Audio playback method and device

Abstract

The embodiment of the present invention provides an audio playback method and device, the method comprising: transmitting a first-class audio signal to a first winding to control the first winding to emit a sound corresponding to the first-class audio signal; transmitting a second-class audio signal to a second winding to control the second winding to emit a sound corresponding to the second-class audio signal. The embodiment of the present invention can transmit the first-class audio signal and the first-class audio signal to the first winding and the second winding of the motor respectively to control the first winding and the second winding to emit a sound corresponding to the first-class audio signal and a sound corresponding to the second-class audio signal respectively, thereby realizing playback modes such as music being played simultaneously through the first winding and the second winding, and music being played separately through a single winding, etc., making the playback mode of car music more diversified, improving various music playback requirements of car users, and improving the user's vehicle use experience.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to an audio playing method, an audio playing device, an electronic device and a computer-readable storage medium. Background Art

[0002] At present, music playback in new energy vehicles is usually limited to the interior of the vehicle. Specifically, when music needs to be played, it is usually played through the audio equipment installed inside the vehicle.

[0003] With the development of new energy vehicles, the current single music playback method of playing music only through the audio equipment installed inside the vehicle can no longer meet the music playback needs of users of new energy vehicles. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide an audio playback method to solve the problem that the current single music playback method of playing music only through the audio equipment installed inside the vehicle can no longer meet the music playback needs of users of new energy vehicles. The specific technical solution is as follows:

[0005] In a first aspect of the present invention, an audio playback method is provided, comprising:

[0006] Transmitting a first type of audio signal to the first winding to control the first winding to emit a sound corresponding to the first type of audio signal;

[0007] The second type of audio signal is transmitted to the second winding to control the second winding to emit a sound corresponding to the second type of audio signal.

[0008] In a second aspect of the present invention, there is also provided an audio playback device, comprising:

[0009] A first-class audio sounding module, used for transmitting a first-class audio signal to the first winding, so as to control the first winding to emit a sound corresponding to the first-class audio signal;

[0010] The second type audio sounding module is used to transmit the second type audio signal to the second winding to control the second winding to emit a sound corresponding to the second type audio signal.

[0011] In another aspect of the present invention, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer executes any of the above-mentioned audio playback methods.

[0012] In another aspect of the present invention, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the above-mentioned audio playing methods.

[0013] In another aspect of the implementation of the present invention, a vehicle is provided, wherein the vehicle implements any of the above-mentioned audio playback methods.

[0014] Compared with the related art, the embodiments of the present invention have at least the following advantages:

[0015] In an embodiment of the present invention, a first-class audio signal is transmitted to the first winding to control the first winding to emit a sound corresponding to the first-class audio signal, and a second-class audio signal is transmitted to the second winding to control the second winding to emit a sound corresponding to the second-class audio signal. In an embodiment of the present invention, an audio signal can be played through a motor in a car, and since multiple sets of windings (e.g., the first winding and the second winding) of the motor are independently controlled, the first-class audio signal and the second-class audio signal can be transmitted to the first winding and the second winding of the motor respectively to control the first winding and the second winding to respectively emit a sound corresponding to the first-class audio signal and a sound corresponding to the second-class audio signal, thereby realizing playback modes such as music being played simultaneously through the first winding and the second winding, and music being played separately through a single winding, etc., making the playback mode of car music more diversified, improving various music playback requirements of car users, and improving the user's vehicle use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0017] Figure 1 A flowchart of an audio playback method provided in an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of an MCU provided in an embodiment of the present invention injecting a given current and / or voltage into a dq-axis synchronously rotating coordinate system;

[0019] Figure 3 The present invention provides an audio playback device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0021] Reference Figure 1 , is a flowchart of a method for playing audio provided in an embodiment of the present invention, and the method may specifically include the following steps:

[0022] Step 101: transmitting a first type of audio signal to a first winding to control the first winding to emit a sound corresponding to the first type of audio signal;

[0023] Step 102: Transmit a second type of audio signal to the second winding to control the second winding to emit a sound corresponding to the second type of audio signal.

[0024] The embodiment of the present invention can be applied to a motor having two or more windings, and can be controlled by a controller (MCU, Microcontroller Unit) of the motor. The winding has an independently decoupled sound control system, so that the multiple windings of the motor can be independently decoupled and controlled. Exemplarily, the winding of the motor may include a first winding and a second winding, and the audio signal may be transmitted to the first winding and the second winding of the motor respectively, so that the first winding and the second winding may respectively emit sounds corresponding to the audio signals transmitted thereto. Specifically, the audio signal may include at least a first type of audio signal and a second type of audio signal, wherein the first type of audio signal and the second type of audio signal may be different, for example, the first type of audio signal may be an audio signal of a left channel, and the second type of audio signal may be an audio signal of a right channel. After acquiring the first type of audio signal and the second type of audio signal, the first type of audio signal may be transmitted to the first winding to control the first winding to emit a sound corresponding to the first type of audio signal, and the second type of audio signal may be transmitted to the second winding to control the second winding to emit a sound corresponding to the second type of audio signal.

[0025] Specifically, an audio signal is transmitted to the winding of the motor, and the audio signal is used to control the winding to emit a sound corresponding to the audio signal, and control the first winding, the second winding or other windings of the motor to emit sound. Specifically, multiple groups of independently decoupled controlled windings are arranged inside the motor, and each group of windings generates a motor air gap magnetic field when energized individually or in combination. The electromagnetic force generated by the motor air gap magnetic field acting on the motor core (rotor) can stimulate the electromagnetic vibration of the motor rotor. The sound is generated by the vibration, which can make the motor emit the corresponding sound. The air gap magnetic field is determined by the magnetomotive force of the stator winding and the air gap magnetic permeance. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field in the motor air gap.

[0026] In an embodiment of the present invention, a first-class audio signal is transmitted to the first winding to control the first winding to emit a sound corresponding to the first-class audio signal, and a second-class audio signal is transmitted to the second winding to control the second winding to emit a sound corresponding to the second-class audio signal. In an embodiment of the present invention, an audio signal can be played through a motor in a car, and since multiple sets of windings (e.g., the first winding and the second winding) of the motor are independently controlled, the first-class audio signal and the second-class audio signal can be transmitted to the first winding and the second winding of the motor respectively to control the first winding and the second winding to respectively emit a sound corresponding to the first-class audio signal and a sound corresponding to the second-class audio signal, thereby realizing playback modes such as music being played simultaneously through the first winding and the second winding, and music being played separately through a single winding, etc., making the playback mode of car music more diversified, improving various music playback requirements of car users, and improving the user's vehicle use experience.

[0027] In one embodiment of the present invention, the method may further include:

[0028] The stereo audio is separated into mono channels to obtain the mono audio signal.

[0029] In an embodiment of the present invention, stereo audio can be separated into mono channels to obtain mono audio signals, for example, one or more left channel audio signals and / or one or more right channel audio signals can be separated, and then the separated one or more left channel audio signals and / or one or more right channel audio signals can be used as first type audio signals and / or second type audio signals according to actual playback requirements, and then transmitted to the first winding and the second winding, thereby controlling the sound of the second winding.

[0030] Among them, the first type of audio signal and the second type of audio signal are different audio signals separated from the same stereo audio. For example, the first type of audio signal and the second type of audio signal can be the audio signal of the left channel and the audio signal of the right channel separated from a stereo audio (a music song) selected by the user. Alternatively, the first type of audio signal and the second type of audio signal can also be different audio signals separated from different stereo audios. For example, the first type of audio signal can be an audio signal separated from a certain audio selected by the user, such as a certain music song, and the second type of audio signal can be an audio signal separated from another audio selected by the user, such as a background music of nature. Alternatively, the first type of audio signal and the second type of audio signal can also be different stereo audios. For example, the first type of audio signal can be a certain audio selected by the user, such as a certain music song, and the second type of audio signal can be another audio selected by the user, such as a background music of nature.

[0031] In an example of the present invention, the first winding and the second winding may be provided in the same motor.

[0032] In one embodiment of the present invention, the motor is a motor with dual three-phase windings; the first winding is one set of windings in the dual three-phase windings, and the second winding is another set of windings in the dual three-phase windings;

[0033] or,

[0034] The motor is a motor with six-phase windings; the first winding is a three-phase winding in the six-phase windings, and the second winding is another three-phase winding in the six-phase windings;

[0035] or,

[0036] The motor is a motor with nine-phase windings; the first winding is a three-phase winding in the nine-phase windings, and the second winding is a three-phase winding in the remaining six-phase windings in the nine-phase windings;

[0037] or,

[0038] The motor is a motor with fifteen-phase windings; the first winding is a three-phase winding among the fifteen-phase windings, and the second winding is a three-phase winding among the remaining twelve-phase windings among the fifteen-phase windings.

[0039] Specifically, the motor may include but is not limited to permanent magnet synchronous motors (dual three-phase, six-phase, nine-phase, fifteen-phase motors, etc.), asynchronous motors (dual three-phase, six-phase and above), and electrically excited synchronous motors (dual three-phase, six-phase, nine-phase, fifteen-phase motors, etc.), and the number of inverter bridge arms used is configured according to the number of phases of the motor. Among them, the motor may include multiple sets of windings: the motor coil includes x sets of windings, where x≥2, and x is an integer.

[0040] In one embodiment of the present invention, the motor includes x sets of windings, each of the x sets of windings includes multiple phases, and the windings are connected in the following manner:

[0041] The number of phases of the x-th set of windings is phases, and each phase winding in the x-th set of windings includes coil branches, and the coil branches of each phase winding are connected together to form a phase end point, and one coil branch in the coil branches of each phase winding in the x-th set of windings is also connected to one coil branch in the coil branches of other phase windings to form connection points, wherein, ≥1, ≥2, and , is an integer;

[0042] The x sets of windings form connection points in total, the connection points form T neutral points, and the T neutral points lead to N neutral lines.

[0043] Where x≥2, and x is an integer; ≥T≥1, T≥N≥1, and T and N are both integers.

[0044] In one embodiment of the present invention, the motor is suitable for connecting to a rectifier, and the rectifier includes a K group The midpoint of at least one bridge arm in a group of bridge arms is connected to a phase end point in a set of phase windings, and the bridge arms connected to any two phase end points are different, wherein, ≥ , K ≥ x, and K, All are integers.

[0045] The embodiment of the present invention can control the sound of the motor based on the transmitted audio signals (such as the first type of audio signal and the second type of audio signal) through multiple sets of windings, and the synthetic torque formed by the torque for sound generation corresponding to each set of windings controls the motor tends to zero, that is, all vibration torques generated by the motor due to vibration cancel each other out as a whole, so the motor hardly generates noise due to vibration.

[0046] In an embodiment of the present invention, the first winding is arranged in a first motor, and the second winding is arranged in a second motor, that is, the first winding and the second winding are arranged in different motors respectively.

[0047] In one embodiment of the present invention, it also includes:

[0048] controlling the first winding and the second winding to sound simultaneously according to the audio playback instruction, or

[0049] The first winding and the second winding are controlled to make sounds in sequence according to the audio playing instruction.

[0050] In an embodiment of the present invention, multiple sets of windings can produce corresponding sounds according to audio playback instructions. Specifically, the first winding and the second winding can be controlled to produce sounds corresponding to the audio signal at the same time, or the first winding and the second winding can be controlled to produce sounds corresponding to the audio signal in sequence. In addition, the audio playback instructions can also set the volume, playback rate, and adjust the pitch when producing sounds according to needs, thereby achieving the desired audio effects, such as multi-channel playback effects or music surround playback effects.

[0051] In some embodiments, a music surround playback effect can be achieved through the first winding and the second winding. For example, the first winding can play music, and the second winding can play background music of nature, simulating music playback in scenes such as waterfalls, forests, and rain, giving people an immersive feeling.

[0052] In an embodiment of the present invention, multiple sets of windings can make sounds synchronously. For example, the first winding and the second winding can make sounds synchronously. The synchronous sounding of multiple sets of windings can be achieved by controlling the multiple sets of windings to start playing simultaneously in response to a play instruction. In addition, multiple sets of windings can also make sounds in sequence according to a preset order, or sound splicing can be performed. Since the audio signal of the embodiment of the present invention can be multiple different mono signals separated from the same stereo audio, multiple sets of windings can play the sounds of multiple channels of the same audio, and can even play stereo sounds as a whole to meet a variety of sound production needs.

[0053] In one embodiment of the present invention, controlling the first winding to emit a sound corresponding to the first type of audio signal includes:

[0054] converting the first type of audio signal into a first electrical control signal;

[0055] Inputting the first electrical control signal into a vector control system of the first winding to control the first winding to produce sound;

[0056] The controlling the second winding to emit a sound corresponding to the second type of audio signal comprises:

[0057] converting the second type of audio signal into a second electrical control signal;

[0058] The second electrical control signal is input into a vector control system of the second winding to control the second winding to produce sound.

[0059] In the embodiment of the present invention, the audio signal can be converted into an electrical control signal. For example, the first type of audio signal and the second type of audio signal can be converted into a first electrical control signal and a second electrical control signal, respectively. The electrical control signal can be a current control signal or a voltage control signal. The current control signal and the voltage control signal can be converted into each other. Then, the first winding and the second winding are vector-controlled according to the first electrical control signal and the second electrical control signal, respectively, so that the first winding and the second winding can respectively separate the sound transmitted to the corresponding audio signal.

[0060] In one embodiment of the present invention, each set of windings has an independently decoupled vector control system, and the electrical control signals are input into the vector control systems corresponding to the corresponding windings, so that the windings can make sounds respectively.

[0061] The embodiment of the present invention is a solution for audio playback based on a motor with two or more windings, and is applied to the controller (MCU, Microcontroller Unit) of the motor. The multiple windings of the multi-phase motor can be independently decoupled and controlled to form multiple independently decoupled vector control systems (Field-Oriented Control, FOC). Each system independently controls the sound of the electric drive system. Multiple windings and multiple systems can sound at the same time or in a preset order, or make sound splicing, etc. Multiple windings and multiple systems can play sounds of multiple channels, and can even play stereo sounds in one.

[0062] In an embodiment of the present invention, the motor can form multiple sets of independently decoupled vector control systems. Taking a six-phase motor as an example, two sets of independently decoupled vector control systems can be formed. Each winding system independently controls to emit a sound of an independent channel, and the two independent vector control systems can emit the sound of the left and right channels at the same time. Stereo can also be converted into two-channel audio data for playback to achieve a stereo playback effect within a certain range, and the stereo sound is separated into two channels. This process can be completed by the audio decoding chip in the multimedia host or processed in advance and stored in a readable memory. The two channels contain basically complete audio information except for some differences in center, surround, bass, etc. The decoded two-channel data is passed to two sets of electric drive control systems. After receiving the play command, the two sets of electric drive control systems simultaneously start the play action, allowing one motor to play the audio signals of the two channels at the same time. In addition, a special music surround playback effect can also be formed. Specifically, one set of windings can play music, and the other set of windings can play the background music of nature.

[0063] In an embodiment of the present invention, during driving or parking, the two sets of windings can form a symmetrical current or voltage vector to play music. The torque vector sum generated by playing the music is basically zero, which basically does not cause driving jitter problems caused by torque fluctuations, and can also enhance the volume of music playback and other effects.

[0064] In one embodiment of the present invention, inputting the first electrical control signal into a vector control system of the first winding specifically includes:

[0065] Based on the rotor position of the motor in which the first winding is located, the first electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the first winding,

[0066] According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation;

[0067] Inputting the second electrical control signal into a vector control system of the second winding specifically includes:

[0068] Based on the rotor position of the motor in which the second winding is located, the second electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the second winding,

[0069] According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation.

[0070] In a specific implementation, based on the windings (the first winding and the second winding), it can be combined with the rotor position in the motor, and through the vector control system corresponding to the windings, the corresponding electrical control signals (the first electrical control signal and the second electrical control signal) can be converted into components perpendicular to the rotor magnetic field and components parallel to the rotor magnetic field. Then, the rotor in the motor can be controlled by the components perpendicular to the rotor magnetic field and the components parallel to the rotor magnetic field, thereby realizing magnetic field-oriented control of the motor, so that the rotor of the motor vibrates to emit a sound corresponding to the audio signal.

[0071] During the audio signal playback process, the x sets of windings use a vector control system with independent dq coordinate transformation of the x sets of windings. The x sets of windings can be combined to produce sound, so that the electromagnetic force generated by the motor air gap magnetic field acting on the motor core excites electromagnetic vibration to produce sound. At the same time, the electromagnetic force excites electromagnetic vibration to be evenly distributed on the rotor in different directions. The rotor is evenly stressed, and the resultant force formed is basically zero, protecting the stator and rotor, and preventing single-direction bearing or stator and rotor wear caused by a single-direction vibration torque. In an embodiment of the present invention, the vector synthesis amount formed by the vector of each set of windings is zero or within the target vector synthesis range, and each set of windings can independently control the pronunciation, and the total vibration torque synthesis torque is zero.

[0072] Based on the VSD (Variable Speed ​​Drive) coordinate transformation, the motor is regarded as a whole. Based on the double dq coordinate transformation, the six-phase motor is regarded as a combination of two three-phase subsystems, and then each subsystem is controlled by the traditional three-phase motor dq coordinate transformation. A similar method can be used to establish a multi-dq coordinate transformation for a multi-phase motor, and it is regarded as a combination of multiple three-phase subsystems, and then each subsystem is controlled by the traditional three-phase motor coordinate transformation. The above modeling method is applicable to motors with more than two sets of windings. For example, a six-phase motor contains two sets of winding systems, a double three-phase motor can contain two sets of winding systems (each winding consists of three phases at this time), a nine-phase motor can contain 3 sets of winding systems, and a twelve-phase motor can contain 4 sets of winding systems. For example, a fifteen-phase motor can have 5 sets of winding systems, and so on. x is the number of winding sets of the motor used. The number of winding sets of the six-phase motor is x=2. When using a motor with more than six phases, x>2.

[0073] The following describes some parameters involved in the embodiments of the present invention:

[0074] Clark transform: stationary coordinate transformation, transforming the N-phase axis system into a two-phase stationary coordinate system, generally excluding the zero-axis vector; extended Clark transform: stationary coordinate transformation, transforming the N-phase axis system into a two-phase stationary coordinate system, including the zero-axis vector; PARK transform: synchronous rotating coordinate transformation, transforming the two-phase stationary coordinate system into a synchronous rotating coordinate system, generally excluding the zero-axis vector; extended PARK transform: synchronous rotating coordinate transformation, transforming the two-phase stationary coordinate system into a synchronous rotating coordinate system, including the zero-axis vector; inverse Clark transform: the inverse transform of Clark transform; inverse PARK transform: the inverse transform of PARK transform.

[0075] is the output torque at the motor shaft end; p is the number of motor pole pairs; (or φf) represents the permanent magnet flux of the motor; Ld represents the direct axis inductance; Lq represents the quadrature axis inductance; id represents the direct axis current; iq represents the quadrature axis current. SVPWM: Space Vector Pulse Width Modulation Algorithm; θ is the angle between the direct axis of the rotor of the automotive power motor and the A-phase winding of the automotive power motor; ud and uq are the voltages in the stator dq axis coordinate system respectively; id and iq are the currents in the stator dq axis coordinate system respectively; Ld and Lq are the winding inductances in the dq axis coordinate system respectively; Rs is the stator winding resistance, phase resistance; Rsn is the resistance from the N line to the phase line; ωe is the electrical angular velocity, Pn is the number of motor pole pairs; φf is the permanent magnet flux.

[0076] In practical applications, harmonic injection can be used to inject audio signals (such as the digital quantity corresponding to a music file) into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor. Specifically:

[0077] 1. Harmonic current extraction, such as transforming the three-phase current into 5dq and 7dq coordinates respectively, and then extracting the 5th and 7th harmonic currents through a low-pass filter;

[0078] 2. Harmonic voltage calculation, for example, according to the amplitude and frequency of the audio signal (such as the digital quantity corresponding to the music file), the target harmonic current value is given, and the voltage in the corresponding coordinate system is obtained after passing through the PI regulator;

[0079] 3. The coordinate transformation is injected into the motor vector control. For example, the voltage in the stationary coordinate system is obtained through the inverse PARK transformation and injected into the original FOC closed-loop control system.

[0080] When playing audio signals through the car's motor, such as music or sound collected by a microphone, the vector control block diagram of the multi-phase motor system is shown in Figure 1. Figure 2 It is necessary to establish a vector control system for dq coordinate transformation. Specifically, for permanent magnet synchronous motors, a vector control system with rotor magnetic field orientation is established. For asynchronous motors, a vector control system with rotor magnetic field orientation is established. It is necessary to establish rotor excitation current for asynchronous motors. Unlike permanent magnet synchronous motors, which already have rotor magnetic fields, otherwise the sound played by asynchronous motors without rotor excitation is less than 1% of that with excitation current. Based on electrically excited synchronous motors, a vector control system with rotor excitation magnetic field orientation is established. It is necessary to establish rotor excitation current for electrically excited motors to play audio. Unlike permanent magnet synchronous motors, which already have rotor magnetic fields, otherwise the sound played by electrically excited motors without rotor excitation is less than 1% of that with excitation current. For example, the two sets of windings of a six-phase motor can be staggered by 30 electrical degrees, θ1=θ, θ2=θ+30; the two sets of windings of a six-phase motor can be staggered by 60 electrical degrees, θ1=θ, θ2=θ+60; the two sets of windings of a dual three-phase motor can be staggered by 0 electrical degrees, θ1=θ, θ2=θ.

[0081] In an embodiment of the present invention, the audio signal can be extracted from a voice file / music file collected by a microphone that communicates with the car, such as music sung by a user collected by a microphone when the user is singing karaoke in the car. It can also be extracted from a music file transmitted by an external mobile terminal that communicates with the car, such as music played on a mobile terminal when the user is singing karaoke in the car, or the sound of a movie played on a mobile terminal when the user is watching a movie in the car.

[0082] In some embodiments of the present invention, multiple audio signals (first-category audio signals and second-category audio signals) are respectively subjected to amplitude mapping processing to obtain multiple electrical control signals within the amplitude dimension range; the electrical control signals within the amplitude dimension range are distributed to the synchronous rotating coordinate system or the stationary coordinate system of the motor to obtain corresponding electrical control signals. In practical applications, the audio signal can be converted and processed within the amplitude dimension range to obtain an electrical control signal that can be controlled by the winding, and the audio signal can be injected into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor by harmonic injection.

[0083] In some embodiments of the present invention, the audio signal is normalized to obtain a converted audio normalized signal; the converted audio normalized signal is multiplied with a preset maximum current amplitude and a volume percentage value signal to obtain the amplitude of the converted audio signal, and the amplitude of the converted audio signal is within the amplitude dimension range of the motor; the audio signal is converted according to the amplitude of the converted audio signal to obtain an electrical control signal within the amplitude dimension range. In practical applications, the audio signal can be normalized to obtain a converted audio normalized signal and a volume percentage value signal by multiplying the converted audio normalized signal with the maximum current amplitude used by the current controller to respond to the audio signal, that is, the maximum current amplitude within the amplitude dimension range, and converting the audio signal to obtain an audio signal within the amplitude dimension range.

[0084] In some embodiments of the present invention, the amplitude of the converted audio signal is allocated to a synchronous rotating coordinate system of a target order, and a current control signal within the amplitude dimension range for controlling the motor in the synchronous rotating coordinate system of the target order is obtained; the current control signal is converted into a voltage control signal according to the corresponding equivalent circuit in the synchronous rotating coordinate system of the target order. Specifically, for the synchronous rotating coordinate system, there are two types: a synchronous rotating coordinate system of the same order and a high-order synchronous rotating coordinate system. The synchronous rotating coordinate system of the same order, a high-order synchronous rotating coordinate system, or a stationary coordinate system can be selected according to actual conditions.

[0085] In an embodiment of the present invention, the amplitude of the converted audio signal can be assigned to a synchronous rotating coordinate system of a target order (a synchronous rotating coordinate system of the same order or a higher-order synchronous rotating coordinate system) to obtain a current control signal within the amplitude dimension range for controlling the motor in the corresponding order rotating coordinate system. Then, the current control signal can be converted into a voltage control signal according to the corresponding equivalent circuit in the synchronous rotating coordinate system of the target order.

[0086] In an embodiment of the present invention, the electric control signal obtained after the audio signal is converted is simultaneously injected into the n-order dq-axis synchronous rotating coordinate system, where n≠1 and is a real number. The advantage of such processing is that the low-frequency vibration or jitter that may exist in the low-frequency audio signal on the 1-order dq-axis synchronous rotating coordinate system is dispersed in the high-order dq-axis synchronous rotating coordinate system because the rotation frequency is faster than that on the 1-order dq-axis synchronous rotating coordinate system. The duration of the vibration point is dispersed, and the corresponding vibration point time becomes shorter and the duration becomes shorter along the rotor rotation multiple times, which almost does not cause jitter, thus solving the jitter problem caused by the low-frequency audio signal. In addition, the embodiment of the present invention can solve the NVH (Noise, Vibration, and Harshness) problem caused by the high-order current of the whole vehicle. By extracting the NVH noise, the noise is reversely injected into the n-order dq-axis synchronous rotating coordinate system, and the motor emits sound to eliminate the NVH noise.

[0087] In a specific example, the motor controller performs amplitude mapping processing on the audio signal: the extracted audio signal is processed in unit, and then the maximum current amplitude that the current controller can use to respond to the audio signal is multiplied by the audio signal processed in unit and the volume percentage value signal for conversion processing to obtain the current Is on the amplitude dimension corresponding to the controller. Is is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system through the angle theta (n is a real number), and the signals isdn and isqn that can be controlled by the motor drive system are obtained. The voltage needs to be converted through the current-voltage module to obtain: isdn and isqn are converted through the current-voltage conversion module to obtain the voltage control signals Usdn and Usqn. The current-voltage conversion module can be a pure proportional coefficient relationship or a proportional differential relationship or converted according to an equivalent circuit model.

[0088] In a specific example, Is divides the current by the angle theta:

[0089] Formula 1: Isdn = Is * cos(theta), Isqn = Is * sin(theta), theta=K*θ+theta_init, K∈real number, θ is the electrical angle of the rotor magnetic field, theta_init is the initial angle of injection, ranging from 0 to 360 degrees.

[0090] The process of converting the audio current Is into the audio voltage Us by the current-to-voltage conversion module, in a specific example, the specific formula is as follows:

[0091] Permanent magnet synchronous motor formula 2:

[0092] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0093] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*ψf]*Kp / Us,

[0094] ψd=*Ld*isd+ψf, ψq=Lq*isq, s is the variable of Laplace transform, and Kp is not equal to zero.

[0095] Asynchronous motor formula 3:

[0096] Usd=[(R+s*Ls)*isd-we*Ls*isq+s*Lm*ird-we*Lm*irq]*Kp / Us, Usq=[(R+s*Ls)*isq+we*Ls*isd+we*Lm*ird+s*Lm*irq]*Kp / Us,

[0097] ψsd=Ls*isd+Lm*ird, ψsq=Ls*isq+Lm*irq, ψr=Lm*isd / (1+s*Lr / Rr)

[0098] The rotor d-axis current ird=-s*ψr / Rr, the rotor q-axis current irq=-Lm*isq / Lr, s is the variable of Laplace transform, and Kp is not equal to zero.

[0099] Electric excitation synchronous motor formula 4:

[0100] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0101] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*Lmd*if]*Kp / Us,

[0102] ψd=*Ld*isd+Lmd*if,ψq=Lq*isq, s is the variable of Laplace transform, and Kp is not equal to zero.

[0103] Alternatively, Formula 5 is uniformly adopted: Usd=isd*Kp, Usq=isq*Kp, Kp is not equal to zero.

[0104] The current Is and voltage Us must be less than the maximum current and maximum voltage allowed by the system.

[0105] In some embodiments of the present invention, a maximum voltage amplitude of a motor controller for responding to an audio signal is obtained; the converted audio per-unit signal is multiplied with a preset maximum voltage amplitude and a volume percentage value signal to obtain the amplitude of the converted audio signal, and the amplitude of the converted audio signal is within the amplitude dimension range of the motor; the audio signal is converted according to the amplitude of the converted audio signal to obtain an electrical control signal within the amplitude dimension range; the electrical control signal is assigned to a synchronous rotating coordinate system of a target order for conversion to obtain a voltage control signal within the amplitude dimension range for controlling the motor in the synchronous rotating coordinate system of the target order; and the voltage control signal is converted into a current control signal according to the corresponding equivalent circuit in the synchronous rotating coordinate system of the target order.

[0106] In an embodiment of the present invention, the extracted audio signal can be scalar processed, and then the scalar processed audio signal and the volume percentage value signal can be multiplied and converted according to the maximum voltage amplitude that the current controller can use to respond to music, so as to obtain the voltage Us in the amplitude dimension corresponding to the controller. Us is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system through the angle theta (n is a real number), and the signals Usdn and Usqn that can be controlled by the motor drive system are obtained.

[0107] Formula 6 is uniformly adopted: Usd=Us*Kp, Usq=Us*Kp, Kp is not equal to zero.

[0108] The voltage Us must be less than the maximum available voltage allowed by the vector control system.

[0109] In some embodiments of the present invention, the electrical control signal within the amplitude dimension range is allocated to the synchronous rotating coordinate system of the motor to obtain the electrical control signal; or, the electrical control signal within the amplitude dimension range is allocated to a high-order synchronous rotating coordinate system based on the synchronous rotating coordinate system of the motor to obtain the electrical control signal; or, the electrical control signal within the amplitude dimension range is allocated to the stationary coordinate system of the corresponding winding to obtain the electrical control signal.

[0110] In an embodiment of the present invention, the current control signal and voltage control signal of each single channel within the amplitude dimension range can be simultaneously input into the synchronous rotating coordinate system or the stationary coordinate system corresponding to the winding, or the current control signal or voltage control signal of each single channel can be separately input into the synchronous rotating coordinate system or the stationary coordinate system corresponding to the winding to obtain an electrical control signal.

[0111] In an embodiment of the present invention, the audio signal is converted into a dq synchronous rotating coordinate system, and the direction can be positive or negative: for example, the audio signal is converted into a current vector Is (current Isd, Isq) on the dq axis and a voltage vector Us (voltage Usd, Usq) on the dq axis in a positive direction, and the current and voltage are injected into the dq axis synchronous rotating coordinate system.

[0112] For example Figure 2 In one example, the audio signal can be converted into a current vector Is on the dq axis in a positive direction (currents Isd1 and Isq1 of the first vector control system, currents Isd2 and Isq2 of the second vector control system), and the audio current is injected alone. At the same time, the audio signal is converted into a voltage vector Us on the dq axis in a positive direction (voltages Usd1 and Usq1 of the first vector control system, voltages Usd2 and Usq2 of the second vector control system), so that the audio current and the audio voltage can be injected together, which can increase the response frequency of the system and achieve a wider bandwidth system follow-up response, thereby allowing a larger vibration frequency (higher frequency sound) and a larger oscillation current (loudness of the sound).

[0113] Isd1* = Is * cos(theta1),Isq1* = Is * sin(theta1);

[0114] Isd2* = Is * cos(theta2),Isq2* = Is * sin(theta2);

[0115] Usd1* = Kp*Is * cos(theta1),Usq1* = Kp*Is * sin(theta1);

[0116] Usd2* = Kp*Is * cos(theta2),Usq2* = Kp*Is * sin(theta2);

[0117] Theta1=K*θ+theta_init1, K∈real number, θ is the rotor magnetic field electrical angle, theta_init1 is the initial angle of injection, ranging from 0 to 360 degrees. Control theta2 = theta1 + 180 + θ1 - θ2, the amplitude of the synthetic vector of the current vector or voltage vector formed by the two sets of windings to control audio playback is basically zero or fluctuates in a small range around zero, and the torque vector generated by playing music is basically zero, which basically does not cause driving jitter problems caused by torque fluctuations, and can increase the volume of music playback, etc.;

[0118] In one example, the audio signal is converted into a current vector Is on the dq axis in a positive direction (the first set of vector control system currents Isd1 and Isq1, and the second set of vector control system currents Isd2 and Isq2), and the audio current is injected separately.

[0119] Alternatively, in another specific example, the audio signal is converted into a voltage vector Us on the dq axis in the positive direction (the first set of vector control system voltages Usd1 and Usq1, the second set of vector control system voltages Usd2 and Usq2), and the audio voltage is injected separately; the advantage is that the audio voltage directly acts on the normal FOC control system, and the control method is relatively simple.

[0120] Convert the audio signal to the current vector Is (current Isdn, Isqn) of the n-order dq axis synchronous rotating coordinate system and the voltage vector Us (voltage Usdn, Usqn) on the dq axis, n≠1, and is a real number. The direction can be positive or negative (for example, the order can be n=2,3,4,5,6,7... in the positive direction, n=0, -1, -2, -3, -4, -5, -6, -7... in the negative direction, etc.).

[0121] For example, in a specific example, the MCU simultaneously gives the current and voltage given by the music conversion to the -5 and 7 order dq axis synchronous rotating coordinate systems. The process is as follows. The audio injection includes three parts: ① harmonic current extraction ② harmonic voltage calculation ③ coordinate transformation and injection into the motor vector control.

[0122] ① Harmonic current extraction: The phase currents of the motor are transformed into -5dq and +7dq coordinates respectively, and then the -5th harmonic and +7th harmonic currents are extracted through a low-pass filter;

[0123] ② Harmonic voltage calculation: Is is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system through the angle theta to obtain the given target harmonic current value (current Id5th, Iq5th, Id7th, Iq7th), and after passing through the PI regulator, the voltage component obtained by the music through the current and voltage module conversion is superimposed to obtain the voltage in the corresponding coordinate system (voltage Ud5th, Uq5th, Ud7th, Uq7th). Given the target harmonic current value, in a specific example, formulas 2, 3, 4, and 5:

[0124] Id5th1* = Is * cos(theta1),Iq5th1* = Is * sin(theta1);

[0125] Id7th1* = Is * cos(theta1),Iq7th1* = Is * sin(theta1);

[0126] Id5th2* = Is * cos(theta2),Iq5th2* = Is * sin(theta2);

[0127] Id7th2* = Is * cos(theta2),Iq7th2* = Is * sin(theta2);

[0128] Voltage components of music distribution:

[0129] Ud5th1* = Kp*Is * cos(theta1),Uq5th1* = Kp*Is * sin(theta1);

[0130] Ud7th1* = Kp*Is * cos(theta1),Uq7th1* = Kp*Is * sin(theta1);

[0131] Ud5th2* = Kp*Is * cos(theta2),Uq5th2* = Kp*Is * sin(theta2);

[0132] Ud7th2* = Kp*Is * cos(theta2),Uq7th2* = Kp*Is * sin(theta2);

[0133] Kp is not equal to zero, the current Is and voltage Us must be less than the maximum current and maximum voltage allowed by the system. Theta1=K1*θ+theta_init1, K1∈real number, θ1 is the electrical angle of the rotor magnetic field, theta_init1 is the initial angle of injection, ranging from 0 to 360 degrees. Theta2=K2*θ2+theta_init2, K2∈real number, θ2 is the electrical angle of the rotor magnetic field, theta_ini2 is the initial angle of injection, ranging from 0 to 360 degrees.

[0134] Adjusting the angle distribution of theta1 and theta2 here can optimize the sound pronunciation effect. Control theta2 = theta1 + 180 + θ1 - θ2, the amplitude of the synthetic vector of the current vector or voltage vector formed by the two sets of windings to control the audio playback is basically zero or fluctuates in a small range around the zero value, and the torque vector generated by playing music is basically zero, which basically does not cause driving jitter problems caused by torque fluctuations, and can increase the volume of music playback, etc.

[0135] In the embodiment of the present invention, the method for optimizing sound is as follows: the vector sum of the audio signal in each order coordinate system is zero, the amplitude at a certain moment after normalization is Y_music, and the calculation formula is as follows:

[0136] In a specific example, a method for optimizing sound, two sets of windings form two sets of independently decoupled vector control systems, and a controller performs amplitude mapping processing on the audio signal. The amplitude of the injected audio signal is as follows:

[0137] The vector control system of the first set of windings has an injected current amplitude of Ism=Km*Y_music and an angle of angle. The vector control system of the second set of windings has an injected current amplitude of Isk=Km*Y_music and an angle of angle+180. Km is less than the maximum current amplitude Ismax that the controller can output.

[0138] In a specific example, the rotation direction of the two vectors of the two sets of windings can be: angle=K*θ+angle1, K∈real number (for example, K=2*π*f*t, t is time, f is frequency and can be negatively correlated with the speed, etc.), θ is the rotor magnetic field electrical angle, angle1 is the initial angle of injection, ranging from 0 to 360 degrees. The angle angle can be based on a certain frequency or a certain random angle or a fixed value, and the amplitude of the composite vector of the current vector injected by the audio signal into the two systems is basically zero or fluctuates in a small range around zero;

[0139] In a specific example, according to Figure 2 To optimize the sound, three sets of windings form three sets of independently decoupled vector control systems. The controller performs amplitude mapping on the audio signal. The amplitude of the injected audio signal is as follows:

[0140] For the vector control system of the first set of windings, the injected current amplitude Ism=Km*Y_music, and the angle is angle. For the vector control system of the second set of windings, the injected current amplitude Isk=Km*Y_music, and the angle is angle+120. For the vector control system of the third set of windings, the injected current amplitude Isl=Km*Y_music, and the angle is angle-120. Km is smaller than the maximum current amplitude Ismax that the controller can output.

[0141] In a specific example, the rotation direction of the two vectors of the three windings may be an angle angle according to a certain frequency or a certain random angle or a fixed value (for example, K=2*π*f*t, t is time, f is frequency and may be negatively correlated with the rotation speed, etc.), and the amplitude of the resultant vector of the current vector injected by the audio signal into the three systems is substantially zero or fluctuates in a small range around zero;

[0142] In a specific example, a method for optimizing sound, four sets of windings form four sets of independently decoupled vector control systems, and a controller performs amplitude mapping processing on the audio signal. The amplitude of the injected audio signal is as follows:

[0143] For the vector control system of the first set of windings, the injected current amplitude Ism=Km*Y_music, and the angle is angle. For the vector control system of the second set of windings, the injected current amplitude Isk=Km*Y_music, and the angle is angle+180. For the vector control system of the third set of windings, the injected current amplitude Isl=Km*Y_music, and the angle is angle+a. For the vector control system of the fourth set of windings, the injected current amplitude Isn=Km*Y_music, and the angle is angle+a+180. a is the angle of one pair of vectors relative to the other pair of vectors, and Km is less than the maximum current amplitude Ismax that the controller can output.

[0144] In a specific example, the rotation direction of the four vectors of the four windings can be angle=K*θ+angle1, K∈real number (for example, K=2*π*f*t, t is time, f is frequency and can be negatively correlated with the speed, etc.), θ is the rotor magnetic field electrical angle, angle1 is the initial angle of injection, ranging from 0 to 360 degrees. The angle angle can be based on a certain frequency or a certain random angle or a fixed value, and the amplitude of the composite vector of the current vector injected by the audio signal into the four systems is basically zero or fluctuates in a small range around zero;

[0145] In a specific example, a method for optimizing sound, the sum of the vectors on the dq axis synchronously rotating coordinate system is zero: Ism= Isk can adjust the volume, an optional method for optimizing sound: adjusting the angle distribution of theta1 and theta2 can optimize the pronunciation effect of the sound, let theta1 = angle, theta2= angle+180+θ1-θ2;

[0146] Isd1 = Ism * cos(theta1 ), Isq1 = Ism* sin(theta1 );

[0147] Isd2 = Isk * cos(theta2 ), Isq2 = Isk* sin(theta2 );

[0148] Usd1* = Kp*Isd1 * cos(theta1),Usq1* = Kp*Isq1 * sin(theta1);

[0149] Usd2* = Kp*Isd2 * cos(theta2),Usq2* = Kp*Isq2 * sin(theta2);

[0150] In the specific implementation, the vector sum on the n-order dq-axis synchronous rotation coordinate system is zero: Ism = Isk can adjust the volume, an optional method to optimize the sound: adjusting the angle distribution of theta1 and theta2 can optimize the pronunciation effect of the sound, let theta1 = angle, theta2 = angle+180+ n*(θ1-θ2);

[0151] Isd5th1 = Ism* cos(theta1 ),Isq5th1 = Ism* sin(theta1 );

[0152] Isd7th1 = Ism* cos(theta1 ),Isq7th1 = Ism* sin(theta1 );

[0153] Isd5th2 = Isk * cos[theta1 +180+(-5θ1)-(-5θ2)];

[0154] Isq5th2 = Isk * sin[theta1 +180+(-5θ1)-(-5θ2)];

[0155] Isd7th2 = Isk * cos[theta1 +180+(7θ1)-(7θ2)];

[0156] Isq7th2 = Isk * sin[theta1 +180+(7θ1)-(7θ2)];

[0157] The motor controller controls the signal after audio conversion. The electromagnetic force generated by the motor air gap magnetic field acting on the motor core excites electromagnetic vibration. The sound is generated by the vibration, which can make the motor emit corresponding musical sounds. The air gap magnetic field is determined by the magnetomotive force of the stator and rotor windings and the air gap magnetic permeance. The size of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field in the motor air gap.

[0158] In some embodiments of the present invention, a single sampling single updating technique is used to determine the control frequency of the controller of the motor, and the control frequency is used as the sampling frequency; or, a double sampling single double updating technique is used to determine the control frequency of the controller of the motor, and the control frequency is used as the sampling frequency; the audio signal of the data transmitted by the multimedia system of the vehicle is sampled according to the sampling frequency to obtain an audio signal.

[0159] In an embodiment of the present invention, a mono signal of a mono channel is obtained, and the sampling points are discretized or the sampling frequency is interpolated and reduced according to the playback frequency (sampling frequency) to obtain the amplitude of the corresponding mono signal sampling point (for example, MP3 and other files use a sampling frequency of 44.1kHz, and the variable obtained according to the 44.1kHz sampling frequency is the amplitude of each point at the sampling frequency), which is finally converted into digital signal information and transmitted to the controller.

[0160] The mono signal is sampled discretely or interpolated according to the playback frequency. The sampling frequency is downsampled: The focus is on the audio signal downsampling conversion process. The motor drive system is limited by the switching frequency (3kHz~20kHz) of the power device (IGBT, SIC, GAN, MOSFEET, etc.) and the control frequency (3kHz~30kHz) of the control chip, which is basically lower than the sampling rate of the music file (96kHz, 48kHz, 44.1kHz, 22.05kHz, etc.). The motor controller uses double sampling and double updating technology to increase the control frequency of the electronic control chip and the sampling frequency of the audio digital signal, so that at a lower switching frequency (10kHz, 11kHz, 12kHz, 16kHz, etc.), two interrupt controls can be performed in one switching cycle to achieve a higher control frequency (20kHz, 22kHz, 24kHz, 32kHz, etc.), increase the sampling frequency of the audio digital signal, reduce the sampling distortion of the audio digital signal from the source, and improve the music restoration of the audio file, so that the effect can achieve a higher playback quality.

[0161] The embodiment of the present invention adopts single sampling single updating and double sampling double updating to improve the control frequency of the electronic control chip when playing the audio signal, improves the audio signal restoration degree, and the effect can achieve higher playback quality.

[0162] In some embodiments of the present invention, when the data transmitted by the vehicle's multimedia system is an analog signal, analog-to-digital sampling is performed on the data transmitted by the vehicle's multimedia system according to the sampling frequency; when the data transmitted by the vehicle's multimedia system is a digital signal, a down-converted sampling frequency is determined based on the sampling frequency, and the data transmitted by the vehicle's multimedia system is sampled according to the down-converted sampling frequency.

[0163] In a specific implementation, the audio signal may include an analog signal and a digital signal.

[0164] For analog signals: ADC (Analog-to-Digital Converter) sampling is performed according to the control frequency of the control chip, which can reduce the frequency to obtain the required audio signal, and then the audio signal is denoised to improve the sound quality. For example, if the ADC sampling frequency is 22kHz, an audio signal with a sampling rate of 22kHz can be obtained.

[0165] For digital signals: frequency reduction processing is required, that is, the original signal with a higher sampling rate is reduced to obtain an audio control signal with a lower sampling rate. If there is no audio point during the frequency reduction process, the previous point and the next point are interpolated to obtain it. For example, for an audio file with a sampling rate of 48kHz, one audio point is selected every three audio points, and an audio signal with a sampling rate of 12kHz can be obtained.

[0166] In one embodiment of the present invention, the mono audio signal is normalized to obtain a converted mono audio signal; current amplitude and angle are injected into the converted mono audio signal; and the amplitude of the converted mono audio signal after the current amplitude and angle are injected is obtained.

[0167] In an embodiment of the present invention, an audio signal is read from a music file such as an MP3 file and converted into a music waveform. The audio signal is normalized between -1 and 1 to obtain a converted music signal Y_music, and the injected current amplitude Is = Km * Y_music is used to obtain the current amplitude Is corresponding to the audio signal, and the music injection angle theta (electrical angle). The angle of music injection can change over time or remain unchanged to ensure the best sound effect. For example, in parking mode, theta can be kept unchanged after finding the optimal theta angle. In driving mode, the optimal theta can remain variable as the torque increases to ensure that the torque fluctuation caused by music injection verifies the sliding of the constant torque curve, ensures that the torque fluctuation is minimized, and does not generate additional noise and other problems. theta = K*θ + theta_init, K∈ real number, θ is the rotor magnetic field electrical angle, theta_init is the initial angle of injection, ranging from 0 to 360 degrees.

[0168] In an embodiment of the present invention, the controller converts the audio signal to obtain an amplitude dimension corresponding to the controller, and obtains a signal that can be controlled by the motor drive system. The audio signal is injected into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor by means of signal injection.

[0169] In the specific implementation, the audio digital signal injection method can be adopted, and the MCU injects the given current and / or voltage into the n-order dq axis synchronous rotating coordinate system or the stationary coordinate system controlled by the motor, where n∈real number. By controlling the amplitude of the target current harmonic injection of the motor synchronous rotating coordinate system multiple times, the amplitude and frequency of the notes played by the motor can be controlled, and finally the pitch of the notes played by the motor can be controlled.

[0170] The embodiment of the present invention is based on a solution for audio playback proposed by a multi-winding motor with two or more windings. The multiple windings of the multi-phase motor can be independently decoupled and controlled to form multiple sets of independently decoupled vector control systems, and each system independently controls the sound of the electric drive system. Regardless of driving or parking, each subsystem is controlled by the traditional three-phase motor dq coordinate transformation. Each motor dq coordinate transformation system can independently control the motor to play the audio signal by injecting an audio signal into the vector control system. During the audio playback process, x sets of windings use x sets of independent dq coordinate transformation vector control systems, and the playback action is turned on and the audio signal is played at the same time. The amplitude of the synthetic vector of the current vector or voltage vector formed by the x sets of windings to control the audio playback is basically zero or fluctuates in a small range near the zero value. Each set of windings can independently control the pronunciation, and the synthetic torque formed by the total vibration torque is basically zero or fluctuates in a small range near the zero value, which will not cause problems such as vehicle shaking and abnormal noise.

[0171] Multiple sets of independently decoupled vector control systems form symmetrical current or voltage vectors to play music. The torque vector sum generated by playing music is basically zero, which basically does not cause driving jitter problems caused by torque fluctuations, and can also have the effect of increasing the volume of music playback.

[0172] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0173] Reference Figure 3 , is a structural block diagram of an audio playback device provided in an embodiment of the present invention. The device may specifically include the following modules:

[0174] The first audio sounding module 301 is used to transmit the first audio signal to the first winding to control the first winding to emit a sound corresponding to the first audio signal;

[0175] The second type audio sounding module 302 is used to transmit the second type audio signal to the second winding to control the second winding to emit a sound corresponding to the second type audio signal.

[0176] In an embodiment of the present invention, the first type of audio signal and the second type of audio signal are different.

[0177] In an embodiment of the present invention, the first type of audio signal and the second type of audio signal are different audio signals separated from the same stereo audio.

[0178] In an embodiment of the present invention, the first-category audio signal and the second-category audio signal are different audio signals separated from different stereo audios.

[0179] In one embodiment of the present invention, the device further comprises: a separation module, configured to:

[0180] The stereo audio is separated into mono channels to obtain a mono audio signal.

[0181] In an embodiment of the present invention, the first type of audio signal and the second type of audio signal are different stereo audios.

[0182] In an embodiment of the present invention, the first winding and the second winding are arranged in the same motor.

[0183] In one embodiment of the present invention,

[0184] The motor is a motor with dual three-phase windings; the first winding is one set of windings in the dual three-phase windings, and the second winding is another set of windings in the dual three-phase windings;

[0185] or,

[0186] The motor is a motor with six-phase windings; the first winding is a three-phase winding in the six-phase windings, and the second winding is another three-phase winding in the six-phase windings;

[0187] or,

[0188] The motor is a motor with nine-phase windings; the first winding is a three-phase winding in the nine-phase windings, and the second winding is a three-phase winding in the remaining six-phase windings in the nine-phase windings;

[0189] or,

[0190] The motor is a motor with fifteen-phase windings; the first winding is a three-phase winding among the fifteen-phase windings, and the second winding is a three-phase winding among the remaining twelve-phase windings among the fifteen-phase windings.

[0191] In one embodiment of the present invention, the motor includes x sets of windings, each of the x sets of windings includes multiple phases, and the windings are connected in the following manner:

[0192] The number of phases of the xth winding is Phase, each phase winding in the x-th set of windings includes Coil branches, each phase winding The coil branches are connected together to form a phase terminal, and each phase winding in the x-th set of windings One of the coil branches is also connected to the other phase windings. One of the coil branches is connected to form connection points, where ≥1, ≥2, and , is an integer;

[0193] The x sets of windings together form connection points, the The connection points form T neutral points, and the T neutral points lead to N neutral lines.

[0194] Where x≥2, and x is an integer; ≥T≥1, T≥N≥1, and T and N are both integers.

[0195] In one embodiment of the present invention, the motor is suitable for connecting to a rectifier, and the rectifier includes a K group Road bridge arm, one group The midpoint of at least one of the bridge arms is connected to a set of One phase end of the phase winding is connected, and the bridge arms connected to any two phase ends are different, where: ≥ , K ≥ x, and K, All are integers.

[0196] In an embodiment of the present invention, the first winding is arranged on a first motor, and the second winding is arranged on a second motor.

[0197] In one embodiment of the present invention, it further includes: a control module, which is used to:

[0198] controlling the first winding and the second winding to sound simultaneously according to the audio playback instruction, or

[0199] The first winding and the second winding are controlled to make sounds in sequence according to the audio playing instruction.

[0200] In one embodiment of the present invention, the first type of audio sound module 301 is used to:

[0201] converting the first type of audio signal into a first electrical control signal;

[0202] Inputting the first electrical control signal into a vector control system of the first winding to control the first winding to produce sound;

[0203] The second type of audio sound module 302 is used to:

[0204] converting the second type of audio signal into a second electrical control signal;

[0205] The second electrical control signal is input into a vector control system of the second winding to control the second winding to produce sound.

[0206] In one embodiment of the present invention, the first type of audio sound module 301 is specifically used for:

[0207] Based on the rotor position of the motor in which the first winding is located, the first electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the first winding,

[0208] According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation;

[0209] The second type of audio sound module 302 is specifically used for:

[0210] Based on the rotor position of the motor in which the second winding is located, the second electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the second winding,

[0211] According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation.

[0212] As for the above-mentioned device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0213] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the computer-readable storage medium is run on a computer, the computer executes the audio playback method described in any one of the above embodiments.

[0214] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the audio playing method described in any one of the above embodiments.

[0215] In another embodiment of the present invention, a vehicle is provided, wherein the vehicle implements any of the above-mentioned audio playback methods.

[0216] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0217] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0218] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0219] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An audio playback method, characterized in that: The motor includes more than two sets of windings. Multiple sets of windings can be independently decoupled and controlled, including: Transmitting a first type of audio signal to the first winding to control the first winding to emit a sound corresponding to the first type of audio signal; transmitting a second type of audio signal to the second winding to control the second winding to emit a sound corresponding to the second type of audio signal; In which, the first type of audio signal and the second type of audio signal are converted into current control signals and / or voltage control signals, the windings have corresponding vector control systems respectively, the current control signal and / or the voltage control signal are vector control systems based on angle injection into the windings, and the angle distribution is such that the amplitude of the synthetic vector of the current control signal and / or the voltage control signal is zero or fluctuates in a range near zero.

2. The method according to claim 1, characterized in that The first type of audio signal and the second type of audio signal are different.

3. The method according to claim 2, characterized in that The first type of audio signal and the second type of audio signal are different audio signals separated from the same stereo audio.

4. The method according to claim 2, characterized in that: The first type of audio signal and the second type of audio signal are different audio signals separated from different stereo audios.

5. The method according to claim 3 or 4, characterized in that: The method further comprises: The stereo audio is separated into mono channels to obtain a mono audio signal.

6. The method according to claim 2, characterized in that The first type of audio signal and the second type of audio signal are different stereo audio signals.

7. The method according to claim 1, characterized in that The first winding and the second winding are arranged in the same motor.

8. The method according to claim 7, characterized in that The motor is a motor with dual three-phase windings; the first winding is one set of windings in the dual three-phase windings, and the second winding is another set of windings in the dual three-phase windings; or, The motor is a motor with six-phase windings; the first winding is a three-phase winding in the six-phase windings, and the second winding is another three-phase winding in the six-phase windings; or, The motor is a motor with nine-phase windings; the first winding is a three-phase winding among the nine-phase windings, and the second winding is a three-phase winding among the remaining six-phase windings; or, The motor is a motor with fifteen-phase windings; the first winding is a three-phase winding among the fifteen-phase windings, and the second winding is a three-phase winding among the remaining twelve-phase windings.

9. The method according to claim 7, characterized in that: The motor comprises x sets of windings, each of the x sets of windings comprises a plurality of phases, and the windings are connected in the following manner: The number of phases of the xth winding is Phase, each phase winding in the x-th set of windings includes Coil branches, each phase winding The coil branches are connected together to form a phase terminal, and each phase winding in the x-th set of windings One of the coil branches is also connected to the other phase windings. One of the coil branches is connected to form connection points, where ≥1, ≥2, and , is an integer; The x sets of windings together form connection points, the The connection points form T neutral points, and the T neutral points lead to N neutral lines. Where x≥2, and x is an integer; ≥T≥1, T≥N≥1, and T and N are both integers.

10. The method according to claim 9, characterized in that The motor is suitable for connecting to a rectifier, and the rectifier includes a K group Road bridge arm, one group The midpoint of at least one of the bridge arms is connected to a set of One phase end of the phase winding is connected, and the bridge arms connected to any two phase ends are different, where: ≥ , K ≥ x, and K, All are integers.

11. The method according to claim 1, characterized in that: Also includes: controlling the first winding and the second winding to sound simultaneously according to the audio playback instruction, or The first winding and the second winding are controlled to make sounds in sequence according to the audio playing instruction.

12. The method according to claim 1, characterized in that The controlling the first winding to emit a sound corresponding to the first type of audio signal comprises: converting the first type of audio signal into a first electrical control signal; Inputting the first electrical control signal into a vector control system of the first winding to control the first winding to produce sound; The controlling the second winding to emit a sound corresponding to the second type of audio signal comprises: converting the second type of audio signal into a second electrical control signal; The second electrical control signal is input into a vector control system of the second winding to control the second winding to produce sound.

13. The method according to claim 12, characterized in that Inputting the first electrical control signal into a vector control system of the first winding specifically includes: Based on the rotor position of the motor in which the first winding is located, the first electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the first winding, According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation; Inputting the second electrical control signal into a vector control system of the second winding specifically includes: Based on the rotor position of the motor in which the second winding is located, the second electrical control signal is converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by a vector control system of the second winding, According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to magnetic field orientation control to generate corresponding vibration to achieve sound generation.

14. An audio playback device, characterized in that: The motor includes more than two sets of windings. Multiple sets of windings can be independently decoupled and controlled, including: A first-class audio sounding module, used for transmitting a first-class audio signal to the first winding, so as to control the first winding to emit a sound corresponding to the first-class audio signal; The second audio sound module is used to transmit the second audio signal to the second winding to control the second winding to emit a sound corresponding to the second audio signal; In which, the first type of audio signal and the second type of audio signal are converted into current control signals and / or voltage control signals, the windings have corresponding vector control systems respectively, the current control signal and / or the voltage control signal are vector control systems based on angle injection into the windings, and the angle distribution is such that the amplitude of the synthetic vector of the current control signal and / or the voltage control signal is zero or fluctuates in a range near zero.

15. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1-13 when executing a program stored in a memory.

16. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 13 is implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

18. A vehicle, characterized in that: The vehicle implements the method according to any one of claims 1-13.

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