Sound control method and device

Abstract

The embodiment of the present invention provides a sound control method and device, which transmits corresponding audio signals to multiple sets of windings of a motor respectively, and the audio signals are used to control the windings to emit sounds corresponding to the audio signals; and the multiple sets of windings are controlled to emit sounds so that the synthetic torque formed by the torque for sound generation corresponding to each set of windings is within a target synthetic torque range. In the embodiment of the present invention, the motor of the vehicle has multiple sets of windings, and the multiple sets of windings are independently controlled. Corresponding audio signals for controlling the windings to emit sounds corresponding to the audio signals are transmitted to the multiple sets of windings of the motor respectively. When the multiple sets of windings of the motor are controlled to emit sounds, since the synthetic torque formed by the torque for sound generation corresponding to each set of windings is within the target synthetic torque range, that is, the torque of the motor is controlled within a relatively small range or even cancels each other out, thereby reducing the impact of the torque on the vibration of the motor, and thus reducing the noise when the motor emits sounds.

Description

Technical Field

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

[0002] At present, the audio playback of new energy vehicles is usually limited to the interior of the vehicle. When audio signals need to be played, they are usually played through the audio equipment installed inside the vehicle. With the development of new energy vehicles, the sensory experience is developing from single visual interaction to multi-sensory interaction such as vision and hearing, and from in-vehicle interaction to out-of-vehicle interaction. Therefore, some vehicles can already make sounds through the motors on the vehicle. However, the current technology for making sounds through motors is not perfect, and there are problems such as messy and unclear sounds, which cannot meet user needs. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a sound control method and device to solve the problems that the current technology of sound generation through motors is not perfect, the sound is messy and unclear, and the user needs cannot be met. The specific technical solution is as follows:

[0004] In a first aspect of the present invention, a method for controlling sound emission is provided, comprising:

[0005] Transmitting corresponding audio signals to multiple sets of windings of the motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals;

[0006] The multiple sets of windings are controlled to generate sound so that a synthetic torque formed by a torque for generating sound corresponding to each set of windings is within a target synthetic torque range.

[0007] In a second aspect of the present invention, there is also provided an audio playback device, comprising:

[0008] An audio transmission module, used to transmit corresponding audio signals to multiple sets of windings of the motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals;

[0009] The motor sounding module is used to control the sounding of the multiple sets of windings so that the synthetic torque formed by the torque for sounding corresponding to each set of windings is within the target synthetic torque range.

[0010] 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 sound control methods.

[0011] 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 sound control methods.

[0012] In another aspect of the implementation of the present invention, a vehicle is provided, wherein the vehicle implements any of the above-mentioned sound control methods.

[0013] Compared with the related art, the embodiments of the present invention have at least the following advantages:

[0014] In an embodiment of the present invention, corresponding audio signals are transmitted to multiple sets of windings of the motor respectively, and the audio signals are used to control the windings to emit sounds corresponding to the audio signals, and control the multiple sets of windings to emit sounds, so that the synthetic torque formed by the torque for sounding corresponding to each set of windings is within the target synthetic torque range. In an embodiment of the present invention, the motor of the vehicle has multiple sets of windings, and the multiple sets of windings are independently controlled. Therefore, corresponding audio signals for controlling the windings to emit sounds corresponding to the audio signals can be transmitted to the multiple sets of windings of the motor respectively. When controlling the multiple sets of windings of the motor to emit sounds, since the synthetic torque formed by the torque for sounding corresponding to each set of windings is within the target synthetic torque range, that is, the torque of the motor is controlled within a relatively small range or even offsets each other, thereby reducing the vibration effect of the torque on the motor, and thus reducing the noise when the motor emits sounds. In addition, the sound of the multiple sets of windings of the motor is based on the transmitted audio signal, so the sound of the motor is clearer, which can meet the needs of different users and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 A flowchart of a sound control step provided in an embodiment of the present invention;

[0017] Figure 2 This is one of the schematic diagrams of the rotation direction of n sets of winding vectors provided in an embodiment of the present invention;

[0018] Figure 3 The second schematic diagram of the rotation direction of n sets of winding vectors provided in an embodiment of the present invention;

[0019] Figure 4 The third schematic diagram of the rotation direction of n sets of winding vectors provided in an embodiment of the present invention;

[0020] Figure 5 One of the schematic diagrams 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;

[0021] Figure 6 The second 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;

[0022] Figure 7 The third 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;

[0023] Figure 8 A fourth 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;

[0024] Fig. 9 A fifth 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;

[0025] Fig.10 A schematic diagram of audio signal extraction provided in an embodiment of the present invention;

[0026] Fig.11 One of the schematic diagrams of extracting an audio signal from a music file provided in an embodiment of the present invention;

[0027] Fig.12 The second schematic diagram of extracting an audio signal from a music file provided in an embodiment of the present invention;

[0028] Fig.13 This is one of the schematic diagrams of an audio decoding process provided in an embodiment of the present invention;

[0029] Fig.14 The second schematic diagram of an audio decoding process provided in an embodiment of the present invention;

[0030] Fig.15 The present invention provides an audio playback device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] 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.

[0032] One of the core concepts of the embodiments of the present invention is to propose a sound control method and device, which transmits corresponding audio signals to multiple sets of windings of the motor respectively, and the audio signals are used to control the windings of the motor to emit sounds corresponding to the audio signals. The synthetic torque formed by the torque for sound generation corresponding to each set of windings is within the target synthetic torque range, wherein the target synthetic torque range includes zero and may also include 10% of the rated torque of the motor, thereby reducing the noise when the motor generates sound. It should be noted that the target synthetic torque range is adapted to the vehicle parameters where the motor is located. Specifically, the specific setting range of the target synthetic torque range is related to the vehicle model, series, service life, user, etc. of the vehicle parameters where the motor is located, as long as it can ensure that the noise when the motor generates sound is within the acceptable range for the user.

[0033] In an embodiment of the present invention, each set of windings has an independently decoupled vector control system (Field-Oriented Control, FOC). The vector control system can accurately control the current vector and voltage vector (current control signal and voltage control signal) of the motor. By converting multiple audio signals into multiple electrical control signals (current control signal or voltage control signal), and according to the angle of the vector control system of each set of windings, the multiple electrical control signals can be synthesized on each coordinate axis of the synchronous rotating coordinate system of the motor, so that the amplitude of the synthesized vector is within the target synthetic amplitude range. For example, the target synthetic amplitude range can be zero, or it can fluctuate within a preset synthetic amplitude range near zero. In this way, when each set of windings controls the motor to make a sound, the electrical control signal is input into the vector control system, and the vector control system can convert it into a component perpendicular to the rotor magnetic field of the motor and a component parallel to the rotor magnetic field. Then, according to these components, the rotor of the motor is controlled so that the rotor vibrates and makes a sound, and the synthetic torque formed by the torque corresponding to the vibration of the rotor for making a sound is within the target synthetic torque range, thereby effectively reducing the noise when the motor makes a sound, and the motor makes a clearer sound.

[0034] Reference Figure 1 , is a flow chart of the steps of a sound control method provided in an embodiment of the present invention, such as Figure 1 As shown, the method may specifically include the following steps:

[0035] Step 101: Transmit corresponding audio signals to multiple sets of windings of a motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals.

[0036] Step 102: Control the multiple sets of windings to generate sound so that the synthetic torque formed by the torque for generating sound corresponding to each set of windings is within a target synthetic torque range.

[0037] The embodiments of the present invention can be applied to a motor having two or more sets of windings, and can be controlled by a controller (MCU, Microcontroller Unit) of the motor. Multiple sets of windings of a multi-phase motor can be independently decoupled and controlled.

[0038] Specifically, the motor of the automobile 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.

[0039] 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:

[0040] Range of T: ≥T≥1, the range of N: T≥N≥1, and both T and N are integers;

[0041] The reversible PWM 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.

[0042] In a specific implementation, the audio signal is a mono signal, and the multiple audio signals can be different mono signals separated from the same stereo audio. For example, the stereo or dual-channel audio data can be separated into two-channel audio signals, and the separated audio signals can be a left channel or multiple left channels, or one or more right channel audio signals. Then, the multiple separated audio signals are respectively transmitted to the multiple sets of windings of the motor, so that the corresponding windings can be controlled to emit sounds corresponding to the audio signals. In some examples, the audio data can be music, the user's voice collected by a microphone, and other audio. The separation of audio data can be completed by the audio decoding chip in the vehicle's multimedia system, or it can be processed in advance and stored in a readable memory.

[0043] In the specific implementation, the multiple windings of the motor are controlled to make sounds, specifically by arranging multiple sets of independently decoupled controlled windings inside the motor. Each set 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 a corresponding sound. The air gap magnetic field is determined by the magnetomotive force of the stator winding 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.

[0044] In the embodiment of the present invention, multiple sets of windings of the motor can be used to control the windings to emit sounds corresponding to the audio signals based on the transmission of corresponding audio signals, and the synthetic torque formed by the torque for sound generation corresponding to each set of windings is within the target synthetic torque range, wherein the target synthetic torque range includes zero, and can also be included in the range of 10% of the rated torque of the motor, etc. It is only necessary to ensure that the noise of the motor is within the user's acceptable range. In this way, all vibration torques generated by the vibration sound of the motor cancel each other out as a whole, so the motor will not generate noise or loud noise due to the vibration sound, and the motor sound is clearer. It should be noted that the target synthetic torque range is adapted to the vehicle parameters of the motor. Specifically, the specific setting range of the target synthetic torque range is related to factors such as the vehicle model, series, service life, and user of the vehicle parameters of the motor. As long as the noise of the motor when it generates sound can be ensured to be within the user's acceptable range, it will be sufficient.

[0045] In an embodiment of the present invention, multiple sets of windings can make sounds synchronously, wherein the synchronous sounding of multiple sets of windings can be achieved by controlling 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 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 seamlessly to meet a variety of sound production needs.

[0046] In some embodiments of the present invention, controlling the multiple sets of windings to generate sound so that the synthetic torque formed by the torque for generating sound corresponding to each set of windings is within the target synthetic torque range includes:

[0047] Converting the plurality of audio signals into a plurality of electrical control signals respectively;

[0048] According to the plurality of electrical control signals, the plurality of windings are vector controlled so that a synthetic torque formed by a torque for sound generation corresponding to each winding is within a target synthetic torque range.

[0049] In an embodiment of the present invention, multiple audio signals are converted into multiple electrical control signals respectively, wherein the electrical control signals may be current control signals or voltage control signals, and the current control signals and the voltage control signals may be converted into each other. Then, multiple sets of windings may be vector controlled according to the multiple electrical control signals, so that the synthetic torque formed by the vibration torques for sound generation corresponding to the multiple sets of windings is within the target synthetic torque range.

[0050] In some embodiments of the present invention, vector control is performed on the plurality of windings according to the plurality of electrical control signals so that the synthetic torque formed by the torque for sound generation corresponding to each winding is within the target synthetic torque range, including:

[0051] According to the angle of the vector control system corresponding to each set of windings, the plurality of electrical control signals are controlled to correspond to the synthesized vector sum on each coordinate axis of the synchronous rotating coordinate system of the motor to be within the target vector sum range;

[0052] Each set of windings is controlled to make sounds according to the corresponding electrical control signal.

[0053] Among them, controlling each set of windings to control the motor to make sound according to the corresponding electrical control signal includes: inputting the corresponding electrical control signal into the vector control system of each set of windings respectively to control the sound of each set of windings respectively.

[0054] The embodiment of the present invention is a solution for sound control proposed for 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 sets of independently decoupled vector control systems (Field-Oriented Control, FOC). Each system controls the sound of the electric drive system separately. Multiple windings and multiple systems can make sounds 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 even stereo sound can be played seamlessly. Specifically, the vector control system is an advanced motor control strategy that can achieve independent control of the motor torque and flux, thereby providing high-precision and high-dynamic response motor performance. The core idea of ​​the vector control system is to convert the three-phase AC current of the motor into a synchronous rotating coordinate system (usually called the dq axis coordinate system), so that the torque and flux of the motor can be regarded as two orthogonal DC components for control.

[0055] In an embodiment of the present invention, the vector control systems corresponding to each set of windings respectively have their corresponding audio injection angles (electrical angles, theta). According to the audio injection angles of the vector control systems corresponding to each set of windings, multiple electrical control signals can be controlled to synthesize vectors on each coordinate axis of the synchronous rotating coordinate system of the motor within a target vector sum range, wherein the target vector sum range can be zero or within a target vector sum range of a preset value. Multiple sets of windings are controlled to control the motor to make sounds according to multiple electrical control signals, so that the synthetic torque formed by the torque corresponding to each set of windings for making sounds is within the target synthetic torque range, so that the motor will not generate noise or loud noise due to vibration (shaking).

[0056] In some embodiments of the present invention, the corresponding electrical control signals are respectively input into the vector control system of each set of windings to control the sound of each set of windings, specifically including:

[0057] Based on the rotor position in the motor, the vector control system corresponding to each set of windings converts the electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field,

[0058] 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.

[0059] In a specific implementation, for a vector control system, it can combine the rotor position in the motor to convert the electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field. Then, the rotor in the motor can be controlled by the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, thereby realizing magnetic field-oriented control of the motor to generate corresponding vibrations to achieve sound.

[0060] During the audio signal playback process, the x sets of windings use a vector control system with independent dq coordinate transformation. The x sets of windings can be combined to produce sound, so that the electromagnetic force generated by the air gap magnetic field of the motor acts on the motor core to stimulate electromagnetic vibration and produce sound. At the same time, the electromagnetic force stimulates electromagnetic vibration to be evenly distributed on the rotor in different directions. The rotor is evenly stressed, and the resultant force is basically zero, protecting the stator and rotor and preventing unidirectional bearing or stator and rotor wear caused by a single-direction vibration torque. The rotation direction of the two vectors of the two sets of windings is as follows: Figure 2 As shown, the rotation directions of the two vectors of the three sets of windings are as follows Figure 3 As shown, the rotation directions of the two vectors of the four windings are as follows Figure 4 As shown, the vector synthesis amount formed by the vector of each set of windings for pronunciation is zero, each set of windings can independently control the pronunciation, and the synthetic torque formed by the total vibration torque used for sound generation is within the target synthetic torque range.

[0061] 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.

[0062] The following describes some parameters involved in the embodiments of the present invention:

[0063] 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.

[0064] 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.

[0065] In practical applications, harmonic injection can be used to inject the audio signal (the digital quantity corresponding to the music file) into the synchronous rotating coordinate system or the stationary coordinate system of the motor control. Specifically: 1. Harmonic current extraction, such as subjecting the three-phase current to 5dq and 7dq coordinate transformations respectively, and then extracting the 5th harmonic and 7th harmonic currents through a low-pass filter; 2. Harmonic voltage calculation, such as giving the target harmonic current value according to the amplitude and frequency corresponding to the music file, and obtaining the voltage in the corresponding coordinate system after passing through the PI regulator; 3. Coordinate transformation injection into the motor vector control, such as obtaining the voltage in the stationary coordinate system through an inverse PARK transformation, and injecting it into the original FOC closed-loop control system.

[0066] 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 5~Figure 9, 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 prioritized to establish that the rotor excitation current is necessary for asynchronous motors. Unlike permanent magnet synchronous motors, there is already a rotor magnetic field. Otherwise, the sound played by the asynchronous motor without rotor excitation is less than one percent 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 prioritized to establish that the rotor excitation current is necessary for electrically excited motors to play audio. Unlike permanent magnet synchronous motors, there is already a rotor magnetic field. Otherwise, the sound played by electrically excited motors without rotor excitation is less than one percent of that with excitation current. Reference Figure 5~Figure 9 , the two sets of windings of the six-phase motor are staggered by 30 degrees electrical angle, θ1=θ, θ2=θ+30; refer to Figure 5~Figure 9 , the two sets of windings of the six-phase motor are staggered by 60 degrees electrical angle, θ1=θ, θ2=θ+60; refer to Figure 5~Figure 9 , the two sets of windings of the dual three-phase motor are staggered by 0 electrical degrees, θ1=θ, θ2=θ.

[0067] In the embodiment of the present invention, the audio signal can be extracted from a voice file / music file collected by a microphone communicating with the car, such as the music sung by the user collected by the microphone when the user sings karaoke in the car, or extracted from a music file transmitted by an external mobile terminal communicating with the car, such as the music played by the mobile terminal when the user sings karaoke in the car, or the sound of a movie played by the mobile terminal when the user watches a movie in the car. Fig.10 , is a schematic diagram of an audio signal extraction of an embodiment of the present invention. The music file may be a song file (files of various music formats, such as mp3, wma, wav, flac, ape), a MIDI file, a song file transmitted by Bluetooth, a digital signal processed by a music chip, an analog signal processed by a chip, an analog signal amplified by a power amplifier, a PCM encoded file, an analog signal input by a microphone, or a digital signal corresponding to a music file, etc. Music files of various formats are extracted according to the corresponding file encoding rules, and channel separation is performed to obtain a monophonic music 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 use a sampling frequency of 44.1kHz, and the variable obtained according to the sampling frequency of 44.1kHz is the amplitude of each point under the sampling frequency), and finally converted into digital signal information and transmitted to the controller.

[0068] In some embodiments of the present invention, multiple 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 the electrical control signals. In practical applications, the audio signals can be converted and processed within the amplitude dimension range to obtain electrical control signals that can be controlled by the windings, and the audio signals can be injected into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor by harmonic injection.

[0069] 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 by a preset maximum current amplitude and a volume percentage value 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 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.

[0070] In some embodiments of the present invention, the amplitude of the converted audio signal is assigned 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 corresponding order rotating coordinate system 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. For synchronous rotating coordinate systems, there are two types: synchronous rotating coordinate systems of the same order and high-order synchronous rotating coordinate systems. The synchronous rotating coordinate system of the same order, the high-order synchronous rotating coordinate system, or the stationary coordinate system can be selected according to actual conditions.

[0071] 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.

[0072] Reference Fig.13In the audio decoding process, the 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 for conversion processing to obtain the current Is in 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, etc. The control system block diagram is shown as follows Figure 5 , Figure 6 , Figure 8 .

[0073] Is distributes the current through the angle theta, such as Fig.13 :

[0074] 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.

[0075] The process of converting the audio current Is into the audio voltage Us through the current-to-voltage conversion module is as follows: Fig.13 , the specific formula is as follows:

[0076] Permanent magnet synchronous motor formula 2:

[0077] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0078] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*ψf]*Kp / Us,

[0079] ψd=*Ld*isd+ψf, ψq=Lq*isq, s is the variable of Laplace transform, and Kp is not equal to zero.

[0080] Asynchronous motor formula 3:

[0081] 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,

[0082] ψsd=Ls*isd+Lm*ird, ψsq=Ls*isq+Lm*irq, ψr=Lm*isd / (1+s*Lr / Rr)

[0083] 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.

[0084] Electric excitation synchronous motor formula 4:

[0085] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0086] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*Lmd*if]*Kp / Us,

[0087] ψd=*Ld*isd+Lmd*if,ψq=Lq*isq, s is the variable of Laplace transform, and Kp is not equal to zero.

[0088] Alternatively, Formula 5 is uniformly adopted: Usd=isd*Kp, Usq=isq*Kp, Kp is not equal to zero.

[0089] The current Is and voltage Us are less than the maximum current and maximum voltage allowed by the system.

[0090] In some embodiments of the present invention, a maximum voltage amplitude of a controller of a motor for responding to an audio signal is obtained; the converted audio per unit signal is multiplied by a preset maximum voltage amplitude and a volume percentage value to obtain an amplitude of a converted audio signal, wherein the amplitude of the converted audio signal is within the amplitude dimension range of the motor;

[0091] 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 in the synchronous rotating coordinate system of the target order.

[0092] In the embodiment of the present invention, by Fig.14In the audio decoding process, the extracted audio signal is processed in unit. Then, the maximum voltage amplitude that the current controller can use to respond to music is multiplied by the audio signal processed in unit and the volume percentage value for conversion processing to obtain the voltage Us in the amplitude dimension corresponding to the motor 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. The control system block diagram is shown as follows: Figure 7 , Fig. 9 .

[0093] Formula 6 is uniformly adopted: Usd=Us*Kp, Usq=Us*Kp, Kp is not equal to zero.

[0094] The voltage Us is less than the maximum available voltage allowed by the vector control system.

[0095] In some embodiments of the present invention, the electric control signal within the amplitude dimension range is allocated to the synchronous rotating coordinate system of the corresponding motor to obtain the electric control signal; or, the electric control signal within the amplitude dimension range is allocated to the high-order synchronous rotating coordinate system based on the synchronous rotating coordinate system of the corresponding motor to obtain the electric control signal; or, the electric control signal within the amplitude dimension range is allocated to the stationary coordinate system of the corresponding winding to obtain the electric control signal. In the embodiment of the present invention, the current control signal and the voltage control signal within the amplitude dimension range of each single channel 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 the 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, so as to obtain the electric control signal.

[0096] 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.

[0097] For example Figure 5, convert the audio signal into the current vector Is on the dq axis in the positive direction (the first set of vector control system currents Isd1 and Isq1, the second set of vector control system currents Isd2 and Isq2), inject the audio current alone, and at the same time convert the audio signal into the 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), 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).

[0098] Isd1* = Is * cos(theta1),Isq1* = Is * sin(theta1);

[0099] Isd2* = Is * cos(theta2),Isq2* = Is * sin(theta2);

[0100] Usd1* = Kp*Is * cos(theta1),Usq1* = Kp*Is * sin(theta1);

[0101] Usd2* = Kp*Is * cos(theta2),Usq2* = Kp*Is * sin(theta2);

[0102] 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.;

[0103] For example Figure 6 , convert the audio signal into the current vector Is on the dq axis in the positive direction (the first set of vector control system currents Isd1 and Isq1, the second set of vector control system currents Isd2 and Isq2), and inject the audio current separately.

[0104] Or, if Figure 7The 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.

[0105] 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.).

[0106] For example, Figure 8 MCU gives the current and voltage given by music conversion to the -5 and 7 order dq axis synchronous rotating coordinate systems at the same time. The process is as follows. Audio injection includes three parts: ① Harmonic current extraction ② Harmonic voltage calculation ③ Coordinate transformation and injection into motor vector control. ① Harmonic current extraction: The multi-phase current of the motor is subjected to -5dq and +7dq coordinate transformations respectively, and then the -5th harmonic and +7th harmonic currents are extracted through a low-pass filter; 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, and the given target harmonic current value (current Id5th, Iq5th, Id7th, Iq7th) is obtained. After passing through the PI regulator, the voltage component obtained by the music through the current and voltage module conversion is superimposed, so as to obtain the voltage in the corresponding coordinate system (voltage Ud5th, Uq5th, Ud7th, Uq7th).

[0107] Given a target harmonic current value such as Fig.13 As shown, formulas 2, 3, 4, and 5:

[0108] Id5th1* = Is * cos(theta1),Iq5th1* = Is * sin(theta1);

[0109] Id7th1* = Is * cos(theta1),Iq7th1* = Is * sin(theta1);

[0110] Id5th2* = Is * cos(theta2),Iq5th2* = Is * sin(theta2);

[0111] Id7th2* = Is * cos(theta2),Iq7th2* = Is * sin(theta2);

[0112] Voltage components of music distribution

[0113] Ud5th1* = Kp*Is * cos(theta1),Uq5th1* = Kp*Is * sin(theta1);

[0114] Ud7th1* = Kp*Is * cos(theta1),Uq7th1* = Kp*Is * sin(theta1);

[0115] Ud5th2* = Kp*Is * cos(theta2),Uq5th2* = Kp*Is * sin(theta2);

[0116] Ud7th2* = Kp*Is * cos(theta2),Uq7th2* = Kp*Is * sin(theta2);

[0117] 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.

[0118] The sound pronunciation effect can be optimized by adjusting the angle distribution of theta1 and theta2. 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 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.

[0119] In an embodiment of the present invention, the method for optimizing sound may be: the vector sum of the audio signal in each order coordinate system is zero or within the target vector sum range, and the calculation formula is as follows:

[0120] like Fig.11 and Fig.12As shown in the figure, the audio signal is converted to draw a music waveform, and the amplitude at a certain moment after normalization is Y_music. Figure 2 To optimize the sound, two sets of windings form two 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:

[0121] 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.

[0122] The rotation directions of the two vectors of the two sets of windings are as follows Figure 2 As shown, 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 speed, etc.), θ is the rotor magnetic field electrical angle, angle1 is the initial angle of injection, ranging from 0 to 360 degrees. Angle angle can be based on a certain frequency or a certain random angle or a fixed value. The amplitude of the synthetic 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;

[0123] according to Figure 3 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:

[0124] 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.

[0125] The rotation directions of the two vectors of the three windings are as follows: Figure 3 As shown, the angle angle can be 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 can be negatively correlated with the rotation speed, etc.), and the amplitude of the synthesized vector of the current vector injected by the audio signal into the three systems is within the target amplitude range, wherein the target amplitude range can be that the amplitude of the synthesized vector is zero or fluctuates in a small range around zero;

[0126] according to Figure 4To optimize the sound, four sets of windings form four 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:

[0127] 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.

[0128] The rotation directions of the 4 vectors of the 4 sets of windings are as follows Figure 4 As shown, 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 speed, etc.), θ is the rotor magnetic field electrical angle, angle1 is the initial angle of injection, ranging from 0 to 360 degrees. Angle angle can be based on a certain frequency or a certain random angle or a fixed value. The amplitude of the synthetic 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;

[0129] based on Figure 5~Figure 7 In the vector control diagram, the method of optimizing the sound is that the vector sum on the dq axis synchronous rotating coordinate system is zero: Ism = Isk can adjust the volume. Figure 5 Method to optimize the sound: Adjusting the angle distribution of theta1 and theta2 can optimize the pronunciation effect of the sound, so that theta1 = angle, theta2 = angle + 180 + θ1-θ2;

[0130] Isd1 = Ism * cos(theta1 ), Isq1 = Ism* sin(theta1 );

[0131] Isd2 = Isk * cos(theta2 ), Isq2 = Isk* sin(theta2 );

[0132] Usd1* = Kp*Isd1 * cos(theta1),Usq1* = Kp*Isq1 * sin(theta1);

[0133] Usd2* = Kp*Isd2 * cos(theta2),Usq2* = Kp*Isq2 * sin(theta2);

[0134] based on Figure 8~Figure 9 In the vector control diagram, the vector sum on the n-order dq axis synchronous rotating coordinate system is zero: Ism = Isk can adjust the volume. Figure 2 Method to optimize the sound: Adjusting the angle distribution of theta1 and theta2 can optimize the pronunciation effect of the sound, so that theta1 = angle, theta2 = angle+180+ n*(θ1-θ2);

[0135] Isd5th1 = Ism* cos(theta1 ),Isq5th1 = Ism* sin(theta1 );

[0136] Isd7th1 = Ism* cos(theta1 ),Isq7th1 = Ism* sin(theta1 );

[0137] Isd5th2 = Isk * cos[theta1 +180+(-5θ1)-(-5θ2)];

[0138] Isq5th2 = Isk * sin[theta1 +180+(-5θ1)-(-5θ2)];

[0139] Isd7th2 = Isk * cos[theta1 +180+(7θ1)-(7θ2)];

[0140] Isq7th2 = Isk * sin[theta1 +180+(7θ1)-(7θ2)];

[0141] The controller of the motor 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.

[0142] In some embodiments of the present invention, a single sampling and 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 and 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 the audio signal.

[0143] 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.

[0144] 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.

[0145] The embodiment of the present invention adopts a single sampling single updating technology or a double sampling double updating technology to increase the control frequency of the electronic control chip when playing the audio signal, thereby improving the audio signal restoration degree, and the effect can achieve higher playback quality.

[0146] 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 a 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.

[0147] In a specific implementation, the audio signal may include an analog signal and a digital signal.

[0148] 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.

[0149] 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.

[0150] In one embodiment of the present invention, a mono audio signal is normalized to obtain a converted mono audio signal; a 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.

[0151] In the embodiment of the present invention, the audio signal is read from the music file such as mp3 and converted into a music waveform. Figure 11-Figure 12 , as shown in the waveform of an audio signal of a piece of music intercepted from a music file, the audio signal is normalized between -1 and 1 to obtain the converted music signal Y_music, the injected current amplitude Is= Km * Y_music, the current amplitude Is corresponding to the audio signal is obtained, the music injection angle theta (electric angle), the music injection angle can change over time, or it can be constant to ensure the best sound effect. For example, in parking mode, theta can be kept constant after finding the best theta angle. In driving mode, the best theta can keep changing with the increase of torque to ensure that the torque fluctuation caused by music injection verifies the sliding of the constant torque curve, ensures the minimum torque fluctuation, 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.

[0152] In an embodiment of the present invention, the controller of the motor 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.

[0153] Reference Fig.13 and Fig.14, using the audio digital signal injection method, 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, n∈real number. By controlling the amplitude of the target current harmonic injection of the motor multiple times synchronously rotating the coordinate system, 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.

[0154] 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 within a preset synthetic amplitude range with a 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 within 10% of the rated torque of the motor, that is, within the target synthetic torque range, it will not cause problems such as vehicle shaking and abnormal noise.

[0155] Multiple sets of independently decoupled vector control systems form symmetrical current or voltage vectors to play audio signals. The torque vector sum generated by playing the audio signals is basically zero, which will not cause driving jitter problems caused by torque fluctuations, and can also have the effect of increasing the volume of audio signals such as music.

[0156] 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.

[0157] Reference Fig.15 , is a structural block diagram of an audio playback device provided in an embodiment of the present invention, and the device may specifically include the following modules:

[0158] An audio transmission module 1501, used to transmit corresponding audio signals to multiple sets of windings of the motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals;

[0159] The motor sound generation module 1502 is used to control the sound generation of the multiple sets of windings so that the synthetic torque formed by the torque for sound generation corresponding to each set of windings is within the target synthetic torque range.

[0160] In one embodiment of the present invention, the target resultant torque range includes zero.

[0161] In one embodiment of the present invention, the target combined torque range is included within 10% of the rated torque of the motor.

[0162] In an embodiment of the present invention, the target synthetic torque range is adapted to vehicle parameters in which the motor is located.

[0163] In an embodiment of the present invention, the plurality of audio signals are different mono signals separated from the same stereo audio.

[0164] In one embodiment of the present invention, the motor sound module 1502 is used to:

[0165] Converting the plurality of audio signals into a plurality of electrical control signals respectively;

[0166] According to the plurality of electrical control signals, the plurality of windings are vector controlled so that a synthetic torque formed by a torque for sound generation corresponding to each winding is within a target synthetic torque range.

[0167] In one embodiment of the present invention, the motor sound module 1502 is used to:

[0168] According to the angle of the vector control system corresponding to each set of windings, the plurality of electrical control signals are controlled to correspond to the synthesized vector sum on each coordinate axis of the synchronous rotating coordinate system of the motor to be within the target vector sum range;

[0169] Each set of windings is controlled to make sounds according to the corresponding electrical control signal.

[0170] In one embodiment of the present invention, the motor sound module 1502 is used to:

[0171] The corresponding electrical control signals are respectively input into the vector control system of each set of windings to control the sound generation of each set of windings.

[0172] In one embodiment of the present invention, the motor sound module 1502 is used to:

[0173] Based on the rotor position in the motor, the vector control system corresponding to each set of windings converts the electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field,

[0174] 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.

[0175] 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.

[0176] In another embodiment of the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the sound control method described in any of the above embodiments.

[0177] In another embodiment of the present invention, a computer program product including instructions is provided, which, when executed on a computer, enables the computer to execute the sound control method described in any one of the above embodiments.

[0178] In another embodiment of the present invention, a vehicle is provided, wherein the vehicle implements any of the above-mentioned sound control methods.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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. A method for controlling sound emission, characterized in that: include: Transmitting corresponding audio signals to multiple sets of windings of the motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals; Controlling the multiple sets of windings to generate sound so that the synthetic torque formed by the torque for generating sound corresponding to each set of windings is within a target synthetic torque range; The step of controlling the plurality of windings to generate sound so that the synthetic torque formed by the torque for generating sound corresponding to each winding is within the target synthetic torque range includes: Converting the plurality of audio signals into a plurality of electrical control signals respectively; According to the plurality of electrical control signals, vector control is performed on the plurality of windings so that the synthetic torque formed by the torque for sound generation corresponding to each winding is within a target synthetic torque range; According to the plurality of electrical control signals, vector control is performed on the plurality of windings so that the synthetic torque formed by the torque for sound generation corresponding to each winding is within a target synthetic torque range, including: According to the angle of the vector control system corresponding to each set of windings, the plurality of electrical control signals are controlled to correspond to the synthesized vector sum on each coordinate axis of the synchronous rotating coordinate system of the motor to be within the target vector sum range; Each set of windings is controlled to make sounds according to the corresponding electrical control signal.

2. The method according to claim 1, characterized in that The target resultant torque range includes zero.

3. The method according to claim 1, characterized in that The target combined torque range is included within 10% of the rated torque of the motor.

4. The method according to claim 1, characterized in that: The target synthetic torque range is adapted to vehicle parameters in which the motor is located.

5. The method according to claim 1, characterized in that The multiple audio signals are different mono signals separated from the same stereo audio.

6. The method according to claim 1, characterized in that Controlling each set of windings to emit sound according to the corresponding electrical control signal, comprising: The corresponding electrical control signals are respectively input into the vector control system of each set of windings to control the sound generation of each set of windings.

7. The method according to claim 6, characterized in that Inputting the corresponding electrical control signals into the vector control system of each set of windings respectively to control the sound generation of each set of windings respectively, specifically includes: Based on the rotor position in the motor, the vector control system corresponding to each set of windings converts the electrical control signal into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field, 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.

8. The method according to any one of claims 1 to 7, characterized in that: Before transmitting corresponding audio signals to the multiple windings of the motor respectively, the method further includes: The stereo audio to be played is separated into mono channels to obtain the mono audio signal.

9. An audio playback device, characterized in that: include: An audio transmission module, used to transmit corresponding audio signals to multiple sets of windings of the motor respectively, wherein the audio signals are used to control the windings to emit sounds corresponding to the audio signals; The motor sound module is used to control the sound of the multiple sets of windings so that the synthetic torque formed by the torque for sounding corresponding to each set of windings is within the target synthetic torque range, specifically: the multiple audio signals are converted into multiple electrical control signals respectively; according to the multiple electrical control signals, the multiple sets of windings are vector controlled so that the synthetic torque formed by the torque for sounding corresponding to each set of windings is within the target synthetic torque range, and further: according to the angle of the vector control system corresponding to each set of windings, the synthetic vector sum of the multiple electrical control signals corresponding to each coordinate axis of the synchronous rotating coordinate system of the motor is controlled to be within the target vector sum range; each set of windings is controlled to make a sound according to the corresponding electrical control signal.

10. 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 to 8 when executing a program stored in a memory.

11. 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 8 is implemented.

12. 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 8 is implemented.

13. A vehicle, characterized in that: The vehicle implements the method according to any one of claims 1-8.

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