Motor position calibration method, electronic equipment, vehicle suspension and vehicle

Abstract

The present disclosure relates to a motor position verification method, an electronic device, a vehicle suspension and a vehicle. In the present disclosure, a plurality of signals collected from a motor to be tested output by an angle sensor are obtained, and the initial position of the motor to be tested is determined using a first combination signal of the angle sensor, the first combination signal includes at least two of the multiple signals, the initial position is verified, and after the verification is passed, the motor to be tested is driven to rotate according to the initial position. Then, during the rotation of the motor to be tested, the current position of the motor to be tested is verified using a second combination signal of the angle sensor, the second combination signal includes at least two of the multiple signals, and the second combination signal is different from the first combination signal. Through the above technical scheme, the present disclosure can improve the accuracy and comprehensiveness of motor position verification and reduce the complexity of verification.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a motor position calibration method, electronic equipment, vehicle suspension and vehicle. Background Art

[0002] In the dry active suspension of a vehicle, the quality of the motor's angular position signal will directly affect the performance and reliability of the active suspension, thereby affecting the vehicle's driving safety. An angle sensor is usually used to detect the motor's angular position, and multiple angle sensors are set to verify the angular signal to achieve signal redundancy.

[0003] However, although relying on multiple angle sensors for verification can improve signal redundancy, it will increase complexity and cost, make it difficult to ensure real-time performance, and fail to process signal anomalies immediately. Although there are sensors that can verify a group of rotation angle signals at the same time, the comprehensiveness and accuracy of the verification are still poor due to the limitation of signal types. Summary of the invention

[0004] The embodiments of the present disclosure provide a motor position calibration method, an electronic device, a vehicle suspension and a vehicle, which improve the accuracy and comprehensiveness of the motor position calibration and reduce the complexity of the calibration, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present disclosure, a motor position calibration method is provided, comprising:

[0006] Acquire multiple signals output by the angle sensor and collected from the motor to be tested;

[0007] Determine the initial position of the motor to be tested by using a first combined signal of the angle sensor; the first combined signal includes at least two signals among the multiple signals;

[0008] Verifying the initial position, and driving the motor to be tested to rotate according to the initial position after the verification passes;

[0009] During the rotation of the motor to be tested, the current position of the motor to be tested is verified using the second combination signal of the angle sensor; the second combination signal includes at least two signals of the multiple signals, and the second combination signal is different from the first combination signal.

[0010] Optionally, after the current position of the motor to be tested is verified using the second combined signal of the angle sensor, if the verification passes, the motor to be tested is driven to continue rotating according to the current position; if the verification fails, a signal fault information is issued.

[0011] Optionally, the determining the initial position of the motor to be tested by using the first combined signal of the angle sensor includes:

[0012] Analyzing the first combined signal to obtain angle data of the motor to be tested;

[0013] An initial position of the motor to be tested is determined according to the angle data of the motor to be tested.

[0014] Optionally, the first combined signal includes a first detection signal and a second detection signal; and the verifying the initial position includes:

[0015] Calculate a first difference between the first detection signal and the second detection signal at the current moment;

[0016] If the first difference is less than or equal to a first threshold, the initial position check passes;

[0017] If the first difference is greater than the first threshold, the initial position is continuously verified according to adjacent signals of the first combined signal to obtain a first verification result.

[0018] Optionally, continuing to verify the initial position according to an adjacent signal of the first combined signal to obtain a first verification result includes:

[0019] According to the plurality of first detection signals, sequentially calculating a second difference between every two adjacent first detection signals;

[0020] Calculating a third difference between two adjacent second differences, and if the third difference is less than or equal to a second threshold, the first verification result is that the initial position verification is passed;

[0021] If the third difference is greater than the second threshold, the initial position is continuously verified according to the second detection signal to obtain a second verification result.

[0022] Optionally, continuing to verify the initial position according to the second detection signal to obtain a second verification result includes:

[0023] Calculating, in sequence, a fourth difference between every two adjacent second detection signals according to the plurality of second detection signals;

[0024] Calculate a fifth difference between two adjacent fourth differences, and if the fifth difference is less than or equal to a third threshold, then the second verification result is that the initial position verification is passed;

[0025] If the fifth difference is greater than the third threshold, the second verification result is that the initial position fails the verification, and the signal fault information is issued.

[0026] Optionally, the second combined signal includes a third detection signal and a fourth detection signal; and the step of verifying the current position of the motor to be tested by using the second combined signal of the angle sensor includes:

[0027] Calculating a sixth difference between the third detection signal and the fourth detection signal at the current moment;

[0028] If the sixth difference is less than or equal to the fourth threshold, the current position check passes;

[0029] If the sixth difference is greater than the fourth threshold, the current position is continuously verified according to adjacent signals of the second combined signal to obtain a third verification result.

[0030] Optionally, continuing to verify the current position according to an adjacent signal of the second combined signal to obtain a third verification result includes:

[0031] Calculate, in sequence, a seventh difference between every two adjacent third detection signals according to the plurality of third detection signals;

[0032] Calculate an eighth difference between two adjacent seventh differences, and if the eighth difference is less than or equal to a fifth threshold, then the second verification result is that the current position verification passes;

[0033] If the eighth difference is greater than the fifth threshold, the current position is continuously verified according to the fourth detection signal to obtain a fourth verification result.

[0034] Optionally, continuing to verify the current position according to the fourth detection signal to obtain a fourth verification result includes:

[0035] Calculating, in sequence, a ninth difference between every two adjacent fourth detection signals according to the plurality of fourth detection signals;

[0036] Calculate a tenth difference between two adjacent ninth differences, and if the tenth difference is less than or equal to a sixth threshold, then the second verification result is that the current position verification passes;

[0037] If the tenth difference is greater than the sixth threshold, the second verification result is that the current position fails the verification, and the signal fault information is issued.

[0038] Optionally, the first detection signal is an SPI signal, the second detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the first detection signal and the second detection signal.

[0039] Optionally, the third detection signal is an ABZ signal, the fourth detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the third detection signal and the fourth detection signal.

[0040] According to a second aspect of the present disclosure, there is also provided an electronic device, including:

[0041] a memory having a computer program stored thereon;

[0042] A processor is used to execute the computer program in the memory to implement the steps of the motor position verification method as described above.

[0043] According to a third aspect of the present disclosure, a vehicle suspension is also provided, comprising a suspension body, a motor and the electronic device as described above.

[0044] According to a fourth aspect of the present disclosure, a vehicle is also provided, comprising the electronic device as described above or the vehicle suspension as described above.

[0045] In summary, the motor position verification method of the disclosed embodiment first uses a single angle sensor to verify the motor position and detect faults through multiple groups of rotation angle signals, which can overcome the problems of using multiple angle sensors in traditional verification methods, which lead to complex verification process, poor real-time performance and high cost. Secondly, the initial position of the motor is determined and verified based on the first signal combination by the angle sensor, and then the current position of the motor is determined and continuously verified through different types of second model combinations. A more comprehensive verification is achieved through a combination of multiple types of signals, thereby improving the accuracy of the motor position verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0047] In order to more completely understand the present disclosure and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0048] Figure 1 is a flow chart of a motor position verification method provided in an exemplary embodiment of the present disclosure;

[0049] Figure 2 is a schematic diagram of an application scenario of the present disclosure provided in an exemplary embodiment of the present disclosure;

[0050] Figure 3is a schematic diagram of a first detection signal SPI signal provided in an exemplary embodiment of the present disclosure;

[0051] Figure 4 Schematic diagram of a second detection signal PWM signal provided in an exemplary embodiment of the present disclosure

[0052] Figure 5 Schematic diagram of the third detection signal ABZ signal provided in an exemplary embodiment of the present disclosure

[0053] Figure 6 is a flow chart of motor position detection provided in an exemplary embodiment of the present disclosure;

[0054] Figure 7 is a schematic diagram of a flow chart of a detection signal verification provided in an exemplary embodiment of the present disclosure;

[0055] Figure 8 is another schematic diagram of a flow chart of a detection signal verification provided in an exemplary embodiment of the present disclosure;

[0056] Fig. 9 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure;

[0057] Fig.10 is a block diagram of a vehicle suspension provided in an exemplary embodiment of the present disclosure;

[0058] Fig.11 is a block diagram of a vehicle provided in an exemplary embodiment of the present disclosure;

[0059] Fig.12 is a block diagram of a vehicle provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0061] In the related motor angular position detection technology, multiple angle sensors are usually installed on the motor, such as rotary encoders, position sensors, etc. These angle sensors work simultaneously to provide redundant signals. By comparing the outputs of multiple angle sensors, the position signal of each angle sensor can be verified and faults can be detected.

[0062] However, the cumulative cost of installing multiple angle sensors is high, increasing the manufacturing and maintenance costs of the overall system. It also requires additional circuits and processing units to compare and calibrate signals, which increases the difficulty of system design and maintenance. In addition, the system may not be able to respond immediately when it detects abnormal signals due to its reliance on multiple sensors to provide signals. The signal comparison and calibration process may also take a certain amount of time, resulting in a reduced system response speed.

[0063] Although there are sensors that can verify a set of angle signals at the same time, the comprehensiveness and accuracy of the verification are still challenges due to the limitation of signal types. For example, the current detection method can use SPI and ABZ signals to verify the motor's angle position, thereby improving the reliability of the signal. However, once powered on, the ABZ signal becomes meaningless, which makes it impossible to effectively verify the initial angle position signal obtained through SPI, which poses a certain risk.

[0064] On the other hand, for brushless motors, existing detection methods use PWM and UVW signals to improve signal reliability. However, the accuracy of UVW signals is low. If the PWM signal is disturbed and the angle is deviated, but the deviation does not exceed the current angle range of UVW, the actual angle signal cannot be accurately verified.

[0065] In this solution, a single angle sensor is first used to verify the motor position and detect faults through multiple sets of rotation angle signals, which can overcome the problems of using multiple angle sensors in traditional verification methods, which lead to complex verification process, poor real-time performance and high cost. Secondly, the initial position of the motor is first determined and verified based on the first signal combination through the angle sensor, and then the current position of the motor is determined and continuously verified through different types of second model combinations. A more comprehensive verification is achieved through a combination of multiple types of signals, thereby improving the accuracy of motor position verification.

[0066] The present disclosure is described below in conjunction with specific embodiments.

[0067] Figure 1 is a schematic diagram of a motor position verification method provided by an embodiment of the present disclosure, such as Figure 1 As shown, the method may include the following steps S101 to S104:

[0068] Step S101: Acquire multiple signals output by an angle sensor and collected from the motor to be tested.

[0069] In some embodiments, after the system is powered on, the controller can send a control instruction to set the angle sensor to a mode that outputs a combination of multiple types of signals, so that the angle sensor can read the magnetic field direction signal of the magnet attached to the rotor of the motor to be tested, and convert it into multiple signals representing the angle, and then send the obtained multiple signals to the controller through the corresponding signal interface.

[0070] Step S102: Determine the initial position of the motor to be tested using the first combined signal of the angle sensor.

[0071] The first combination signal may include at least two signals among the plurality of signals. For example, the first combination signal may include a first detection signal and a second detection signal. The first detection signal may be Figure 3 The SPI (Serial Peripheral Interface) signal and the second detection signal are as shown in Figure 4 The PWM (Pulse Width Modulation) signal shown.

[0072] SPI signal is a synchronous serial communication protocol used for short-distance communication, mainly used in embedded systems. SPI signal can include four main signal lines: MISO (Master In Slave Out), MOSI (Master Out Slave In), SCLK (Serial Clock) and CS (Chip Select). MISO line is used as a signal line for the slave device to send data to the master device, MOSI line is used as a signal line for the master device to send data to the slave device, SCLK line is a clock signal line, the master device provides the clock signal, and synchronizes the data transmission; CS line is a chip select signal line, which is controlled by the master device and is used to select which slave device to communicate with.

[0073] Among them, PWM signal is a method of controlling analog quantity by adjusting pulse width. It can be understood that SPI signal can be used to perform data transmission between the controller and the motor angle sensor to ensure the acquisition of accurate angular position signal. The encoder can encode the angle signal into the form of PWM pulse width, so that the PWM signal can be used as the input signal of the controller. The combination of the two realizes efficient detection and control of the motor position and improves the performance and reliability of the system.

[0074] In some embodiments, the angle sensor may be provided with a communication interface for transmitting a variety of detection signals, specifically in conjunction with Figure 2 For explanation. Figure 2 is a schematic diagram of an application scenario of the present disclosure, such as Figure 2As shown, the application scenario may include three parts: an execution controller, a motor angle sensor, and an execution motor, which are connected to each other through multiple signal lines.

[0075] The execution controller is referred to as the "controller" and is the core control unit responsible for receiving and processing the signal from the motor angle sensor and controlling the operation of the execution motor according to the processing results. The motor angle sensor is referred to as the "angle sensor" and can be used to detect the angular position of the motor and transmit the detected position signal to the execution controller. The angle sensor can be installed in the coaxial position of the motor rotor. The execution motor is referred to as the "motor" and the controller can adjust the running state of the motor according to the angular position signal provided by the angle sensor.

[0076] Figure 2 The signal lines marked in are the various communication interfaces between the angle sensor and the controller. Specifically, the controller can select the motor angle sensor for communication through the CS signal; the controller can provide the SCLK signal to ensure the synchronization of data transmission with the motor angle sensor; the controller can send control instructions or request data to the motor angle sensor through the MOSI line; the angle sensor can send the detected angular position signal to the controller through the MISO line.

[0077] When executing the method disclosed in the present invention, the angle sensor can receive the magnetic field direction signal of the magnet attached to the motor rotor, convert it into multiple electrical signals representing the angle, and obtain multiple angle signals. Then, the multiple angle signals are sent to the controller through multiple corresponding communication interfaces. The controller can mutually verify the multiple angle signals received to verify whether the angle signals are available, and determine the motor position according to the values ​​of the angle signals that pass the verification.

[0078] In order to better implement the method of the embodiment of the present application, in a possible example, step S102 may include:

[0079] Firstly, the first combined signal is analyzed to obtain angle data of the motor to be tested;

[0080] Next, the initial position of the motor to be tested is determined according to the angle data of the motor to be tested.

[0081] The angle data may be the relative angle between the motor's rotor and the angle sensor, and the angle data may be used to represent the motor position. For example, a motor position of 30° indicates that the relative angle between the motor's rotor and the angle sensor is 30°.

[0082] In some embodiments, the angle sensor can be set to output the first combination signal mode, and the SPI signal of the angle sensor can be read and analyzed through the SPI interface to obtain the digital angle data of the motor. In some embodiments, the duty cycle of the PWM signal can also be monitored and the duty cycle can be analyzed to obtain the angular position data of the motor.

[0083] It should be noted that the examples of specific angle values ​​of the motor position in this disclosure are for reference only. In practical applications, the accuracy of the angle value verified and calculated by the method of this disclosure can reach two decimal places. As an example only, the first initial position of the motor corresponding to the first detection signal can be 25.31°, and the second initial position of the motor corresponding to the second detection signal can be 25.22°.

[0084] Step S103, verifying the initial position, and driving the motor to be tested to rotate according to the initial position after the verification passes.

[0085] It can be understood that after obtaining an initial position of angle data respectively through the two detection signals of the first combination signal, in order to ensure the accuracy of the motor position determination, the initial position can be verified to determine an initial position that passes the verification.

[0086] In some embodiments, the difference between the angle data corresponding to the two detection signals can be calculated, and the presence of an abnormal signal can be verified based on the calculated difference. It can be understood that if the difference is within a reasonable range, it means that the difference between the initial positions determined by the two detection signals is small, and the value of the initial position is accurate and reliable; if the difference exceeds a reasonable range, it can be temporarily analyzed that at least one abnormal signal exists, and the rationality of the initial position needs to be further verified.

[0087] In order to better implement the method of the embodiment of the present application, in a possible example, step S103 may include:

[0088] First, a first difference between the first detection signal and the second detection signal at the current moment is calculated;

[0089] Then, if the first difference is less than or equal to a first threshold, the initial position check passes;

[0090] Finally, if the first difference is greater than the first threshold, the initial position is further verified according to adjacent signals of the first combined signal to obtain a first verification result.

[0091] like Figure 6 and Figure 7As shown, the first detection signal and the second detection signal at the current moment can be obtained first. Since the first detection signal and the second detection signal can be equivalent to the angle data transmitted through SPI and PWM, a first difference representing the angle value can be obtained by calculating the difference between the above two detection signals.

[0092] As an example, assuming that the value corresponding to the first detection signal at the current moment is 25.3°, and the value corresponding to the second detection signal at the current moment is 25.1°, the first difference can be calculated as =0.2°. Then, a predefined first threshold value can be obtained, and the first threshold value is used to represent the allowable error range of the corresponding values ​​of the two detection signals, and then the initial positions of the two detection signals are verified by comparing the first difference value with the first threshold value. Figure 7 As shown, assuming that the first threshold is 0.5°, the first difference is less than the first threshold, and it is determined that the current initial position check passes, indicating that the motor position data measured by the two detection signals are reasonable.

[0093] It should be noted that, although in theory the first detection signal and the second detection signal are collected at the same time, in the actual verification process, due to the different transmission delays of different types of signals, it cannot be completely guaranteed that the two same times are collected. Therefore, after the initial position verification is passed, the position signal at the latest moment, that is, the value of the detection signal closest to the current moment, can be determined as the actual initial position of the motor. For example, the currently detected initial position of 25.3° is confirmed to be the accurate motor position data.

[0094] Correspondingly, if all the first differences are greater than the first threshold, it is considered that the angle data measured by the two detection signals may have signal anomalies and further verification is required. Figure 7 As shown, no verification judgment is made on the initial position temporarily, and subsequent verification operations are continued.

[0095] Through the above method, the present disclosure calculates the difference between the first detection signal and the second detection signal at the current moment, and compares it with the preset threshold value to realize the verification of the initial position of the motor. In the case of failure of the verification, the accuracy of the signal is determined by further analyzing the adjacent signals, and finally the initial position data of the motor is ensured to be reliable, which provides a solid foundation for subsequent motor control.

[0096] In some embodiments, the first verification result may be determined by:

[0097] First, according to the plurality of first detection signals, a second difference between every two adjacent first detection signals is calculated in sequence;

[0098] Next, a third difference between two adjacent second differences is calculated, and if the third difference is less than or equal to a second threshold, the first verification result is that the initial position verification is passed;

[0099] Finally, if the third difference is greater than the second threshold, the initial position is further verified according to the second detection signal to obtain a second verification result.

[0100] In some embodiments, a plurality of first detection signals recorded continuously may be first obtained, and the difference between each two adjacent first detection signals may be calculated in sequence and recorded as the second difference. As an example only, assuming that the first detection signals recorded at a plurality of consecutive moments are 25.3°, 25.4°, 25.5°, and 25.6°, respectively, the second difference between each two adjacent first detection signals may be calculated as:

[0101] |25.4 - 25.3| = 0.1°;

[0102] |25.5 - 25.4| = 0.1°;

[0103] |25.6 - 25.5| = 0.1°.

[0104] After calculating and obtaining multiple second differences, the third difference between two adjacent second differences may be further calculated, as follows:

[0105] |0.1 - 0.1| = 0°;

[0106] |0.1 - 0.1| = 0°.

[0107] Similar to the first threshold, a pre-set second threshold can also be obtained to indicate the allowable range of the third difference, and to compare the third difference with the second threshold. Now assume that the second threshold is 0.05°. If there is a third difference that is less than or equal to the second threshold, then it is determined that the initial position verification of the two current detection signals has passed. For example, if the third difference is 0°, which is less than the second threshold, then the initial position of the current detection, such as 25.3°, is confirmed to be accurate motor position data, and the motor is subsequently driven to rotate based on the initial position.

[0108] Correspondingly, if all the third differences are greater than the second threshold, it is considered that the angle data measured by the current two detection signals may have signal anomalies and further verification is required. For example, the third difference of 0.1° is greater than the second threshold of 0.05°. Figure 7 As shown, no verification judgment is made on the initial position temporarily, and subsequent verification operations are continued.

[0109] Through the above method, the present disclosure performs difference calculation and verification on multiple continuously recorded first detection signals to achieve further verification of the initial position. If the initial verification fails, the second detection signal is used to continue the verification to ensure the reliability and accuracy of the motor initial position data, providing a reliable basis for subsequent motor control.

[0110] In some embodiments, the second verification result may be determined by:

[0111] First, according to the plurality of second detection signals, a fourth difference between every two adjacent second detection signals is calculated in sequence;

[0112] Next, a fifth difference between two adjacent fourth differences is calculated, and if the fifth difference is less than or equal to a third threshold, the second verification result is that the initial position verification is passed;

[0113] Finally, if the fifth difference is greater than the third threshold, the second verification result is that the initial position fails the verification, and the signal fault information is issued.

[0114] In some embodiments, a plurality of continuously recorded second detection signals may be obtained, and the difference between each two adjacent second detection signals may be calculated in sequence and recorded as the fourth difference. As an example only, assuming that the continuously recorded second detection signals are: 25.2°, 25.3°, 25.5°, and 25.6°, the fourth difference between each two adjacent second detection signals may be calculated as:

[0115] |25.3 - 25.2| = 0.1°;

[0116] |25.5 - 25.3| = 0.2°;

[0117] |25.6 - 25.5| = 0.1°.

[0118] After calculating and obtaining multiple fourth differences, the difference between two adjacent fourth differences can be further calculated, which is called the fifth difference. The specific calculation is as follows:

[0119] |0.2 - 0.1| = 0.1°;

[0120] |0.1 - 0.2| = 0.1°.

[0121] It can be understood that, similar to the first threshold and the second threshold, a pre-set third threshold can be obtained to represent the allowable range of the fifth difference, and then the size between the fifth difference and the third threshold can be compared. Just as an example, assuming that the third threshold is 0.15°, if there is a fifth difference that is less than or equal to the third threshold, it is determined that the initial position check passes. For example, if the fifth difference is 0.1° less than the third threshold, the initial position check passes, and it can be determined that the currently detected initial position, such as 25.2°, is accurate motor position data. Correspondingly, if all fifth differences are greater than the third threshold, it is considered that there is a signal abnormality. For example, assuming that the fifth difference is 0.3° greater than the third threshold, the initial position check fails.

[0122] In the above manner, the present disclosure further verifies the initial position by performing difference calculation and verification on multiple continuously recorded second detection signals. In the case where the initial verification fails, in-depth signal verification is performed by calculating the fourth difference and the fifth difference to ensure the reliability and accuracy of the motor initial position data. If the verification still fails, a signal fault message is issued to ensure that the system can respond in time when the detection signal is abnormal, thereby improving the safety and reliability of the system.

[0123] Step S104: During the rotation of the motor to be tested, the current position of the motor to be tested is continuously verified using the second combined signal of the angle sensor.

[0124] The second combination signal includes at least two of the plurality of signals, and the second combination signal is different from the first combination signal. The second combination signal may include a third detection signal and a fourth detection signal. The fourth detection signal may be the same as the second detection signal, i.e., a PWM signal. The third detection signal may be as follows: Figure 5 ABZ signal shown. ABZ is an incremental encoder output format. An encoder is a device used to measure the position or angle of an object by converting position information into electrical signals. ABZ signal is a common encoder output signal type. The specific meanings are as follows:

[0125] For the A-phase and B-phase signals, the A-phase (or channel A) is used to output a sine wave signal, and the B-phase (or channel B) is used to output a cosine wave signal. The waveforms of the above two signals are 90 degrees out of phase, and the direction and speed of the object can be determined by them. The Z-phase signal is also called the zero signal or pointer pulse. The Z-phase signal is usually a square wave signal used to mark a specific point where an object passes through a complete rotation cycle.

[0126] It can be understood that although the initial position of the motor to be tested is verified and the motor is driven to run according to the initial position, in order to ensure the accuracy of the motor position detection, a combination of multiple detection signals can be used in the scenario disclosed herein to continuously verify the current position of the motor to be tested. If the verification is passed, the motor to be tested is driven to continue to rotate according to the current position. If the verification is not passed, a signal fault information is issued.

[0127] When verifying the current position of the motor, the angle sensor can be set to output a second combination signal, the ABZ signal and the PWM signal output by the angle sensor are continuously received and parsed, and the current motor position is verified using a verification algorithm. In some embodiments, the same verification operation as the initial position can be performed for the third detection signal and the fourth detection signal. If the verification passes, the system drives the motor to rotate according to the currently confirmed position information. If the verification fails, the system will send a signal fault message, indicating that there is an abnormality in the motor position signal, which may be inconsistent or unreliable due to interference or other factors.

[0128] like Figure 8 As shown, the current position of the motor to be tested can be verified in the following ways:

[0129] Calculating a sixth difference between the third detection signal and the fourth detection signal at the current moment;

[0130] If the sixth difference is less than or equal to the fourth threshold, the current position check passes;

[0131] If the sixth difference is greater than the fourth threshold, the current position is continuously verified according to adjacent signals of the second combined signal to obtain a third verification result.

[0132] In some embodiments, the third verification result can be obtained by:

[0133] Calculate, in sequence, a seventh difference between every two adjacent third detection signals according to the plurality of third detection signals;

[0134] Calculate an eighth difference between two adjacent seventh differences, and if the eighth difference is less than or equal to a fifth threshold, then the second verification result is that the current position verification passes;

[0135] If the eighth difference is greater than the fifth threshold, the current position is continuously verified according to the fourth detection signal to obtain a fourth verification result.

[0136] In some embodiments, the fourth verification result can be obtained by:

[0137] Calculating, in sequence, a ninth difference between every two adjacent fourth detection signals according to the plurality of fourth detection signals;

[0138] Calculate a tenth difference between two adjacent ninth differences, and if the tenth difference is less than or equal to a sixth threshold, then the second verification result is that the current position verification passes;

[0139] If the tenth difference is greater than the sixth threshold, the second verification result is that the current position fails the verification, and the signal fault information is issued.

[0140] It can be understood that the specific calculation details of verifying the current position of the motor to be measured by the second signal combination can refer to the relevant content of verifying the initial position of the motor to be measured by the first signal combination in step S103, which will not be repeated here.

[0141] It should be noted that, in order to ensure the verification effect of the motor position, one of the third detection signal and the fourth detection signal may be the same as one of the first detection signal and the second detection signal, and this embodiment does not impose any limitation on this.

[0142] It should also be noted that in order to ensure the verification effect of the motor position, it is preferred to use the first signal combination and the second signal combination mentioned in the above embodiment, but the present disclosure can also select a variety of different signal combinations from the collected multiple signals to form the first signal combination and the second signal combination. For example, the multiple signals may include incremental signals such as ABZ signals and UVW signals, as well as absolute signals such as PWM signals, SPI signals, IIC signals, and SSI signals. This embodiment is not limited to this.

[0143] In some embodiments, if the verification fails, a signal fault message is issued. When the verification of the current position fails, in addition to issuing a signal fault message, the motor may also be subjected to a corresponding functional degradation to ensure that the motor operates normally as much as possible when the position signal is abnormal. For example, in order to prevent the motor control from causing misoperation, the electric power steering function angle of the vehicle may be reduced or turned off.

[0144] Through the above manner, the present invention can improve the detection accuracy and reliability of the motor position by the system by continuously executing the motor position verification and exception handling mechanism, thereby improving the safety and reliability of the dry-type wire-controlled active suspension system.

[0145] The following is a detailed description of the motor position verification method of the present invention in practical applications, which is mainly used to determine whether the controller has executed the motor position verification method of the present invention.

[0146] It can be understood that in the present disclosure, when the deviation of the angle data parsed from two different types of detection signals is too large, by calculating the corresponding angular acceleration through continuous calculation of multiple angle data, it can be determined whether it exceeds the set threshold, thereby being able to determine whether the detection signal is interfered. To verify whether the controller has adopted the motor position verification method disclosed in the present disclosure, the following steps can be performed:

[0147] S1. Use MCU to simulate the signal of the angle sensor and connect it to the angle signal interface of the controller, and connect the controller and the motor at the same time;

[0148] S2, simulate angle signal 1 and angle signal 2, make the angles of the two signals equal, and gradually increase from 0 to 360 degrees at the same rate and cycle, so that the motor is in a uniform rotation state;

[0149] S3. Simultaneously apply the same angular acceleration to angle signal 1 and angle signal 2, and observe the change in the motor speed. If the motor speed gradually decreases, and no fault response or alarm action occurs, it meets the conditions and phenomena of "the first difference is less than the first threshold, and the initial position verification is passed" in the verification method disclosed in the present invention;

[0150] S4. While keeping the speed of angle signal 2 unchanged, increase the angular acceleration of angle signal 1 to gradually increase it. If the motor can still maintain a uniform rotation speed and there is no fault response or alarm action, it meets the conditions and phenomena of "the third difference is less than the second threshold value, and the initial position verification is passed" in the verification method of the present disclosure;

[0151] S5. While keeping the speed of angle signal 1 unchanged, increase the angular acceleration of angle signal 2 to gradually increase it. If the motor can still maintain a uniform rotation speed and there is no fault response or alarm action, it meets the conditions and phenomena of "the fifth difference is less than the third threshold value, and the initial position verification is passed" in the verification method of the present disclosure;

[0152] S6. Observe the response of the motor by making the angle signal 1 jump to a certain angle and applying a certain angular acceleration to the angle signal 1 and the angle signal 2. If the motor speed gradually decreases and eventually stops rotating, and a fault response or alarm action occurs, it meets the conditions and phenomena of "the fifth difference is greater than the third threshold value and the initial position verification fails" in the verification method disclosed in the present invention.

[0153] Through the above steps and observation conditions, it is possible to accurately verify whether the controller adopts the motor position verification method disclosed in the present invention to ensure the stability and reliability of the system.

[0154] Through the above technical solution, a single angle sensor is first used to verify the motor position and detect faults through multiple groups of rotation angle signals, which can overcome the problems of using multiple angle sensors in traditional verification methods, resulting in a complex verification process, poor real-time performance, and high costs. Secondly, the present invention first determines and verifies the initial position of the motor based on the first signal combination through the angle sensor, and then determines and continuously verifies the current position of the motor through different types of second model combinations, and realizes a more comprehensive verification through a combination of multiple types of signals, thereby improving the accuracy of the motor position verification.

[0155] Fig. 9 FIG. 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. Fig. 9 As shown, the electronic device 300 may include: a processor 301 and a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input / output (I / O) component 304, and a communication component 305.

[0156] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the motor position verification method described above. The memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method used to operate on the electronic device 300, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 302 or sent through the communication component 305. The audio component also includes at least one speaker for outputting audio signals. The I / O component 304 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 305 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0157] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned motor position verification method.

[0158] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the motor position verification method described above are implemented. For example, the computer-readable storage medium may be the memory 302 including the program instructions described above, and the program instructions may be executed by the processor 301 of the electronic device 300 to complete the following steps:

[0159] Acquire multiple signals output by the angle sensor and collected from the motor to be tested;

[0160] Determine the initial position of the motor to be tested by using a first combined signal of the angle sensor; the first combined signal includes at least two signals among the multiple signals;

[0161] Verifying the initial position, and driving the motor to be tested to rotate according to the initial position after the verification passes;

[0162] During the rotation of the motor to be tested, the current position of the motor to be tested is verified using the second combination signal of the angle sensor; the second combination signal includes at least two signals of the multiple signals, and the second combination signal is different from the first combination signal.

[0163] Fig.10 is a block diagram of a vehicle suspension provided in an embodiment of the present disclosure, such as Fig.10 As shown, the vehicle suspension may include a suspension body, a motor and electronic equipment 300 .

[0164] Fig.11 is a block diagram of a vehicle provided in an embodiment of the present disclosure, such as Fig.11 As shown, the vehicle 400 includes the electronic device 300 described above.

[0165] Fig.12is a block diagram of a vehicle provided in an embodiment of the present disclosure, such as Fig.12 As shown, the vehicle 400 includes the vehicle suspension described above.

[0166] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0167] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0168] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A motor position calibration method, characterized in that: include: Acquire multiple signals output by the angle sensor and collected from the motor to be tested; Determine the initial position of the motor to be tested by using the first combined signal of the angle sensor; The first combined signal includes at least two signals among the plurality of signals; Verifying the initial position, and driving the motor to be tested to rotate according to the initial position after the verification passes, including: performing a preliminary verification on the initial position, and if the preliminary verification fails, obtaining a signal difference between adjacent signals of the first combination signal, and continuing to verify the initial position according to a difference between the signal differences; During the rotation of the motor to be tested, the current position of the motor to be tested is verified using the second combination signal of the angle sensor; the second combination signal includes at least two signals of the multiple signals, and the second combination signal is different from the first combination signal.

2. The motor position calibration method according to claim 1, characterized in that: After the current position of the motor to be tested is verified by using the second combined signal of the angle sensor, if the verification passes, the motor to be tested is driven to continue rotating according to the current position; if the verification fails, a signal fault information is issued.

3. The motor position calibration method according to claim 1, characterized in that: The method of determining the initial position of the motor to be tested by using the first combined signal of the angle sensor includes: Analyzing the first combined signal to obtain angle data of the motor to be tested; An initial position of the motor to be tested is determined according to the angle data of the motor to be tested.

4. The motor position calibration method according to claim 2, characterized in that: The first combined signal includes a first detection signal and a second detection signal; and the preliminary verification of the initial position includes: Calculate a first difference between the first detection signal and the second detection signal at the current moment; If the first difference is less than or equal to a first threshold, the initial position check passes; If the first difference is greater than the first threshold, the initial position is further verified according to the difference between the signal differences to obtain a first verification result.

5. The motor position calibration method according to claim 4, characterized in that: The step of continuing to verify the initial position according to the difference between the signal differences to obtain a first verification result includes: According to the plurality of first detection signals, sequentially calculating a second difference between every two adjacent first detection signals; Calculating a third difference between two adjacent second differences, and if the third difference is less than or equal to a second threshold, the first verification result is that the initial position verification is passed; If the third difference is greater than the second threshold, the initial position is continuously verified according to the second detection signal to obtain a second verification result.

6. The motor position calibration method according to claim 5, characterized in that: Continuing to verify the initial position according to the second detection signal to obtain a second verification result includes: Calculating, in sequence, a fourth difference between every two adjacent second detection signals according to the plurality of second detection signals; Calculate a fifth difference between two adjacent fourth differences, and if the fifth difference is less than or equal to a third threshold, then the second verification result is that the initial position verification is passed; If the fifth difference is greater than the third threshold, the second verification result is that the initial position fails the verification, and the signal fault information is issued.

7. The motor position calibration method according to claim 5, characterized in that: The second combination signal includes a third detection signal and a fourth detection signal; and the method of using the second combination signal of the angle sensor to verify the current position of the motor to be tested includes: Calculating a sixth difference between the third detection signal and the fourth detection signal at the current moment; If the sixth difference is less than or equal to the fourth threshold, the current position check passes; If the sixth difference is greater than the fourth threshold, the current position is continuously verified according to adjacent signals of the second combined signal to obtain a third verification result.

8. The motor position calibration method according to claim 7, characterized in that: The step of continuing to verify the current position according to the adjacent signal of the second combined signal to obtain a third verification result includes: Calculate, in sequence, a seventh difference between every two adjacent third detection signals according to the plurality of third detection signals; Calculate an eighth difference between two adjacent seventh differences, and if the eighth difference is less than or equal to a fifth threshold, then the second verification result is that the current position verification passes; If the eighth difference is greater than the fifth threshold, the current position is continuously verified according to the fourth detection signal to obtain a fourth verification result.

9. The motor position calibration method according to claim 8, characterized in that: Continuing to verify the current position according to the fourth detection signal to obtain a fourth verification result includes: Calculating, in sequence, a ninth difference between every two adjacent fourth detection signals according to the plurality of fourth detection signals; Calculate a tenth difference between two adjacent ninth differences, and if the tenth difference is less than or equal to a sixth threshold, then the second verification result is that the current position verification passes; If the tenth difference is greater than the sixth threshold, the second verification result is that the current position fails the verification, and the signal fault information is issued.

10. The motor position calibration method according to any one of claims 4 to 6, characterized in that: The first detection signal is an SPI signal, the second detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the first detection signal and the second detection signal.

11. The motor position calibration method according to any one of claims 7 to 9, characterized in that: The third detection signal is an ABZ signal, the fourth detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the third detection signal and the fourth detection signal.

12. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of the motor position verification method according to any one of claims 1 to 11.

13. A vehicle suspension comprising a suspension body, a motor and the electronic device according to claim 12.

14. A vehicle, characterized in that: The electronic device comprises the electronic device as claimed in claim 12 or the vehicle suspension as claimed in claim 13.

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