A method and system for calibrating zero position of a motor of a hybrid vehicle

Abstract

The present invention relates to a method and system for calibrating the zero position of a motor of a hybrid vehicle, which comprises: raising the rear wheel of a whole vehicle, and connecting the motor controller of the whole vehicle to a host computer; inputting a plurality of set motor zero point values ​​in the host computer, and giving a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, inputting the motor torque as 0 to make the motor stop freely, and judging whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, determining the motor zero point value that meets the preset conditions as the final motor zero point value. By connecting the motor controller of the whole vehicle to the host computer, directly using the mass-produced matching electronic control to perform zero position calibration on the actual vehicle, the difference in the electronic control hardware, zero adjustment method or the influence of the mechanical transmission of the motor stand between the factory motor zero adjustment electronic control and the actual vehicle mass production electronic control is reduced, and the deviation of the motor zero position is reduced, the operation is simple, and the result is accurate.

Description

Technical Field

[0001] The present invention relates to the field of hybrid assembly systems and electronic control of new energy hybrid vehicles, and in particular to a method and system for calibrating the zero position of a motor of a hybrid vehicle. Background Art

[0002] With the rapid development of new energy vehicles, hybrid models have become products that vehicle manufacturers are competing to develop due to their lack of mileage anxiety and higher fuel economy. Especially in light commercial vehicles, planetary power split hybrid systems have become a trend.

[0003] The motor zero position, i.e. the zero position deflection angle of the motor's rotary transformer, is crucial to the accuracy of the motor's output torque. When there is a deviation in the motor zero position, it will cause a large torque output deviation in the low-speed to high-speed area, which will not only reduce the power and efficiency, but also cause abnormal overheating of the motor, affecting the motor's service life. In the related art, a motor zero position learning method is to directly adjust the motor to zero and record the angle value A when the motor is tested on the bench before leaving the factory, and use it directly on the vehicle. Especially for the situation where the motor and the electronic control are supplied separately, there is a situation where the electronic control of the factory motor zeroing is not the same product as the electronic control used in the actual vehicle mass production. Due to the differences in electronic control hardware and software (zeroing method), and considering the influence of the mechanical transmission of the motor's bench dynamometer at the factory, directly using the A value will have a large deviation, resulting in a huge deviation in the motor torque output, causing abnormal heating of the motor, and even motor burnout. Summary of the invention

[0004] The embodiment of the present invention provides a method and system for calibrating the zero position of a motor of a hybrid vehicle, so as to solve the problem in the related art that the zero position of the motor is deviated, resulting in the deviation of the motor torque output, abnormal heating of the motor or even burning of the motor.

[0005] In a first aspect, a method for calibrating the zero position of a motor of a hybrid vehicle is provided, comprising: raising the rear wheel of the vehicle and connecting the motor controller of the vehicle to a host computer; inputting a plurality of set motor zero point values ​​into the host computer, and giving a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, inputting the motor torque as 0 to make the motor stop freely, and judging whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, determining the motor zero point value that meets the preset conditions as the final motor zero point value.

[0006] In some embodiments, before inputting the set multiple motor zero point values ​​in the host computer, it also includes: obtaining the motor zero point value A of the motor when it leaves the factory; and learning the motor zero position multiple times through the host computer selecting the tuning function to obtain multiple motor zero point values ​​B.

[0007] In some embodiments, the multiple motor zero point values ​​are input into the host computer, and a motor torque with a torque value greater than 0 is given. When the motor runs to the rated speed and stabilizes, the motor torque is input as 0 to make the motor stop freely, and it is judged whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions, including: inputting the motor zero point value A and the motor zero point value B in the host computer, and giving a motor torque with a torque value greater than 0. When the motor runs to the rated speed and stabilizes, the motor torque is input as 0 to make the motor stop freely, and it is judged whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, the motor zero point value A or B that meets the preset conditions is defined as the motor zero position approach value C; further calibration is performed within the range of C-σ~C+σ to determine the final motor zero point value.

[0008] In some embodiments, the motor operating parameters include a torque current command and a flux current command; the determination of whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meets the preset conditions includes: determining whether the torque current command and the flux current command are 0, if so, they are satisfied.

[0009] In some embodiments, the motor operating parameters also include torque current feedback values ​​and flux current feedback values; after determining whether the torque current command and the flux current command are 0, it also includes: if so, determining whether the average values ​​of the torque current feedback and the flux current feedback are 0, and if so, it is satisfied.

[0010] In some embodiments, the motor operating parameters also include an M-axis current component output value and a T-axis current component output; after determining whether the average values ​​of the torque current feedback and the flux current feedback are 0, it also includes: if so, determining whether the M-axis current component output value and the T-axis current component output value fluctuate around 0, and if so, the condition is satisfied.

[0011] In some embodiments, the motor zero point value that satisfies the preset conditions is preliminarily determined as the motor zero position proximity value C, including: the motor zero point value A or B that satisfies the preset conditions and has the smallest fluctuation absolute value △C between the M-axis current component output value and the T-axis current component output value from 0 is defined as the motor zero position proximity value C.

[0012] In some embodiments, the further calibration within the range of C-σ to C+σ to determine the final motor zero point value includes: changing the motor zero point value multiple times within the range of C-σ to C+σ, and inputting the multiple changed motor zero point values ​​into the host computer, giving a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, inputting the motor torque as 0 to make the motor stop freely, and determining whether the M-axis current component output value and the T-axis current component output value corresponding to each motor zero point value after the motor stops freely fluctuate around 0; if so, finding the motor zero point value D whose absolute value △C of the fluctuation is less than or equal to the preset value, and the sign of the feedback frequency per unit value is consistent with the sign of the T-axis current output component, and determining the motor zero point value D at this time as the final motor zero point value.

[0013] In some embodiments, the motor zero position calibration method also includes determining the motor zero position deviation, which includes: performing parking power generation conditions based on the motor zero point value B obtained using vehicle tuning, collecting the engine output torque T0 and speed N0; collecting the vehicle new energy CAN message to obtain the motor output torque TI and speed NI; determining whether TI*NI is greater than TI*N0; if so, the motor zero point value B has a deviation; otherwise, if T0*0.98=(K+1)TI is satisfied, the motor zero point value B has no deviation.

[0014] In a second aspect, a motor zero position calibration system for a hybrid vehicle is provided, comprising: a whole vehicle, on which a motor and a motor controller connected to the motor are installed; a host computer, which is connected to the motor controller, and is used to input a plurality of set motor zero point values ​​to the motor controller, and to give a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, the motor torque is input to be 0 to make the motor stop freely, and a judgment module is used to judge whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet preset conditions; if so, the motor zero point value that meets the preset conditions is determined as the final motor zero point value.

[0015] The beneficial effects brought about by the technical solution provided by the present invention include:

[0016] The embodiment of the present invention provides a method and system for calibrating the zero position of a motor of a hybrid vehicle. By connecting the motor controller of the whole vehicle to a host computer, the zero position calibration is performed directly on the actual vehicle using the mass-produced matching electronic control. This reduces the difference between the factory motor zeroing electronic control and the electronic control used in actual vehicle mass production due to the difference in electronic control hardware, zeroing method, or the influence of the mechanical transmission of the motor test bench, thereby reducing the deviation of the motor zero position, and the operation is simple and the result is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a method for calibrating the motor zero position of a hybrid vehicle provided by an embodiment of the present invention;

[0019] Figure 2 A specific flow chart of the motor zero position calibration method for a hybrid vehicle provided by an embodiment of the present invention;

[0020] Figure 3 A flow chart of a method for determining a motor zero position deviation provided by an embodiment of the present invention;

[0021] Figure 4 A schematic structural diagram of a planetary gear power split hybrid power system provided in an embodiment of the present invention.

[0022] Numbers in the figure:

[0023] 1. First meshing gear; 2. Idle gear; 3. Second meshing gear; 4. Outer ring gear; 5. Planetary gear; 6. Output driven gear; 7. Sun gear; 8. Planet carrier; 9. Output shaft; 10. First gear driven gear; 11. Synchronizer; 12. Second gear driven gear; 13. Output driving gear; 14. First gear driving gear; 15. Second gear driving gear; 16. First motor; 17. Engine; 18. Second motor. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The traditional motor zero position learning method 1 is to directly adjust the motor to zero and record the angle value A when the motor is tested on the bench before leaving the factory, and use it directly on the whole vehicle. Especially for the case where the motor and the electronic control are supplied separately, there is a situation where the electronic control of the motor zeroed at the factory is not the same product as the electronic control used in the actual vehicle mass production. Due to the differences in electronic control hardware and software (zeroing method), and considering the influence of the mechanical transmission of the motor bench dynamometer at the factory, directly using the A value will have a large deviation; the traditional motor zero position learning method 2 is to consider the influence in method 1 and not adopt the angle value A of the motor at the factory, and take the angle B learned on the actual vehicle as the standard, but for the dual-motor hybrid system with planetary gear power splitting, one of the motors I (mainly used for power generation) is fixedly connected to the engine and the drive shaft through the hybrid box structure and cannot be disengaged, and the other motor II (mainly used for driving and braking energy recovery) cannot be disengaged from the directly meshed shaft. Due to the influence of mechanical transmission, the deviation of the learned B value is also large. According to actual cases, the deviation exceeds 30°, resulting in a huge motor torque output deviation, causing abnormal heating of the motor and even motor burning.

[0026] In order to solve the above problems and ensure the accuracy of the zero position of the motor of a planetary hybrid vehicle, the present application proposes a calibration method for the zero position sliding of the motor of an actual vehicle. After obtaining A and B respectively, three sliding calibrations are performed on the actual vehicle to preliminarily determine the motor zero position close to the value C (one of A or B), and then further calibration is performed within the range of C±σ to find a more accurate motor zero position. This method completely borrows the existing high and low voltage power supply devices and software control strategies of the actual vehicle, with simple operation methods and accurate results. At the same time, the present application also proposes a method for indirectly judging the zero position deviation of the motor. Combined with the structure and principle of the power split hybrid system, by calculating whether the torque relationship between the motor and the engine under a certain stable working condition satisfies the speed ratio relationship, it can be preliminarily judged whether the motor zero position has a deviation.

[0027] See also Figure 4 As shown, the present application relates to a planetary gear power split hybrid system, which includes an engine 17, a first motor 16, a second motor 18, a first meshing gear 1, a second meshing gear 3, an input shaft, an output shaft 9, a second gear gearbox and a planetary gear coupling mechanism. The power of the engine 17 is transmitted to the planetary gear coupling structure through the torsional vibration damper via the input shaft, and then transmitted to the vehicle via the output shaft 9 to achieve power output; the first motor 16 is always connected to the sun gear shaft through the first meshing gear 1, the idler gear 2, and the second meshing gear 3, and cannot be disengaged; the second motor 18 is connected to the output shaft 9 through the second gear gearbox, the output driving gear 13, and the output driven gear 6. When the gear is in neutral, the second motor 18 is disengaged from the output shaft 9 and the output gear shaft. The planetary gear coupling mechanism includes a sun gear 7, a planetary gear 5, a planetary carrier 8 and an outer gear ring. The sun gear 7 is connected to the input shaft, and the planetary gear 5 meshing with the sun gear 7 is arranged on the planetary carrier 8.

[0028] See also Figure 2 , which is a motor zero position calibration method for hybrid vehicles provided by an embodiment of the present invention. The calibration requires a dual-motor controller to control the first motor 16 and the second motor 18 respectively. A host computer system is required to control the dual-motor controller. Before calibration, ensure that the rear wheels of the vehicle are lifted up and no one is near the wheels; the hand and foot brakes are released normally and do not damage the wheels. Obtain the motor factory zero point value A from the motor nameplate or factory report, power on, apply high voltage, and control the motor through the host computer panel control. Set the torque control mode, set the torque setting to 0, set the torque limit to 10 (can be adjusted appropriately according to the project), and set the control frequency limit to the rated frequency; set the monitoring parameters of the operating speed, torque and Current command, torque current feedback, flux current command, flux current feedback, feedback frequency per unit value, M-axis current component output, T-axis current component output; input torque 3% or 5%, when the motor runs to the rated frequency and is stable, the input torque is 0, and the motor stops freely at this time; check whether the torque current command and flux current command are determined to be 0, whether the torque current feedback and flux current feedback average value is 0, check whether the M-axis current component output fluctuates around 0, and whether the T-axis current output sign is consistent with the feedback frequency sign. If not, adjust the electrical angle value after stopping. Repeat the above steps and confirm that the M-axis current component output meets the requirements and the T-axis output is the same as the frequency sign, save the calibration waveform; finally, solidify the parameters to form a new program.

[0029] See also Figure 3 , the present application also provides a method for indirectly judging the zero position deviation of the first motor 16. The planetary gear ratio is k, and according to general experience, the planetary gear efficiency is 0.98. The engine torque T0 and the first motor 16 torque T1 have a relationship of T0*0.98=(k+1)T1. According to the hybrid control strategy, in order to improve the fuel saving rate and ensure that the engine always works on the optimal fuel consumption curve, the HCU (vehicle controller) controls the engine speed through a closed loop, that is, by controlling the HCU output torque to stabilize the engine speed at a certain target value N0 to obtain the torque target required by the HCU. If the torque target is too large, more theoretical calculations are required to stabilize the engine speed, then it is judged that there is a deviation in the torque output, and it can be indirectly judged that the electrical angle may be biased.

[0030] For details, see Figure 1As shown, a method for calibrating the zero position of a motor of a hybrid vehicle provided by an embodiment of the present invention may include the following steps: raising the rear wheel of the vehicle and connecting the motor controller of the vehicle to a host computer; inputting a plurality of set motor zero point values ​​in the host computer, and giving a motor torque with a torque value greater than 0, when the motor runs to the rated speed and stabilizes, inputting a motor torque of 0 to make the motor stop freely, and judging whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, the motor zero point value that meets the preset conditions is determined as the final motor zero point value. By connecting the motor controller of the vehicle to the host computer, the mass-produced matching electronic control is directly used to perform zero-position calibration on the actual vehicle, which reduces the difference in electronic control hardware, zero-position method or the influence of the mechanical transmission of the motor stand between the zero-position electronic control of the factory motor and the electronic control used in the actual vehicle mass production, and reduces the deviation of the motor zero point, the operation is simple, and the result is accurate.

[0031] See also Figure 2 As shown, further, before inputting the set multiple motor zero point values ​​in the host computer, it also includes: obtaining the motor zero point value A of the motor when it leaves the factory; and learning the motor zero position multiple times through the host computer selecting the tuning function to obtain multiple motor zero point values ​​B.

[0032] See also Figure 2 As shown, further, the multiple motor zero point values ​​set are input in the host computer, and a motor torque with a torque value greater than 0 is given. When the motor runs to the rated speed and stabilizes, the motor torque is input as 0 to make the motor stop freely, and it is judged whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions. It can include: inputting the motor zero point value A and the motor zero point value B in the host computer, and giving the motor torque with a torque value greater than 0. When the motor runs to the rated speed and stabilizes, the motor torque is input as 0 to make the motor stop freely, and it is judged whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, the motor zero point value A or B that meets the preset conditions is defined as the motor zero position approach value C; further calibration is performed within the range of C-σ~C+σ to determine the final motor zero point value, so that the final motor zero point value is more accurate.

[0033] See also Figure 2 As shown, further, the motor operating parameters include torque current instructions and flux current instructions; the determination of whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely satisfies the preset conditions may include: determining whether the torque current instruction and the flux current instruction are 0, if so, then they are satisfied, and by determining the motor zero point value that meets the preset conditions as the final motor zero point value, the deviation of the motor zero position is further reduced, and the result is more accurate.

[0034] See also Figure 2As shown, further, the motor operating parameters also include a torque current feedback value and a flux current feedback value; after judging whether the torque current command and the flux current command are 0, it also includes: if so, judging whether the average values ​​of the torque current feedback and the flux current feedback are 0, if so, it is satisfied, by determining the motor zero point value that meets the preset conditions as the final motor zero point value, the deviation of the motor zero position is further reduced, and the result is more accurate.

[0035] See also Figure 2 As shown, further, the motor operating parameters also include an M-axis current component output value and a T-axis current component output; after determining whether the average values ​​of the torque current feedback and the flux current feedback are 0, it also includes: if so, determining whether the M-axis current component output value and the T-axis current component output value fluctuate around 0, and if so, it is satisfied that by determining the motor zero point value that meets the preset conditions as the final motor zero point value, the deviation of the motor zero position is further reduced, and the result is more accurate.

[0036] See also Figure 2 As shown, further, the preliminary determination of the motor zero point value that meets the preset conditions as the motor zero position proximity value C may include: the motor zero point value A or B that meets the preset conditions and has the smallest fluctuation absolute value △C between the M-axis current component output value and the T-axis current component output value from 0 is defined as the motor zero position proximity value C, which can further reduce the deviation of the motor zero position.

[0037] See also Figure 2 As shown, further, the further calibration within the range of C-σ~C+σ to determine the final motor zero point value includes: changing the motor zero point value multiple times within the range of C-σ~C+σ, and inputting the multiple changed motor zero point values ​​in the host computer, giving a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, inputting the motor torque as 0 to make the motor stop freely, and judging whether the M-axis current component output value and the T-axis current component output value corresponding to each motor zero point value after the motor stops freely fluctuate around 0; if so, finding the motor zero point value D whose fluctuation absolute value △C is less than or equal to the preset value, and the feedback frequency per unit value sign is consistent with the T-axis current output component sign, and determining the motor zero point value D at this time as the final motor zero point value.

[0038] See also Figure 3As shown, in some embodiments, the motor zero position calibration method also includes determining the motor zero position deviation, which may include: performing parking power generation conditions based on the motor zero point value B obtained by vehicle tuning, collecting the engine output torque T0 and speed N0; collecting the vehicle new energy CAN message to obtain the motor output torque TI and speed NI; determining whether TI*NI is greater than TI*N0; if so, the motor zero point value B has a deviation; otherwise, if T0*0.98=(K+1)TI is satisfied, the motor zero point value B has no deviation, so that it can be determined whether the motor zero point value has a deviation.

[0039] See also Figure 1 As shown, an embodiment of the present invention further provides a motor zero position calibration system for a hybrid vehicle, which may include: a whole vehicle, on which a motor and a motor controller connected to the motor are installed; a host computer, which is connected to the motor controller, and is used to input a plurality of set motor zero point values ​​to the motor controller, and to give a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, the input motor torque is 0 to make the motor stop freely, and a judgment module is used to judge whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; if so, the motor zero point value that meets the preset conditions is determined as the final motor zero point value.

[0040] The motor zero position calibration method and system for a hybrid vehicle provided by the embodiment of the present invention have the following beneficial effects:

[0041] ① The zero position calibration of the motor is realized on the whole vehicle: the zero position calibration is performed directly on the actual vehicle using the mass-produced electronic control, eliminating the influence of the motor zero position deviation caused by the mechanical transmission of the motor bench and the use of electronic control of different models or manufacturers due to hardware, different zero position learning methods, etc.;

[0042] ② In hybrid models, the generator or drive motor cannot be completely disconnected from the engine crankshaft or gearbox shaft. Direct vehicle zero-position learning will cause deviations due to the influence of mechanical transmission. The zero-position calibration method using motor sliding can directly determine the accuracy of the motor zero position and further calibrate the zero position.

[0043] ③ The motor zero position is accurately calibrated on the actual vehicle, using the existing high and low voltage power supply devices and software control strategies of the vehicle. The operation method is simple and the results are accurate;

[0044] ④ In the hybrid structure, the generator is fixedly connected to the engine, and the torque relationship can be used to indirectly and quickly determine whether the generator zero position is accurate.

[0045] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0046] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for calibrating the zero position of a motor of a hybrid vehicle, characterized in that: It includes: Lift the rear wheels of the vehicle and connect the motor controller of the vehicle to the host computer; Input multiple motor zero point values ​​set in the host computer, and give a motor torque with a torque value greater than 0. When the motor runs to the rated speed and stabilizes, input the motor torque as 0 to make the motor stop freely, and judge whether the motor operation parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; If yes, the motor zero point value that meets the preset conditions is determined as the final motor zero point value; The method comprises inputting a plurality of motor zero point values ​​set in the upper computer, and giving a motor torque with a torque value greater than 0, inputting a motor torque of 0 to make the motor stop freely when the motor runs to the rated speed and stabilizes, and judging whether the motor operation parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions, including: Inputting the motor zero value A and the motor zero value B into the host computer, and giving the motor torque with a torque value greater than 0, when the motor runs to the rated speed and stabilizes, inputting the motor torque as 0 to make the motor stop freely, and judging whether the motor operation parameters corresponding to each motor zero value after the motor stops freely meet the preset conditions; If so, the motor zero point value A or B that meets the preset condition is defined as the motor zero position approach value C; Further calibration is performed within the range of C-σ to C+σ to determine the final motor zero point value.

2. The method for calibrating the motor zero position of a hybrid vehicle according to claim 1, characterized in that: Before inputting the set multiple motor zero point values ​​in the host computer, the method further includes: Get the motor zero value A when the motor leaves the factory; The motor zero position is learned multiple times by selecting the tuning function of the host computer to obtain multiple motor zero point values ​​B.

3. The method for calibrating the zero position of the motor of a hybrid vehicle according to claim 1, characterized in that: The motor operation parameters include torque current command and flux current command; The step of judging whether the motor operating parameters corresponding to each motor zero value after the motor stops freely meet the preset conditions includes: Determine whether the torque current command and the flux current command are 0, if so, it is satisfied.

4. The method for calibrating the motor zero position of a hybrid vehicle as claimed in claim 3, characterized in that: The motor operation parameters also include torque current feedback value and flux current feedback value; After determining whether the torque current command and the flux current command are 0, the method further includes: If so, determine whether the average value of the torque current feedback and the flux current feedback is 0, and if so, the condition is satisfied.

5. The method for calibrating the zero position of the motor of a hybrid vehicle as claimed in claim 4, characterized in that: The motor operation parameters also include the M-axis current component output value and the T-axis current component output; After determining whether the average values ​​of the torque current feedback and the flux current feedback are 0, the method further includes: If so, it is determined whether the M-axis current component output value and the T-axis current component output value fluctuate around 0, and if so, the condition is satisfied.

6. The method for calibrating the zero position of the motor of a hybrid vehicle as claimed in claim 5, characterized in that: The method of preliminarily determining the motor zero point value that meets the preset condition as the motor zero position approximate value C comprises: The motor zero point value A or B that meets the preset conditions and has the smallest fluctuation absolute value ΔC between the M-axis current component output value and the T-axis current component output value from 0 is defined as the motor zero position approach value C.

7. The method for calibrating the zero position of a motor of a hybrid vehicle as claimed in claim 1, characterized in that: The further calibration within the range of C-σ to C+σ to determine the final motor zero point value includes: The motor zero value is changed multiple times within the range of C-σ to C+σ, and the motor zero value that is changed multiple times is input into the upper computer, a motor torque with a given torque value greater than 0 is given, and when the motor runs to the rated speed and stabilizes, the motor torque is input to 0 to make the motor stop freely, and it is determined whether the M-axis current component output value and the T-axis current component output value corresponding to each motor zero value after the motor stops freely fluctuate around 0; If so, find the motor zero point value D when the absolute value of the fluctuation △C is less than or equal to the preset value and the sign of the feedback frequency per unit value is consistent with the sign of the T-axis current output component, and determine the motor zero point value D at this time as the final motor zero point value.

8. The method for calibrating the zero position of a motor of a hybrid vehicle as claimed in claim 1, characterized in that: The motor zero position calibration method further includes determining the motor zero position deviation, which includes: Based on the motor zero point value B obtained by vehicle tuning, the parking power generation condition is performed to collect the engine output torque T0 and speed N0; Collect the vehicle's new energy CAN message to obtain the motor's output torque TI and speed NI; Determine whether TI*NI is greater than TI*N0; If yes, then the motor zero point value B has deviation; Otherwise, if T0*0.98=(K+1)TI is satisfied, the motor zero point value B has no deviation.

9. A hybrid vehicle motor zero position calibration system, which implements the steps of a hybrid vehicle motor zero position calibration method as claimed in any one of claims 1 to 8, characterized in that: It includes: A complete vehicle, wherein a motor and a motor controller connected to the motor are installed on the complete vehicle; A host computer is connected to the motor controller, and is used to input a plurality of motor zero point values ​​set to the motor controller, and to give a motor torque with a torque value greater than 0, and when the motor runs to the rated speed and stabilizes, the input motor torque is 0 to make the motor stop freely, A judgment module, which is used to judge whether the motor operating parameters corresponding to each motor zero point value after the motor stops freely meet the preset conditions; If so, the motor zero point value that meets the preset conditions is determined as the final motor zero point value.

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