Online correction method and system for rotational speed sensor quadrature signals and drive-by-wire chassis

Abstract

The application provides an online correction method and system for quadrature signals of a rotational speed sensor and a wire control chassis, and relates to the technical field of motor control of the wire control chassis, and comprises the following steps: obtaining target quadrature signals of a rotational speed sensor in real time, wherein the target quadrature signals comprise positive sequence components and negative sequence components; obtaining positive sequence direct current from the positive sequence components; obtaining target negative sequence direct current from the negative sequence components; extracting negative sequence fluctuation in the target negative sequence direct current as an unbalance compensation value; compensating the positive sequence direct current by using the unbalance compensation value to obtain a phase-locked loop deviation at the current moment; taking the phase-locked loop deviation at the current moment as an input of an angle observer to obtain target rotational speed information and motor angle information of the rotational speed sensor at the current moment after correction. The application solves the problem of poor correction effect of quadrature signals in the prior art.

Description

Technical Field

[0001] This invention relates to the technical field of motor control for drive-by-wire chassis, and particularly to an online correction method, system, and drive-by-wire chassis for orthogonal signals from a speed sensor. Background Technology

[0002] In a drive-by-wire chassis system, the power assist motor plays a crucial role as the power source. The motor's rapid response and smooth operation are highly dependent on the quality of the motor speed sensor signal. Currently, the motor speed sensor in drive-by-wire chassis commonly uses a magnetic angle sensor or an eddy current sensor (MPS). Their structures and principles are similar. The MPS sensor is installed on 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, correspondingly generating eddy currents on the MPS stator. The signal processing unit converts the eddy currents into voltage signals and processes them to output analog signals of sin and cosine quadrature signals. The main control chip (AD) acquires the sin and cosine quadrature signals and obtains the motor angle and speed signals through phase-locked loop (PLL) technology.

[0003] Under heavy-load, high-power motor conditions (increased motor leakage flux) and aging MPS, the sin and Cos quadrature signals output by the speed sensor can exhibit gain deviation, amplitude shift, and quadrature phase deviation. These deviations can lead to fluctuations in the motor control angle. Sin and Cos amplitude bias can cause 1-harmonic frequency angle fluctuations, while sin and Cos gain bias and sin and Cos phase shift can cause 2-harmonic frequency angle fluctuations. This reduces the accuracy of motor speed and torque control and may even lead to the risk of motor overcurrent. Therefore, the calibration of the speed sensor has significant practical value.

[0004] Currently, the most common technical approach is offline learning, which only learns the amplitude offset of sin and cos quadrature signals. This method performs offline learning during program initialization or product rollout, writing the learned fixed amplitude offset value into the NVM for subsequent use in actual product operation. However, this method learns a fixed amplitude offset and does not learn gain or phase deviations, so system inaccuracies still exist. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an online correction method, system, and drive-by-wire chassis for orthogonal signals from a speed sensor, solving the problem of poor correction effect for orthogonal signals in existing technologies.

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

[0007] Real-time acquisition of the target orthogonal signal from the speed sensor, wherein the target orthogonal signal includes a positive-sequence component and a negative-sequence component;

[0008] The positive sequence DC is obtained by decomposing the positive sequence components;

[0009] The target negative-order DC flow rate is obtained by decomposing the negative-order components.

[0010] Extract the negative sequence fluctuation from the target negative sequence DC flow rate as the imbalance compensation value;

[0011] The unbalance compensation value is used to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment;

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

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

[0014] By extracting the negative-sequence fluctuation from the target negative-sequence DC quantity as the imbalance compensation value from the target orthogonal signal acquired in real time from the speed sensor, the positive-sequence DC quantity is compensated. This method can effectively eliminate the 2-harmonic 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 quantity, and it takes into account the 2-harmonic angle error and DC component error caused by gain deviation and phase deviation, making the final corrected signal input to the angle observer more accurate.

[0015] In one embodiment of the present invention, the decomposition of the negative-order component to obtain the target negative-order DC flow includes:

[0016] The mixture of negative sequence DC quantity and positive sequence fluctuation quantity is extracted from the negative sequence component;

[0017] The mixture is low-pass filtered to remove the positive sequence fluctuations from the mixture, thereby determining the target negative sequence DC quantity.

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

[0019] By using low-pass filtering, the positive-sequence fluctuation and negative-sequence DC quantities in the mixed quantity can be separated, thereby obtaining the unbalanced quantity in the sin and cos orthogonal signals.

[0020] In one embodiment of the present invention, real-time acquisition of the target orthogonal signal from the speed sensor includes:

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

[0022] The amplitude of each electrical angle cycle corresponding to the current mechanical angle cycle is 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 to determine the target orthogonal signal corresponding to the current mechanical angle cycle.

[0023] The technical solution disclosed in this 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 errors caused by switching the motor speed between forward and reverse.

[0025] In one embodiment of 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, then the average of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace the amplitude of the distortion.

[0027] If the amplitude of the distortion is the minimum amplitude of the signal, then the average of the minimum amplitudes of each electrical angle period in the previous mechanical angle period is used to replace the amplitude of the distortion.

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

[0029] The accuracy of subsequent correction processes can be improved by replacing the current distorted signal with the average amplitude of the previous mechanical cycle.

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

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

[0032] The average of the sums of all amplitudes within the current mechanical angle cycle is used as the amplitude deviation compensation.

[0033] By using amplitude deviation compensation, the amplitude values ​​within the current mechanical angle period are subtracted to obtain the target orthogonal signal.

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

[0035] This amplitude deviation compensation process can reduce the amplitude deviation of the target orthogonal signal.

[0036] In one embodiment of the present invention, the positive sequence DC is obtained by decomposing the positive sequence component using the following formula:

[0037]

[0038] Where PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. It is represented as a positive-order component.

[0039] In one embodiment of the present invention, the mixture of negative-sequence DC quantity and positive-sequence fluctuation quantity is extracted from the negative-sequence component using the following formula:

[0040]

[0041] Where NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. It is represented as a negative-order component.

[0042] In one embodiment of the present invention, θ represents the corrected motor angle obtained at the time corresponding to the previous mechanical angle cycle, or the motor angle collected at the current time.

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

[0044] When θ is the corrected motor angle, feedback can improve the accuracy of the value obtained in the above calculation process.

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

[0046] The amplitude offset compensation module acquires the target orthogonal signal from the speed sensor in real time, and the target orthogonal signal includes a positive sequence component and a negative sequence component.

[0047] The positive sequence separation module decomposes the positive sequence components to obtain the positive sequence DC flow rate;

[0048] The negative sequence separation module decomposes the negative sequence component to obtain the target negative sequence DC flow rate;

[0049] The low-pass filter module extracts the negative sequence fluctuation in the target negative sequence DC as the imbalance compensation value;

[0050] The unbalance compensation module uses the unbalance compensation value to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment.

[0051] The angle observation module takes the current phase-locked loop 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 drive-by-wire chassis, including a power assist motor and a speed sensor for measuring the motor angle and speed signals of the power assist motor, wherein the speed sensor is communicatively connected to an online correction system for the orthogonal signals of the speed sensor as described above. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating the online correction method for orthogonal signals from a speed sensor according to the present invention.

[0054] Figure 2 This is the control logic diagram of the online correction method for orthogonal signals of speed sensors according to the present invention;

[0055] Figure 3 This is a diagram showing the correspondence between mechanical angles, electrical angles, and orthogonal signals.

[0056] Figure 4 This is a logic diagram for processing orthogonal signals from the target.

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

[0058] Figure 6 This is a schematic flowchart of the online correction system for orthogonal signals of a speed sensor according to the present invention. Detailed Implementation

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

[0060] Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of the different embodiments or examples, without contradiction.

[0061] This invention provides an online correction method for orthogonal signals from a speed sensor, please refer to [reference here]. Figure 1 As shown, it includes:

[0062] Real-time acquisition of the target orthogonal signal from the speed sensor, wherein the target orthogonal signal includes a positive-sequence component and a negative-sequence component;

[0063] The positive sequence DC is obtained by decomposing the positive sequence components;

[0064] The target negative-order DC flow rate is obtained by decomposing the negative-order components.

[0065] Extract the negative sequence fluctuation from the target negative sequence DC flow rate as the imbalance compensation value;

[0066] The unbalance compensation value is used to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment;

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

[0068] By extracting the negative-sequence fluctuation from the target negative-sequence DC quantity as the imbalance compensation value from the target orthogonal signal acquired in real time from the speed sensor, the positive-sequence DC quantity is compensated. This method can effectively eliminate the 2-harmonic 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 quantity, and it takes into account the 2-harmonic angle error and DC component error caused by gain deviation and phase deviation, making the final corrected signal input to the angle observer more accurate.

[0069] This combination Figure 2 and Figure 4 To explain in detail, it's important to understand that when the speed sensor has gain and phase deviations, its unbalanced signal, containing positive-sequence and negative-sequence fundamental frequency components, can be represented as follows:

[0070]

[0071] in, Represented as positive-order components, It is represented as a negative-order component.

[0072] Subsequently, the positive-sequence components are separated into positive-sequence components, and the positive-sequence DC quantity and negative-sequence fluctuation quantity are obtained from the positive-sequence components using the following formula:

[0073]

[0074] Where 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] Simultaneously, the negative-sequence components are separated into negative-sequence components, and the mixture of negative-sequence DC and positive-sequence fluctuation is extracted from the negative-sequence components using the following formula:

[0076]

[0077] Where NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence ripple 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-order DC obtained by decomposing from the negative-order components includes:

[0079] The mixture of negative sequence DC quantity and positive sequence fluctuation quantity is extracted from the negative sequence component;

[0080] The mixture is low-pass filtered according to the following formula to remove the positive sequence fluctuation from the mixture and determine the target negative sequence DC quantity.

[0081]

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

[0083] By using low-pass filtering, the positive-sequence fluctuation and negative-sequence DC quantities in the mixed quantity can be separated, thereby obtaining the unbalanced quantity in the sin and cos orthogonal signals.

[0084] After low-pass filtering the mixture to obtain the target negative-order DC quantity, a matrix is ​​used... The negative-sequence fluctuation in the target negative-sequence DC is extracted as the imbalance compensation value, that is:

[0085]

[0086] Where PSIC_Beta represents the unbalance compensation value, and 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 ease of description, θ is used to represent the motor angle collected at the current moment. Used to represent the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle;

[0087] It is important to understand that, because the orthogonal signals undergo multiple correction observations, θ at this point is different from... 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 θ in the P3 matrix is still taken as the corrected motor angle obtained at the corresponding moment of the previous mechanical angle cycle.

[0088] Specifically, please refer to Figure 2 As shown, the target orthogonal signal of the speed sensor is 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. 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, the average value of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace this distorted amplitude;

[0094] If the distorted amplitude is the minimum amplitude of the signal, the average value of the minimum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace this 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 is 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 amplitude of all electrical angle cycles in the current mechanical angle cycle is collected;

[0098] The average of the sums of all amplitudes within the current mechanical angle cycle is used as the amplitude deviation compensation.

[0099] By using amplitude deviation compensation to subtract the amplitude values ​​within the current mechanical angle cycle, the target orthogonal signal is obtained. This step corresponds to... Figure 2 The biased average in the formula is as follows:

[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] Wherein, SinMaxNum represents the maximum amplitude of the Sin signal corresponding to all electrical angle cycles within the current mechanical angle cycle, SinMinNum represents the minimum amplitude of the Sin signal corresponding to all electrical angle cycles within the current mechanical angle cycle, CosMaxNum represents the maximum amplitude of the Cos signal corresponding to all electrical angle cycles within the current mechanical angle cycle, and CosMinNum represents the minimum amplitude of the Cos signal corresponding to all electrical angle cycles within the current mechanical angle cycle.

[0103] The obtained amplitude offset compensation V sin_AmpOffsetComp and V cos_AmpOffsetComp The target orthogonal signal after amplitude deviation compensation is obtained by subtracting the acquired sin and cos orthogonal signals.

[0104] This amplitude deviation compensation process can reduce the amplitude deviation of the target orthogonal signal.

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

[0106] The present invention also provides an online correction system for orthogonal signals of a speed sensor, which is described in conjunction with [the present invention]. Figure 2 as well as Figure 6 As shown;

[0107] The amplitude offset compensation module acquires the target orthogonal signal from the speed sensor in real time, and the target orthogonal signal includes a positive sequence component and a negative sequence component.

[0108] The positive sequence separation module decomposes the positive sequence components to obtain the positive sequence DC flow rate;

[0109] The negative sequence separation module decomposes the negative sequence component to obtain the target negative sequence DC flow rate;

[0110] The low-pass filter module extracts the negative sequence fluctuation in the target negative sequence DC as the imbalance compensation value;

[0111] The unbalance compensation module uses the unbalance compensation value to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment.

[0112] The angle observation module takes the current phase-locked loop 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 order separation module includes:

[0114] The mixture of negative sequence DC quantity and positive sequence fluctuation quantity is extracted from the negative sequence component;

[0115] The mixture is low-pass filtered to remove the positive sequence fluctuations from the mixture, thereby determining the target negative sequence DC quantity.

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

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

[0118] The amplitude of each electrical angle cycle corresponding to the current mechanical angle cycle is 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 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, then the average of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace the amplitude of the distortion.

[0121] If the amplitude of the distortion is the minimum amplitude of the signal, then the average of the minimum amplitudes of each electrical angle period in the previous mechanical angle period is used to replace the amplitude of the distortion.

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

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

[0124] The average of the sums of all amplitudes within the current mechanical angle cycle is used as the amplitude deviation compensation.

[0125] By using amplitude deviation compensation, the amplitude values ​​within the current mechanical angle period are subtracted to obtain the target orthogonal signal.

[0126] Specifically, the positive sequence separation module decomposes the positive sequence components into positive sequence DC flow rate according to the following formula:

[0127]

[0128] Where PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. It is represented as a positive-order component.

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

[0130]

[0131] Where NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. It is represented as a negative-order 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 the following: Figure 2 As shown, the online correction system (MPSC) for orthogonal signals of speed sensors provided by the present invention mainly includes three parts: amplitude offset compensation module (MPSOFT), gain and phase deviation compensation module (MPSGP), and angle observation module (ATOB);

[0134] The components are arranged in a sequential order. The amplitude offset compensation module (MPSOFT) receives the sine and cosine quadrature signals VsinOrig and VcosOrig from the motor speed sensor of the underlying driver. Internally, the amplitude offset compensation module (MPSOFT) operates in the order of amplitude detection, error point elimination, and offset averaging to obtain the target quadrature signal after amplitude offset compensation. The compensated target quadrature signal is separated into positive sequence DC signal PSS_Q. At the same time, the target quadrature signal is separated into negative sequence, low-pass filtered, and unbalanced compensation value extracted to obtain PSIC_Beta. PSS_Q minus PSIC_Beta yields the phase-locked loop deviation PLL_Err. The phase-locked loop deviation PLL_Err 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 drive-by-wire chassis, including a power assist motor and a speed sensor for measuring the motor angle and speed signals of the power assist motor, wherein the speed sensor is communicatively connected to an online correction system for the orthogonal signals of the speed sensor as described above.

[0136] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An online correction method for orthogonal signals from a speed sensor, characterized in that, include: Real-time acquisition of the target orthogonal signal from the speed sensor, wherein the target orthogonal signal includes a positive-sequence component and a negative-sequence component; The positive sequence DC is obtained by decomposing the positive sequence components; The target negative-order DC flow rate is obtained by decomposing the negative-order components. Extract the negative sequence fluctuation from the target negative sequence DC flow rate as the imbalance compensation value; The unbalance compensation value is used to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment; By using the current phase-locked loop deviation as the input to the angle observer, the target speed information of the current speed sensor and the motor angle information are obtained after correction.

2. The online correction method for orthogonal signals of a speed sensor according to claim 1, characterized in that, The target negative-order DC quantity is obtained by decomposing from the negative-order components, including: The mixture of negative sequence DC quantity and positive sequence fluctuation quantity is extracted from the negative sequence component; The mixture is low-pass filtered to remove the positive sequence fluctuations from the mixture, thereby determining the target negative sequence DC quantity.

3. The online correction method for orthogonal signals of a speed sensor according to claim 2, characterized in that, Real-time acquisition of target orthogonal signals from the speed sensor, including: Real-time acquisition of the amplitude of the speed sensor in each electrical angle cycle within the current mechanical angle cycle; The amplitude of each electrical angle cycle corresponding to the current mechanical angle cycle is 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 to determine the target orthogonal signal corresponding to the current mechanical angle cycle.

4. The online correction method for orthogonal signals of a speed sensor according to claim 3, characterized in that, Adjust the amplitude of the distortion using the following method: If the amplitude of the distortion is the maximum amplitude of the signal, then the average of the maximum amplitudes of each electrical angle cycle in the previous mechanical angle cycle is used to replace the amplitude of the distortion. If the amplitude of the distortion is the minimum amplitude of the signal, then the average of the minimum amplitudes of each electrical angle period in the previous mechanical angle period is used to replace the amplitude of the distortion.

5. The online correction method for orthogonal signals of a speed sensor according to claim 4, characterized in that, Determine the target orthogonal signal corresponding to the current mechanical angle period, including: After adjusting the amplitude of the distortion, the amplitude of all electrical angle cycles in the current mechanical angle cycle is collected; The average of the sums of all amplitudes within the current mechanical angle cycle is used as the amplitude deviation compensation. By using amplitude deviation compensation, the amplitude values ​​within the current mechanical angle period are subtracted to obtain the target orthogonal signal.

6. The online correction method for orthogonal signals of a speed sensor according to claim 2, characterized in that, The positive sequence DC quantity is obtained by decomposing it from the positive sequence component using the following formula: Where PSS_D represents the negative sequence fluctuation, PSS_Q represents the positive sequence DC quantity, and θ represents the motor angle. It is represented as a positive-order component.

7. The online correction method for orthogonal signals of a speed sensor according to claim 2, characterized in that, The mixture of negative-sequence DC and positive-sequence fluctuation is extracted from the negative-sequence component using the following formula: Where NSS_D represents the negative sequence DC quantity, NSS_Q represents the positive sequence fluctuation quantity, and θ represents the motor angle. It is represented as a negative-order component.

8. The online correction method for the orthogonal signal of the 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. An online correction system for orthogonal signals from a speed sensor, characterized in that, include: The amplitude offset compensation module acquires the target orthogonal signal from the speed sensor in real time, and the target orthogonal signal includes a positive sequence component and a negative sequence component. The positive sequence separation module decomposes the positive sequence components to obtain the positive sequence DC flow rate; The negative sequence separation module decomposes the negative sequence component to obtain the target negative sequence DC flow rate; The low-pass filter module extracts the negative sequence fluctuation in the target negative sequence DC as the imbalance compensation value; The unbalance compensation module uses the unbalance compensation value to compensate the positive sequence DC flow to obtain the phase-locked loop deviation at the current moment. The angle observation module takes the current phase-locked loop 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 includes an assist motor and a speed sensor for measuring the motor angle and speed signals of the assist motor, wherein the speed sensor is communicatively connected to an online correction system for the orthogonal signals of the speed sensor as described in claim 9.

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