Motor sound generation method, vehicle, storage medium and computer program product

Abstract

The present invention discloses a motor sound generation method, a vehicle, a storage medium and a computer program product, and belongs to the field of vehicle technology. The method comprises: sampling audio data to obtain an audio sampling signal; determining a motor control signal according to the audio sampling signal; and controlling the motor according to the control signal, so that the motor itself can be controlled to generate a sound corresponding to the audio data, without setting up additional sound generation hardware equipment, which is conducive to reducing the production cost of the vehicle.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a motor sound generation method, a vehicle, a storage medium, and a computer program product. Background Art

[0002] New energy vehicles are driven by electric drive systems. Compared with fuel engines, the motor drive makes the vehicle environment quieter during driving and the noise inside the vehicle is also reduced accordingly.

[0003] In related technologies, new energy vehicles usually use audio equipment to simulate the sound of internal combustion engines, giving people a sense of acceleration through hearing, thereby increasing driving pleasure. However, this implementation method requires the addition of additional audio, circuit and other hardware equipment, which increases production costs. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a motor sound generation method, a vehicle, a storage medium and a computer program product, which can make the motor itself generate sound instead of the horn on the vehicle, thereby reducing the production cost of the vehicle.

[0005] In a first aspect, the present application provides a method for producing sound of a motor, comprising:

[0006] Sampling the audio data to obtain an audio sampling signal;

[0007] Determine a control signal of the motor according to the audio sampling signal;

[0008] The motor is controlled according to the control signal so that the motor produces sound.

[0009] In some embodiments, sampling the audio data includes:

[0010] The audio data is sampled multiple times within one carrier cycle.

[0011] In some embodiments, the step of sampling the audio data multiple times within one carrier cycle includes:

[0012] In one carrier cycle, the audio data is sampled at the time when multiple extreme points of the carrier signal are located.

[0013] In some embodiments, the extreme points include peaks and / or troughs.

[0014] In some embodiments, when the motor is electrically controlled with multi-phase bridge arms in phase, the audio data is sampled multiple times within one carrier cycle, including:

[0015] In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

[0016] In some embodiments, when the motor is electrically controlled with multi-phase bridge arms staggered in phase, the audio data is sampled multiple times within one carrier cycle, including:

[0017] In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

[0018] In some embodiments, when the motor is electrically controlled with multi-phase bridge arms staggered in phase, the audio data is sampled multiple times within one carrier cycle, including:

[0019] In one carrier cycle, the audio data is sampled at least once by the carrier signal of each bridge arm of at least two bridge arms of the motor.

[0020] In some embodiments, determining the control signal of the motor according to the audio sampling signal includes:

[0021] Determining an audio injection voltage and / or an audio injection current corresponding to the audio sampling signal;

[0022] The duty cycle of the control signal of the motor is adjusted according to the audio injection voltage and / or the audio injection current.

[0023] In some embodiments, adjusting the duty cycle of the control signal of the motor according to the audio injection voltage and / or the audio injection current includes:

[0024] Determining a phase voltage of a motor according to the audio injection voltage and / or the audio injection current;

[0025] The duty cycle of the control signal of the motor is adjusted according to the phase voltage.

[0026] In some embodiments, adjusting the duty cycle of the control signal of the motor according to the phase voltage includes:

[0027] At the moment when the extreme value point of the carrier signal is located, the duty cycle of the control signal of the motor is adjusted according to the phase voltage.

[0028] In some embodiments, adjusting the duty cycle of the control signal of the motor according to the phase voltage at the time when the extreme value point of the carrier signal is located includes:

[0029] At time t1 of the carrier signal, adjusting the duty cycle of the control signal of the motor according to the phase voltage;

[0030] Among them, t1 is the extreme point, and 0<t1-tm<Ts, Ts is the carrier period, and tm is the time when this sampling is completed.

[0031] In some embodiments, controlling the motor according to the control signal includes:

[0032] The switch device of the bridge arm of the motor is controlled according to the control signal.

[0033] In a second aspect, the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for producing sound of a motor as described in any one of the above items when executing the computer program.

[0034] In a third aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for producing sound of a motor as described in any one of the above items.

[0035] In a fourth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for producing sound of a motor as described in any one of the above items.

[0036] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0037] According to the sound-generating method of the motor of the present application, the audio data is sampled to obtain an audio sampling signal; the control signal of the motor is determined according to the audio sampling signal; the motor is controlled according to the control signal, so that the motor itself can be controlled to emit a sound corresponding to the audio data. There is no need to set up additional sound-generating hardware equipment, which is beneficial to reducing the production cost of the vehicle.

[0038] Furthermore, by sampling the audio data multiple times in each carrier cycle, more sampling points are collected to capture subtle changes in the audio signal, thereby increasing the sampling frequency and thus improving the restoration of the audio signal and the quality of the motor sound.

[0039] Furthermore, the extreme points of the carrier signal represent the highest and lowest points of the control signal in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the duty cycle can stably control the update point of the motor operation. By sampling at these extreme points, the changes in the audio signal are captured in time, and further processed in time to become the duty cycle of the motor control signal. Timely updating of the duty cycle reduces the noise and stress caused by control delays. Sampling at the extreme points is synchronized with the natural beat of the control signal, which helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0040] Furthermore, when the motor is controlled in the same phase by an electronically controlled multi-phase bridge arm, a sampling signal with a higher sampling frequency can be obtained by performing multiple sampling on the carrier signal of one of the bridge arms, so that within the control cycle of each phase, the duty cycle of the control signal is adjusted according to the specific situation of each phase, thereby further improving the adjustment frequency of the control signal and further improving the restoration of the audio signal.

[0041] Furthermore, when the motor is electrically controlled with multi-phase bridge arms in the same phase, the audio data is sampled multiple times through one of the bridge arm carrier signals of the motor, or the audio data is sampled at least once through each of at least two bridge arm carrier signals, so that a sampling signal with a higher sampling frequency can be obtained, so that within the control cycle of each phase, the duty cycle of the control signal is adjusted according to the specific situation of each phase, thereby further improving the adjustment frequency of the control signal and further improving the restoration degree of the audio signal.

[0042] Furthermore, by converting the audio sampling signal into current and / or voltage, and adjusting the duty cycle of the motor control signal by current and / or voltage, the motor speed and vibration amplitude are precisely adjusted, so that the motor can more accurately reproduce the characteristics of the original audio signal.

[0043] Furthermore, by completing the update of the duty cycle at the extreme point of the carrier signal, the update of the control signal can be synchronized with the sampling data of the audio signal, which helps to reduce audio distortion that may be generated due to signal update delay.

[0044] Furthermore, by adjusting the duty cycle of the control signal according to the audio sampling signal at the next extreme point of the carrier signal, the update of the control signal is synchronized with the latest sampling data of the audio signal, so that the control signal can be adjusted according to the new audio signal characteristics in each carrier cycle of the motor, thereby minimizing the audio distortion that may be caused by signal update delay, and making the sound signal output by the motor closely follow the changes of the original audio signal, thereby improving the dynamic response and accuracy of the sound.

[0045] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a flow chart of a method for producing sound of a motor provided in an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of an audio file extraction process provided by an embodiment of the present application;

[0049] Figure 3 It is one of the schematic diagrams of the sampling channel in the vehicle provided in the embodiment of the present application;

[0050] Figure 4 This is the second schematic diagram of the sampling channel in the vehicle provided in the embodiment of the present application;

[0051] Figure 5 It is a schematic diagram of sampling by same-phase control of multi-phase bridge arms provided in an embodiment of the present application;

[0052] Figure 6 It is a schematic diagram of sampling by staggered phase control of multi-phase bridge arms provided in an embodiment of the present application;

[0053] Figure 7 is a schematic diagram of the sampling time and the duty cycle adjustment time provided in the embodiment of the present application;

[0054] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0056] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0057] The following, in conjunction with the accompanying drawings, describes in detail the motor sound generation method, vehicle, storage medium and computer program product provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0058] Among them, the sound generation method of the motor can be applied to the terminal, and can be specifically executed by hardware or software in the terminal.

[0059] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or a tablet computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0060] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.

[0061] The motor sound production method provided in the embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the motor sound production method. The electronic device mentioned in the embodiment of the present application may include but is not limited to an ECU (Electronic Control Unit), an MCU (Microcontroller Unit) or other controllers. The motor sound production method provided in the embodiment of the present application is described below using an electronic device as an example of the execution subject.

[0062] like Figure 1 As shown, Figure 1 It is a flow chart of the sound generation method of the motor provided in the embodiment of the present application. The motor can be an electric motor, an asynchronous motor, an electromagnetic motor, etc., or other types of motors. The motor can be used in new energy vehicles, and can also be used in other fields, such as household appliances, electric bicycles, power-assisted vehicles and the like. The motor includes a multi-phase motor and a single-phase motor. The multi-phase motor is a motor with multiple phases, such as three-phase, five-phase, seven-phase or more. Each phase consists of an independent winding. In the inverter of the motor, the bridge arm is a group of electronic switches, such as transistors or IGBTs, used to control the path of current flowing to the motor winding. The control of the multi-phase motor includes the same-phase control of the electrically controlled multi-phase bridge arm and the staggered-phase control of the electrically controlled multi-phase bridge arm. In the same-phase control of the electrically controlled multi-phase bridge arm, the carrier signal phases of each bridge arm are completely synchronized and have no phase difference. In the electrically controlled multi-phase bridge arm staggered phase control, the carrier signal phases of each bridge arm are not synchronized, but have a certain phase difference. For example, in the three-phase uniformly staggered phase motor control, the carrier signal phase difference between the bridge arms is 120 degrees, and in the five-phase uniformly staggered phase motor control, the carrier signal phase difference between the bridge arms is 72 degrees.

[0063] The sound generation method of the motor includes: steps 110 to 130.

[0064] 110. Sample the audio data to obtain an audio sampling signal;

[0065] 120. Determine a control signal of the motor according to the audio sampling signal;

[0066] 130. Control the motor according to the control signal so that the motor makes a sound.

[0067] According to the sound-generating method of the motor of the present application, an audio sampling signal is obtained by sampling audio data; a control signal of the motor is determined according to the audio sampling signal; and the motor is controlled according to the control signal, so that the motor itself can be controlled to emit a sound corresponding to the audio data. There is no need to set up additional sound-generating hardware equipment, which is beneficial to reducing the production cost of the vehicle.

[0068] The above steps 110 to 130 will be described in detail below.

[0069] 110. Sample the audio data to obtain an audio sampling signal.

[0070] In the embodiment of the present application, the audio data includes information such as the frequency, amplitude and waveform of the sound, and the audio data can be an analog signal or a digital signal, and can also be various audio files. For example, the audio data includes but is not limited to: files in various music formats such as mp3, wma, wav, flac, ape, MIDI files, song files transmitted by Bluetooth, PCM encoded files, digital signals processed by music chips, analog signals processed by chips, analog signals amplified by power amplifiers, analog signals input by microphones, or digital signals corresponding to music files, etc.

[0071] Specifically, for audio data from different sources, sampling channels that match the signal source can be used for sampling, so that the sampling process can adapt to the characteristics of signals from different sources, more accurately capture the details of the audio signal, reduce distortion and noise interference, and thus obtain clearer audio recordings.

[0072] In some embodiments, the sampling channel includes at least one of the following:

[0073] Obtain the analog signal input to the speaker and sample the analog signal through the ADC sampling port;

[0074] Obtain the I2S signal of the port of the in-vehicle entertainment system and sample the I2S signal;

[0075] Obtain the A2B signal of the port of the in-vehicle entertainment system, convert the A2B signal into an I2S signal, and then sample the I2S signal;

[0076] Acquire data packets on the Ethernet in the vehicle, parse the data packets, and then sample the parsed data.

[0077] Among them, the in-vehicle entertainment system is an in-vehicle electronic device that integrates multiple functions and is mainly used to enhance the driving and riding experience. The in-vehicle entertainment system makes the journey more comfortable and enjoyable by providing audio, video, navigation, communication and other entertainment functions. The in-vehicle entertainment system host assembly and various ports, such as USB ports, HDMI ports, RCA ports, Bluetooth ports, etc., can be connected to other devices, such as audio, power amplifier equipment, etc.

[0078] The data packet may include various audio files, which need to be decoded and extracted through mono separation to obtain parsed data. Figure 2 As shown, Figure 2 : This is a schematic diagram of the audio file parsing process provided by the embodiment of the present application. The audio file is a music file. For music files of different formats, they can be decoded according to the encoding rules of the corresponding music files, and the decoded data can be separated into channels to obtain a mono audio signal. The sampling points are discretized or the sampling frequency is interpolated and reduced according to the playback frequency to obtain the amplitude of the corresponding audio signal sampling point. For example, MP3 and other files have a sampling rate of 44.1kHz. According to the 44.1kHz sampling rate, the variable of the amplitude of each point at the sampling frequency is obtained, which is finally converted into a digital signal.

[0079] like Figure 3 As shown, Figure 3 This is one of the schematic diagrams of the sampling channel in the vehicle provided by the embodiment of the present application. When the motor is the driving motor of the vehicle, the host assembly of the in-vehicle entertainment system can be debugged, the corresponding audio data can be collected from the host audio line, and the data output by the multimedia entertainment system can be converted into a digital signal that can be recognized by the motor controller.

[0080] In one embodiment, Figure 3 As shown in the first solution, the analog signal output from the power amplifier or other devices in the vehicle to the audio can be connected to the ADC sampling port of the MCU. The MCU performs ADC sampling and converts the power amplifier analog signal into a digital signal by debugging the underlying drive function of the electric drive system. The converted digital signal can be sent to other MCU units through the CANFD bus for further processing, such as the MCU in the motor controller.

[0081] In one embodiment, Figure 3As shown in the second solution, the I2S signal of the port of the external power amplifier device in the vehicle or the port of the host assembly can be obtained, and the I2S signal on the host assembly can be converted into a digital signal by debugging the corresponding underlying driver function on the electric drive system. The converted digital signal can be sent to other MCU units through the CANFD bus for further processing, such as the MCU in the motor controller.

[0082] In one embodiment, Figure 3 As shown in the third solution, the A2B signal of the port of the external power amplifier device in the vehicle can be obtained, and by debugging the underlying drive function of the corresponding electric drive system, the A2B signal can be converted into an I2S signal and then converted into a digital signal that can be recognized by the drive motor controller. The converted digital signal can be sent to other MCUs through the CANFD bus for further processing, such as the MCU in the motor controller.

[0083] In one embodiment, the fourth embodiment Figure 4 As shown, Figure 4 This is the second schematic diagram of the sampling channel in the vehicle provided by the embodiment of the present application. The data packet on the Ethernet in the vehicle environment can be obtained, and by debugging the underlying driving function of the corresponding electric drive system, the data packet can be converted into a digital signal recognizable by the drive motor controller. The converted digital signal can be sent to other MCUs through the CANFD bus for further processing, such as the MCU in the motor controller.

[0084] Solution 1 can capture the signal directly related to the final audio output by sampling the analog signal output from the power amplifier to the audio in the vehicle environment. This sampling method can improve the accuracy and integrity of the audio data. Solution 2 can reduce the noise and distortion that may be introduced in the signal conversion process by sampling the I2S digital signal in the vehicle environment. Solution 3 samples the A2B signal and converts it into an I2S signal. The A2B bus is a high-bandwidth, bidirectional, digital audio bus for vehicles. It adopts a daisy chain structure with a single node distance of up to 15m, which can reduce the complexity of wiring. A2B can realize long-distance I2S and reduce the noise and distortion that may be introduced in the signal conversion process. The A2B bus is very suitable for long-distance synchronous audio signal transmission of the front and rear electric drives of the whole vehicle. Solution 4 transmits audio to the front and rear electric drive assemblies through the Ethernet bus. The advantage is that the amount of data transmitted is large and fast, which can shorten the upgrade time of the electric drive program, and is used for big data calibration and analysis to improve the user experience. It takes advantage of the Ethernet to transmit audio data, which can reduce the complexity of wiring and enable audio data to be flexibly transmitted in the vehicle's internal network.

[0085] In some embodiments, considering that the control frequency of the control chip (the chip of the motor controller) is usually in the range of 3kHz-30kHz, the switching frequency of the power device IGBT is usually in the application range of 3kHz-20kHz, such as the switching frequency of SIC, GAN, MOSFEET, etc. is usually in the application range of 3kHz-50kHz, and the sampling rate of the music file is usually higher than the control frequency of the control chip and the switching frequency of the power device. For example, the sampling rate of the music file can usually be 96kHz, 48kHz, 44.1kHz, 22.05kHz, etc. The above-mentioned electric drive system is limited by the switching frequency of the power device and the control frequency of the control chip, which is different from the sampling rate of the audio file, so it is necessary to discretize the sampling points or interpolate and reduce the sampling frequency.

[0086] For example, when the audio data is an analog signal, ADC sampling can be performed according to the control frequency of the control chip, and the analog signal can be downconverted to obtain a digital signal at the ADC sampling frequency. For example, for the same-phase control of the electrically controlled multi-phase bridge arm, under the control condition of the same-phase of the electrically controlled multi-phase bridge arm, the control frequency is 22kHz, and ADC sampling is performed once per carrier cycle to obtain a digital signal with a sampling frequency of 22kHz. ADC sampling is performed twice per carrier cycle to obtain a digital signal with a sampling rate of 44kHz. Among them, the control condition of the same-phase of the electrically controlled multi-phase bridge arm refers to the fact that in the multi-phase motor system, the carrier signals of each bridge arm have the same phase.

[0087] When the audio data is a digital signal, the frequency in the digital signal is the sampling rate of the audio file. When the sampling rate of the audio file is not synchronized with the control frequency, down-conversion processing is required, that is, the audio data with a higher sampling rate is down-converted to obtain a digital signal with a lower sampling rate. If an audio point that does not exist is encountered during the down-conversion process, the interpolation processing between the previous point and the next point is used to obtain the down-converted digital signal. For example, for the same-phase control of the electrically controlled multi-phase bridge arm, under the control condition of the same-phase control of the electrically controlled multi-phase bridge arm, the control frequency is 12kHz, and one sampling is performed per carrier cycle. If the sampling rate of the audio file is 48kHz, one audio is selected every three audio points, and a digital signal with a sampling rate of 12kHz can be obtained. Two samplings are performed per carrier cycle. If the sampling rate of the audio file is 48kHz, one audio is selected every three audio points, and a digital signal with a sampling rate of 24kHz can be obtained.

[0088] In some embodiments, in order to improve the quality of audio restoration and reduce noise signals, multiple sampling can be performed within a carrier cycle of the carrier signal. For example, if the switching frequency of the IGBT is 11kHz and the control frequency of the control chip is 22kHz, if two samplings are performed within a carrier cycle, the audio data can be sampled discretely at 22kHz. Compared with sampling once within a carrier cycle, the quality of the restored audio will be doubled. That is, the above step 110 specifically includes:

[0089] The audio data is sampled multiple times within one carrier cycle.

[0090] The carrier period refers to the time required for the carrier signal to complete a complete change from zero to the maximum value and then back to zero in a pulse width modulation (PWM) signal. The carrier signal is usually a continuous waveform, such as a sine wave, triangle wave, or square wave, which is used to modulate the duty cycle of the output signal.

[0091] In a carrier cycle Ts, the acquired audio data can be sampled at different time points to obtain an audio sampling signal. By sampling the audio data multiple times in each carrier cycle, more sampling points are collected to capture subtle changes in the audio signal, and the sampling frequency is increased to improve the restoration of the audio signal and the quality of the motor sound.

[0092] In some embodiments, the above step of “sampling the audio data multiple times within one carrier cycle” may specifically include:

[0093] In one carrier cycle, the audio data is sampled at the time when multiple extreme points of the carrier signal are located.

[0094] Among them, extreme points include peaks and / or troughs. Figure 5 As shown, Figure 5 It is a schematic diagram of sampling for the multi-phase bridge arm same-phase control provided in an embodiment of the present application. For a three-phase motor, when the multi-phase bridge arm is controlled in the same phase, the extreme point of the carrier of each carrier cycle may include a peak and a trough, including a total of 2 extreme points. Figure 5 The sampling point ① is located at the trough, and the sampling point ② is located at the peak. In one carrier cycle Ts, if sampling is only performed at the peak and trough, two samplings can be performed. Figure 6 As shown, Figure 6 It is a schematic diagram of sampling under staggered phase control of a multi-phase bridge arm provided in an embodiment of the present application. For a three-phase motor, when the multi-phase bridge arm is uniformly staggered in phase, within each carrier cycle, the carrier signal of each bridge arm includes a peak and a trough, and the carrier signal of the three-phase bridge arm includes a total of 6 extreme points. If sampling is only performed at the peaks and troughs, six samples can be performed.

[0095] The extreme points of the carrier signal represent the highest and lowest points of the control signal in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can be updated. By sampling at these extreme points, the changes in the audio signal can be captured in a timely manner, and further processed in a timely manner to become the duty cycle of the motor control signal. Timely updating of the duty cycle reduces the noise and stress caused by control delays. Sampling at the extreme points is synchronized with the natural beat of the control signal, which helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0096] In some embodiments, when the motor is electrically controlled with multi-phase bridge arms in phase, the above step of "sampling the audio data multiple times within one carrier cycle" includes:

[0097] In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

[0098] Among them, in the same phase control of the electronically controlled multi-phase bridge arm, the carrier signals of each bridge arm have no phase difference, and there is one peak and one trough in one carrier cycle Ts. Similarly, in a single-phase motor, there is one peak and one trough in one carrier cycle Ts. Figure 5 As shown, for a three-phase motor, when the multi-phase bridge arms are controlled in the same phase, if sampling is only performed at the peaks and troughs, a maximum of two samples can be sampled within one carrier cycle Ts. If sampling is performed at any time of the carrier signal, more samples can be sampled within one carrier cycle Ts, such as 3 times, 4 times, 5 times, etc.

[0099] In some embodiments, when the motor is controlled by an electrically controlled multi-phase bridge arm with staggered phase, the above step of "sampling the audio data multiple times within one carrier cycle" includes:

[0100] In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

[0101] In some embodiments, when the motor is electrically controlled with multi-phase bridge arms staggered in phase, the audio data is sampled multiple times within one carrier cycle, including:

[0102] In one carrier cycle, the audio data is sampled at least once by the carrier signal of each bridge arm of at least two bridge arms of the motor.

[0103] Among them, in the phase-staggered control of the electrically controlled multi-phase bridge arm, the carrier signals of each bridge arm have a phase difference, and the peaks and troughs of the carrier signal are staggered. If sampling is only performed at the peaks and troughs, each bridge arm can be sampled twice in each carrier cycle, for a total of 6 samples. Figure 6 As shown, for the three-phase bridge arm uniform phase staggered motor control, independent sampling can be performed during each bridge arm carrier signal. If each bridge arm performs one sampling in a carrier cycle Ts, a total of three samplings will be performed in a carrier cycle Ts (three troughs or three peaks are evenly spaced samplings). If each bridge arm performs two samplings in a carrier cycle Ts, a total of six samplings will be performed in a carrier cycle Ts (three troughs and three peaks are evenly spaced samplings). For example, the switching frequency of the IGBT is 11kHz. If each bridge arm performs one sampling in a carrier cycle, a 33kHz digital signal is obtained, and the control signal is calculated and updated three times. The quality of the restored audio is significantly improved compared to the sound quality restored by sampling at 11kHz; if each bridge arm performs two samplings in a carrier cycle, a 66kHz digital signal is obtained, and the control signal is calculated and updated six times. The quality of the restored audio is significantly improved compared to the sound quality restored by sampling at 11kHz.

[0104] When the carrier signal of each bridge arm is sampled multiple times, an audio sampling signal with a higher sampling frequency can be obtained, so that within each phase control cycle, the duty cycle of the control signal is adjusted according to the specific situation of each phase and the audio sampling signal, thereby increasing the adjustment frequency of the control signal and further improving the restoration of the audio signal.

[0105] 120. Determine a control signal of the motor according to the audio sampling signal.

[0106] In some embodiments, the above step 120 specifically includes:

[0107] Determine an audio injection voltage and / or an audio injection current corresponding to the audio sampling signal;

[0108] The duty cycle of the control signal of the motor is adjusted according to the audio injection voltage and / or the audio injection current.

[0109] In the embodiment of the present application, for the audio sampling signal obtained after sampling, it is necessary to convert the audio sampling signal to obtain the amplitude dimension corresponding to the motor controller, for example, convert the audio sampling signal into current (audio injection current) and / or voltage (audio injection voltage) and inject it into the stator current to update the control signal of the motor, for example, update the duty cycle of the pulse width modulation (PWM) signal, generate a PWM signal waveform according to the updated duty cycle, and control the opening and closing of the power electronic devices (such as IGBT, SIC) of the motor according to the PWM signal waveform to adjust the current of the motor, so that the electromagnetic force generated by the air gap magnetic field of the motor acting on the motor core excites electromagnetic vibration, so that the motor can emit corresponding musical sounds. Among them, the air gap magnetic field is determined by the magnetomotive force and air gap permeance of the stator and rotor windings, and the size of the electromagnetic sound is closely related to the amplitude, frequency, angle, etc. of the harmonic magnetic field in the air gap of the motor.

[0110] In some embodiments, the above step of “adjusting the duty cycle of the control signal of the motor according to the audio injection voltage and / or the audio injection current” includes:

[0111] determining a phase voltage of the motor according to the audio injection voltage and / or the audio injection current;

[0112] The duty cycle of the control signal of the motor is adjusted according to the phase voltage.

[0113] Specifically, a field-oriented control (FOC) system based on rotor flux orientation (RFO) can be established. FOC is an advanced motor control strategy. FOC usually uses rotor flux orientation and regards the control of the motor as two orthogonal components that can be adjusted independently, that is, the motor vector is decomposed into a direct axis (d-axis) in the same direction as the rotor magnetic field and a quadrature axis (q-axis) perpendicular to the rotor magnetic field to achieve control, so that the output torque and speed of the motor are more accurate and stable.

[0114] In an embodiment of the present application, the audio injection current and / or the audio injection voltage can be mapped to a rotating coordinate system (dq coordinate system) or a stationary coordinate system (αβ coordinate system) of the motor control by means of harmonic injection, and then the phase voltage of the motor is determined based on the current vector and / or voltage vector mapped on the coordinate system and in combination with the torque output command of the motor, the motor speed, the battery voltage and the phase sampling current, and the duty cycle of the control signal is updated according to the phase voltage.

[0115] In some embodiments, the above step of “adjusting the duty cycle of the control signal of the motor according to the phase voltage” specifically includes:

[0116] At the moment when the extreme value point of the carrier signal is located, the duty cycle of the control signal of the motor is adjusted according to the phase voltage.

[0117] The extreme point includes a peak and / or a trough. By completing the determination and adjustment of the duty cycle at the extreme point of the carrier signal, the update of the control signal can be synchronized with the sampling data of the audio signal, which helps to reduce the audio distortion that may be generated due to signal update delay.

[0118] Furthermore, the above step of “adjusting the duty cycle of the control signal of the motor according to the phase voltage at the moment when the extreme value point of the carrier signal is located” includes:

[0119] At time t1 of the carrier signal, the duty cycle of the motor control signal is adjusted according to the phase voltage;

[0120] Among them, t1 is the extreme point, and 0<t1-tm<Ts, Ts is the carrier period, and tm is the moment when this sampling is completed. That is, after this sampling, the duty cycle is adjusted at the moment of the extreme point closest to this sampling according to the phase voltage determined by the audio sampling signal obtained in this sampling. Specifically: the duty cycle ratio is obtained by dividing the phase voltage by the bus, and the comparison value is calculated according to the ratio of the carrier signal peak value to the duty cycle. The bridge arm switch action is output according to the comparison value and the carrier signal to obtain the duty cycle of the motor control signal.

[0121] In the embodiments of the present application, Figure 7 As shown, Figure 7 It is a schematic diagram of the sampling time and the duty cycle adjustment time provided in the embodiment of the present application. After each sampling is completed, the duty cycle of the control signal will be adjusted according to the digital signal obtained by sampling (i.e., PWM update). Since there will be a certain delay in the calculation process, the duty cycle of the control signal can be calculated when the sampling signal is obtained, so that the calculation process can be completed before the next extreme point of the carrier arrives. When the next extreme point of the carrier arrives, the duty cycle of the control signal is adjusted according to the calculation result, so as to control the switching action (switch tube state) of the switch tube of the power device according to the adjusted duty cycle. Among them, due to the delay in calculation and data transmission process, the gate drive signal waveform of the switch tube of the power device is not symmetrically distributed with the midpoint of the triangular carrier as the center.

[0122] In an embodiment of the present application, after each sampling, the duty cycle of the control signal is updated and adjusted at the next extreme point of the carrier according to the digital signal obtained from this sampling, so that the control signal can be adjusted according to the new audio signal characteristics in each carrier cycle of the motor, so that the time difference between the update of the control signal and the latest sampling data of the audio signal is minimized, and the audio distortion that may be caused by signal update delay is minimized, so that the sound signal output by the motor closely follows the changes of the original audio signal, thereby improving the dynamic response and accuracy of the sound, being able to reproduce the sound more accurately, and improving the quality of the motor sound.

[0123] 140. Control the motor according to the control signal.

[0124] In some embodiments, the above step 140 specifically includes:

[0125] The switching device of the bridge arm of the motor is controlled according to the control signal.

[0126] That is, the switching action of the switch tube of the bridge arm is controlled according to the control signal, such as opening and closing action, so as to control the vibration amplitude and frequency of the motor, and then control the volume and tone of the motor sound, so that the motor makes sound.

[0127] The execution subject of the motor sound generation method in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. For example, the electronic device can include but is not limited to an ECU (Electronic Control Unit), an MCU (Microcontroller Unit) or other controllers, etc., which are not specifically limited in the embodiment of the present application.

[0128] In some embodiments, the embodiments of the present application also provide a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for producing sound of the motor as described above is implemented.

[0129] In some embodiments, Figure 8 As shown, the embodiment of the present application also provides an electronic device 300, including a processor 310, a memory 320, and a computer program stored in the memory 320 and executable on the processor 310. When the program is executed by the processor 310, each process of the above-mentioned motor sound generation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0130] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned motor sound generation method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0131] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0132] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned sound generation method of the motor when executed by a processor.

[0133] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned motor sound generation method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0134] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0135] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes 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 one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0137] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0138] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0139] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for producing sound of a motor, characterized in that: include: Sampling the audio data to obtain an audio sampling signal; Determine a control signal of the motor according to the audio sampling signal; Control the motor according to the control signal so that the motor produces sound; The step of sampling the audio data comprises: The audio data is sampled multiple times within one carrier cycle; When the motor is electrically controlled with multi-phase bridge arms in phase, the audio data is sampled multiple times within one carrier cycle, including: In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

2. The method for producing sound of a motor according to claim 1, characterized in that: The audio data is sampled multiple times within one carrier cycle, including: In one carrier cycle, the audio data is sampled at the time when multiple extreme points of the carrier signal are located.

3. The method for producing sound of a motor according to claim 2, characterized in that: The extreme value points include peaks and / or troughs.

4. The method for producing sound of a motor according to claim 1, characterized in that: When the motor is controlled by an electrically controlled multi-phase bridge arm with staggered phase, the audio data is sampled multiple times within one carrier cycle, including: In one carrier cycle, the audio data is sampled multiple times by the carrier signal of one of the bridge arms of the motor.

5. The method for producing sound of a motor according to claim 1, characterized in that: When the motor is controlled by an electrically controlled multi-phase bridge arm with staggered phase, the audio data is sampled multiple times within one carrier cycle, including: In one carrier cycle, the audio data is sampled at least once by the carrier signal of each bridge arm of at least two bridge arms of the motor.

6. The method for producing sound of a motor according to claim 1, characterized in that: The step of determining a control signal of a motor according to the audio sampling signal comprises: Determining an audio injection voltage and / or an audio injection current corresponding to the audio sampling signal; The duty cycle of the control signal of the motor is adjusted according to the audio injection voltage and / or the audio injection current.

7. The method for producing sound of a motor according to claim 6, characterized in that: The step of adjusting the duty cycle of the control signal of the motor according to the audio injection voltage and / or the audio injection current comprises: Determining a phase voltage of a motor according to the audio injection voltage and / or the audio injection current; The duty cycle of the control signal of the motor is adjusted according to the phase voltage.

8. The method for producing sound of a motor according to claim 7, characterized in that: The step of adjusting the duty cycle of the control signal of the motor according to the phase voltage comprises: At the moment when the extreme value point of the carrier signal is located, the duty cycle of the control signal of the motor is adjusted according to the phase voltage.

9. The method for producing sound of a motor according to claim 8, characterized in that: The step of adjusting the duty cycle of the control signal of the motor according to the phase voltage at the time when the extreme value point of the carrier signal is located includes: At time t1 of the carrier signal, adjusting the duty cycle of the control signal of the motor according to the phase voltage; Among them, t1 is the extreme point, and 0<t1-tm<Ts, Ts is the carrier period, and tm is the time when this sampling is completed.

10. The method for producing sound of a motor according to claim 1, characterized in that: The step of controlling the motor according to the control signal comprises: The switch device of the bridge arm of the motor is controlled according to the control signal.

11. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for producing sound of a motor as described in any one of claims 1 to 10 when executing the program.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for producing sound of a motor as described in any one of claims 1 to 10 is implemented.

13. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method for producing sound of a motor as claimed in any one of claims 1 to 10.

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