Motor output torque steady-state error; system efficiency; harmonic content.

[0090] The preset conditions include at least one of the following:

[0091] (1) The absolute value of the difference between the absolute value of the desired output torque and the absolute value of the target output torque of the drive system is greater than the absolute value of the preset torque value; the target output torque is the output torque of the drive system after reverse harmonic injection control using the initial control parameters of the reverse harmonic injection.

[0092] (2) After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the ratio of the output power of the drive system to the input power of the drive system is less than the preset ratio.

[0093] (3) After reverse harmonic injection control is performed using the initial control parameters of the reverse harmonic injection, the harmonic content of the drive system is greater than the preset threshold; the harmonic content of the drive system is determined by the preset low-pass filter and the DC component of the preset order harmonic current.

[0094] Specifically, in this embodiment, the above preset conditions must be met during the implementation of reverse harmonic injection control to avoid significant damage to the performance of other systems during the implementation of reverse harmonic injection control, and to achieve a balance between cogging torque ripple suppression and system performance as much as possible. The following describes the method for checking the compliance of key system performance.

[0095] When the above preset conditions are met, surface reverse harmonic injection control leads to a deterioration in system performance. In this case, it is necessary to adjust the initial control parameters of reverse harmonic injection to solve the problem and obtain the optimal control parameters of reverse harmonic injection. When none of the above preset conditions are met, surface reverse harmonic injection control does not lead to a deterioration in system performance, and the initial control parameters of reverse harmonic injection are determined to be the optimal control parameters of reverse harmonic injection.

[0096] Furthermore, the aforementioned preset condition (1) is for checking the steady-state error of the motor output torque:

[0097] For drive systems, due to factors such as detection and control accuracy, a certain error is allowed between the actual output torque and the expected output torque. However, this error must be within a specified range; otherwise, the product is unqualified. The allowable steady-state error (preset torque value) of the drive system is defined as ±ΔT. q Define the torque command given by the current drive system (the desired output torque of the drive system) as T. qCMD Let T be the output torque (target output torque) of the drive system detected by the dynamometer after the reverse harmonic injection control is enabled. qPOW When the following formula 3 is satisfied, it is considered that the reverse harmonic injection control affects the accuracy of the system output torque and damages the system performance. In this case, it is necessary to adjust the control parameters to solve the problem.

[0098] ||T qCMD |-|T qPOW ||>|ΔT q Formula 3

[0099] The above-mentioned preset condition (2) is for checking the system efficiency and performance:

[0100] Reverse harmonic injection control, as the name suggests, counteracts cogging torque pulsation by injecting harmonics into the system. However, injecting harmonics reduces system efficiency. To avoid significant damage to system efficiency caused by reverse harmonic injection control, this embodiment of the invention performs efficiency performance checks during the control process. The output power of the drive motor (output power of the drive system) measured by the dynamometer during the implementation of reverse harmonic injection control is defined as P. OUT Define the input power of the drive system as P. INDefine the efficiency parameter (preset ratio) of the drive system as η. When the following formula is satisfied, it is considered that the reverse harmonic injection control has caused significant damage to the overall efficiency of the system. At this time, it is necessary to adjust the control parameters to solve the problem.

[0101]

[0102] The above-mentioned preset condition (3) is for checking the harmonic content:

[0103] Reverse harmonic control cancels out the cogging torque pulsation of the motor body by injecting a high-frequency signal. However, for the vector control of a permanent magnet synchronous motor, the injected high-frequency signal is an interference that can disrupt system stability. To avoid instability caused by reverse harmonic control, this invention assesses potential instability by detecting the harmonic content in the system. Under normal operating conditions, the harmonic distribution in the three-phase current of the drive motor is basically fixed. If a specific order of harmonics increases significantly after implementing reverse harmonic injection control, it indicates that instability has been triggered in the system. This invention is based on this principle. When the harmonic content in the system exceeds a specified threshold (preset threshold), the system is considered to be in an unstable state. In this case, the reverse harmonic injection control parameters need to be adjusted to reduce the harmonic content in the system, thereby ensuring the safe operation of the drive system.

[0104]

[0105] This invention monitors the harmonics of the main orders (preset orders) during the operation of a permanent magnet synchronous motor, specifically as shown in Formula 5 above, including the 5th, 7th, 11th, and 13th harmonics. However, conventional fast Fourier transform harmonic analysis requires enormous computational resources, placing unbearable pressure on the motor controller hardware. To address this issue, this invention provides an engineered harmonic analysis method. This method uses coordinate transformation to convert the three-phase current i of the motor... A i B i C Transform to the dq-axis rotating coordinate system of the 5th, 7th, 11th, and 13th harmonics to obtain the dq-axis currents of the 5th, 7th, 11th, and 13th harmonics, respectively. Next, process the current signal through a low-pass filter to obtain the DC components of the dq-axis currents of the 5th, 7th, 11th, and 13th harmonics. Superimpose all the DC components to obtain the total harmonics. In this embodiment of the invention, the obtained total harmonics are used to check the harmonic content in the system during reverse harmonic injection control.

[0106] In Formula 5, i d5th i d7th i d11th i d13th iq5th i q7th i q11th i q13th These represent the 5th, 7th, 11th, and 13th harmonic dq-axis currents obtained through coordinate transformation, respectively, where ω represents the electric angular velocity of the motor. The dq-axis currents of each harmonic obtained through Formula 5 are AC quantities, containing the DC component of their respective harmonic currents, as well as AC components of other harmonics. In this embodiment of the invention, only the DC component is required; therefore, a low-pass filter is designed to convert i... d5th i d7th i d11th i d13th i q5th i q7th i q11th i q13th The AC components are filtered out to obtain the DC components of the 5th, 7th, 11th, and 13th harmonic dq-axis currents. This invention uses a second-order low-pass filter, the specific expression of which is shown in Formula Six below:

[0107]

[0108] In Formula 6, F O (n) represents the output value of the second-order low-pass filter in this control cycle; F IN (n) represents the input value of the second-order low-pass filter in this control cycle; T s This represents the control period. The 5th, 7th, 11th, and 13th harmonic dq-axis currents calculated in Formula 5 are filtered using the low-pass filter described in Formula 6 to obtain the DC components of the harmonic currents. The DC components of the 5th, 7th, 11th, and 13th dq-axis harmonic currents are defined as: i d5DC i d7DC i d11DC i d13DC i q5DC i q7DC i q11DC i q13DC By superimposing and summing these DC components, the total harmonic content of the current system is obtained, as shown in Formula 7 below.

[0109] H motor =|i d5DC |+|i d7DC |+|i d11DC |+|i d13DC |+|i q5DC |+|i q7DC |+|i q11DC |+|i q13DC Formula Seven

[0110] In Formula 7, Hmotor This represents the total harmonic content (harmonic content of the driving system) in the current system. This embodiment of the invention uses the magnitude of this value to check the harmonic content. The maximum threshold (preset threshold) for harmonic content is defined as H. max This invention stipulates that when the following formula is satisfied, it is considered that the harmonic content in the system is too high, that is, the system has an unstable safety hazard. At this time, it is necessary to adjust the reverse harmonic injection control parameters to solve the problem.

[0111] H motor >H max Formula 8

[0112] Further, adjusting the initial control parameters of the reverse harmonic injection to obtain the optimal control parameters for the reverse harmonic injection includes:

[0113] The initial control amplitude parameter of the reverse harmonic injection is sequentially decreased and adjusted according to a preset step size. After each decrease, it is determined whether the key performance parameters of the drive system meet a first condition. If they do, the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. If they do not meet the condition, it is determined whether the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is less than 0. If it is, 0 is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. Otherwise, the initial control amplitude parameter of the reverse harmonic injection is continued to be decreased and adjusted according to the preset step size until the key performance parameters of the drive system meet the first condition. The decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is then taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. The first condition includes the preset condition and the decreased and adjusted initial control amplitude parameter being greater than or equal to 0.

[0114] The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

[0115] It should be noted that, for the reverse harmonic injection control method represented by Equation 1 above, under a certain operating condition, when a suitable phase parameter θ is found by iterating through the parameters... motor Then, the amplitude parameter K is adjusted. motor The goal is to find a suitable operating point so that the signal injected by Formula 1 is ultimately reflected in the three-phase current of the motor, thereby canceling out the cogging torque pulsation. In reverse harmonic injection control, the phase parameter θ motor It has directional value; the amplitude parameter K can only be adjusted if the phase is correct. motor Only then does it have meaning, if θ motorIf a deviation occurs, no amount of adjustment to the amplitude parameter will yield a good control effect. To address this characteristic, this embodiment of the invention improves system performance by fixing the phase parameter and adjusting the amplitude parameter when reverse harmonic injection control causes system performance degradation. The specific method is as follows: Figure 6 As shown.

[0116] Specifically, such as Figure 6 As shown, parameter adjustment is initiated when the above preset conditions are not met. In this embodiment of the invention, the amplitude parameter K is reduced. motor The method to improve system performance involves a preset step size of 0.1, which reduces the initial control amplitude parameter K of the reverse harmonic injection by a preset step size. motor Determine the adjusted K motor Is K less than 0 (in reverse harmonic injection control)? motor This is a control parameter that is always greater than 0. If this value is detected to be less than 0, it indicates that there is no room for adjustment of the amplitude parameter, and at the same time, the reverse harmonic injection control fails. In this case, the embodiment of the present invention will... motor The minimum value is set to 0 (to ensure system performance requirements are met by exiting reverse harmonic injection control), if not (i.e., the adjusted K is reduced). motor If the value is greater than or equal to 0, a drive system performance compliance check is performed. If the above preset conditions are met after detecting reverse harmonic injection control, then the adjusted K is determined to be reduced. motor Inject the optimal control amplitude parameter from the optimal control parameters into the reverse harmonic; the control parameter adjustment is complete. Otherwise, decrease K by the preset step size. motor until the adjusted K is reduced motor If the value is greater than or equal to 0, and the above preset conditions are met after detecting reverse harmonic injection control, then the adjusted K is reduced. motor If the value is less than 0, then 0 is used as the optimal control amplitude parameter in the reverse harmonic injection optimal control parameters, and the control parameter adjustment ends; otherwise, K is decreased by the preset step size. motor until the adjusted K is reduced motor If the value is greater than or equal to 0, and the above preset conditions are met after the detection of reverse harmonic injection control, the control parameter adjustment ends.

[0117] The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

[0118] The embodiments of the present invention achieve adaptive adjustment of control parameters through the above method, and ultimately find a balance between suppressing cogging torque pulsation and system performance.

[0119] The following is combined with Figure 7 The following is a detailed explanation of the overall process of determining the reverse harmonic injection control parameters provided in this embodiment of the invention:

[0120] After calibration begins, the drive system operating conditions are traversed first. In this stage, operating conditions are differentiated based on motor output torque, output speed, and motor temperature, and each operating condition is traversed. Next, the optimal NVH control parameters are determined. This optimal NVH control parameter determination is performed under all operating conditions. Once a specific operating condition is reached through the operating condition traversal, the reverse harmonic injection control parameter K is adjusted. motor With θ motor The system automatically iterates through the motor vibration and noise intensity information fed back by the NVH testing system to find the optimal control parameter K for NVH performance. motor θ motor This means that under the control parameter, the vibration noise generated by the motor due to cogging torque pulsation is minimized. After determining the optimal NVH control parameter, the system performance compliance check is performed. In this step, the obtained optimal harmonic current parameter is evaluated from three dimensions: steady-state error of the drive motor output torque, system efficiency, and harmonic content. The system performance is checked to see if it meets the standard under the current reverse harmonic injection control parameter. If all three performance parameters meet the standard, the current control parameter is the optimal control parameter for this operating condition, and the calibration for this operating condition is completed. If the system performance does not meet the standard, the control parameter adjustment step is performed. In this step, the control parameter K is adjusted... motor This ensures the system performance meets the standards and obtains the final control parameters under the current operating conditions.

[0121] The reverse harmonic injection control parameter determination method provided in this invention is implemented based on a drive motor, motor controller, NVH testing system, dynamometer, and data acquisition system. It iterates through various operating conditions of the drive motor using a table scanning method. In each condition, based on the drive motor's NVH vibration and noise data, it automatically adjusts the phase and amplitude of the high-frequency harmonic current in the reverse harmonic injection control to find the optimal control parameters. Based on the optimal NVH control parameters obtained under the current condition, a comprehensive evaluation of the torque ripple suppression effect is performed. The obtained optimal harmonic current parameters are evaluated from three dimensions: drive motor output torque steady-state error, system efficiency, and harmonic content. If the system's requirements regarding motor output torque steady-state error, system efficiency, or harmonic content are not met, the amplitude of the injected harmonic current is automatically reduced to adjust the parameters. Finally, the parameters of the injected harmonic current are determined, thereby achieving a balance between cogging torque ripple suppression and system performance. The reverse harmonic injection control parameter determination method provided in this invention is an automatic calibration method that frees calibration engineers from heavy and repetitive work, improving calibration efficiency and eliminating the probability of human error. In addition to the above, this invention creatively incorporates three performance parameters—motor output torque steady-state error, system efficiency, and harmonic content—into the evaluation of the reverse harmonic injection control calibration effect. By pre-determining these performance parameters, the optimal harmonic injection current parameters in reverse harmonic injection control can be automatically determined. The reverse harmonic injection control parameter determination method provided by this invention is characterized by its clear approach and ease of engineering implementation. Furthermore, it largely solves the problems encountered in traditional calibration processes, thus possessing significant potential for widespread application.

[0122] In software-based reverse harmonic injection control, high-frequency harmonic currents are typically injected through closed-loop or open-loop control to counteract cogging torque and thus improve NVH (noise, vibration, and harshness) issues caused by cogging torque pulsation. For permanent magnet synchronous motors (PMSMs), cogging torque pulsation is essentially equivalent to the pulsation of the combined magnetic field of the stator and rotor. Since the combined magnetic field of the stator and rotor is strongly correlated with factors such as current and temperature, the high-frequency harmonic current parameters injected in reverse harmonic injection control need to be adjusted according to changes in the motor's operating state. This introduces a significant workload for parameter calibration. Currently, there is no unified and mature technical solution both domestically and internationally to address the practical problems in the calibration process, including comprehensive evaluation of calibration results and simplification of operation steps. Against this backdrop, this invention provides a method for determining reverse harmonic injection control parameters. This method is implemented based on a drive motor, motor controller, NVH testing system, dynamometer, and data acquisition system. It iterates through various operating conditions of the drive motor using a table scanning method. In each condition, based on the drive motor's NVH vibration and noise data, the optimal control parameters are found by automatically adjusting the phase and amplitude of the high-frequency harmonic current in the reverse harmonic injection control. Based on obtaining the optimal NVH control parameters under the current operating conditions, a comprehensive evaluation of the torque ripple suppression effect is conducted. The obtained optimal harmonic current parameters are evaluated from three dimensions: steady-state error of the drive motor output torque, system efficiency, and harmonic content. If the system's requirements for motor output torque steady-state error, system efficiency, or harmonic content are not met, the injected harmonic current amplitude is automatically reduced to adjust the parameters. Finally, the parameters of the injected harmonic current are determined, thereby achieving a balance between cogging torque ripple suppression and system performance.

[0123] like Figure 8 As shown, this embodiment of the invention also provides a reverse harmonic injection control parameter determination device, comprising:

[0124] The first determining module 801 is used to determine multiple operating conditions of the drive system based on the vehicle motor parameters;

[0125] The second determining module 802 is used to determine the initial control parameters for reverse harmonic injection corresponding to each operating condition based on the motor vibration noise intensity fed back by the NVH test system.

[0126] The third determining module 803 is used to determine the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection.

[0127] Optionally, the initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection.

[0128] The second determining module 802 includes:

[0129] The first determining unit is used to determine the first control phase parameter based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration noise intensity fed back by the NVH test system.

[0130] The second determining unit is used to determine the first control amplitude parameter based on the first control phase parameter and the motor vibration noise intensity fed back by the NVH test system.

[0131] The third determining unit is used to determine the reverse harmonic injection initial control phase parameter and the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition based on the motor vibration and noise intensity fed back by the NVH test system, the preset initial motor vibration and noise intensity, the first control phase parameter and the first control amplitude parameter.

[0132] The preset reverse harmonic injection control parameters are determined by calibrating a preset NVH test system.

[0133] Optionally, the third determining unit is specifically used for:

[0134] When the preset initial motor vibration noise intensity is greater than the motor vibration noise intensity fed back by the NVH test system, the first control phase parameter is determined to be the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition, and the first control amplitude parameter is the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition.

[0135] If the preset initial motor vibration noise intensity is less than or equal to the motor vibration noise intensity fed back by the NVH test system, the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0.

[0136] Optionally, the third determining module 803 includes:

[0137] The fourth determining unit is used to determine the initial control parameters of the reverse harmonic injection as the optimal control parameters of the reverse harmonic injection when the key performance parameters of the drive system do not meet the preset conditions.

[0138] The adjustment unit is used to adjust the initial control parameters of the reverse harmonic injection when the key performance parameters of the drive system meet the preset conditions, so as to obtain the optimal control parameters of the reverse harmonic injection.

[0139] Optionally, the preset conditions include at least one of the following:

[0140] The absolute value of the difference between the absolute value of the desired output torque and the absolute value of the target output torque of the drive system is greater than the absolute value of the preset torque value; the target output torque is the output torque of the drive system after reverse harmonic injection control using the initial control parameters of the reverse harmonic injection.

[0141] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the ratio of the output power of the drive system to the input power of the drive system is less than the preset ratio.

[0142] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the harmonic content of the drive system is greater than the preset threshold.

[0143] Optionally, the harmonic content of the drive system is determined using a preset low-pass filter and the DC component of a preset order harmonic current.

[0144] Optionally, the adjustment unit is specifically used for:

[0145] The initial control amplitude parameter of the reverse harmonic injection is sequentially decreased and adjusted according to a preset step size. After each decrease, it is determined whether the key performance parameters of the drive system meet a first condition. If they do, the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. If they do not meet the condition, it is determined whether the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is less than 0. If it is, 0 is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. Otherwise, the initial control amplitude parameter of the reverse harmonic injection is continued to be decreased and adjusted according to the preset step size until the key performance parameters of the drive system meet the first condition. The decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is then taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. The first condition includes the preset condition and the decreased and adjusted initial control amplitude parameter being greater than or equal to 0.

[0146] The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

[0147] It should be noted that the reverse harmonic injection control parameter determination device provided in the embodiments of the present invention is a device capable of executing the above-described reverse harmonic injection control parameter determination method. Therefore, all embodiments of the above-described reverse harmonic injection control parameter determination method are applicable to this device and can achieve the same or similar technical effects.

[0148] like Figure 9As shown, this embodiment of the invention also provides a reverse harmonic injection control parameter determination device, including: a processor 901; and a memory 903 connected to the processor 901 via a bus interface 902. The memory 903 is used to store the programs and data used by the processor 901 when performing operations, and the processor 901 calls and executes the programs and data stored in the memory 903.

[0149] The transceiver 904 is connected to the bus interface 902 and is used to receive and send data under the control of the processor 901. Specifically, the processor 901 is used to read the program in the memory 903 and execute the following processes:

[0150] Based on the vehicle motor parameters, determine multiple operating conditions of the drive system;

[0151] For each of the aforementioned operating conditions, the initial control parameters for reverse harmonic injection corresponding to the operating condition are determined based on the motor vibration and noise intensity fed back by the NVH testing system.

[0152] Based on the key performance parameters of the drive system and the initial control parameters of the reverse harmonic injection, the optimal control parameters for the reverse harmonic injection are determined.

[0153] Optionally, the initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection.

[0154] The processor 901 is used for:

[0155] The first control phase parameter is determined based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration noise intensity fed back by the NVH test system.

[0156] The first control amplitude parameter is determined based on the first control phase parameter and the motor vibration noise intensity fed back by the NVH test system.

[0157] Based on the motor vibration and noise intensity fed back by the NVH test system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter, the reverse harmonic injection initial control phase parameter and the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition are determined.

[0158] The preset reverse harmonic injection control parameters are determined by calibrating a preset NVH test system.

[0159] Optionally, the processor 901 is specifically used for:

[0160] When the preset initial motor vibration noise intensity is greater than the motor vibration noise intensity fed back by the NVH test system, the first control phase parameter is determined to be the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition, and the first control amplitude parameter is the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition.

[0161] If the preset initial motor vibration noise intensity is less than or equal to the motor vibration noise intensity fed back by the NVH test system, the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0.

[0162] Optionally, the processor 901 is used for:

[0163] If the key performance parameters of the drive system do not meet the preset conditions, the initial control parameters for reverse harmonic injection are determined to be the optimal control parameters for reverse harmonic injection.

[0164] When the key performance parameters of the drive system meet the preset conditions, the initial control parameters of the reverse harmonic injection are adjusted to obtain the optimal control parameters of the reverse harmonic injection.

[0165] Optionally, the preset conditions include at least one of the following:

[0166] The absolute value of the difference between the absolute value of the desired output torque and the absolute value of the target output torque of the drive system is greater than the absolute value of the preset torque value; the target output torque is the output torque of the drive system after reverse harmonic injection control using the initial control parameters of the reverse harmonic injection.

[0167] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the ratio of the output power of the drive system to the input power of the drive system is less than the preset ratio.

[0168] After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the harmonic content of the drive system is greater than the preset threshold.

[0169] Optionally, the harmonic content of the drive system is determined using a preset low-pass filter and the DC component of a preset order harmonic current.

[0170] Optionally, the processor 901 is specifically used for:

[0171] The initial control amplitude parameter of the reverse harmonic injection is sequentially decreased and adjusted according to a preset step size. After each decrease, it is determined whether the key performance parameters of the drive system meet a first condition. If they do, the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. If they do not meet the condition, it is determined whether the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is less than 0. If it is, 0 is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. Otherwise, the initial control amplitude parameter of the reverse harmonic injection is continued to be decreased and adjusted according to the preset step size until the key performance parameters of the drive system meet the first condition. The decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is then taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. The first condition includes the preset condition and the decreased and adjusted initial control amplitude parameter being greater than or equal to 0.

[0172] The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

[0173] Among them, Figure 9 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 901) and memory (memory 903). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 905. A transceiver 904 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over a transmission medium. Processor 901 is responsible for managing the bus architecture and general processing, and memory 903 can store data used by processor 901 during operation.

[0174] A specific embodiment of the present invention also provides a readable storage medium storing a program, which, when executed by a processor, implements the steps in the reverse harmonic injection control parameter determination method as described above.

[0175] The above describes the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A method for determining reverse harmonic injection control parameters, characterized in that, include: Based on the vehicle motor parameters, determine multiple operating conditions of the drive system; For each of the aforementioned operating conditions, the initial control parameters for reverse harmonic injection corresponding to the operating condition are determined based on the motor vibration and noise intensity fed back by the NVH testing system. Based on the key performance parameters of the drive system and the initial control parameters of the reverse harmonic injection, determine the optimal control parameters for the reverse harmonic injection; The initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection. The step of determining the initial control parameters for reverse harmonic injection corresponding to the operating condition based on the motor vibration and noise intensity feedback from the NVH testing system includes: Based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration and noise intensity fed back by the NVH test system, the first control phase parameter with the minimum motor vibration and noise intensity is determined. Based on the first control phase parameter and the motor vibration and noise intensity fed back by the NVH test system, a first control amplitude parameter with the minimum motor vibration and noise intensity is determined; Based on the motor vibration and noise intensity fed back by the NVH test system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter, the reverse harmonic injection initial control phase parameter and the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition are determined. The preset reverse harmonic injection control parameters are determined by calibrating a preset NVH test system. The step of determining the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection includes: If the key performance parameters of the drive system do not meet the preset conditions, the initial control parameters for reverse harmonic injection are determined to be the optimal control parameters for reverse harmonic injection. When the key performance parameters of the drive system meet the preset conditions, the initial control parameters of the reverse harmonic injection are adjusted to obtain the optimal control parameters of the reverse harmonic injection. The key performance parameters of the drive system include at least one of the following: steady-state error of motor output torque, system efficiency, and harmonic content.

2. The method for determining reverse harmonic injection control parameters according to claim 1, characterized in that, The step of determining the initial control phase parameter and initial control amplitude parameter for reverse harmonic injection corresponding to the operating condition based on the motor vibration and noise intensity fed back by the NVH testing system, the preset initial motor vibration and noise intensity, the first control phase parameter, and the first control amplitude parameter includes: When the preset initial motor vibration noise intensity is greater than the motor vibration noise intensity fed back by the NVH test system, the first control phase parameter is determined to be the reverse harmonic injection initial control phase parameter corresponding to the operating condition and the first control amplitude parameter is determined to be the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition. If the preset initial motor vibration noise intensity is less than or equal to the motor vibration noise intensity fed back by the NVH test system, the initial control phase parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0 and the initial control amplitude parameter of the reverse harmonic injection corresponding to the operating condition is determined to be 0.

3. The method for determining reverse harmonic injection control parameters according to claim 1, characterized in that, The preset conditions include at least one of the following: The absolute value of the difference between the absolute value of the desired output torque and the absolute value of the target output torque of the drive system is greater than the absolute value of the preset torque value; the target output torque is the output torque of the drive system after reverse harmonic injection control using the initial control parameters of the reverse harmonic injection. After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the ratio of the output power of the drive system to the input power of the drive system is less than the preset ratio. After reverse harmonic injection control is performed using the initial control parameters for reverse harmonic injection, the harmonic content of the drive system is greater than the preset threshold.

4. The method for determining reverse harmonic injection control parameters according to claim 3, characterized in that, The harmonic content of the drive system is determined using a preset low-pass filter and the DC component of a preset order harmonic current.

5. The method for determining reverse harmonic injection control parameters according to claim 1, characterized in that, The step of adjusting the initial control parameters of the reverse harmonic injection to obtain the optimal control parameters of the reverse harmonic injection includes: The initial control amplitude parameter of the reverse harmonic injection is sequentially decreased and adjusted according to a preset step size. After each decrease, it is determined whether the key performance parameters of the drive system meet a first condition. If they do, the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. If they do not meet the condition, it is determined whether the decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is less than 0. If it is, 0 is taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. Otherwise, the initial control amplitude parameter of the reverse harmonic injection is continued to be decreased and adjusted according to the preset step size until the key performance parameters of the drive system meet the first condition. The decreased and adjusted initial control amplitude parameter of the reverse harmonic injection is then taken as the optimal control amplitude parameter in the optimal control parameters of the reverse harmonic injection. The first condition includes the preset condition and the decreased and adjusted initial control amplitude parameter being greater than or equal to 0. The initial control phase parameter of the reverse harmonic injection is used as the optimal control phase parameter in the optimal control parameters of the reverse harmonic injection.

6. A device for determining reverse harmonic injection control parameters, characterized in that, include: The first determining module is used to determine multiple operating conditions of the drive system based on the vehicle motor parameters; The second determining module is used to determine the initial control parameters for reverse harmonic injection corresponding to each operating condition based on the motor vibration noise intensity fed back by the NVH test system. The third determining module is used to determine the optimal control parameters for reverse harmonic injection based on the key performance parameters of the drive system and the initial control parameters for reverse harmonic injection. The initial control parameters for reverse harmonic injection include the initial control amplitude parameter and the initial control phase parameter for reverse harmonic injection. The second determining module 802 includes: The first determining unit is used to determine the first control phase parameter based on the preset control amplitude parameter in the preset reverse harmonic injection control parameters and the motor vibration noise intensity fed back by the NVH test system. The second determining unit is used to determine the first control amplitude parameter based on the first control phase parameter and the motor vibration noise intensity fed back by the NVH test system. The third determining unit is used to determine the reverse harmonic injection initial control phase parameter and the reverse harmonic injection initial control amplitude parameter corresponding to the operating condition based on the motor vibration and noise intensity fed back by the NVH test system, the preset initial motor vibration and noise intensity, the first control phase parameter and the first control amplitude parameter. The third determining module 803 includes: The fourth determining unit is used to determine the initial control parameters of the reverse harmonic injection as the optimal control parameters of the reverse harmonic injection when the key performance parameters of the drive system do not meet the preset conditions. The adjustment unit is used to adjust the initial control parameters of the reverse harmonic injection when the key performance parameters of the drive system meet the preset conditions, so as to obtain the optimal control parameters of the reverse harmonic injection. The key performance parameters of the drive system include at least one of the following: steady-state error of motor output torque, system efficiency, and harmonic content.

7. A device for determining reverse harmonic injection control parameters, comprising: A transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; characterized in that, when the processor executes the program or instructions, it implements the steps in the method for determining reverse harmonic injection control parameters as described in any one of claims 1 to 5.

8. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps in the method for determining the reverse harmonic injection control parameters as described in any one of claims 1 to 5.

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