Driving controller for identifying zero angle of permanent magnet motor and electric vehicle

Abstract

The invention discloses a driving controller for identifying a zero angle of a permanent magnet motor and an electric automobile, and the driving controller comprises a central processor which is used for transmitting six paths of PWM signals and two paths of high-frequency pulse width signals; the motor driving unit is connected with an electric automobile permanent magnet motor, and the motor driving unit receives the six paths of PWM signals and drives the electric automobile permanent magnet motor to operate; the rotary transformer excitation circuit receives the two paths of high-frequency pulse width signals and transmits the two paths of high-frequency pulse width signals to the rotary transformer as excitation signals of the rotary transformer, and the rotary transformer emits four paths of signals under the action of the excitation signals; the soft decoding processing unit is used for receiving the four paths of signals and analyzing the four paths of signals into rotor position signals of the permanent magnet motor of the electric automobile; the zero position angle processing unit is used for receiving the position signal of the permanent magnet motor rotor of the electric automobile and analyzing the position signal of the permanent magnet motor rotor of the electric automobile into a zero position angle of the permanent magnet motor of the electric automobile; and a memory unit storing the zero angle.

Description

Technical Field

[0001] The present invention belongs to the technical field of pure electric vehicle power drive, and in particular relates to a drive controller for identifying the zero angle of a permanent magnet motor and an electric vehicle. Background Art

[0002] With the rapid development of pure electric vehicles and the promotion of electric vehicle policies, the drive system of electric vehicles needs to be improved to improve the operability, efficiency and robustness of the permanent magnet synchronous motor AC drive system; among them, the key point to improve the operability of the drive system lies in the soft decoding technology of the zero angle, but there are currently no relevant mature technical means on the market to solve this problem, which makes it difficult to improve the drive system of electric vehicles. Summary of the invention

[0003] The purpose of the present invention is to provide a drive controller and an electric vehicle for identifying the zero angle of a permanent magnet motor, so as to solve the technical defect that there is no relevant mature technical means in the prior art to perform soft decoding of the zero angle, which makes it difficult to improve the electric vehicle drive system.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] In a first aspect, a drive controller for identifying a zero angle of a permanent magnet motor is provided, comprising:

[0006] The central processing unit is used to send out six PWM signals and two high-frequency pulse width signals;

[0007] A motor drive unit is connected to the permanent magnet motor of the electric vehicle, the motor drive unit receives the six-channel PWM signals and drives the permanent magnet motor of the electric vehicle to operate;

[0008] A resolver excitation circuit receives the two high-frequency pulse width signals and transmits the two high-frequency pulse width signals to the resolver as excitation signals of the resolver. Under the action of the excitation signals, the resolver sends out four signals.

[0009] A soft decoding processing unit receives the four-channel signals and analyzes the four-channel signals into rotor position signals of the permanent magnet motor of the electric vehicle;

[0010] A zero angle processing unit receives the electric vehicle permanent magnet motor rotor position signal and resolves the electric vehicle permanent magnet motor rotor position signal into the electric vehicle permanent magnet motor zero angle;

[0011] A memory unit stores the zero angle.

[0012] Further, the four signals include a sine differential signal sin+ / sin- and a cosine differential signal cos+ / cos-;

[0013] The sine differential signal sin+ / sin- and the cosine differential signal cos+ / cos- are transmitted to the soft decoding processing unit through a resolver signal sampling circuit.

[0014] Furthermore, the sine differential signal sin+ / sin- and the cosine differential signal cos+ / cos- are connected to a signal acquisition unit, and the signal acquisition unit is connected to a shaping filter unit.

[0015] Furthermore, the shaping filter unit is connected to a signal tracking calculation module.

[0016] Furthermore, the signal tracking calculation module includes a multiplier unit, an observer unit, a PI regulator, an integrator and a trigonometric function calculator unit. One end of the multiplier unit is connected to the shaping filter unit, and the other end is connected to the observer unit. The observer unit is connected to the PI regulator, the PI regulator is connected to the integrator, and the integrator is connected to the multiplier unit through the trigonometric function calculator unit.

[0017] Furthermore, the integrator is also connected to a redundant computing unit.

[0018] Furthermore, the shaping filter unit is also connected to a direct calculation module, which includes a decoupler unit and an inverse tangent calculator unit. One end of the decoupler unit is connected to the shaping filter unit, and the other end is connected to the inverse tangent calculator unit. A redundant calculation unit is connected to the inverse tangent calculator unit.

[0019] Furthermore, the output value of the redundant calculation unit is a rotor position signal of the permanent magnet motor of the electric vehicle.

[0020] In a second aspect, a permanent magnet motor zero angle is provided, and the permanent magnet motor zero angle is identified by using the drive controller for identifying the permanent magnet motor zero angle as described above.

[0021] In a third aspect, an electric vehicle is provided, comprising a drive controller for identifying the zero angle of a permanent magnet motor as described above.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When the drive controller identifies the zero angle of the permanent magnet motor of the electric vehicle, the four-way signal is processed by the soft decoding processing unit, which effectively improves the operability, efficiency and robustness of the permanent magnet synchronous motor AC drive system. In this improvement process, there is no need to add hardware modules, which reduces the improvement cost. At the same time, it solves the technical defect that there is no relevant mature technical means for soft decoding of the zero angle in the prior art, which makes it difficult to improve the electric vehicle drive system.

[0024] 2. Sine differential signals and cosine differential signals use differential transmission, which helps reduce the impact of electromagnetic interference and noise on the signal. Differential signal transmission has higher anti-interference ability than single-ended signal transmission and can ensure the integrity and accuracy of the signal.

[0025] 3. The shaping circuit in the shaping filter unit can shape the collected signal to make the signal waveform more regular, reduce waveform distortion and distortion, and help improve the reliability and stability of the signal. At the same time, the filtering link in the shaping filter unit can filter out high-frequency noise and interference in the signal, further improving the purity of the signal, which is of great significance for improving the accuracy of signal analysis and the robustness of the system.

[0026] 4. The signal tracking calculation module can filter out interference and noise in the signal, improve the signal's anti-interference ability, and help improve the stability and reliability of the system in complex electromagnetic environments. Moreover, even if certain errors or distortions occur in the signal during transmission and processing, the signal tracking calculation module can correct and compensate through algorithms to ensure the normal operation of the system, thereby enhancing the system's fault tolerance and robustness.

[0027] 5. The multiplier unit receives the signal processed by the shaping filter unit and multiplies it with the output of the observer unit. The observer unit estimates a parameter or state variable based on the system state or input signal and provides the necessary reference information for the multiplier unit. Through this cooperation, the system can track the changes of the input signal more accurately and reduce errors and interference.

[0028] 6. The redundant calculation unit can perform redundant verification on the calculation results of the integrator. This means that in addition to the calculation path of the integrator itself, there are one or more additional calculation paths used to verify the integration results. If the calculation result of the integrator is inconsistent with the result of the redundant calculation unit, the system can detect this inconsistency and take corresponding measures (such as alarm, recalculation, etc.) to ensure the accuracy of the final result.

[0029] 7. The shaping filter unit pre-processes the input signal, removes noise and interference, and extracts useful signal components, providing high-quality and stable signal input for subsequent signal processing, which helps to reduce errors and improve accuracy. The decoupler unit receives the output of the shaping filter unit and decomposes the complex signal into independent components. This decomposition reduces the coupling effect between signals, making subsequent signal processing simpler and clearer. Through decoupling, the system can more accurately identify and process the various components in the signal, improving the efficiency of signal processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A schematic diagram of the structure of a drive controller for identifying the zero angle of a permanent magnet motor provided by the present invention;

[0032] Figure 2 A flowchart of the operation of a soft decoding processing unit in a drive controller for identifying the zero angle of a permanent magnet motor provided by the present invention;

[0033] Figure 3 A schematic diagram of analyzing the zero angle of a permanent magnet motor of an electric vehicle in a drive controller for identifying the zero angle of a permanent magnet motor provided by the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0038] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] With the rapid development of pure electric vehicles and the promotion of electric vehicle policies, the drive system of electric vehicles needs to be improved to improve the operability, efficiency and robustness of the permanent magnet synchronous motor AC drive system; among them, the key point to improve the operability of the drive system lies in the soft decoding technology of the zero angle, but there are currently no relevant mature technical means on the market to solve this problem, which makes it difficult to improve the drive system of electric vehicles.

[0040] In order to solve the above technical defects, the inventor provides a drive controller and an electric vehicle for identifying the zero angle of a permanent magnet motor.

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0042] like Figure 1-Figure 3As shown, in the first aspect of the embodiment of the present invention, a drive controller for identifying the zero angle of a permanent magnet motor is provided, comprising: a central processing unit, which is operated by a CPU central processing unit, and the central processing unit is used to send six PWM signals and two high-frequency pulse width signals. The motor drive unit receives the six PWM signals sent by the central processing unit, and drives the permanent magnet motor of the electric vehicle to operate through the six PWM signals; at the same time, the rotary transformer excitation circuit receives the two high-frequency pulse width signals, and transmits the two high-frequency pulse width signals to the rotary transformer, and uses them as the excitation signals of the rotary transformer. Under the action of the excitation signals, the rotary transformer sends four signals; then, the soft decoding processing unit receives the four signals and resolves the four signals into the rotor position signals of the permanent magnet motor of the electric vehicle; then, the zero angle processing unit receives the rotor position signals of the permanent magnet motor of the electric vehicle, and resolves the rotor position signals of the permanent magnet motor of the electric vehicle into the zero angle of the permanent magnet motor of the electric vehicle, and finally stores the zero angle through the memory unit. When the drive controller identifies the zero angle of the permanent magnet motor of the electric vehicle, the four-way signal is processed by the soft decoding processing unit, which effectively improves the operability, efficiency and robustness of the permanent magnet synchronous motor AC drive system, and in this improvement process, there is no need to add hardware modules, which reduces the improvement cost, and solves the technical defect that there is no relevant mature technical means in the prior art to perform soft decoding of the zero angle, which makes the improvement of the electric vehicle drive system difficult. In the process of identifying the zero angle, the four-way signal includes a sine differential signal sin+ / sin- and a cosine differential signal cos+ / cos-, and the sine differential signal sin+ / sin- and the cosine differential signal cos+ / cos- are transmitted to the soft decoding processing unit through a resolver signal sampling circuit. In this process, since the sine differential signal and the cosine differential signal adopt a differential transmission mode, the influence of electromagnetic interference and noise on the signal is reduced. The differential signal transmission has a higher anti-interference ability than the single-ended signal transmission, and can ensure the integrity and accuracy of the signal. At the same time, after the soft decoding processing unit receives the differential signal, the phase and amplitude information of the differential signal can be used to accurately analyze the rotor position of the electric vehicle permanent magnet motor. The differential signal can provide richer information, making the analysis process more accurate and reliable. In addition, due to the anti-interference and analysis accuracy of the differential signal transmission, the robustness of the entire electric vehicle drive system is enhanced, and the system can maintain stable operation and accurate control even in harsh electromagnetic environments. Finally, the rapidity of differential signal transmission and analysis enables the system to respond more quickly to changes in the position of the motor rotor, which helps to improve the dynamic performance and response speed of electric vehicles, making the driving experience smoother and more comfortable.

[0043] like Figure 2As shown, the sine differential signal sin+ / sin- and the cosine differential signal cos+ / cos- are connected to a signal acquisition unit, and the signal acquisition unit is connected to a shaping filter unit. After the shaping filter processing, the waveform of the signal is more regular and pure, which helps the soft decoding processing unit to more accurately parse the rotor position information of the permanent magnet motor of the electric vehicle. In addition, the shaping filter unit can reduce the interference and noise in the signal, reduce the sensitivity of the system to the external environment, and thus improve the stability and reliability of the system. The signal after shaping filtering is clearer and more accurate, which helps the system to respond to the position change of the motor rotor faster and improve the dynamic performance and response speed of the electric vehicle. In addition, the shaping filter unit can filter out the interference and noise in the signal, reduce the system failure and error caused by signal problems, and thus reduce the failure rate of the system. By improving the signal quality and system stability, the shaping filter unit helps to extend the service life of the permanent magnet motor and its drive controller of the electric vehicle, reduce the frequency of replacement and maintenance, and can shape the collected signal to make the signal waveform more regular, reduce waveform distortion and distortion, and help improve the reliability and stability of the signal. At the same time, the filtering link in the shaping filter unit can filter out high-frequency noise and interference in the signal, further improving the purity of the signal, which is of great significance for improving the accuracy of signal analysis and the robustness of the system.

[0044] like Figure 2 As shown, the shaping filter unit is connected to a signal tracking calculation module, which includes a multiplier unit, an observer unit, a PI regulator, an integrator, and a trigonometric function calculator unit. One end of the multiplier unit is connected to the shaping filter unit, and the other end is connected to the observer unit. The observer unit is connected to the PI regulator, the PI regulator is connected to the integrator, and the integrator is connected to the multiplier unit through the trigonometric function calculator unit. The four-way sine differential signal sin+ / sin- and cosine differential signal cos+ / cos- are connected to the signal acquisition unit θ, and the signal acquisition unit connects the signal to the shaping filter unit. The shaping filter unit is connected to the signal tracking calculation module through the Up path. The signal tracking calculation module includes a multiplier unit, an observer unit, a PI regulator, an integrator, and a trigonometric function calculator unit, and finally outputs θ a The signal is connected to the redundant computing unit. The signal tracking computing module can filter out interference and noise in the signal, improve the signal's anti-interference ability, and help improve the stability and reliability of the system in a complex electromagnetic environment. Moreover, even if the signal has certain errors or distortions during transmission and processing, the signal tracking computing module can correct and compensate through algorithms to ensure the normal operation of the system, thus enhancing the system's fault tolerance and robustness.

[0045] like Figure 2As shown, the integrator is also connected to a redundant calculation unit, the shaping filter unit is also connected to a direct calculation module, the direct calculation module includes a decoupler unit and an inverse tangent calculator unit, one end of the decoupler unit is connected to the shaping filter unit, and the other end is connected to the inverse tangent calculator unit, and the inverse tangent calculator unit outputs θ b The signal is connected with a redundant calculation unit. In this process, the output result of the arc tangent calculator unit is redundantly checked and calculated to ensure the accuracy and reliability of the result. When the calculation result is abnormal or wrong, the redundant calculation unit can provide a backup calculation result to ensure the normal operation of the system. In addition, when the integrator integrates the signal, it has a certain stability, which helps to reduce the distortion and error of the signal during the integration process and improve the robustness of the system.

[0046] The redundant computing unit will output θ a / θ b After the two signals are modulated and processed, the output θ value is used as the electric vehicle permanent magnet motor rotor position signal. The zero angle processing unit then processes and analyzes the electric vehicle permanent magnet motor position signal into the zero angle θ of the electric vehicle permanent magnet motor. z , the implementation method is as follows Figure 3 As shown in the figure, the magnetic field of the permanent magnet motor of an electric vehicle can be divided into the Q-axis magnetic field and the D-axis magnetic field. The current of the Q-axis is applied to the rated current, and the current of the D-axis is zero. Taking the current electric vehicle permanent magnet motor rotor position signal θ (point A) as the reference value, after rotating 360° counterclockwise, the electric vehicle permanent magnet motor rotor position signal θ1 value is recorded at this time; after rotating 360° clockwise, the electric vehicle permanent magnet motor rotor position signal θ2 value is recorded at this time; the zero position angle θ of the electric vehicle permanent magnet motor is output. z =(θ1+θ2) / 2, and finally the memory unit stores the zero position angle θ of the permanent magnet motor of the electric vehicle z .

[0047] In a second aspect, a permanent magnet motor zero angle is provided, and the permanent magnet motor zero angle is identified by using the drive controller for identifying the permanent magnet motor zero angle as described above.

[0048] In the third aspect, an electric vehicle is provided, the electric vehicle includes a drive controller for identifying the zero angle of a permanent magnet motor as described above. When the drive controller identifies the zero angle of the permanent magnet motor of the electric vehicle, the four-way signal is processed by a soft decoding processing unit, which effectively improves the operability, efficiency and robustness of the permanent magnet synchronous motor AC drive system, and in this improvement process, there is no need to add hardware modules, thereby reducing the improvement cost. The sine differential signal and the cosine differential signal adopt a differential transmission mode, which helps to reduce the influence of electromagnetic interference and noise on the signal. The differential signal transmission has a higher anti-interference ability than the single-ended signal transmission, and can ensure the integrity and accuracy of the signal. The shaping circuit in the shaping filter unit can shape the collected signal, make the signal waveform more regular, reduce waveform distortion and distortion, and help improve the reliability and stability of the signal. At the same time, the filtering link in the shaping filter unit can filter out high-frequency noise and interference in the signal, further improving the purity of the signal, which is of great significance for improving the accuracy of signal analysis and the robustness of the system. The signal tracking calculation module can filter out interference and noise in the signal, improve the signal's anti-interference ability, and help improve the stability and reliability of the system in complex electromagnetic environments. Moreover, even if certain errors or distortions occur in the signal during transmission and processing, the signal tracking calculation module can correct and compensate through algorithms to ensure the normal operation of the system, thereby enhancing the system's fault tolerance and robustness.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims of the invention.

Claims

1. A drive controller for identifying the zero angle of a permanent magnet motor, characterized in that: include: The central processing unit is used to send out six PWM signals and two high-frequency pulse width signals; A motor drive unit is connected to the permanent magnet motor of the electric vehicle, the motor drive unit receives the six-channel PWM signals and drives the permanent magnet motor of the electric vehicle to operate; A resolver excitation circuit receives the two high-frequency pulse width signals and transmits the two high-frequency pulse width signals to the resolver as excitation signals of the resolver. Under the action of the excitation signals, the resolver sends out four signals. A soft decoding processing unit receives the four-channel signals and analyzes the four-channel signals into rotor position signals of the permanent magnet motor of the electric vehicle; A zero angle processing unit receives the electric vehicle permanent magnet motor rotor position signal and resolves the electric vehicle permanent magnet motor rotor position signal into the electric vehicle permanent magnet motor zero angle; A memory unit stores the zero angle.

2. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 1, characterized in that: The four signals include a sine differential signal (sin+ / sin-) and a cosine differential signal (cos+ / cos-); The sine differential signal (sin+ / sin-) and the cosine differential signal (cos+ / cos-) are transmitted to the soft decoding processing unit through a resolver signal sampling circuit.

3. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 2, characterized in that: The sine differential signal (sin+ / sin-) and the cosine differential signal (cos+ / cos-) are connected to a signal acquisition unit, and the signal acquisition unit is connected to a shaping filter unit.

4. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 3, characterized in that: The shaping filter unit is connected to a signal tracking calculation module.

5. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 4, characterized in that: The signal tracking calculation module includes a multiplier unit, an observer unit, a PI regulator, an integrator and a trigonometric function calculator unit. One end of the multiplier unit is connected to the shaping filter unit, and the other end is connected to the observer unit. The observer unit is connected to the PI regulator, the PI regulator is connected to the integrator, and the integrator is connected to the multiplier unit through the trigonometric function calculator unit.

6. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 5, characterized in that: The integrator is also connected to a redundant calculation unit.

7. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 4, characterized in that: The shaping filter unit is also connected to a direct calculation module, which includes a decoupler unit and an inverse tangent calculator unit. One end of the decoupler unit is connected to the shaping filter unit, and the other end is connected to the inverse tangent calculator unit. The inverse tangent calculator unit is connected to a redundant calculation unit.

8. The drive controller for identifying the zero angle of a permanent magnet motor according to claim 6 or 7, characterized in that: The output value of the redundant calculation unit is a rotor position signal of the permanent magnet motor of the electric vehicle.

9. A permanent magnet motor zero angle, characterized in that: The identification is performed using the drive controller for identifying the zero angle of the permanent magnet motor as described in any one of claims 1 to 8.

10. An electric vehicle, characterized in that: A drive controller for identifying the zero angle of a permanent magnet motor comprising the drive controller according to any one of claims 1 to 8.

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