Online correction method and system for orthogonal signal of rotating speed sensor and drive-by-wire chassis

Abstract

The invention provides a rotation speed sensor orthogonal signal online correction method and system and a drive-by-wire chassis, and relates to the technical field of drive-by-wire chassis motor control, and the method comprises the steps: obtaining a target orthogonal signal of a rotation speed sensor in real time, the target orthogonal signal comprising a positive sequence component and a negative sequence component; decomposing the positive sequence component to obtain a positive sequence direct current quantity; decomposing the negative sequence component to obtain a target negative sequence direct current quantity; extracting a negative sequence fluctuation quantity in the target negative sequence direct current quantity as an unbalance compensation value; compensating the positive sequence direct current quantity by using the unbalance compensation value to obtain a phase-locked loop deviation at the current moment; and taking the phase locking deviation at the current moment as the input of the angle observer, and obtaining the corrected target rotating speed information of the rotating speed sensor at the current moment and the motor angle information. According to the invention, the problem of poor correction effect on the orthogonal signal in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control of a drive-by-wire chassis, and in particular to an online correction method and system for orthogonal signals of a rotation speed sensor and a drive-by-wire chassis. Background Art

[0002] In the wire-controlled chassis system, the power-assisted motor plays an important role as the power source of the chassis system. The rapid response and smooth operation of the motor are closely related to the quality of the motor speed sensor signal. At present, the motor power-assisted speed sensor in the wire-controlled chassis generally adopts a magnetic angle sensor or an eddy current sensor (MPS), which has similar structure and principle. The MPS sensor is installed at the end of the motor shaft and consists of a rotor, a stator, and a signal processing unit. The MPS rotor is coaxial with the motor shaft and rotates with the motor. The MPS stator is installed in the motor housing. When the motor rotates, the MPS rotor rotates, and eddy currents are generated on the MPS stator accordingly. The signal processing unit converts the eddy currents into voltage signals and processes the output analog signals Sin and Cos orthogonal signals. The main control chip AD collects the Sin and Cos orthogonal signals and obtains the motor angle and speed signals through the phase-locked loop technology.

[0003] The Sin and Cos orthogonal signals output by the speed sensor will cause gain deviation, amplitude offset, and orthogonal phase deviation in the case of heavy-load and high-power motor working conditions (increased motor leakage magnetic flux) and aging of the MPS. These deviations will cause the motor control angle fluctuation. The Sin and Cos amplitude offset will cause 1x frequency angle fluctuation, and the Sin and Cos gain offset and Sin and Cos phase offset will cause 2x frequency angle fluctuation, reducing the motor control speed and torque control accuracy, and even causing the risk of motor overcurrent. Therefore, the correction of the speed sensor has important practical value.

[0004] At present, the offline learning method is generally used in technology, and only the amplitude offset of the Sin and Cos orthogonal signals is learned. This method performs offline learning during program initialization or product offline stage, and writes the learned fixed value of the amplitude offset into NVM, which is then called in the actual work of the subsequent product. The value learned in this method is a fixed amplitude offset and the gain deviation and phase deviation are not learned, so the system still has deviations. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an online correction method and system for quadrature signals of a speed sensor and a control-by-wire chassis, which solves the problem of poor correction effect of the quadrature signals in the prior art.

[0006] At least one embodiment of the present invention provides an online correction method for quadrature signals of a rotation speed sensor, comprising:

[0007] Acquire a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component;

[0008] Decomposing the positive sequence component to obtain a positive sequence DC quantity;

[0009] Decomposing the negative-sequence component to obtain a target negative-sequence DC quantity;

[0010] Extracting a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value;

[0011] Compensating the positive-sequence DC quantity by using the unbalanced quantity compensation value to obtain a phase-locked loop deviation at the current moment;

[0012] The phase-locked switching deviation at the current moment is used as the input of the angle observer to obtain the corrected target speed information of the speed sensor at the current moment and the motor angle information.

[0013] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0014] By extracting the negative-sequence fluctuation in the target negative-sequence DC quantity as the imbalance compensation value from the target orthogonal signal of the speed sensor obtained in real time, the positive-sequence DC quantity can be compensated. This can effectively eliminate the 2-fold frequency angle error and DC component error caused by gain deviation and phase deviation in real time. Compared with the prior art, the learning compensation value of this method can be changed according to the actual extracted imbalance, and the 2-fold frequency angle error and DC component error caused by gain deviation and phase deviation are taken into account, so that the final corrected signal input to the angle observer is more accurate.

[0015] In one of the embodiments provided by the present invention, decomposing the negative sequence component to obtain a target negative sequence DC quantity includes:

[0016] Extracting a mixed amount of negative-sequence DC quantity and positive-sequence fluctuation quantity from the negative-sequence component;

[0017] The mixed quantity is low-pass filtered to remove the positive sequence fluctuation quantity from the mixed quantity, and the target negative sequence DC quantity is determined.

[0018] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0019] By low-pass filtering, the positive-sequence fluctuation quantity and the negative-sequence DC quantity in the mixed quantity can be separated, and then the unbalanced quantity in the Sin and Cos orthogonal signals can be obtained.

[0020] In one of the embodiments provided by the present invention, real-time acquisition of a target orthogonal signal of a rotation speed sensor includes:

[0021] Real-time acquisition of the amplitude of the speed sensor in each electrical angle cycle in the current mechanical angle cycle;

[0022] The amplitudes of each electrical angle cycle corresponding to the current mechanical angle cycle are compared with the average amplitudes of each electrical angle cycle in the previous mechanical angle cycle. If any amplitude within the current mechanical angle cycle is distorted, the distorted amplitude is adjusted to determine the target orthogonal signal corresponding to the current mechanical angle cycle.

[0023] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0024] By adjusting the distorted signal, the accuracy of the final corrected signal can be improved, avoiding the error caused by the forward and reverse switching of the motor speed.

[0025] In one of the embodiments provided by the present invention, the amplitude of the distortion is adjusted according to the following method:

[0026] If the amplitude of the distortion is the maximum amplitude of the signal, the amplitude of the distortion is replaced by the average value of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle;

[0027] If the distorted amplitude is the minimum amplitude of the signal, the distorted amplitude is replaced by the average value of the minimum amplitudes of each electrical angle cycle in the previous mechanical angle cycle.

[0028] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0029] By replacing the current distorted signal with the average amplitude of the previous mechanical cycle, the accuracy of the subsequent correction process can be improved.

[0030] In one of the embodiments provided by the present invention, determining a target orthogonal signal corresponding to a current mechanical angle period includes:

[0031] After adjusting the amplitude of the distortion, the amplitudes of all electrical angle cycles in the current mechanical angle cycle are collected;

[0032] The average value of the sum of the amplitudes in the current mechanical angle cycle is used as the amplitude deviation compensation;

[0033] The amplitude deviation compensation is used to perform amplitude deviation compensation on each amplitude in the current mechanical angle cycle to obtain the target orthogonal signal.

[0034] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0035] Through the amplitude deviation compensation process, the target orthogonal signal amplitude deviation can be reduced.

[0036] In one of the embodiments provided by the present invention, the positive sequence DC quantity is decomposed from the positive sequence component using the following formula:

[0037]

[0038] Among them, PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. Represented as positive sequence component.

[0039] In one of the embodiments provided by the present invention, the mixed amount of the negative-sequence DC quantity and the positive-sequence fluctuation quantity is extracted from the negative-sequence component using the following formula:

[0040]

[0041] Among them, NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. Represented as negative sequence component.

[0042] In one of the embodiments provided by the present invention, θ represents the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle, or the motor angle collected at the current moment.

[0043] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0044] When θ uses the corrected motor angle, it can be fed back to improve the accuracy of the value obtained in the above calculation process.

[0045] At least one embodiment of the present invention further provides an online correction system for quadrature signals of a rotation speed sensor, comprising:

[0046] An amplitude offset compensation module is used to obtain a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component;

[0047] A positive sequence separation module, decomposing the positive sequence component to obtain a positive sequence DC quantity;

[0048] A negative sequence separation module, decomposing the negative sequence component to obtain a target negative sequence DC quantity;

[0049] A low-pass filtering module extracts a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value;

[0050] An unbalance compensation module, which uses the unbalance compensation value to compensate the positive sequence DC quantity to obtain a phase-locked loop deviation at a current moment;

[0051] The angle observation module uses the current phase-locked switching deviation as the input of the angle observer to obtain the corrected target speed information of the speed sensor and the motor angle information at the current moment.

[0052] The present invention also provides a wire-controlled chassis, including a power-assist motor and a speed sensor for measuring the motor angle and speed signal of the power-assist motor, wherein the speed sensor is communicatively connected to an online correction system of the speed sensor orthogonal signal as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a flow chart of an online correction method of quadrature signals of a rotation speed sensor according to the present invention;

[0054] Figure 2 It is a control logic diagram of the online correction method of the quadrature signal of the rotation speed sensor of the present invention;

[0055] Figure 3 It is the corresponding relationship diagram of mechanical angle, electrical angle and orthogonal signal;

[0056] Figure 4 It is the logic diagram for processing the target orthogonal signal;

[0057] Figure 5 This is a schematic diagram of the distortion caused by the forward and reverse switching of the motor speed;

[0058] Figure 6 The figure is a flow chart of the online correction system of the quadrature signal of the rotation speed sensor according to the present invention. DETAILED DESCRIPTION

[0059] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0060] Furthermore, those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0061] The present invention provides an online correction method for the quadrature signal of a speed sensor, please refer to Figure 1 As shown, including:

[0062] Acquire a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component;

[0063] Decomposing the positive sequence component to obtain a positive sequence DC quantity;

[0064] Decomposing the negative-sequence component to obtain a target negative-sequence DC quantity;

[0065] Extracting a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value;

[0066] Compensating the positive-sequence DC quantity by using the unbalanced quantity compensation value to obtain a phase-locked loop deviation at the current moment;

[0067] The phase-locked switching deviation at the current moment is used as the input of the angle observer to obtain the corrected target speed information of the speed sensor at the current moment and the motor angle information.

[0068] By extracting the negative-sequence fluctuation in the target negative-sequence DC quantity as the imbalance compensation value from the target orthogonal signal of the speed sensor obtained in real time, the positive-sequence DC quantity can be compensated. This can effectively eliminate the 2-fold frequency angle error and DC component error caused by gain deviation and phase deviation in real time. Compared with the prior art, the learning compensation value of this method can be changed according to the actual extracted imbalance, and the 2-fold frequency angle error and DC component error caused by gain deviation and phase deviation are taken into account, so that the final corrected signal input to the angle observer is more accurate.

[0069] Combined here Figure 2 and Figure 4 To explain in detail, it should be understood that when the speed sensor has gain deviation and phase deviation, the unbalanced signal containing positive sequence and negative sequence fundamental frequency components can be expressed as follows:

[0070]

[0071] in, is represented as the positive sequence component, Represented as negative sequence component.

[0072] Subsequently, the positive sequence component is subjected to positive sequence separation, and the positive sequence DC quantity and the negative sequence fluctuation quantity are decomposed from the positive sequence component using the following formula:

[0073]

[0074] Among them, PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. In this formula, the matrix exist Figure 4 It is represented by P1.

[0075] At the same time, the negative sequence component is subjected to negative sequence separation, and the mixed amount of the negative sequence DC quantity and the positive sequence fluctuation quantity is extracted from the negative sequence component using the following formula:

[0076]

[0077] Among them, NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. In this formula, the matrix exist Figure 4 It is represented by P2.

[0078] Specifically, the target negative-sequence DC quantity is decomposed from the negative-sequence component, which includes:

[0079] Extracting a mixed amount of negative-sequence DC quantity and positive-sequence fluctuation quantity from the negative-sequence component;

[0080] The mixed quantity is low-pass filtered according to the following formula, the positive sequence fluctuation quantity is removed from the mixed quantity, and the target negative sequence DC quantity is determined.

[0081]

[0082] in, ω c is the filter cutoff frequency, f s is the sampling frequency, the low-pass filtering step is Figure 4 LPF is used in the code, NSS_Q_LPF(k) represents the filtered positive sequence fluctuation, which is filtered out in this process, and NSS_D_LPF(k) represents the target negative sequence DC quantity.

[0083] By low-pass filtering, the positive-sequence fluctuation quantity and the negative-sequence DC quantity in the mixed quantity can be separated, and then the unbalanced quantity in the Sin and Cos orthogonal signals can be obtained.

[0084] After low-pass filtering the mixed quantity to obtain the target negative sequence DC quantity, the matrix The negative sequence fluctuation amount in the target negative sequence DC amount is extracted as the unbalanced amount compensation value, that is:

[0085]

[0086] Wherein, PSIC_Beta represents the imbalance compensation value, θ represents the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle, or the motor angle collected at the current moment. In this embodiment, for the convenience of expression, θ is used to represent the motor angle collected at the current moment. Used to indicate the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle;

[0087] It should be understood that since the orthogonal signal has been corrected and observed many times, the current θ and It has become consistent. For the convenience of calculation, θ in the formula can be taken as the motor angle collected at the current moment. At the same time, to retain the feedback value, one of the θs in the P3 matrix is still taken as the corrected motor angle obtained at the corresponding moment in the previous mechanical angle cycle.

[0088] Specifically, please refer to Figure 2 As shown, the target orthogonal signals of the speed sensor are obtained in real time, including:

[0089] The amplitudes of the speed sensor in each electrical angle cycle of the current mechanical angle cycle are collected in real time. Among them, the corresponding relationships of the electrical angle, mechanical angle, and orthogonal signal are as Figure 3 shown. If the motor is a 4-pole motor, then the mechanical angle is equal to 4 times the electrical angle value;

[0090] First, the amplitudes of each electrical angle cycle are detected. Specifically, the values of the Sin and Cos orthogonal signals at time k, Y(k), and the value of the input at time k-1, Y(k-1), are compared respectively. If Y(k) < Y(k-1), then the maximum amplitude MaxY = Y(k-1), and the minimum amplitude MinY = Y(k); otherwise, the maximum amplitude MaxY = Y(k), and the minimum amplitude MinY = Y(k-1); the maximum and minimum amplitudes of the Sin and Cos orthogonal signals are detected in real time, as Figure 3 shown, where the time interval between time k and time k-1 is T, which is the AD sampling time of the acquisition unit. The interval T of this acquisition time and the specific time k are determined by the motor angle output by the angle observer.

[0091] Since the forward and reverse rotation switching of the motor speed will cause distortion of the motor angle, as Figure 5 shown, therefore, it is necessary to exclude the error points of the collected amplitudes;

[0092] The amplitudes of each electrical angle cycle corresponding to the current mechanical angle cycle are compared with the average amplitude of each electrical angle cycle in the previous mechanical angle cycle. If any amplitude in the current mechanical angle cycle is distorted, the distorted amplitude is adjusted;

[0093] If the distorted amplitude is the maximum amplitude of the signal, then the average value of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace the distorted amplitude;

[0094] If the distorted amplitude is the minimum amplitude of the signal, then the average value of the minimum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace the distorted amplitude.

[0095] By adjusting the distorted signal, the accuracy of the finally corrected signal can be improved, and the error caused by the forward and reverse rotation switching of the motor speed can be avoided.

[0096] Specifically, determining the target orthogonal signal corresponding to the current mechanical angle period includes:

[0097] After adjusting the amplitude of the distortion, the amplitudes of all electrical angle cycles in the current mechanical angle cycle are collected;

[0098] The average value of the sum of the amplitudes in the current mechanical angle cycle is used as the amplitude deviation compensation;

[0099] The amplitude deviation compensation is used to perform amplitude deviation compensation on each amplitude in the current mechanical angle cycle to obtain the target orthogonal signal. This step corresponds to Figure 2 The specific formula is:

[0100] The amplitude offset compensation V is obtained by averaging the sine and cosine amplitudes obtained after amplitude detection and fault point elimination. sin_AmpOffsetComp and V cos_AmpOffsetComp ,in,

[0101]

[0102] Among them, SinMaxNum represents the maximum amplitude of the Sin signal corresponding to all electrical angle periods in the current mechanical angle period, SinMinNum represents the minimum amplitude of the Sin signal corresponding to all electrical angle periods in the current mechanical angle period, CosMaxNum represents the maximum amplitude of the Cos signal corresponding to all electrical angle periods in the current mechanical angle period, and CosMinNum represents the minimum amplitude of the Cos signal corresponding to all electrical angle periods in the current mechanical angle period;

[0103] The resulting amplitude offset compensation V sin_AmpOffsetComp and V cos_AmpOffsetComp The target orthogonal signal after amplitude deviation compensation is obtained by subtracting the collected Sin and Cos orthogonal signals.

[0104] Through the amplitude deviation compensation process, the target orthogonal signal amplitude deviation can be reduced.

[0105] While meeting its own control accuracy requirements, compared with offline methods and other correction methods, this method can meet the online correction of the motor under all working conditions, and can fully compensate for the three deviations of the speed sine and cosine signals: amplitude deviation, gain deviation, and phase deviation, further reducing the motor angle and speed deviation, and improving the motor speed and torque control accuracy.

[0106] The present invention also provides an online correction system for the quadrature signal of the speed sensor. Figure 2 as well as Figure 6 As shown;

[0107] An amplitude offset compensation module is used to obtain a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component;

[0108] A positive sequence separation module, decomposing the positive sequence component to obtain a positive sequence DC quantity;

[0109] A negative sequence separation module, decomposing the negative sequence component to obtain a target negative sequence DC quantity;

[0110] A low-pass filtering module extracts a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value;

[0111] An unbalance compensation module, which uses the unbalance compensation value to compensate the positive sequence DC quantity to obtain a phase-locked loop deviation at a current moment;

[0112] The angle observation module uses the current phase-locked switching deviation as the input of the angle observer to obtain the corrected target speed information of the speed sensor and the motor angle information at the current moment.

[0113] Specifically, the negative sequence separation module includes:

[0114] Extracting a mixed amount of negative-sequence DC quantity and positive-sequence fluctuation quantity from the negative-sequence component;

[0115] The mixed quantity is low-pass filtered to remove the positive sequence fluctuation quantity from the mixed quantity, and the target negative sequence DC quantity is determined.

[0116] Specifically, the amplitude offset compensation module includes:

[0117] Real-time acquisition of the amplitude of the speed sensor in each electrical angle cycle in the current mechanical angle cycle;

[0118] The amplitudes of each electrical angle cycle corresponding to the current mechanical angle cycle are compared with the average amplitudes of each electrical angle cycle in the previous mechanical angle cycle. If any amplitude within the current mechanical angle cycle is distorted, the distorted amplitude is adjusted to determine the target orthogonal signal corresponding to the current mechanical angle cycle.

[0119] Specifically, the amplitude offset compensation module includes:

[0120] If the amplitude of the distortion is the maximum amplitude of the signal, the amplitude of the distortion is replaced by the average value of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle;

[0121] If the distorted amplitude is the minimum amplitude of the signal, the distorted amplitude is replaced by the average value of the minimum amplitudes of each electrical angle cycle in the previous mechanical angle cycle.

[0122] Specifically, the amplitude offset compensation module includes:

[0123] After adjusting the amplitude of the distortion, the amplitudes of all electrical angle cycles in the current mechanical angle cycle are collected;

[0124] The average value of the sum of the amplitudes in the current mechanical angle cycle is used as the amplitude deviation compensation;

[0125] The amplitude deviation compensation is used to perform amplitude deviation compensation on each amplitude in the current mechanical angle cycle to obtain the target orthogonal signal.

[0126] Specifically, the positive sequence separation module decomposes the positive sequence DC quantity from the positive sequence component according to the following formula:

[0127]

[0128] Among them, PSS_D represents the negative sequence fluctuation quantity, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. Represented as positive sequence component.

[0129] Specifically, the negative sequence separation module extracts the mixed amount of the negative sequence DC quantity and the positive sequence fluctuation quantity from the negative sequence component according to the following formula:

[0130]

[0131] Among them, NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. Represented as negative sequence component.

[0132] Specifically, θ represents the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle, or the motor angle collected at the current moment.

[0133] In summary, please refer to Figure 2 As shown, the online correction system (MPSC) of the quadrature signal of the speed sensor provided by the present invention mainly includes three parts: an amplitude offset compensation module (MPSOFT), a gain and phase deviation compensation module (MPSGP), and an angle observation module (ATOB);

[0134] Each part is arranged in sequence. The amplitude offset compensation module (MPSOFT) receives the sine and cosine orthogonal signals Vs inOrig and VcosOrig from the motor speed sensor of the bottom drive. The amplitude offset compensation module (MPSOFT) operates in the order of amplitude detection, error point elimination, and offset averaging to obtain the target orthogonal signal after amplitude deviation compensation. The compensated target orthogonal signal is separated by positive sequence to obtain the positive sequence DC quantity PSS_Q. At the same time, the target orthogonal signal is separated by negative sequence, low-pass filtered, and unbalanced compensation value extracted to obtain PSIC_Beta. PSS_Q minus PSIC_Beta obtains the phase-locked loop deviation PLL_Err, which is used as the input of the angle observation module (ATOB). AOTB uses the phase-locked loop to calculate the motor speed and angle for motor vector control FOC.

[0135] The present invention also provides a wire-controlled chassis, including a power-assist motor and a speed sensor for measuring the motor angle and speed signal of the power-assist motor, wherein the speed sensor is communicatively connected to an online correction system of the speed sensor orthogonal signal as described above.

[0136] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An online correction method for quadrature signals of a rotation speed sensor, characterized in that: include: Acquire a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component; Decomposing the positive sequence component to obtain a positive sequence DC quantity; Decomposing the negative-sequence component to obtain a target negative-sequence DC quantity; Extracting a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value; Compensating the positive-sequence DC quantity by using the unbalance compensation value to obtain a phase-locked loop deviation at the current moment; The phase-locked switching deviation at the current moment is used as the input of the angle observer to obtain the corrected target speed information of the speed sensor at the current moment and the motor angle information.

2. The online correction method of the quadrature signal of the rotation speed sensor according to claim 1 is characterized in that: The target negative-sequence DC quantity is decomposed from the negative-sequence component, including: Extracting a mixed amount of negative-sequence DC quantity and positive-sequence fluctuation quantity from the negative-sequence component; The mixed quantity is low-pass filtered to remove the positive sequence fluctuation quantity from the mixed quantity, and the target negative sequence DC quantity is determined.

3. The online correction method of the quadrature signal of the rotation speed sensor according to claim 2 is characterized in that: Acquire the target quadrature signal of the speed sensor in real time, including: Real-time acquisition of the amplitude of the speed sensor in each electrical angle cycle in the current mechanical angle cycle; The amplitudes of each electrical angle cycle corresponding to the current mechanical angle cycle are compared with the average amplitudes of each electrical angle cycle in the previous mechanical angle cycle. If any amplitude within the current mechanical angle cycle is distorted, the distorted amplitude is adjusted to determine the target orthogonal signal corresponding to the current mechanical angle cycle.

4. The online correction method of the quadrature signal of the rotation speed sensor according to claim 3 is characterized in that: Adjust the distortion amplitude as follows: If the amplitude of the distortion is the maximum amplitude of the signal, the amplitude of the distortion is replaced by the average value of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle; If the distorted amplitude is the minimum amplitude of the signal, the distorted amplitude is replaced by the average value of the minimum amplitudes of each electrical angle cycle in the previous mechanical angle cycle.

5. The online correction method of the quadrature signal of the rotation speed sensor according to claim 4 is characterized in that: Determine the target quadrature signal corresponding to the current mechanical angle cycle, including: After adjusting the amplitude of the distortion, the amplitudes of all electrical angle cycles in the current mechanical angle cycle are collected; The average value of the sum of the amplitudes in the current mechanical angle cycle is used as the amplitude deviation compensation; The amplitude deviation compensation is used to perform amplitude deviation compensation on each amplitude in the current mechanical angle cycle to obtain the target orthogonal signal.

6. The online correction method of the quadrature signal of the rotation speed sensor according to claim 2 is characterized in that: The positive sequence DC quantity is decomposed from the positive sequence component using the following formula: Among them, PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. Represented as positive sequence component.

7. The online correction method of the quadrature signal of the rotation speed sensor according to claim 2 is characterized in that: The mixed amount of negative sequence DC quantity and positive sequence fluctuation quantity is extracted from the negative sequence component using the following formula: Among them, NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. Represented as negative sequence component.

8. The online correction method of the quadrature signal of the rotation speed sensor according to claim 6 or 7, characterized in that: θ represents the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle, or the motor angle collected at the current moment.

9. The online correction system of the quadrature signal of the speed sensor is characterized by: include: An amplitude offset compensation module is used to obtain a target quadrature signal of a rotation speed sensor in real time, wherein the target quadrature signal includes a positive sequence component and a negative sequence component; A positive sequence separation module, decomposing the positive sequence component to obtain a positive sequence DC quantity; A negative sequence separation module, decomposing the negative sequence component to obtain a target negative sequence DC quantity; A low-pass filtering module extracts a negative-sequence fluctuation amount in the target negative-sequence DC amount as an unbalanced amount compensation value; An unbalance compensation module, which uses the unbalance compensation value to compensate the positive sequence DC quantity to obtain a phase-locked loop deviation at a current moment; The angle observation module uses the current phase-locked switching deviation as the input of the angle observer to obtain the corrected target speed information of the speed sensor and the motor angle information at the current moment.

10. A wire-controlled chassis, characterized in that: It comprises a power-assisting motor and a speed sensor for measuring the motor angle and speed signal of the power-assisting motor, wherein the speed sensor is communicatively connected to the online correction system of the orthogonal signal of the speed sensor as claimed in claim 9.

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