Vehicle zero online self-learning method and system

Abstract

The invention discloses a whole vehicle zero position online self-learning method and system. The method comprises the steps that a motor controller sets a current zero position value as a median value of a first zero position interval, a vehicle is subjected to power-off and power-on operation, whether the vehicle shakes or not is judged, and if the vehicle does not shake, the current zero position value is a correct zero position value; if the absolute value of the rotating speed change rate of the motor is smaller than the first critical value and the absolute value of the torque value of the motor is smaller than the second critical value when the vehicle shakes, whether the motor torque is a correct zero value or not is judged after the motor torque is given, the situation that the vehicle does not shake but the zero value deviates is avoided, and the method is easy to operate, capable of achieving autonomous learning, high in applicability and suitable for popularization and application. The accuracy is high; the system comprises a motor controller, a rotary transformer, a judgment module and a motor, is suitable for executing the method, can complete zero-position self-learning only through simple power-on and power-off operation, can be applied to different motors and motor controllers, and has good expansibility.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motors, and more specifically, to a whole vehicle zero position online self-learning method and system. Background Art

[0002] Most of the motors in new energy vehicles use permanent magnet synchronous motors (PMSM), and the speed of permanent magnet synchronous motors is obtained by rotary transformers. The rotary transformer calculates a relative angle through the excitation signal, sine signal, and cosine signal. This angle will be applied to modules such as current Cark conversion, Park conversion, and Park inverse conversion, so this angle is very important. When the motor is offline, due to differences in assembly processes, the angle between the rotary transformer and the motor installation cannot be zero. There is a certain difference, which is called the zero position value. This difference exists because the rotary transformer needs to be precisely aligned with the motor to ensure that the motor controller can monitor the position and speed of the rotor in real time. As a position sensor, the working principle of the rotary transformer requires that the external rotating magnetic field and the internal rotor rotate at the same speed, and a certain angle must be maintained between the magnetic poles of the rotating magnetic field and the magnetic poles of the rotor. Therefore, when installing the rotary transformer, the alignment with the motor must be considered to ensure that the angle difference between them (i.e., the zero position value) is correctly set.

[0003] Specifically, refer to Figure 1 , the control method of PMSM needs to use a rotary transformer to collect the angle, and then convert it into a speed calculation formula through a supervisory calculation formula, and control the output to torque through the speed outer loop PI (proportional-integral controller), and convert the torque into torque current iq and excitation current id. The zero position detection principle of PMSM is that the controller determines whether the motor zero position is reasonable by detecting the torque and speed when the motor is stopped. In PMSM, the rotation of the motor is achieved by controlling the interaction between the magnetic field generated by the current in the stator winding and the magnetic field of the permanent magnet rotor, and the zero position of the motor is the initial position of the rotor magnetic field. The torque current Iq is 0 and the excitation current Id is 0, which means that no current is actively applied in the controller to generate torque or change the magnetic field strength. The Park inverse transformation angle is not 0. The Park transformation and its inverse transformation are commonly used coordinate transformation methods in motor control, which are used to convert three-phase current (or voltage) into two-phase orthogonal components (usually called dq axis components). If the Park inverse transformation angle is not 0, then even if Id and Iq are both 0, the α and β components obtained after the inverse transformation may not be 0. The output α and β are not 0. Due to the influence of the Park inverse transformation angle, even if the controller does not actively output any current, the motor may still receive a non-zero voltage or current component, causing the motor to generate torque and speed.

[0004] Judge whether the PMSM motor zero position is reasonable based on these conditions: If the controller detects that the motor has non-zero torque and speed output in the parking state (that is, the vehicle is stationary), then this usually means that the motor zero position setting is incorrect. Because when the motor is in zero position and there is no external torque, the motor should remain stationary and not generate any torque and speed. On the contrary, if the torque and speed detected when parking are close to zero (taking into account factors such as measurement errors and slight vibrations of the motor itself), then it can be considered that the motor zero position setting is reasonable. By detecting the torque and speed when the car is parked, it is possible to effectively judge whether the PMSM motor zero position value is reasonable. If non-zero torque and speed are detected, the motor zero position setting needs to be adjusted to ensure accurate control and stable operation of the motor. In the prior art, the zero position value of the motor is recorded when the motor is offline, and this zero position is recorded on the bar code. Then the zero position value on the bar code is manually converted into the corresponding hexadecimal. This method is simple and single. As time goes by, the zero position of the motor will also change slightly, and the bar code may not exist when it is repaired again, resulting in inaccurate zero position, the motor cannot run, or the body shakes when the car is running. The zero position value is also calibrated on the motor test bench. The engineer uses the manual calibration method in FOC (quantity control mode) to mark the torque current q as 0 and the excitation current d as 1 / 3 of the rated current. The motor is adsorbed, and the force of 20Nm applied to the towing test bench cannot make the motor rotate. This method also has maintenance problems, and there is also a deviation in the zero position due to the existence of the support test bench.

[0005] The prior art (Announcement No.: CN111490710B Application Date: 2020.05.06.) discloses a method for identifying the zero-position deviation of a permanent magnet synchronous motor. It applies multiple sets of different angle values ​​and samples the value of the d-axis current of the permanent magnet synchronous motor at the same time. According to the sampling of the current value, the initial reference angle of the permanent magnet synchronous motor is determined, and based on the initial reference angle, the initial reference angle is corrected and used as the control angle to obtain the initial angle. The final zero-position value is obtained according to the difference between the encoder and the initial angle. However, the current value during the measurement process is easily affected by other factors, resulting in inaccurate measurement results and errors in the analysis of the zero-position value.

[0006] The prior art (announcement number: CN112422012B application date: 2020.09.28) discloses a zero-position identification method for a vehicle-mounted permanent magnet synchronous motor at zero speed. The zero-position value is obtained by comparing the zero-speed state of the motor and the motor rotor position during the power-on process. This process requires multiple comparisons, and the power-on process will continue to affect the motor rotor position, resulting in inaccurate measurement results.

[0007] Therefore, the present invention provides a whole vehicle zero position online self-learning method and system, which can calculate the zero position value of the motor at any time, does not need to set up the whole vehicle or rely on a test bench, is simple to operate, saves costs, and improves the accuracy of measuring the zero position value. It can be used for different motors and motor controllers, and has good extensibility and expandability. Summary of the invention

[0008] The present invention provides a whole vehicle zero position online self-learning method and system, which can realize accurate measurement of zero position value without any additional equipment and is simple to operate with strong applicability and adaptability.

[0009] In order to achieve the above object, the present invention adopts the following technical scheme:

[0010] In a first aspect, the present invention provides a vehicle zero position online self-learning method, comprising:

[0011] The motor controller inputs a zero position calibration command, sets a first zero position interval, the lower limit of the first zero position interval is a zero position lower limit value, the upper limit of the first zero position interval is a zero position upper limit value, and sets the current zero position value to the median value of the first zero position interval;

[0012] The motor controller powers on and off the vehicle to determine whether the vehicle is shaking;

[0013] If the vehicle is not shaking, the current zero position value is the correct zero position value;

[0014] If the vehicle shakes, determine whether the absolute value of the corresponding motor speed change rate is less than the first critical value and whether the absolute value of the motor torque value is less than the second critical value under the current zero position value. If the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, after giving the motor torque, if the vehicle is driving normally, the current zero position value is the correct zero position value. If the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle.

[0015] The present invention discloses a method and system for online self-learning of zero position of a whole vehicle, the method comprising: inputting a zero position calibration command to a motor controller, setting a first zero position interval, setting a current zero position value to a median value of the first zero position interval, shielding active damping, and improving the accuracy of zero position value determination; the motor controller performs power-off and power-on operations on the vehicle to determine whether the vehicle is shaking, so as to avoid inaccurate correct zero position value and vehicle shaking affecting driving experience; if the vehicle is not shaking, the current zero position value is the correct zero position value; if the vehicle is shaking, determining whether the absolute value of the corresponding motor speed change rate is less than a first critical value and whether the absolute value of the motor torque value is less than a first critical value under the current zero position value Less than the second critical value, if the absolute value of the motor's speed change rate is less than the first critical value and the absolute value of the motor's torque value is less than the second critical value, after the motor torque is given, if the vehicle is driving normally, the current zero position value is the correct zero position value, if the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle, thereby avoiding the situation where the vehicle does not shake but the zero position value is offset. The vehicle zero position online self-learning method provided by the present invention is simple to operate, does not require bench calibration or lifting the vehicle, can learn autonomously, is suitable for various types of motors and motor controllers, has strong applicability, and the measurement process is simple but the accuracy is high.

[0016] Optionally, if the vehicle shakes, it also includes:

[0017] If the absolute value of the motor speed change rate is less than the first critical value, and the absolute value of the motor torque value is greater than the second critical value, the motor controller sets a second zero position interval, the lower limit of the second zero position interval is the zero position lower limit value, the upper limit of the second zero position interval is the current zero position value, and the current zero position value is updated to the middle value of the second zero position interval;

[0018] If the middle value of the second zero position interval is greater than the zero position lower limit value, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0019] Optionally, if the middle value of the second zero-position interval is less than the zero-position lower limit value, the third zero-position interval is updated, the lower limit of the third zero-position interval is the current zero-position value, the upper limit of the third zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the third zero-position interval;

[0020] Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0021] Optionally, if the vehicle shakes, it also includes:

[0022] If the absolute value of the speed change rate of the motor is greater than the first critical value, the absolute value of the torque value of the motor is greater than the second critical value, or the absolute value of the torque value of the motor is less than the second critical value, the motor controller sets a fourth zero-position interval, the lower limit of the fourth zero-position interval is the current zero-position value, the upper limit of the fourth zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the fourth zero-position interval;

[0023] If the middle value of the fourth zero-position interval is less than the upper limit value of the zero position, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0024] Optionally, if the middle value of the fourth zero-bit interval is greater than the upper limit value of the zero-bit, the fifth zero-bit interval is updated, the lower limit of the fifth zero-bit interval is the lower limit value of the zero-bit, the upper limit of the fifth zero-bit interval is the current zero-bit value, and the current zero-bit value is updated to the middle value of the fifth zero-bit interval;

[0025] Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0026] Optionally, if the vehicle shakes, before determining whether the absolute value of the motor speed change rate is less than a first critical value and whether the absolute value of the motor torque value is less than a second critical value, it also includes: filtering the motor speed value through a digital filter.

[0027] Optionally, the first critical value is 4 rpm / min to 10 rpm / min, and / or the second critical value is 1 Nm to 3 Nm.

[0028] In a second aspect, the present invention provides a vehicle zero position online self-learning system, comprising: a motor controller, a rotary transformer, a judgment module, a motor and a digital filter;

[0029] The motor controller is in communication with the judgment module, and is used to power on and off the vehicle, and to set and output the current zero position value according to the judgment result of the judgment module;

[0030] The judgment module is connected to the motor controller and is used to judge the speed value, torque value and speed change rate of the vehicle at different current zero position values;

[0031] The motor is connected to the motor controller and the judgment module;

[0032] The rotary transformer is connected to the motor and the motor controller, and is used to obtain the rotation speed value of the motor and the angular position of the rotor on the motor.

[0033] The digital filter is connected with the judgment module and the motor controller and is used for filtering the rotation speed value.

[0034] In the third aspect, the present invention provides a whole vehicle zero position online self-learning device, comprising: a processor and a memory, the memory being used to store computer program code, the computer program code comprising computer instructions, and when the processor executes the computer instructions, the whole vehicle zero position online self-learning device performs the whole vehicle zero position online self-learning method as in the first aspect and any possible implementation method thereof.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle zero-position online self-learning method of the first aspect and any possible implementation thereof.

[0036] For the specific description of the second to fourth aspects and their various implementations in the present invention, reference can be made to the detailed description in the first aspect and its various implementations; and for the beneficial effects of the second to fourth aspects and their various implementations, reference can be made to the analysis of the beneficial effects in the first aspect and its various implementations, which will not be repeated here.

[0037] Of course, any product implementing the present invention does not necessarily need to achieve all of the technical effects described above at the same time.

[0038] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0040] Figure 1 It is the PMSM vector control block diagram;

[0041] Figure 2 This is one of the flow charts of the vehicle zero position online self-learning method provided by the present invention;

[0042] Figure 3 It is a structural schematic diagram of the vehicle zero position online self-learning device provided by the present invention;

[0043] Figure 4 This is the second flow chart of the vehicle zero position online self-learning method provided by the present invention;

[0044] Figure 5 This is the third flow chart of the vehicle zero position online self-learning method provided by the present invention;

[0045] Figure 6 This is the fourth flow chart of the vehicle zero position online self-learning method provided by the present invention;

[0046] Figure 7It is a structural schematic diagram of the vehicle zero position online self-learning system provided by the present invention;

[0047] Among them, 1-motor controller, 2-resolver, 3-motor, 4-judgment module, 5-digital filter. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0049] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0051] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0052] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] The execution subject of the vehicle zero position online self-learning method provided in the embodiment of the present invention is a vehicle zero position online self-learning system. The vehicle zero position online self-learning system can be a computer device, which can be an electronic device or a server, or a central processing unit (CPU) in the electronic device or server.

[0054] Figure 3 The following is a schematic diagram of the composition of a vehicle zero position online self-learning system provided by an embodiment of the present invention. Figure 3 As shown, the vehicle zero position online self-learning system may include: at least one processor 11, a memory 12, a communication interface 13 and a communication bus 14.

[0055] Among them, the processor 11 is the control center of the vehicle zero-position online self-learning system, which can be a CPU, a microprocessing unit, or one or more integrated circuits for controlling the execution of the program of the embodiment of the present invention.

[0056] As an embodiment, the processor 11 may include one or more CPUs, such as Figure 3 Also, as an embodiment, the vehicle zero position online self-learning system may include multiple processors, such as Figure 3 The processor 11 shown in FIG. The processor 11 may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU).

[0057] The memory 12 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 12 may exist independently and be connected to the processor 11 via the communication bus 14. The memory 12 may also be integrated with the processor 11.

[0058] In a specific implementation, the memory 12 is used to store the data in the present invention and execute the software program of the present invention. The processor 11 can execute various functions of the vehicle zero position online self-learning system by running or executing the software program stored in the memory 12 and calling the data stored in the memory 12.

[0059] The communication interface 13 uses any transceiver-like device for communicating with other devices or communication networks, such as radio access networks (RAN), wireless local area networks (WLAN), etc. The communication interface 13 may include a receiving unit 131 to implement a receiving function, and a sending unit 132 to implement a sending function.

[0060] The communication bus 14 may include a pathway for transmitting information between the above-mentioned components.

[0061] It should be pointed out that Figure 3 The structure shown in the figure does not constitute a limitation on the vehicle zero position online self-learning system. Figure 3In addition to the components shown, the vehicle zero-position online self-learning system may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0062] Example 1

[0063] The present invention provides a vehicle zero position online self-learning method, referring to Figure 2 ,include:

[0064] S1: The motor controller inputs a zero position calibration command, sets the first zero position interval, the lower limit of the first zero position interval is the zero position lower limit value, the upper limit of the first zero position interval is the zero position upper limit value, and sets the current zero position value to the median value of the first zero position interval;

[0065] S2: The motor controller powers on and off the vehicle to determine whether the vehicle is shaking;

[0066] S3: If the vehicle is not shaking, the current zero position value is the correct zero position value;

[0067] S4: If the vehicle shakes, determine whether the absolute value of the corresponding motor speed change rate is less than the first critical value and whether the absolute value of the motor torque value is less than the second critical value under the current zero position value. S5: If the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, after the motor torque is given, if the vehicle is driving normally, the current zero position value is the correct zero position value. If the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle.

[0068] Specifically, step S1: the motor controller inputs a zero position calibration command, sets a first zero position interval, the lower limit of the first zero position interval is the zero position lower limit value, the upper limit of the first zero position interval is the zero position upper limit value, and the current zero position value is set to the median value of the first zero position interval. In this embodiment, the first zero position interval is [0, 4096] as an example for explanation, and the current zero position value is set to a first preset value, and the first preset value is the median value of the first zero position interval, that is, the first preset value is 2048. The current zero position value is set to the first preset value to shield active damping and enhance the accuracy of zero position value self-learning;

[0069] S2: The motor controller powers on and off the vehicle to determine whether the vehicle is shaking;

[0070] It should be noted that during the vehicle's power-on and power-off process, if the absolute value of the speed change rate and the torque value of the motor exceed certain values, shaking will be felt when riding the vehicle. The certain values ​​here are the critical value of the absolute value of the speed change rate and the critical value of the absolute value of the torque value when the vehicle shakes, that is, the first critical value and the second critical value.

[0071] S3: If the vehicle is not shaking, the current zero position value is the correct zero position value;

[0072] S4: If the vehicle shakes, determine whether the absolute value of the speed change rate of the corresponding motor is less than a first critical value and whether the absolute value of the torque value of the motor is less than a second critical value at the current zero position value;

[0073] S5: If the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, after the motor torque is given, if the vehicle is running normally, the current zero position value is the correct zero position value; if the vehicle cannot run normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to a 90° angle.

[0074] The first critical value and the second critical value are explained in detail:

[0075] The first critical value is 4 rpm / min to 10 rpm / min, and / or the second critical value is 1 Nm to 3 Nm.

[0076] Specifically, the first critical value can be 4rpm / min, 5rpm / min, 6rpm / min, 7rpm / min, 8rpm / min, 9rpm / min and 10rpm / min. When the first critical value is less than 4rpm / min, the speed change rate of the power-on and power-off process is too small, and the vehicle shaking caused by the incorrect current zero position value may be weaker, affecting the judgment result; when the conditional speed value is greater than 10rpm / min, the speed change rate of the power-on and power-off process is large, and it cannot accurately limit the degree of vehicle shaking caused by the current zero position value error, affecting the judgment of the correct zero position value.

[0077] Specifically, the second critical value can be 1Nm, 2Nm and 3Nm. When the second critical value is less than 1Nm or greater than 3Nm, the accuracy of the limited range of the current zero position interval is poor, and excessive or small torque values ​​may affect the deflection of the motor and affect the judgment of the correct zero position value.

[0078] Optionally, step S4: if the vehicle shakes, before determining whether the absolute value of the motor speed change rate is less than the first critical value and whether the absolute value of the motor torque value is less than the second critical value, it also includes: step S40: filtering the motor speed value through a digital filter.

[0079] It should be noted that the digital filter can filter the speed value collected by the motor controller to prevent other signal values ​​from having a certain impact on the speed value, avoid errors in the correct zero position value, and improve accuracy.

[0080] For step S5: if the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, the corresponding current zero position value may have two situations, one is that the rotor magnetic field is located in the d-axis orientation, and the other is that the rotor magnetic field is located in the q-axis orientation. It is necessary to select the magnetic field located in the d-axis orientation. The difference between the two orientations is whether the vehicle can operate normally given the torque. If it cannot operate normally, the angle needs to be superimposed by 90%, and the corresponding value is 1024. When executing step S5, if the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle, which is generally 1024.

[0081] It can be understood that the present invention discloses a method and system for online self-learning of the zero position of a whole vehicle, the method comprising: the motor controller inputs a zero position calibration command, sets a first zero position interval, sets the current zero position value to the median of the first zero position interval, shields active damping, and improves the accuracy of zero position value measurement; the motor controller performs power-off and power-on operations on the vehicle to determine whether the vehicle is shaking, to avoid inaccurate correct zero position value, and vehicle shaking affecting driving experience; if the vehicle is not shaking, the current zero position value is the correct zero position value; if the vehicle is shaking, it is determined whether the absolute value of the speed change rate of the corresponding motor is less than the first critical value and the absolute value of the torque value of the motor is less than the first critical value under the current zero position value. Whether the value is less than the second critical value, if the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, after the motor torque is given, if the vehicle is driving normally, the current zero position value is the correct zero position value, if the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle, thereby avoiding the situation where the vehicle does not shake but the zero position value is offset. The vehicle zero position online self-learning method provided by the present invention is simple to operate, does not require bench calibration or lifting the vehicle, can learn autonomously, is suitable for various types of motors and motor controllers, has strong applicability, and the measurement process is simple but the accuracy is high.

[0082] Example 2

[0083] This embodiment describes in detail the vehicle shaking based on the embodiment 1:

[0084] Reference Figure 4 If the vehicle shakes, it also includes:

[0085] S6: If the absolute value of the speed change rate of the motor is less than the first critical value, and the absolute value of the torque value of the motor is greater than the second critical value, the motor controller sets a second zero position interval, the lower limit of the second zero position interval is the zero position lower limit value, the upper limit of the second zero position interval is the current zero position value, and the current zero position value is updated to the middle value of the second zero position interval;

[0086] S61: If the middle value of the second zero position interval is greater than the zero position lower limit value, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0087] S62: if the middle value of the second zero position interval is less than the zero position lower limit value, then update the third zero position interval, the lower limit of the third zero position interval is the current zero position value, the upper limit of the third zero position interval is the zero position upper limit value, and the current zero position value is updated to the middle value of the third zero position interval;

[0088] S63: Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0089] It should be noted that, S6: if the absolute value of the motor speed change rate is less than the first critical value, and the absolute value of the motor torque value is greater than the second critical value, the motor controller sets a second zero position interval, the lower limit of the second zero position interval is the zero position lower limit value, the upper limit of the second zero position interval is the current zero position value, and the current zero position value is updated to the middle value of the second zero position interval; the second zero position interval is [0, 2048], and the current zero position value is updated to the median value of the second zero position interval, so the current zero position value is 1024, and S61 or S62 is executed. At this time, because the median value of the second zero position interval 1024 is greater than the zero position interval lower limit value 0, step S61 is executed: if the middle value of the second zero position interval is greater than the zero position lower limit value, the motor controller is repeated to perform the following operations on the vehicle. Through power-on and power-off operations, judging whether the vehicle is shaking and subsequent steps, it can be judged that the next second zero-position value interval is located at [0, 1024], the fourth zero-position value interval is located at [1024, 2048], the median of the second zero-position interval is 512, and the current zero-position value is set to the median of the second zero-position interval 512, and then the power-on and power-off operations are repeated. If the absolute value of the speed change rate is less than the first critical value, and the absolute value of the torque value is greater than the second critical value, then the second zero-position value interval is [0, 512]. If the absolute value of the speed change rate is greater than the first critical value, and the absolute value of the torque value is greater than or less than the second critical value, the fourth zero-position value interval is [512, 1024]. The current zero-position value can be updated in this way until the correct zero-position value is found.

[0090] It should be noted that, S62: if the middle value of the second zero-position interval is less than the zero-position lower limit value, the third zero-position interval is updated, the lower limit of the third zero-position interval is the current zero-position value, the upper limit of the third zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the third zero-position interval; S63: repeat the motor controller to power on and off the vehicle, determine whether the vehicle is shaking, and subsequent steps. During the calculation process, calculation errors may occur to produce negative values ​​or exceed the existing [0, 4096] range. Therefore, each time the current zero-position value is updated, it is necessary to compare with the zero-position upper limit value or the zero-position lower limit value to avoid calculation errors causing inaccurate zero-position values.

[0091] Example 3

[0092] This embodiment describes in detail the situation of vehicle shaking based on the second embodiment. Figure 5 If the vehicle shakes, it also includes:

[0093] S7: If the absolute value of the speed change rate of the motor is greater than the first critical value, the absolute value of the torque value of the motor is greater than the second critical value, or the absolute value of the torque value of the motor is less than the second critical value, the motor controller sets a fourth zero-position interval, the lower limit of the fourth zero-position interval is the current zero-position value, the upper limit of the fourth zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the fourth zero-position interval;

[0094] S71: If the middle value of the fourth zero-position interval is less than the upper limit value of the zero-position, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0095] S72: if the middle value of the fourth zero-bit interval is greater than the upper limit value of the zero-bit, update the fifth zero-bit interval, the lower limit of the fifth zero-bit interval is the lower limit value of the zero-bit, the upper limit of the fifth zero-bit interval is the current zero-bit value, and update the current zero-bit value to the middle value of the fifth zero-bit interval;

[0096] S73: Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0097] It should be noted that, S7: if the absolute value of the motor speed change rate is greater than the first critical value, the absolute value of the motor torque value is greater than the second critical value or the absolute value of the motor torque value is less than the second critical value, the motor controller sets the fourth zero-position interval, the lower limit of the fourth zero-position interval is the current zero-position value, the upper limit of the fourth zero-position interval is the zero-position upper limit value, the current zero-position value is updated to the middle value of the fourth zero-position interval, the fourth interval is [2048, 4096], and the current zero-position value is updated to the median value of the fourth zero-position interval 3072; S71: if the middle value of the fourth zero-position interval is less than the zero-position upper limit value, the motor controller repeats the steps of powering on and off the vehicle, judging whether the vehicle is shaking, and the subsequent steps. At this time, the median value of the fourth zero-position interval is judged to be 30 72 is less than the zero position upper limit value 4096, so the motor controller repeats the power-off and power-on operations on the vehicle, determines whether the vehicle is shaking, and the subsequent steps. The second fourth zero position interval in the cycle is [3072, 4096]. The current zero position value is set to the median value of the fourth zero position interval 3548, and the power-on and power-off operations are repeated. If the absolute value of the speed change rate is less than the first critical value and the absolute value of the torque value is greater than the second critical value, the second zero position value interval is [3072, 3548]. If the absolute value of the speed change rate is greater than the first critical value and the absolute value of the torque value is greater than or less than the second critical value, the fourth zero position value interval is [3548, 4096]. The current zero position value can be updated by analogy until the correct zero position value is found.

[0098] It should be noted that, in step S72: if the middle value of the fourth zero-bit interval is greater than the zero-bit upper limit value, the fifth zero-bit interval is updated, the lower limit of the fifth zero-bit interval is the zero-bit lower limit value, the upper limit of the fifth zero-bit interval is the current zero-bit value, and the current zero-bit value is updated to the middle value of the fifth zero-bit interval. During the calculation process, calculation errors may occur, resulting in negative values ​​or exceeding the existing range of [0, 4096]. Therefore, each time the current zero-bit value is updated, it is necessary to compare it with the zero-bit upper limit value or the zero-bit lower limit value to avoid calculation errors that result in inaccurate zero-bit values.

[0099] Example 4

[0100] In this embodiment, the steps of Embodiment 1 to Embodiment 3 are simultaneously provided. Figure 6 The vehicle zero position online self-learning method of this embodiment includes the following steps:

[0101] The S1 motor controller inputs a zero position calibration command, sets the first zero position interval, the lower limit of the first zero position interval is the zero position lower limit value, the upper limit of the first zero position interval is the zero position upper limit value, and sets the current zero position value to the median value of the first zero position interval;

[0102] S2, the motor controller powers on and off the vehicle to determine whether the vehicle is shaking;

[0103] S3, if the vehicle is not shaking, the current zero position value is the correct zero position value;

[0104] S40, if the vehicle shakes, filter the motor speed value through a digital filter;

[0105] S4, determining whether the absolute value of the speed change rate of the corresponding motor is less than a first critical value and whether the absolute value of the torque value of the motor is less than a second critical value at the current zero position value;

[0106] S5, if the absolute value of the rate of change of the motor speed is less than the first critical value and the absolute value of the motor torque is less than the second critical value, after the motor torque is given, if the vehicle is running normally, the current zero position value is the correct zero position value, if the vehicle cannot run normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle;

[0107] S6: If the absolute value of the speed change rate of the motor is less than the first critical value, and the absolute value of the torque value of the motor is greater than the second critical value, the motor controller sets a second zero position interval, the lower limit of the second zero position interval is the zero position lower limit value, the upper limit of the second zero position interval is the current zero position value, and the current zero position value is updated to the middle value of the second zero position interval;

[0108] S61: If the middle value of the second zero position interval is greater than the zero position lower limit value, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0109] S62: if the middle value of the second zero position interval is less than the zero position lower limit value, then update the third zero position interval, the lower limit of the third zero position interval is the current zero position value, the upper limit of the third zero position interval is the zero position upper limit value, and the current zero position value is updated to the middle value of the third zero position interval;

[0110] S63: Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps;

[0111] Or, S7: if the absolute value of the speed change rate of the motor is greater than the first critical value, the absolute value of the torque value of the motor is greater than the second critical value, or the absolute value of the torque value of the motor is less than the second critical value, the motor controller sets a fourth zero-position interval, the lower limit of the fourth zero-position interval is the current zero-position value, the upper limit of the fourth zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the fourth zero-position interval;

[0112] S71: If the middle value of the fourth zero-position interval is less than the upper limit value of the zero-position, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0113] S72: if the middle value of the fourth zero-bit interval is greater than the upper limit value of the zero-bit, update the fifth zero-bit interval, the lower limit of the fifth zero-bit interval is the lower limit value of the zero-bit, the upper limit of the fifth zero-bit interval is the current zero-bit value, and update the current zero-bit value to the middle value of the fifth zero-bit interval;

[0114] S73: Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and the subsequent steps.

[0115] The vehicle zero position online self-learning method provided by the present invention is simple to operate, does not require bench calibration or lifting of the vehicle, can learn autonomously, is applicable to various types of motors and motor controllers, has strong applicability, and has a simple measurement process but high accuracy.

[0116] Example 5

[0117] The present invention provides a vehicle zero position online self-learning system, combined with Figure 7 , including: a motor controller 1, a rotary transformer 2, a judgment module 4 and a motor 3;

[0118] The motor controller 1 is in communication with the judgment module 4, and is used to power on and off the vehicle, and to set and output the current zero position value according to the judgment result of the judgment module;

[0119] The judging module 4 is connected to the motor controller 1 and is used to judge the speed value, torque value and speed fluctuation of the vehicle at different current zero position values;

[0120] The motor 3 is connected to the motor controller 1 and the judgment module;

[0121] The rotary transformer 2 is connected to the motor 3 and the motor controller 1 to obtain the speed value and the torque value;

[0122] The digital filter 5 is connected to the judgment module 4 and the motor controller 1 and is used for filtering the rotation speed value.

[0123] Specifically, the present invention provides a vehicle zero position online self-learning system, comprising: a motor controller 1, a rotary transformer 2, a judgment module 4, a motor 3 and a digital filter 5;

[0124] The motor controller 1 is connected to the judgment module 4 for communication, and is used to power on or off the vehicle and to set and output the current zero position value according to the judgment result of the judgment module 4. Most operations in the zero position self-learning part are commanded by the motor controller 1, and the motor 3 (vehicle) is executed. The motor controller 1 in the present invention can be any vehicle built-in motor controller 1 currently available on the market;

[0125] The motor controller 1 is a main command device that can change the wiring of the main circuit or control circuit and the resistance value in the circuit in a predetermined order to control the start, speed regulation, braking and reverse of the motor. It is composed of a program counter, an instruction register, an instruction decoder, a timing generator and an operating motor controller 1. It is the "decision-making body" that issues commands, that is, it completes the coordination and command of the operation of the entire computer system.

[0126] The judgment module 4 is connected to the motor controller 1 and is used to receive the current zero position value, speed value, torque value and fluctuation standard value output by the motor controller 1 and compare and judge with the set conditional speed, conditional torque and fluctuation standard value to execute the next step of the program;

[0127] The motor 3 is connected to the motor controller 1 and the judgment module 4. The motor of the present invention is a permanent magnet synchronous motor (PMSM) for new energy vehicles.

[0128] The rotary transformer 2 is connected to the motor 3 and the motor controller 1, and is used to obtain the speed value of the motor and the angular position of the rotor on the motor. The speed value of the permanent magnet synchronous motor is obtained by the rotary transformer. The rotary transformer calculates a relative angle through the excitation signal, sine signal, and cosine signal. This angle will be used in the current Cark conversion, Park conversion, Park inverse conversion and other modules;

[0129] It also includes a digital filter 5, which is connected to the judgment module 4 and the motor controller 1 and is used to filter the speed value. The digital filter 5 is essentially a computer program that performs a certain screening on the speed value collected by the motor controller 1.

[0130] Example 6

[0131] The present invention provides a whole vehicle zero position online self-learning device, comprising: a processor 11 and a memory 12, the memory 12 is used to store computer program code, the computer program code includes computer instructions, when the processor executes the computer instructions, the whole vehicle zero position online self-learning device executes the whole vehicle zero position online self-learning method of any one of the aforementioned embodiments 1-4.

[0132] Example 7

[0133] The present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for online self-learning of the zero position of a whole vehicle of any one of the aforementioned embodiments 1-4 is implemented.

[0134] It can be seen from the above embodiments that the vehicle zero position online self-learning method and system provided by the present invention achieve at least the following beneficial effects:

[0135] The present invention provides a method and system for online self-learning of the zero position of a whole vehicle, the method comprising: the present invention discloses a method and system for online self-learning of the zero position of a whole vehicle, the method comprising: a motor controller inputs a zero position calibration command, sets a first zero position interval, sets the current zero position value to the median value of the first zero position interval, shields active damping, and improves the accuracy of zero position value measurement; the motor controller performs power-off and power-on operations on the vehicle to determine whether the vehicle is shaking, so as to avoid inaccurate correct zero position value and vehicle shaking affecting driving experience; if the vehicle is not shaking, the current zero position value is the correct zero position value; if the vehicle is shaking, it is determined whether the absolute value of the speed change rate of the corresponding motor is less than a first critical value and whether the absolute value of the torque value of the motor is less than a second critical value under the current zero position value; if the absolute value of the speed change rate of the motor is less than the first critical value and The absolute value of the torque value of the motor is less than the second critical value. After the motor torque is given, if the vehicle is running normally, the current zero-position value is the correct zero-position value. If the vehicle cannot run normally, the correct zero-position value is equal to the current zero-position value minus the zero-position value corresponding to the 90° angle, thereby avoiding the situation where the vehicle does not shake but the zero-position value is offset. The online self-learning method for the zero position of the whole vehicle provided by the present invention is simple to operate, does not require bench calibration or lifting the whole vehicle, can learn independently, is suitable for various types of motors and motor controllers, has strong applicability, and the measurement process is simple but the accuracy is high; the system includes a motor controller, a rotary transformer, a judgment module and a motor, and is suitable for executing the aforementioned method. Zero-position self-learning can be completed by simply performing power-on and power-off operations. It is applicable to different motors and motor controllers and has good scalability.

[0136] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle zero position online self-learning method, characterized in that: include: The motor controller inputs a zero position calibration command, sets a first zero position interval, wherein the lower limit of the first zero position interval is a zero position lower limit value, the upper limit of the first zero position interval is a zero position upper limit value, and the current zero position value is set to the median value of the first zero position interval; The motor controller performs power-off and power-on operations on the vehicle to determine whether the vehicle is shaking; If the vehicle is not shaking, the current zero position value is a correct zero position value; If the vehicle shakes, determine whether the absolute value of the corresponding motor speed change rate is less than the first critical value and whether the absolute value of the motor torque value is less than the second critical value under the current zero position value; if the absolute value of the motor speed change rate is less than the first critical value and the absolute value of the motor torque value is less than the second critical value, after giving the motor torque, if the vehicle is driving normally, the current zero position value is the correct zero position value; if the vehicle cannot drive normally, the correct zero position value is equal to the current zero position value minus the zero position value corresponding to the 90° angle.

2. The vehicle zero position online self-learning method according to claim 1 is characterized in that: If the vehicle shakes, the method further includes: If the absolute value of the speed change rate of the motor is less than the first critical value, and the absolute value of the torque value of the motor is greater than the second critical value, the motor controller sets a second zero position interval, the lower limit of the second zero position interval is the zero position lower limit value, the upper limit of the second zero position interval is the current zero position value, and the current zero position value is updated to the middle value of the second zero position interval; If the middle value of the second zero position interval is greater than the zero position lower limit value, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and subsequent steps.

3. The vehicle zero position online self-learning method according to claim 2 is characterized in that: If the middle value of the second zero position interval is less than the zero position lower limit value, then the third zero position interval is updated, the lower limit of the third zero position interval is the current zero position value, the upper limit of the third zero position interval is the zero position upper limit value, and the current zero position value is updated to the middle value of the third zero position interval; Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and subsequent steps.

4. The vehicle zero position online self-learning method according to claim 1 is characterized in that: If the vehicle shakes, the method further includes: If the absolute value of the speed change rate of the motor is greater than the first critical value, the absolute value of the torque value of the motor is greater than the second critical value, or the absolute value of the torque value of the motor is less than the second critical value, the motor controller sets a fourth zero-position interval, the lower limit of the fourth zero-position interval is the current zero-position value, the upper limit of the fourth zero-position interval is the zero-position upper limit value, and the current zero-position value is updated to the middle value of the fourth zero-position interval; If the middle value of the fourth zero-position interval is less than the zero-position upper limit value, the motor controller repeats the steps of powering off and on the vehicle, determining whether the vehicle is shaking, and subsequent steps.

5. The vehicle zero position online self-learning method according to claim 4 is characterized in that: If the middle value of the fourth zero-bit interval is greater than the zero-bit upper limit value, the fifth zero-bit interval is updated, the lower limit of the fifth zero-bit interval is the zero-bit lower limit value, the upper limit of the fifth zero-bit interval is the current zero-bit value, and the current zero-bit value is updated to the middle value of the fifth zero-bit interval; Repeat the steps of the motor controller powering off and on the vehicle, determining whether the vehicle is shaking, and subsequent steps.

6. The vehicle zero position online self-learning method according to claim 1 is characterized in that: If the vehicle shakes, before determining whether the absolute value of the motor speed change rate is less than a first critical value and whether the absolute value of the motor torque value is less than a second critical value, the method further includes: filtering the motor speed value through a digital filter.

7. The vehicle zero position online self-learning method according to claim 1 is characterized in that: The first critical value is 4 rpm / min to 10 rpm / min, and / or the second critical value is 1 Nm to 3 Nm.

8. A vehicle zero position online self-learning system, characterized in that: include: Motor controller, resolver, judgment module, motor and digital filter; The motor controller is in communication with the judgment module, and is used to power on and off the vehicle, and to set and output a current zero position value according to a judgment result of the judgment module; The judgment module is connected to the motor controller and is used to judge the speed value, torque value and speed change rate of the vehicle at different current zero position values; The motor is connected to the motor controller and the judgment module; The rotary transformer is connected to the motor and the motor controller to obtain the motor speed value and the angular position of the rotor on the motor. The digital filter is connected to the judgment module and the motor controller, and is used for filtering the rotation speed value.

9. A vehicle zero position online self-learning device, characterized in that: include: A processor and a memory, wherein the memory is used to store computer program code, the computer program code includes computer instructions, and when the processor executes the computer instructions, the vehicle zero position online self-learning device executes the vehicle zero position online self-learning method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle zero position online self-learning method as described in any one of claims 1 to 7 is implemented.

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