Motor zero calibration method and device, electronic equipment, storage medium and vehicle

Abstract

This application relates to a method, apparatus, electronic device, storage medium, and vehicle for zero-position calibration of a motor. The method includes: upon detecting that the current operating state of the range extender system meets preset coarse zero-position calibration conditions, controlling the engine to rotate to a preset position based on a preset rotor pre-positioning method, and recording the resolver reading corresponding to the preset position; upon detecting that the resolver reading is within a preset verification range, controlling the engine to start; upon detecting that preset fine zero-position calibration conditions are met, acquiring the direct-axis voltage component and quadrature-axis voltage component of the motor, and sending a fine calibration flag bit to the PDCU, so that the PDCU controls the engine speed to a second target speed, controls the maximum torque value of the motor to 0, and determines whether the motor is in a calibration state based on the direct-axis voltage component and quadrature-axis voltage component. That is, this application embodiment, through the interaction between the PDCU and GPEU, eliminates the need for separate disassembly of the motor for zero-position calibration, resulting in high execution efficiency and no reliance on other equipment.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, specifically to a method, device, electronic equipment, storage medium, and vehicle for zero-position calibration of a motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) offer advantages such as high efficiency, high precision, and high reliability, making them widely used in the new energy vehicle sector. In PMSM vector control systems, classic dual-loop control is typically employed to achieve closed-loop control of torque and speed. High-performance vector control requires rotor position information, which is crucial for accurate acquisition. A deviation in the resolver's zero-position angle will affect the accuracy of rotor position information, hindering high-performance motor control and potentially leading to motor reversal or burnout. Manufacturing processes introduce machining and installation errors, causing discrepancies between the actual resolver positioning and design requirements. Correction of the zero-position angle typically involves two methods: hardware zeroing using a resolver zero-adjustment device on the production line to adjust the resolver's stator and rotor positions, and software zeroing by writing the deviation angle into the controller.

[0003] For range extender systems, under normal circumstances, zero-position calibration is performed before the motor is mechanically directly connected to the engine. However, in certain special operating conditions, such as when the motor controller needs to be replaced due to fault or the motor needs to be replaced during after-sales maintenance, the motor needs to be removed and recalibrated with the new controller before being connected to the engine. This is largely limited by equipment resources such as dynamometers, and is quite labor-intensive and resource-intensive. If the motor is not removed to perform the traditional zero-position calibration procedure, the motor output will be under engine load due to engine friction, piston position, and valve opening and closing. Conventional zero-position calibration procedures cannot obtain highly accurate zero-position information. If the initial resolver zero-offset angle differs significantly from the true value, it may result in the inability to start the engine, damage to the engine due to reverse rotation, and trigger various malfunctions. Therefore, accurate resolver zero-position is crucial for range extender systems.

[0004] Existing calibration schemes are generally based on unloaded motors, with the main method being bench calibration. However, for bench calibration to calibrate the resolver zero position, the motor control unit needs to be mounted on a bench, and the calibration personnel need to continuously adjust the resolver zero position and observe the D-axis voltage or motor torque through a host computer to determine the position, which makes the operation complex and time-consuming. Summary of the Invention

[0005] To overcome the problems existing in the related technologies, this application provides a method, apparatus, electronic device, storage medium and vehicle for zero-position calibration of a motor.

[0006] According to a first aspect of the embodiments of this application, a motor zero-position calibration method is provided, applied to a generator controller GPEU, the method comprising:

[0007] When the current operating state of the range extender system is detected to meet the preset zero-position coarse calibration conditions, the engine in the range extender system is controlled to rotate to the preset position based on the preset rotor prepositioning method, and the resolver reading corresponding to the preset position is recorded.

[0008] If the resolver reading is detected to be within a preset verification range, the engine is controlled to start.

[0009] When the current operating state of the range extender system is detected to meet the preset zero-position fine calibration conditions, the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained, and a fine calibration flag is sent to the power domain controller PDCU so that the PDCU controls the engine speed to be at the second target speed according to the fine calibration flag.

[0010] When the PDCU controls the engine speed to the second target speed, it controls the maximum torque value of the motor to 0, and determines whether the motor is in a calibration state based on the direct axis voltage component and the quadrature axis voltage component.

[0011] Optionally, the step of controlling the engine in the range extender system to rotate to a preset position based on a preset rotor pre-positioning method when the current operating state of the range extender system meets the preset zero-position coarse calibration conditions, and recording the resolver reading corresponding to the preset position, includes:

[0012] When the range extender system is detected to be powered on, and the high-voltage electricity, low-voltage electricity, cooling system and fuel system are in normal working condition, and a zero-position calibration command is received from the PDCU, the engine in the range extender system is controlled to rotate to a preset position based on a preset rotor pre-positioning method, and the resolver reading corresponding to the preset position is recorded.

[0013] Optionally, controlling the engine in the range extender system to rotate to a preset position based on the preset rotor pre-positioning method includes:

[0014] Based on the preset direct-axis current and quadrature-axis current, the motor is controlled to drive the engine to rotate so that the rotor of the motor reaches the preset position of the stator U-phase axis.

[0015] Optionally, after the step of detecting that the resolver reading is within a preset verification range, the method further includes:

[0016] Send the coarse calibration flag to the PDCU.

[0017] Optionally, controlling the engine start includes:

[0018] The engine is controlled to rotate in a preset direction according to a preset constant torque until a preset ignition speed is reached, so that the PDCU sends an ignition command to the engine according to the preset ignition speed, and the engine starts.

[0019] When the engine speed is detected to have reached the first target speed and the motor speed is also detected to have reached the first target speed, the maximum torque value of the motor is controlled to be 0, so that the engine drives the motor to rotate according to the first target speed.

[0020] Optionally, obtaining the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system includes:

[0021] The direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained from the input terminal of the motor through a hardware acquisition circuit; or,

[0022] The direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system are obtained through the output terminal of the current loop.

[0023] Optionally, the preset zero-point precision calibration conditions include: the maximum torque value of the motor controlled by the GPEU is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the GPEU and the PDCU.

[0024] According to a second aspect of the embodiments of this application, a motor zero-position calibration device is provided, the device comprising:

[0025] The first control module is used to control the engine in the range extender system to rotate to a preset position based on a preset rotor prepositioning method when the current working state of the range extender system is detected to meet the preset zero-position coarse calibration conditions, and to record the resolver reading corresponding to the preset position.

[0026] The second control module is used to control the engine to start when the resolver reading is detected to be within a preset verification range;

[0027] The acquisition module is used to acquire the direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system when the current working state of the range extender system meets the preset zero-position fine calibration conditions, and send a fine calibration flag bit to the power domain controller PDCU so that the PDCU controls the engine speed to be at the second target speed according to the fine calibration flag bit.

[0028] The calibration module is used to control the maximum torque value of the motor to 0 when the PDCU controls the engine speed to be at the second target speed, and to determine whether the motor is in a calibration state based on the direct axis voltage component and the quadrature axis voltage component.

[0029] Optionally, the first control module includes:

[0030] The first control submodule is used to control the engine in the range extender system to rotate to a preset position based on a preset rotor prepositioning method when the range extender system is detected to be powered on, the high voltage, low voltage, cooling system and fuel system are in normal working condition, and the zero-position calibration command sent by the PDCU is received, and to record the resolver reading corresponding to the preset position.

[0031] Optionally, the first control submodule includes:

[0032] The first control unit is used to control the motor to drive the engine to rotate according to the preset direct-axis current and quadrature-axis current, so that the rotor of the motor reaches the preset position of the stator U-phase axis.

[0033] Optionally, the second control module includes:

[0034] The second control submodule is used to control the engine to rotate in a preset direction until a preset ignition speed is reached according to a preset constant torque, so that the PDCU sends an ignition command to the engine according to the preset ignition speed, and the engine starts.

[0035] The third control submodule is used to control the maximum torque value of the motor to 0 when the engine speed is detected to reach the first target speed and the motor speed is also detected to reach the first target speed, so that the engine drives the motor to rotate according to the first target speed.

[0036] Optionally, the acquisition module includes:

[0037] The first acquisition submodule is used to acquire the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system from the input terminal of the motor through a hardware acquisition circuit; or,

[0038] The second acquisition submodule is used to acquire the direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system through the output terminal of the current loop.

[0039] Optionally, the acquisition module is further configured to include the following preset zero-point precision calibration conditions: the maximum torque value of the motor controlled by the GPEU is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the GPEU and the PDCU.

[0040] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising:

[0041] processor;

[0042] Memory used to store the processor's executable instructions;

[0043] The processor is configured to execute the instructions to implement the motor zero-position calibration method as described in the first aspect.

[0044] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform the motor zero-position calibration method as described in the first aspect of this application.

[0045] According to a fifth aspect of the embodiments of this application, a vehicle is provided, including the motor zero-position calibration device described in the second aspect of this application.

[0046] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0047] This application, upon detecting that the current operating state of the range extender system meets preset zero-position coarse calibration conditions, controls the engine in the range extender system to rotate to a preset position based on a preset rotor pre-positioning method, and records the resolver reading corresponding to the preset position; upon detecting that the resolver reading is within a preset verification range, controls the engine to start; upon detecting that the current operating state of the range extender system meets preset zero-position fine calibration conditions, acquires the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system, and sends a fine calibration flag bit to the power domain controller (PDCU), so that the PDCU controls the engine according to the fine calibration flag bit. The rotational speed is at the second target rotational speed; when the PDCU controls the engine rotational speed to be at the second target rotational speed, the maximum torque value of the motor is controlled to be 0, and the motor is determined to be in a calibration state based on the direct axis voltage component and the quadrature axis voltage component. That is, the embodiment of this application performs coarse zero-position calibration and fine zero-position calibration through the interaction between the power domain controller and the generator controller. It can realize that when the motor zero position is uncertain, the power domain controller and the generator controller cooperate with each other without disassembling the motor separately for zero-position calibration. The operation is simple, the execution efficiency is high, and it does not rely on test benches or other equipment, realizing zero-position calibration on the range extender system and the whole vehicle.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 This is a flowchart illustrating the steps of a motor zero-position calibration method according to an exemplary embodiment;

[0051] Figure 2 This is a flowchart illustrating the steps of another motor zero-position calibration method according to an exemplary embodiment;

[0052] Figure 3 yes Figure 1 A flowchart of step 102 of a motor zero-position calibration method according to an exemplary embodiment is shown in the flowchart below;

[0053] Figure 4 This is a block diagram of a motor zero-position calibration device according to an exemplary embodiment;

[0054] Figure 5 This is a schematic diagram illustrating a motor zero-position calibration system according to an exemplary embodiment;

[0055] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0056] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0057] It should be noted that, in the embodiments of this application, as Figure 5 As shown, Figure 5This is a schematic diagram of a motor zero-position calibration system according to an exemplary embodiment. The motor zero-position calibration system includes a range extender permanent magnet synchronous motor, the output of which is mechanically connected to the engine output shaft. In the starting condition, the range extender permanent magnet synchronous motor drives the engine to the ignition speed; in the power generation condition, the engine drives the range extender permanent magnet synchronous motor to generate electricity. A generator controller (GPEU, Generate Power Electrical Unit) has its output UVW three-phase copper busbar connected to the range extender permanent magnet synchronous motor UVW through a cylinder-through component. A powertrain domain control unit (PDCU, Powertrain Domain Control Unit) is connected to the engine and generator controllers via a communication line. In addition, the system also includes a cooling circuit and an engine fuel supply circuit.

[0058] In the motor zero-position calibration system of this application, the PDCU is used for the overall control of the engine and to send command signals to the GPEU; the GPEU is used to receive commands from the PDCU and to directly control, diagnose, and protect the motor. In addition, the motor in the embodiments of this application can be a range extender permanent magnet synchronous motor.

[0059] The first embodiment of this application relates to a motor zero-position calibration method, applied to a generator controller GPEU. Figure 1 This is a flowchart illustrating the steps of a motor zero-position calibration method according to an exemplary embodiment, such as... Figure 1 As shown, it includes the following steps:

[0060] Step 101: When the current working state of the range extender system is detected to meet the preset zero-position coarse calibration conditions, the engine in the range extender system is controlled to rotate to a preset position based on the preset rotor prepositioning method, and the resolver reading corresponding to the preset position is recorded.

[0061] It should be noted that, in the embodiments of this application, the preset zero-point coarse calibration conditions may include the following: the GPEU is powered on normally, the GPEU has no fault code, and the GPEU receives the range extender system zero-point calibration command sent by the PDCU.

[0062] If the conditions are not met, or if the conditions are not met during the coarse calibration process, exit immediately and report the fault.

[0063] It should be noted that performing a coarse zero-point calibration of the resolver in this application is the basis and prerequisite for starting the engine. If the coarse zero-point calibration of the resolver is not performed and the engine is started directly, the motor may not be able to be controlled to work normally, and there may even be a high-speed reverse accident caused by dragging the engine.

[0064] Step 102: If the resolver reading is detected to be within a preset verification range, control the engine to start;

[0065] It should be noted that, in the embodiments of this application, when the zero-position coarse calibration condition is met, the GPEU uses the rotor pre-positioning method to control the motor to drive the engine to rotate slightly to a position near the stator U-phase axis, records the resolver reading, verifies that the reading range is reasonable, writes it into the controller memory, and sends the coarse positioning completion flag bit to the PDCU.

[0066] Furthermore, such as Figure 3 As shown, Figure 3 for Figure 1 The flowchart of step 102 in the process flow diagram of a motor zero-position calibration method includes:

[0067] Step 1021: Control the engine to rotate in a preset direction according to the preset constant torque until the preset ignition speed, so that the PDCU sends an ignition command to the engine according to the preset ignition speed, and the engine starts;

[0068] Step 1022: When it is detected that the engine speed has reached the first target speed and the motor has reached the first target speed, the maximum torque value of the motor is controlled to be 0, so that the engine drives the motor to rotate according to the first target speed.

[0069] It should be noted that in steps 1021-1022 above, after the GPEU drives the engine to accelerate in the positive direction with constant torque and reaches the engine ignition speed, the PDCU sends an ignition command to the engine and controls the engine to reach the predetermined speed with speed control; after the GPEU determines that the motor speed has reached the predetermined speed, it controls the motor according to 0 Nm, at which time the engine drives the motor to rotate at the predetermined speed.

[0070] Step 103: When the current working state of the range extender system is detected to meet the preset zero-position fine calibration conditions, the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained, and a fine calibration flag is sent to the power domain controller PDCU so that the PDCU controls the engine speed to be at the second target speed according to the fine calibration flag.

[0071] It should be noted that after the engine starts, the motor needs to be finely calibrated to resolver zero position. When the fine calibration conditions for resolver zero position are met, the D-axis voltage component and Q-axis voltage component of the range extender permanent magnet synchronous motor are obtained, the deviation angle of resolver zero position is calculated and written to the controller, and a flag bit is sent to the PDCU after the fine calibration is completed. Here, the Q-axis is the quadrature axis and the D-axis is the direct axis.

[0072] Furthermore, the preset zero-point precision calibration conditions include: the maximum torque value of the motor controlled by the GPEU is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the GPEU and the PDCU.

[0073] Step 104: When the PDCU controls the engine speed to be at the second target speed, it controls the maximum torque value of the motor to be 0, and determines whether the motor is in a calibration state based on the direct axis voltage component and the quadrature axis voltage component.

[0074] It should be noted that in this embodiment, after the PDCU receives the precise calibration flag, it controls the engine to work at the highest speed, and the GPEU still controls the motor according to 0Nm. At this time, it observes whether the output D-axis voltage Ud of the GPEU current loop PI jumps within the positive and negative allowable error range. If it is within the error range, the verification is completed. If not, the resolver zero-position precision calibration step is performed again.

[0075] This application, upon detecting that the current operating state of the range extender system meets preset zero-position coarse calibration conditions, controls the engine in the range extender system to rotate to a preset position based on a preset rotor pre-positioning method, and records the resolver reading corresponding to the preset position; upon detecting that the resolver reading is within a preset verification range, controls the engine to start; upon detecting that the current operating state of the range extender system meets preset zero-position fine calibration conditions, acquires the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system, and sends a fine calibration flag bit to the power domain controller (PDCU), so that the PDCU controls the engine according to the fine calibration flag bit. The rotational speed is at the second target rotational speed; when the PDCU controls the engine rotational speed to be at the second target rotational speed, the maximum torque value of the motor is controlled to be 0, and the motor is determined to be in a calibration state based on the direct axis voltage component and the quadrature axis voltage component. That is, the embodiment of this application performs coarse zero-position calibration and fine zero-position calibration through the interaction between the power domain controller and the generator controller. It can realize that when the motor zero position is uncertain, the power domain controller and the generator controller cooperate with each other without disassembling the motor separately for zero-position calibration. The operation is simple, the execution efficiency is high, and it does not rely on test benches or other equipment, realizing zero-position calibration on the range extender system and the whole vehicle.

[0076] The second embodiment of this application relates to another method for zero-position calibration of a motor. Figure 2 This is a flowchart illustrating the steps of a motor zero-position calibration method according to an exemplary embodiment, such as... Figure 2 As shown, it includes the following steps:

[0077] Step 201: When the range extender system is detected to be powered on, and the high voltage, low voltage, cooling system and fuel system are in normal working condition, and the zero-position calibration command sent by the PDCU is received, the motor is controlled to drive the engine to rotate according to the preset direct axis current and quadrature axis current, so that the rotor of the motor reaches the preset position of the stator U-phase axis, and the resolver reading corresponding to the preset position is recorded.

[0078] It should be noted that in the embodiments of this application, when the range extender system is powered on, the high voltage, low voltage, cooling system, and fuel system are in normal working condition, the PDCU and GPEU communicate normally, and the PDCU sends a zero-position calibration command to the GPEU, it indicates that the zero-position coarse calibration condition is met. At this time, the GPEU can control the motor to drive the engine to rotate based on the rotor prepositioning method, and the engine will rotate to a preset position, where the preset position is a position that is close to coinciding with the U-phase axis of the stator.

[0079] Specifically, the process of coarse calibration of the resolver using the rotor prepositioning method can include: the GPEU sequentially assigns the D and Q axis currents as {id=0,iq=x}, {id=-x,iq=0}, {id=0,iq=-x}, and {id=x,iq=0}. After the motor drives the engine load to rotate slightly, the motor rotor can be pulled to a position close to the stator U-phase axis, and the resolver reading at this time is recorded.

[0080] Step 202: If the resolver reading is detected to be within a preset verification range, control the engine to start.

[0081] It should be noted that, in the embodiments of this application, step 202 is described in the preceding discussion and will not be repeated here.

[0082] Step 203: When the current operating state of the range extender system is detected to meet the preset zero-position fine calibration conditions, the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained from the input terminal of the motor through the hardware acquisition circuit; or, the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained from the output terminal of the current loop, and a fine calibration flag is sent to the power domain controller PDCU, so that the PDCU controls the engine speed to be at the second target speed according to the fine calibration flag.

[0083] It should be noted that, in the embodiments of this application, when the preset zero-position fine calibration conditions are met, the shaft voltage component and shaft voltage component of the permanent magnet synchronous motor are obtained from the output terminal of the current loop PI or from the input terminal of the permanent magnet motor through a hardware acquisition circuit. In order to balance cost and accuracy, the output of the current loop PI is generally used as Ud and Uq.

[0084] Step 204: When the PDCU controls the engine speed to be at the second target speed, it controls the maximum torque value of the motor to be 0, and determines whether the motor is in a calibration state based on the direct axis voltage component and the quadrature axis voltage component.

[0085] Further, in step 204, determining whether the motor is in a calibration state based on the direct-axis voltage component and the quadrature-axis voltage component includes: determining whether the deviation between the direct-axis voltage component and the quadrature-axis voltage component is within a preset error range; if so, the motor is in a calibration state.

[0086] It should be noted that, in this embodiment, the deviation between the direct-axis voltage component and the quadrature-axis voltage component is the zero-position deviation angle, which is obtained using Formula 1.

[0087]

[0088] Where θ is the deviation angle of the resolver zero point, Ud is the D-axis voltage component of the permanent magnet synchronous motor, and Uq is the Q-axis voltage component of the permanent magnet synchronous motor.

[0089] In addition, the above Ud and Uq are sets of multiple data {[Ud1, Uq1], [Ud2, Uq2], ..., [Udn, Uqn]} within a specific sampling time at a predetermined speed.

[0090] Specifically, after the PDCU receives the precise calibration flag, it controls the engine to operate at the highest speed, while the GPEU is still controlled at 0 Nm. It observes whether the output shaft voltage of the GPEU current loop PI jumps within the positive and negative allowable error range. If it is within the error range, the calibration is complete; otherwise, the resolver zero-position precision calibration step is performed again.

[0091] This application embodiment achieves coarse and fine zero-position calibration through the interaction between the power domain controller and the generator controller. It enables the power domain controller and the generator controller to cooperate with each other when the motor zero position is uncertain, without the need to disassemble the motor separately for zero-position calibration. The operation is simple, the execution efficiency is high, and it does not rely on test benches or other equipment, thus realizing zero-position calibration on the range extender system and the whole vehicle.

[0092] The second embodiment of this application relates to a motor zero-position calibration device. Figure 4 This is a device block diagram illustrating a motor zero-position calibration apparatus according to an exemplary embodiment, such as... Figure 4 As shown, the device includes:

[0093] The first control module 301 is used to control the engine in the range extender system to rotate to a preset position based on a preset rotor prepositioning method when the current working state of the range extender system is detected to meet the preset zero-position coarse calibration conditions, and to record the resolver reading corresponding to the preset position.

[0094] The second control module 302 is used to control the engine to start when the resolver reading is detected to be within a preset verification range;

[0095] The acquisition module 303 is used to acquire the direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system when the current working state of the range extender system meets the preset zero-position fine calibration conditions, and send a fine calibration flag bit to the power domain controller PDCU so that the PDCU controls the engine speed to be at the second target speed according to the fine calibration flag bit.

[0096] The calibration module 304 is used to control the maximum torque value of the motor to 0 when the PDCU controls the engine speed to be at the second target speed, and to determine whether the motor is in a calibration state based on the direct axis voltage component and the quadrature axis voltage component.

[0097] Optionally, the first control module includes:

[0098] The first control submodule is used to control the engine in the range extender system to rotate to a preset position based on a preset rotor prepositioning method when the range extender system is detected to be powered on, the high voltage, low voltage, cooling system and fuel system are in normal working condition, and the zero-position calibration command sent by the PDCU is received, and to record the resolver reading corresponding to the preset position.

[0099] Optionally, the first control submodule includes:

[0100] The first control unit is used to control the motor to drive the engine to rotate according to the preset direct-axis current and quadrature-axis current, so that the rotor of the motor reaches the preset position of the stator U-phase axis.

[0101] Optionally, the second control module includes:

[0102] The second control submodule is used to control the engine to rotate in a preset direction until a preset ignition speed is reached according to a preset constant torque, so that the PDCU sends an ignition command to the engine according to the preset ignition speed, and the engine starts.

[0103] The third control submodule is used to control the maximum torque value of the motor to 0 when the engine speed is detected to reach the first target speed and the motor speed is also detected to reach the first target speed, so that the engine drives the motor to rotate according to the first target speed.

[0104] Optionally, the acquisition module includes:

[0105] The first acquisition submodule is used to acquire the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system from the input terminal of the motor through a hardware acquisition circuit; or,

[0106] The second acquisition submodule is used to acquire the direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system through the output terminal of the current loop.

[0107] Optionally, the acquisition module is further configured to include the following preset zero-point precision calibration conditions: the maximum torque value of the motor controlled by the GPEU is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the GPEU and the PDCU.

[0108] This application, upon detecting that the current operating state of the range extender system meets preset zero-position coarse calibration conditions, controls the engine in the range extender system to rotate to a preset position based on a preset rotor pre-positioning method, and records the resolver reading corresponding to the preset position; upon detecting that the resolver reading is within a preset verification range, controls the engine to start; upon detecting that the current operating state of the range extender system meets preset zero-position fine calibration conditions, acquires the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system, and sends a fine calibration flag bit to the power domain controller (PDCU), so that the PDCU controls the engine according to the fine calibration flag bit. The rotational speed is at the second target rotational speed; when the PDCU controls the engine rotational speed to be at the second target rotational speed, the maximum torque value of the motor is controlled to be 0, and the motor is determined to be in a calibration state based on the direct axis voltage component and the quadrature axis voltage component. That is, the embodiment of this application performs coarse zero-position calibration and fine zero-position calibration through the interaction between the power domain controller and the generator controller. It can realize that when the motor zero position is uncertain, the power domain controller and the generator controller cooperate with each other without disassembling the motor separately for zero-position calibration. The operation is simple, the execution efficiency is high, and it does not rely on test benches or other equipment, realizing zero-position calibration on the range extender system and the whole vehicle.

[0109] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0110] A third embodiment of this application relates to an electronic device, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement any motor zero-position calibration method.

[0111] Figure 6 This is a block diagram illustrating an electronic device 1400 according to an exemplary embodiment. For example, the electronic device 1400 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0112] Reference Figure 6 The electronic device 1400 may include one or more of the following components: processing component 1402, memory 1404, power supply component 1406, multimedia component 1408, audio component 1410, input / output interface 1412, sensor component 1414, and communication component 1416.

[0113] Processing component 1402 typically controls the overall operation of device 1400, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 1402 may include one or more processors 1420 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1402 may include one or more modules to facilitate interaction between processing component 1402 and other components. For example, processing component 1402 may include a multimedia module to facilitate interaction between multimedia component 1408 and processing component 1402.

[0114] Memory 1404 is configured to store various types of data to support the operation of device 1400. Examples of this data include instructions for any application or method operating on device 1400, contact data, phonebook data, messages, pictures, videos, etc. Memory 1404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0115] Power supply component 1406 provides power to various components of electronic device 1400. Power supply component 1406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 1400.

[0116] Multimedia component 1408 includes a screen that provides an output interface between the electronic device 1400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1408 includes a front-facing camera and / or a rear-facing camera. When the electronic device 1400 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0117] Audio component 1410 is configured to output and / or input audio signals. For example, audio component 1410 includes a microphone (MIC) configured to receive external audio signals when electronic device 1200 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1404 or transmitted via communication component 1416. In some embodiments, audio component 1410 also includes a speaker for outputting audio signals.

[0118] Input / output interface 1412 provides an interface between processing component 1402 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0119] Sensor assembly 1414 includes one or more sensors for providing state assessments of various aspects of electronic device 1400. For example, sensor assembly 1414 may detect the on / off state of electronic device 1400, the relative positioning of components such as the display and keypad of electronic device 1400, changes in position of electronic device 1400 or a component of electronic device 1400, the presence or absence of user contact with electronic device 1400, orientation or acceleration / deceleration of electronic device 1400, and temperature changes of electronic device 1400. Sensor assembly 1414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1414 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0120] Communication component 1416 is configured to facilitate wired or wireless communication between electronic device 1400 and other devices. Electronic device 1400 can access wireless networks based on communication standards, such as WiFi, carrier networks (such as 2G, 3G, 4G, or 5G), or combinations thereof. In one exemplary embodiment, communication component 1416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1416 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0121] In an exemplary embodiment, the electronic device 1400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0122] The fourth embodiment of this application relates to a non-transitory computer-readable storage medium including instructions, such as a memory 1404 including instructions, which can be executed by a processor 1420 of an electronic device 1400 to complete the above-described motor zero-position calibration method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0123] The fifth embodiment of this application relates to a vehicle including any of the motor zero-position calibration devices in the second embodiment of this application.

[0124] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0125] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. This application is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for zero-position calibration of a motor, characterized in that, Applied to a generator controller, the method includes: When the current operating state of the range extender system is detected to meet the preset zero-position coarse calibration conditions, the engine in the range extender system is controlled to rotate to a preset position based on a preset rotor pre-positioning method, and the resolver reading corresponding to the preset position is recorded, including: When the range extender system is detected to be powered on, and the high-voltage, low-voltage, cooling, and fuel systems are operating normally, and a zero-position calibration command is received from the power domain controller, the engine in the range extender system is controlled to rotate to a preset position based on a preset rotor pre-positioning method, and the resolver reading corresponding to the preset position is recorded. Controlling the engine in the range extender system to rotate to the preset position based on the preset rotor pre-positioning method includes: controlling the motor to drive the engine to rotate according to preset direct-axis and quadrature-axis currents, so that the motor rotor reaches a preset position on the stator U-phase axis. The preset zero-position coarse calibration conditions include: normal high-voltage power-on of the generator controller, no fault codes in the generator controller, and the generator controller receiving a zero-position calibration command from the power domain controller. If the current operating state of the range extender system does not meet the preset zero-position coarse calibration conditions, or if the preset zero-position coarse calibration conditions are not met during the coarse calibration process, the system immediately exits and reports a fault. If the resolver reading is detected to be within a preset verification range, the engine is controlled to start. When the current operating state of the range extender system is detected to meet the preset zero-position fine calibration conditions, the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are acquired, and a fine calibration flag is sent to the power domain controller so that the power domain controller controls the engine speed to be at the second target speed according to the fine calibration flag. The preset zero-position fine calibration conditions include: the maximum torque value of the motor controlled by the generator controller is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the generator controller and the power domain controller. When the power domain controller controls the engine speed to the second target speed, it controls the maximum torque value of the motor to 0, and determines whether the motor is in a calibration state based on the direct-axis voltage component and the quadrature-axis voltage component.

2. The motor zero-position calibration method according to claim 1, characterized in that, The control of starting the engine includes: The engine is controlled to rotate in a preset direction according to a preset constant torque until a preset ignition speed is reached, so that the power domain controller sends an ignition command to the engine according to the preset ignition speed, and the engine starts. When the engine speed is detected to have reached the first target speed and the motor speed is also detected to have reached the first target speed, the maximum torque value of the motor is controlled to be 0, so that the engine drives the motor to rotate according to the first target speed.

3. The motor zero-position calibration method according to claim 1, characterized in that, The acquisition of the direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system includes: The direct-axis voltage component and quadrature-axis voltage component corresponding to the motor in the range extender system are obtained from the input terminal of the motor through a hardware acquisition circuit; or, The direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system are obtained through the output terminal of the current loop.

4. A motor zero-position calibration device, characterized in that, The device, applied to a generator controller, includes: The first control module is used to control the engine in the range extender system to rotate to a preset position based on a preset rotor pre-positioning method when the current operating state of the range extender system meets the preset zero-position coarse calibration conditions, and to record the resolver reading corresponding to the preset position. This includes: when the range extender system is detected to be powered on, and the high-voltage, low-voltage, cooling, and fuel systems are in normal operating condition, and a zero-position calibration command is received from the power domain controller, controlling the engine in the range extender system to rotate to the preset position based on the preset rotor pre-positioning method, and recording the resolver reading corresponding to the preset position; Controlling the engine in the range extender system to a preset position based on a preset rotor pre-positioning method includes: controlling the motor to drive the engine to rotate according to preset direct-axis current and quadrature-axis current, so that the rotor of the motor reaches the preset position of the stator U-phase axis; the preset zero-position coarse calibration conditions include: the generator controller is powered on normally at high voltage, the generator controller has no fault code, and the generator controller receives the range extender system zero-position calibration command sent by the power domain controller; if it is detected that the current working state of the range extender system does not meet the preset zero-position coarse calibration conditions or does not meet the preset zero-position coarse calibration conditions during the coarse calibration process, it immediately exits and reports a fault; The second control module is used to control the engine to start when the resolver reading is detected to be within a preset verification range; The acquisition module is used to acquire the direct-axis voltage component and quadrature-axis voltage component of the motor in the range extender system when the current operating state of the range extender system meets the preset zero-position fine calibration conditions, and send a fine calibration flag bit to the power domain controller so that the power domain controller controls the engine speed to be at a second target speed according to the fine calibration flag bit; the preset zero-position fine calibration conditions include: the maximum torque value of the motor controlled by the generator controller is 0, the speed range of the motor is between the engine idle speed and the rated speed of the motor, and normal communication between the generator controller and the power domain controller; The calibration module is used to control the maximum torque value of the motor to 0 when the power domain controller controls the engine speed to be at the second target speed, and to determine whether the motor is in a calibration state based on the direct-axis voltage component and the quadrature-axis voltage component.

5. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to execute the instructions to implement the motor zero-position calibration method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to perform the motor zero-position calibration method as described in any one of claims 1 to 3.

7. A vehicle, characterized in that, Includes the motor zero-position calibration device as described in claim 4.

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