Motor inverter system detection feedback analysis system and method

Abstract

The invention discloses a motor inverter system detection feedback analysis system and method, and relates to the technical field of motor control, and the method comprises the steps: obtaining the sampling period data of a decoding chip and the sampling period of a torque current controller; input and output signals of a decoding chip and a rotor position signal received by a torque current controller are obtained, and the transmission time of the rotor position signal output by the decoding chip to the torque current controller is determined; compensating a rotor position signal output by the decoding chip based on the transmission time, the sampling period of the decoding chip and the sampling period of the torque current controller; determining the rotor position based on the rotor position information of the two heterogeneous redundancy modes; the signal transmission time from the decoding chip to the torque current controller is calibrated, and the rotor position information received by the torque current controller is compensated, so that the rotor position information is matched with a sampling node of the torque current controller; rotor position information is provided through two heterogeneous redundancy modes, and stability and safety of the system are provided.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor inverter system detection feedback analysis system and method. Background Art

[0002] In recent years, with the rapid growth of new energy vehicles, torque control is a key in the motor control system in its motor drive inverter system. It involves the precise adjustment of the motor output torque to meet various application requirements. Torque control is closely related to torque safety. Torque control provides the basis for achieving precise motion, while torque safety ensures the safety of this process. There is a close relationship between the motor rotor angle and the torque control current. The torque control algorithm in the motor controller calculates the required current value based on the rotor angle and current feedback. In order to improve the performance and stability of the motor control system, how to obtain the rotor position information of the controller sampling node has become an urgent problem to be solved. Summary of the invention

[0003] The object of the present invention is to provide a motor inverter system detection feedback analysis system and method to solve the problems raised in the above background technology.

[0004] In one aspect of the present invention, a motor inverter system detection feedback analysis method is provided, comprising: S11, obtaining the sampling period data of the decoding chip and the sampling period of the torque current controller; S12, acquiring the input and output signals of the decoding chip and the rotor position signal received by the torque current controller, and determining the transmission time of the rotor position signal output by the decoding chip to the torque current controller; S13, compensating the rotor position signal output by the decoding chip based on the transfer time, the sampling period of the decoding chip and the sampling period of the torque current controller; S14, respectively acquiring rotor position information in two heterogeneous redundancy modes, and determining the rotor position based on the rotor position information in the two heterogeneous redundancy modes.

[0005] In step S12, the method of determining the transmission time of the rotor position signal output by the decoding chip to the torque current controller further includes the following steps: S21, obtaining the input signal and output signal of the decoding chip in the time domain, where the horizontal axis is time and the vertical axis is input or output, matching the output signal of the decoding chip with the input signal, and replacing the time of the input signal in the time domain with the time of the corresponding input signal; S22, obtain the rotor position signal received by the torque current controller in the time domain, shift the rotor position signal received by the torque current controller to the left, and calculate the root mean square error of the rotor position signal received by the torque current controller and the output signal of the decoding chip after matching in step S21. When the root mean square error reaches the minimum value, the time of the left shift is the transfer time Ts.

[0006] The decoding chip outputs the rotor position information of the decoding chip sampling node, and the torque current controller also receives the rotor position information of the decoding chip sampling node. It takes a certain amount of time for the decoding chip to calculate and transmit the rotor position to the torque current controller based on the output of the rotary transformer. Therefore, there is a certain time difference between the output of the decoding chip and the input of the torque current controller in the time domain; the output and input of the decoding chip are in a one-to-one correspondence, so the time when the torque current controller obtains the input can be corresponded to the time of the decoding chip sampling node.

[0007] In step S13, the compensating the rotor position signal output by the decoding chip based on the transfer time, the sampling period of the decoding chip and the sampling period of the torque current controller also includes the following steps: S31, determine whether the sampling period of the decoding chip and the sampling period of the torque current controller are the same, if they are the same, proceed to step S32, otherwise proceed to step S33; when the sampling period of the decoding chip and the sampling period of the torque current controller are the same, the decoding chip and the torque current controller can be sampled synchronously. Due to the existence of transmission time, the rotor position signal received by the torque current controller may be the previous sampling node data, and it is necessary to consider making the rotor position signal received by the torque current controller correspond to the current time; S32, let the sampling period of the torque current controller be Tc, the sampling period of the decoding chip be Tj, and divide the transfer time and the sampling period of the decoding chip to obtain the remainder , m1 is less than Tj, k is an integer greater than or equal to zero, let the current input of the torque current controller be x(n), then the rotor position signal received by the torque current controller is rad(nk), rad(nk) is compensated to obtain rad(n), and the process ends; S33, calculating the least common multiple P of the sampling period Tc of the torque current controller and the sampling period Tj of the decoding chip, calculating the cumulative sampling error DT, and when the cumulative sampling error DT reaches P, reset it to 0 and restart the accumulation; S34 sums the transfer time Ts and the sampling error DT and calculates the remainder m2 with the torque current controller sampling period Tc. , m2 is less than Tc, when Less than or equal to When , the rotor position signal rad(nk) is first compensated to rad(n), and then rad(n) is compensated to obtain the rotor position rad; when Greater than When , the rotor position signal rad(nk) is first compensated to rad(n+1), and then rad(n+1) is compensated based on the remainder m2 to obtain the rotor position rad; When the sampling period of the decoding chip is different from the sampling period of the torque current controller, the decoding chip may not perform sampling at the sampling node of the torque current controller. At this time, further compensation is required based on the sampling node data of the decoding chip. Since there is a certain error in the compensation, it is necessary to select the sampling node of the decoding chip that is closer to the sampling node of the torque current controller.

[0008] In step S32, compensating rad(nk) to obtain rad(n) further includes the following steps: Obtain the historical data of the rotor position and make a K-order prediction of the rotor position. Let rad(i) represent the historical data of the i-th rotor position, then use rad(i), rad(i+1), ...rad(i+pn1) as inputs and rad(i+pn1+k) as outputs to train a k-order prediction model. pn1+1 is the number of input features of the k-order prediction model. Adjust pn1 according to the prediction effect. Input the current rotor position data rad(nk) and the previous pn1 rotor position data into the k-order prediction model to obtain rad(n). In step S34, the step of compensating the rotor position signal rad(nk) to rad(n+1) further includes the following steps: Perform K+1 order prediction on the rotor position, with rad(i), rad(i+1), …rad(i+pn2) as input and rad(i+pn2+k) as output, train the k-order prediction model, pn2+1 is the number of input features of the k-order prediction model, and adjust pn2 according to the prediction effect; input the current rotor position data rad(nk) and the previous pn2 rotor position data into the k+1 order prediction model to obtain rad(n+1).

[0009] when Less than or equal to When w(n) is set to represent the rotor angular velocity, the rotor position rad is calculated by the following formula: ; The sampling period of the torque current controller is short, and the angular acceleration of the rotor remains basically unchanged within one period. Less than or equal to , Closer to the sampling node of the torque current controller; when Greater than hour, Closer to the sampling node of the torque current controller, the rotor position rad is calculated by the following formula: ; The speed is determined by the following steps: Perform K+1 order prediction on the speed, and obtain the speed w(i), w(i+1), …w(i+pn3) according to the rotor position rad(i), rad(i+1), …rad(i+pn3+1), w(i)=[rad(i+1)-rad(i)] / Tj, w(i+1)=[rad(i+2)-rad(i+1)] / Tj…w(i+pn3)=[rad(i+pn3+1)-rad(i+pn3)] / Tj, Take w(i), w(i+1), …w(i+pn3) as input and w(i+pn3+k+1) as output, train the k+1-order speed prediction model, pn3+1 is the number of input features of the k+1-order speed prediction model, and adjust pn3 according to the prediction effect; obtain the current speed w(nk-1) according to the current rotor position data rad(nk), input the current speed and the first pn3 rotor position data into the k+1-order speed prediction model to obtain w(n).

[0010] In step S14, determining the rotor position based on the rotor position information of the two heterogeneous redundancy modes further includes the following steps: determining whether there is an abnormality in the heterogeneous redundancy mode by the following method: When heterogeneous redundancy mode 1 Less than or equal to When the speed is calculated according to R1(n) and R1(n-1), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; when the heterogeneous redundancy mode 1 Greater than When the speed is calculated according to R1(n+1) and R1(n), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n+1) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; the judgment method of heterogeneous redundancy mode 2 is the same as that of heterogeneous redundancy mode 1; The final rotor position information R is obtained by the following formula: , and is the weight, R1 and R2 are the rotor positions obtained by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 after compensation according to the current rotor position information. Adjustment is made according to whether there is an abnormality in the data of the heterogeneous redundancy mode. If there is an abnormality in the heterogeneous redundancy mode, the weight is reduced.

[0011] The decoding chips of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 may use different cycles. The two independently perform rotor position compensation and abnormality judgment without affecting each other. The rotor position information provided by both needs to be used simultaneously only when determining the final rotor position information.

[0012] In another aspect of the present invention, a motor inverter system detection feedback analysis system is provided, including a torque current controller, a speed measurement module, a data acquisition module and a data analysis module; the output end of the data acquisition module is connected to the input end of the control module, for obtaining the torque current information of the motor; the output end of the speed measurement module is connected to the input end of the data analysis module, for measuring the position of the motor rotor; the output end of the data analysis module is connected to the input end of the torque current controller, based on compensating the rotor position output by the speed measurement module, and transmitting the compensated rotor position information to the torque current controller; the torque current controller generates a control signal to adjust the torque current according to the received rotor position information to maintain normal operation of the motor.

[0013] The rotation speed measurement module includes heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2. In the heterogeneous redundancy mode 1, the SDADC is used to sample the excitation and resolver feedback differential signals. In the input amplitude shaper / integrator, the resolver feedback sampling value is shaped based on the synchronous excitation symbol output by the excitation phase synchronizer, and several sampling points within an excitation cycle are integrated to obtain envelopes Sin and Cos. After Sin and Cos are corrected, the inverse tangent Atan2 is used to obtain a preliminary angle as a reference input to the observer / integrator to output the angle.

[0014] The heterogeneous redundancy mode 2 samples the excitation and resolver feedback differential signals through SARADC, and then inputs them into the amplitude peak and valley selector. Based on the synchronous excitation zero crossing output by the excitation phase synchronizer, the resolver feedback ADC value at the peak and valley of the synchronous excitation wave is obtained. After the resolver feedback peak and valley ADC value is corrected, the angle is obtained using the inverse tangent Atan2.

[0015] The data analysis module also includes a transmission time matching unit, a speed calculation unit, a rotor position compensation unit, a speed prediction unit, an abnormality detection unit and a rotor position determination unit; the transmission time matching unit is used to determine the time from when heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 receive the signal of the rotary transformer to when the torque current controller receives the rotor position information; the speed calculation unit calculates the speed according to the rotor position information received by the torque current controller; the rotor position compensation unit compensates the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 according to the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, the sampling period of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, the sampling period of the torque current controller and the transmission time; the speed prediction unit predicts the speed according to the speed calculated by the torque current controller; the abnormality detection unit is used to determine whether there is an abnormality in the data of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, and adjust the weights of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 according to the judgment result; the rotor position determination unit obtains the final rotor position information according to the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2.

[0016] The transfer time matching unit obtains the input signal and output signal of the heterogeneous redundancy mode 1 in the time domain, with the horizontal axis being time and the vertical axis being input or output, matches the output signal of the heterogeneous redundancy mode 1 with the input signal, and replaces the time of the input signal in the time domain with the time of the corresponding input signal; obtains the rotor position signal received by the torque current controller in the time domain, shifts the rotor position signal received by the torque current controller to the left, and calculates the root mean square error sum between the rotor position signal received by the torque current controller and the output signal of the matched heterogeneous redundancy mode 1. When the root mean square error sum reaches a minimum value, the time of the left shift is the transfer time of the heterogeneous redundancy mode 1; the transfer time of the heterogeneous redundancy mode 2 is determined in the same way.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: calibrating the signal transmission time from the decoding chip to the torque current controller, compensating the rotor position information received by the torque current controller, so that the rotor position information matches the sampling node of the torque current controller; providing rotor position information through two heterogeneous redundant modes, and providing system stability and security. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural schematic diagram of a motor inverter system detection feedback analysis system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the embodiments of the present invention, please refer to Figure 1 , provides a motor inverter system detection feedback analysis system, including: a torque current controller, a speed measurement module, a data acquisition module and a data analysis module; the output end of the data acquisition module is connected to the input end of the control module, for obtaining the torque current information of the motor; the output end of the speed measurement module is connected to the input end of the data analysis module, for measuring the position of the motor rotor; the output end of the data analysis module is connected to the input end of the torque current controller, based on compensating the rotor position output by the speed measurement module, and transmitting the compensated rotor position information to the torque current controller; the torque current controller, according to the received rotor position information, generates a control signal to adjust the torque current to maintain the normal operation of the motor.

[0021] The speed measurement module has heterogeneous redundancy mode 1: Angular Conversion Mode 0 and heterogeneous redundancy mode 2: Angular Conversion Mode 1. Angular Conversion Mode 0: The differential signals of excitation and resolver feedback are sampled quickly through SDADC (Sigma Delta Analog-to-Digital Converter), and then input into the Input Amplitude Recifier / Integrator. The resolver feedback sampling value is shaped based on the synchronous excitation symbol output by the Excitation Phase Synchronizer, and integrated at multiple sampling points within an excitation cycle to obtain the envelopes Sin and Cos. After correction (InputCorrection) of Sin and Cos, the inverse tangent Atan2 is used to obtain the preliminary angle as a reference input to the observer / integrator (PID / Integrator), and the angle is output. The angle is compensated by Angle Compensator 0 to obtain the compensation angle aligned with the torque control current sampling time.

[0022] Angular Conversion Mode 1: The differential signals of excitation and resolver feedback are sampled quickly through SARADC (Successive Approximation Register Analog-to-Digital Converter), and then input into the Input Amplitude Peak-Trough Selector. Based on the zero crossing of the synchronous excitation output by the Excitation Phase Synchronizer, the resolver feedback ADC value at the peak and valley of the synchronous excitation wave is obtained; based on the zero crossing of the original excitation, the excitation ADC value at the peak and valley of the original excitation wave is obtained; after the resolver feedback peak and valley ADC value is corrected (Input Correction), the angle is obtained using the inverse tangent Atan2, and the speed is calculated through the speed calculator (Speed ​​Calculator). The two angles are compensated by Angle Compensator 1 to obtain the compensation angle aligned with the torque safety current sampling time.

[0023] The data analysis module also includes a transmission time matching unit, a speed calculation unit, a rotor position compensation unit, a speed prediction unit, an abnormality detection unit and a rotor position determination unit; the transmission time matching unit is used to determine the time from when heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 receive the signal of the rotary transformer to when the torque current controller receives the rotor position information; the speed calculation unit calculates the speed according to the rotor position information received by the torque current controller; the rotor position compensation unit compensates the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 according to the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, the sampling period of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, the sampling period of the torque current controller and the transmission time; the speed prediction unit predicts the speed according to the speed calculated by the torque current controller; the abnormality detection unit is used to determine whether there is an abnormality in the data of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, and adjust the weights of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 according to the judgment result; the rotor position determination unit obtains the final rotor position information according to the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2.

[0024] The transfer time matching unit obtains the input signal and output signal of the heterogeneous redundancy mode 1 in the time domain, with the horizontal axis being time and the vertical axis being input or output, matches the output signal of the heterogeneous redundancy mode 1 with the input signal, and replaces the time of the input signal in the time domain with the time of the corresponding input signal; obtains the rotor position signal received by the torque current controller in the time domain, shifts the rotor position signal received by the torque current controller to the left, and calculates the root mean square error sum between the rotor position signal received by the torque current controller and the output signal of the matched heterogeneous redundancy mode 1. When the root mean square error sum reaches a minimum value, the time of the left shift is the transfer time of the heterogeneous redundancy mode 1; the transfer time of the heterogeneous redundancy mode 2 is determined in the same way.

[0025] In an embodiment of the present invention, a motor inverter system detection feedback analysis method is provided, comprising: S11, obtaining the sampling period data of the decoding chip and the sampling period of the torque current controller; S12, obtaining the input and output signals of the decoding chip and the rotor position signal received by the torque current controller, and determining the transmission time from the rotor position signal output by the decoding chip to the torque current controller: S21, obtaining the input signal and output signal of the decoding chip in the time domain, where the horizontal axis is time and the vertical axis is input or output, matching the output signal of the decoding chip with the input signal, and replacing the time of the input signal in the time domain with the time of the corresponding input signal; S22, obtain the rotor position signal received by the torque current controller in the time domain, shift the rotor position signal received by the torque current controller to the left, and calculate the root mean square error of the rotor position signal received by the torque current controller and the output signal of the decoding chip after matching in step S21. When the root mean square error reaches the minimum value, the time of the left shift is the transfer time Ts.

[0026] S13, compensating the rotor position signal output by the decoding chip based on the transfer time, the sampling period of the decoding chip and the sampling period of the torque current controller: S31, determine whether the sampling period of the decoding chip and the sampling period of the torque current controller are the same, if they are the same, proceed to step S32, otherwise proceed to step S33; S32, let the sampling period of the torque current controller be Tc, the sampling period of the decoding chip be Tj, and divide the transfer time and the sampling period of the decoding chip to obtain the remainder , m1 is less than Tj, k is an integer greater than or equal to zero, m1 is the remainder, let the current input of the torque current controller be x(n), then the rotor position signal received by the torque current controller is rad(nk), compensate rad(nk) to get rad(n), obtain the historical data of the rotor position, make a K-order prediction of the rotor position, let rad(i) represent the historical data of the i-th rotor position, then take rad(i), rad(i+1), ...rad(i+pn1) as input, rad(i+pn1+k) as output, train the k-order prediction model, pn1+1 is the number of input features of the k-order prediction model, adjust pn1 according to the prediction effect; input the current rotor position data rad(nk) and the first pn1 rotor position data into the k-order prediction model to get rad(n), end; The prediction model can be selected according to the performance of the torque current controller. First, the model is trained by computer. Long short-term memory neural network, recursive neural network, convolutional neural network unit, linear regression and other models can be used for prediction. Then the trained model is stored in the torque current controller. The torque current controller calls the model according to the received rotor position information to perform compensation.

[0027] S33, calculating the least common multiple P of the sampling period Tc of the torque current controller and the sampling period Tj of the decoding chip, calculating the cumulative sampling error DT, and when the cumulative sampling error DT reaches P, reset it to 0 and restart the accumulation; the cumulative sampling error DT increases in the form of |Tc-Tj|, 2|Tc-Tj|, ..., P; S34 sums the transfer time Ts and the sampling error DT and calculates the remainder m2 with the torque current controller sampling period Tc. , m2 is less than Tc; when Less than or equal to When , the rotor position signal rad(nk) is first compensated to rad(n), and then rad(n) is compensated to obtain the rotor position rad; the acquisition method of rad(n) is the same as step S32; let w(n) represent the rotor angular velocity, then the rotor position rad is calculated by the following formula: ; when Greater than When , first compensate the rotor position signal rad(nk) to rad(n+1), and then compensate rad(n+1) based on the remainder m2 to obtain the rotor position rad; perform K+1 order prediction on the rotor position, with rad(i), rad(i+1), ...rad(i+pn2) as input and rad(i+pn2+k) as output, train the k-order prediction model, pn2+1 is the number of input features of the k-order prediction model, and adjust pn2 according to the prediction effect; input the current rotor position data rad(nk) and the first pn2 rotor position data into the k+1 order prediction model to obtain rad(n+1); the rotor position rad is calculated using the following formula: ; The speed is determined by the following steps: Perform K+1 order prediction on the speed, and obtain the speed w(i), w(i+1), …w(i+pn3) according to the rotor position rad(i), rad(i+1), …rad(i+pn3+1), w(i)=[rad(i+1)-rad(i)] / Tj, w(i+1)=[rad(i+2)-rad(i+1)] / Tj…w(i+pn3)=[rad(i+pn3+1)-rad(i+pn3)] / Tj, Take w(i), w(i+1), …w(i+pn3) as input and w(i+pn3+k+1) as output, train the k+1-order speed prediction model, pn3+1 is the number of input features of the k+1-order speed prediction model, and adjust pn3 according to the prediction effect; obtain the current speed w(nk-1) according to the current rotor position data rad(nk), input the current speed and the first pn3 rotor position data into the k+1-order speed prediction model to obtain w(n).

[0028] S14, respectively acquiring rotor position information in two heterogeneous redundancy modes, and determining the rotor position based on the rotor position information in the two heterogeneous redundancy modes; Determine whether the heterogeneous redundancy mode is abnormal by the following methods: When heterogeneous redundancy mode 1 Less than or equal to When the speed is calculated according to R1(n) and R1(n-1), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; when the heterogeneous redundancy mode 1 Greater than When the speed is calculated according to R1(n+1) and R1(n), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n+1) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; the judgment method of heterogeneous redundancy mode 2 is the same as that of heterogeneous redundancy mode 1; The final rotor position information R is obtained by the following formula: , and is the weight, R1 and R2 are the rotor positions obtained after heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 are compensated according to the current rotor position information, and are adjusted according to whether there is an abnormality in the data of the heterogeneous redundancy mode. If there is an abnormality in the heterogeneous redundancy mode, the weight is reduced; optionally, and Both are set to 0.5. When an abnormality occurs in a certain heterogeneous redundant mode, the weight is reset to 0, and only the output of another heterogeneous redundant mode is used as the rotor position.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motor inverter system detection feedback analysis method, characterized in that: The following steps are involved: S11, obtaining the sampling period data of the decoding chip and the sampling period of the torque current controller; S12, acquiring the input and output signals of the decoding chip and the rotor position signal received by the torque current controller, and determining the transmission time of the rotor position signal output by the decoding chip to the torque current controller; S13, compensating the rotor position signal output by the decoding chip based on the transfer time, the sampling period of the decoding chip and the sampling period of the torque current controller; S14, respectively acquiring rotor position information in two heterogeneous redundancy modes, and determining the rotor position based on the rotor position information in the two heterogeneous redundancy modes.

2. A motor inverter system detection feedback analysis method according to claim 1, characterized in that: In step S12, the method of determining the transmission time of the rotor position signal output by the decoding chip to the torque current controller further includes the following steps: S21, obtaining the input signal and output signal of the decoding chip in the time domain, where the horizontal axis is time and the vertical axis is input or output, matching the output signal of the decoding chip with the input signal, and replacing the time of the input signal in the time domain with the time of the corresponding input signal; S22, obtain the rotor position signal received by the torque current controller in the time domain, shift the rotor position signal received by the torque current controller to the left, and calculate the root mean square error of the rotor position signal received by the torque current controller and the output signal of the decoding chip after matching in step S21. When the root mean square error reaches the minimum value, the time of the left shift is the transfer time Ts.

3. A motor inverter system detection feedback analysis method according to claim 2, characterized in that: In step S13, the compensating the rotor position signal output by the decoding chip based on the transfer time, the sampling period of the decoding chip and the sampling period of the torque current controller also includes the following steps: S31, determine whether the sampling period of the decoding chip and the sampling period of the torque current controller are the same, if they are the same, proceed to step S32, otherwise proceed to step S33; S32, let the sampling period of the torque current controller be Tc, the sampling period of the decoding chip be Tj, and divide the transfer time and the sampling period of the decoding chip to obtain the remainder , m1 is less than Tj, k is an integer greater than or equal to zero, let the current input of the torque current controller be x(n), then the rotor position signal received by the torque current controller is rad(nk), rad(nk) is compensated to obtain rad(n), and the process ends; S33, calculating the least common multiple P of the sampling period Tc of the torque current controller and the sampling period Tj of the decoding chip, calculating the cumulative sampling error DT, and when the cumulative sampling error DT reaches P, reset it to 0 and restart the accumulation; S34 sums the transfer time Ts and the sampling error DT and calculates the remainder m2 with the torque current controller sampling period Tc. , m2 is less than Tc, when Less than or equal to When , the rotor position signal rad(nk) is first compensated to rad(n), and then rad(n) is compensated to obtain the rotor position rad; when Greater than When , the rotor position signal rad(nk) is first compensated to rad(n+1), and then rad(n+1) is compensated based on the remainder m2 to obtain the rotor position rad.

4. A motor inverter system detection feedback analysis method according to claim 3, characterized in that: In step S32, compensating rad(nk) to obtain rad(n) further includes the following steps: Obtain the historical data of the rotor position and make a K-order prediction of the rotor position. Let rad(i) represent the historical data of the i-th rotor position, then use rad(i), rad(i+1), ...rad(i+pn1) as inputs and rad(i+pn1+k) as outputs to train a k-order prediction model. pn1+1 is the number of input features of the k-order prediction model. Adjust pn1 according to the prediction effect. Input the current rotor position data rad(nk) and the previous pn1 rotor position data into the k-order prediction model to obtain rad(n). In step S34, the step of compensating the rotor position signal rad(nk) to rad(n+1) further includes the following steps: Perform K+1 order prediction on the rotor position, with rad(i), rad(i+1), …rad(i+pn2) as input and rad(i+pn2+k) as output, train the k-order prediction model, pn2+1 is the number of input features of the k-order prediction model, and adjust pn2 according to the prediction effect; input the current rotor position data rad(nk) and the previous pn2 rotor position data into the k+1 order prediction model to obtain rad(n+1).

5. A motor inverter system detection feedback analysis method according to claim 4, characterized in that: when Less than or equal to When w(n) is set to represent the rotor angular velocity, the rotor position rad is calculated by the following formula: ; when Greater than When , the rotor position rad is calculated by the following formula: ; The speed is determined by the following steps: Perform K+1 order prediction on the speed, and obtain the speed w(i), w(i+1), …w(i+pn3) according to the rotor position rad(i), rad(i+1), …rad(i+pn3+1), w(i)=[rad(i+1)-rad(i)] / Tj, w(i+1)=[rad(i+2)-rad(i+1)] / Tj…w(i+pn3)=[rad(i+pn3+1)-rad(i+pn3)] / Tj, Take w(i), w(i+1), …w(i+pn3) as input and w(i+pn3+k+1) as output, train the k+1-order speed prediction model, pn3+1 is the number of input features of the k+1-order speed prediction model, and adjust pn3 according to the prediction effect; obtain the current speed w(nk-1) according to the current rotor position data rad(nk), input the current speed and the first pn3 rotor position data into the k+1-order speed prediction model to obtain w(n).

6. A motor inverter system detection feedback analysis method according to claim 5, characterized in that: In step S14, determining the rotor position based on the rotor position information of the two heterogeneous redundant modes further includes the following steps: Determine whether the heterogeneous redundancy mode is abnormal by the following methods: When heterogeneous redundancy mode 1 Less than or equal to When the speed is calculated according to R1(n) and R1(n-1), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; when the heterogeneous redundancy mode 1 Greater than When the speed is calculated according to R1(n+1) and R1(n), the error is calculated with the output of the K+1 order speed prediction model. If the error is less than the threshold, the data of heterogeneous redundancy mode 1 is not abnormal, otherwise the data of heterogeneous redundancy mode 1 is abnormal; R1(n+1) is the rotor position obtained after heterogeneous redundancy mode 1 compensates the current rotor position information; the judgment method of heterogeneous redundancy mode 2 is the same as that of heterogeneous redundancy mode 1; The final rotor position information R is obtained by the following formula: , and is the weight, R1 and R2 are the rotor positions obtained by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 after compensation according to the current rotor position information. Adjustment is made according to whether there is an abnormality in the data of the heterogeneous redundancy mode. If there is an abnormality in the heterogeneous redundancy mode, the weight is reduced.

7. A motor inverter system detection feedback analysis system, characterized in that: include: Torque current controller, speed measurement module, data acquisition module and data analysis module; The output end of the data acquisition module is connected to the input end of the control module to obtain the torque current information of the motor; the output end of the speed measurement module is connected to the input end of the data analysis module to measure the position of the motor rotor; the output end of the data analysis module is connected to the input end of the torque current controller, based on compensating the rotor position output by the speed measurement module, and transmitting the compensated rotor position information to the torque current controller; The torque current controller generates a control signal to adjust the torque current according to the received rotor position information to maintain the normal operation of the motor.

8. A motor inverter system detection feedback analysis system according to claim 7, characterized in that: The rotation speed measurement module includes a heterogeneous redundancy mode 1 and a heterogeneous redundancy mode 2. In the heterogeneous redundancy mode 1, the SDADC is used to sample the excitation and resolver feedback differential signals. In the input amplitude shaper / integrator, the resolver feedback sampling value is shaped based on the synchronous excitation symbol output by the excitation phase synchronizer, and several sampling points within an excitation cycle are integrated to obtain envelopes Sin and Cos. After Sin and Cos are corrected, the inverse tangent Atan2 is used to obtain a preliminary angle as a reference input to the observer / integrator to output the angle; The heterogeneous redundancy mode 2 samples the excitation and resolver feedback differential signals through SARADC, and then inputs them into the amplitude peak and valley selector. Based on the synchronous excitation zero crossing output by the excitation phase synchronizer, the resolver feedback ADC value at the peak and valley of the synchronous excitation wave is obtained. After the resolver feedback peak and valley ADC value is corrected, the angle is obtained using the inverse tangent Atan2.

9. A motor inverter system detection feedback analysis system according to claim 7, characterized in that: The data analysis module further includes a transfer time matching unit, a speed calculation unit, a rotor position compensation unit, a speed prediction unit, an abnormality detection unit and a rotor position determination unit; the transfer time matching unit is used to determine the time from when the heterogeneous redundancy mode 1 and the heterogeneous redundancy mode 2 receive the signal of the rotary transformer to when the torque current controller receives the rotor position information; The speed calculation unit calculates the speed according to the rotor position information received by the torque current controller; The rotor position compensation unit compensates the rotor position information transmitted by the heterogeneous redundancy mode 1 and the heterogeneous redundancy mode 2 according to the rotor position information transmitted by the heterogeneous redundancy mode 1 and the heterogeneous redundancy mode 2, according to the sampling period of the heterogeneous redundancy mode 1 and the heterogeneous redundancy mode 2, the sampling period of the torque current controller and the transmission time; the speed prediction unit predicts the speed according to the speed calculated by the torque current controller; The anomaly detection unit is used to determine whether there is an anomaly in the data of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2, and adjust the weights of heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2 according to the determination result; The rotor position determination unit obtains final rotor position information according to the rotor position information transmitted by heterogeneous redundancy mode 1 and heterogeneous redundancy mode 2.

10. A motor inverter system detection feedback analysis system according to claim 9, characterized in that: The transmission time matching unit obtains the input signal and output signal of the heterogeneous redundancy mode 1 in the time domain, where the horizontal axis is time and the vertical axis is input or output, matches the output signal of the heterogeneous redundancy mode 1 with the input signal, and replaces the time of the input signal in the time domain with the time of the corresponding input signal; The rotor position signal received by the torque current controller in the time domain is obtained, the rotor position signal received by the torque current controller is shifted to the left, and the root mean square error between the rotor position signal received by the torque current controller and the output signal of the matched heterogeneous redundancy mode 1 is calculated. When the root mean square error reaches the minimum value, the time of the left shift is the transmission time of the heterogeneous redundancy mode 1; the transmission time of the heterogeneous redundancy mode 2 is determined in the same way.

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