A hybrid power motorcycle and its starting control method and device

Abstract

The present invention discloses a hybrid motorcycle and a start-up control method and device thereof. The method comprises: at the time of motor starting, injecting a positive and negative high-frequency random pulse voltage with a random frequency and a random pulse width into the d-axis voltage of the motor control loop; sampling three-phase current by a current sensor, and performing Clark transformation on the sampled three-phase current to obtain an α-axis current. i α and β-axis current i β ; Subtract the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle to obtain the high-frequency component i αh , i βh , and then through phase-locked loop processing, the angle signal of the motor at zero speed and low speed is estimated; at the start-up time, the torque command is responded to according to the estimated angle signal. The present invention uses a high-frequency injection method to accurately identify the initial angle of the motor when the motor starts, and uses a square wave of random frequency and random pulse width of a two-state Markov chain based on Logistic chaos modulation to solve the noise anomaly problem caused by conventional high-frequency injection.

Description

Technical Field

[0001] The invention relates to the field of hybrid power motorcycles, and in particular to a hybrid power motorcycle and a starting control method and device thereof. Background Art

[0002] Due to the limitation of battery technology, pure electric motorcycles cannot reach the level of traditional vehicles in terms of mileage, and it is difficult to promote them on a large scale and develop them continuously in the short term. Therefore, people put forward the concept of hybrid motorcycles.

[0003] The hybrid motorcycle starts by driving the engine to start. The engine of a hybrid motorcycle is generally a four-stroke internal combustion engine. One working cycle is divided into four working strokes, namely the intake stroke, compression stroke, power stroke, and exhaust stroke. The resistance of the engine in the four strokes is different, and the resistance is the largest at the top dead center of the compression stroke. When the vehicle stops, the engine stops near the top dead center of the compression stroke, which will cause the next time the motor drives the engine to start, the start will not be smooth or even fail due to excessive resistance. At the same time, the motor in the hybrid device relies on the Hall sensor as a speed sensor, which has the advantages of small size, low cost, and strong anti-interference. At the same time, there is a problem of inaccurate initial angle recognition at the start time, which will affect the torque accuracy of the motor control due to angle detection deviation. In severe cases, it will cause the motor to fail to start or reverse. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a hybrid motorcycle and a start control method and device thereof to improve the above-mentioned problem.

[0005] An embodiment of the present invention provides a hybrid motorcycle startup control method, which includes the following steps:

[0006] S1: When the motor starts, a positive and negative high-frequency random pulse voltage with a random frequency and random pulse width is injected into the d-axis voltage of the motor control loop;

[0007] S2: Use a current sensor to sample the three-phase current containing high-frequency harmonics generated by positive and negative high-frequency random pulse voltages, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β ;

[0008] S3: Subtract the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle to obtain the high-frequency component i αh , i βh , and then the high frequency component iαh , i βh After being processed by a phase-locked loop, the angle signal of the motor at zero speed and low speed is estimated;

[0009] S4: Respond to the torque command according to the estimated angle signal at the start time.

[0010] Preferably, the positive and negative high-frequency random pulse voltages are obtained by modulating positive and negative fixed high-frequency pulse voltage signals with fixed frequency and fixed pulse, wherein the expressions of the positive and negative fixed high-frequency pulse voltage signals are as follows:

[0011] (1)

[0012] in, U dh It is a positive and negative fixed high-frequency pulse voltage signal. V inj is the amplitude of the injected voltage signal, k is the frequency of the injected voltage signal, which is a multiple of the switching period, and n is a natural number.

[0013] Preferably, the positive and negative high-frequency random pulse voltage is a random number sequence generated based on Logistic chaotic modulation, which is used for a two-state Markov chain of chaotic modulation to generate positive and negative high-frequency random pulse voltages with random frequencies and random pulse widths;

[0014] In the two-state Markov chain based on Logistic chaos modulation, the voltage signal in formula (1) is converted into U dh When performing random processing, the premise of randomness is the law of conservation of energy of the excitation current generated by the square wave signal, that is:

[0015]

[0016] in, U 1 、U 2 、U N Represents the first, second and N High frequency injection voltage for each injection cycle; T 1 、T 2 、 T N Represents the first, second and N The injection time of an injection cycle.

[0017] Preferably, for the generation of Logistic chaotic sequence:

[0018] set up{ X(t) , } is a random process, and

[0019]

[0020] If in t 1, t 2, ..., t n Moment, Process X(t) The values ​​of are x 1, x 2, ..., x n , and there are

[0021]

[0022] Then it is called X(t) is a Markov process;

[0023] According to formula (4), if the current time t n The status is X n , the next moment t n+1 The status is X n+1 , then the next moment state X n+1 Only with current status X n Related to any past state X n-1 , X n-2 , …, X 1 and X 0Irrelevant.

[0024] Preferably, for the Markov chain, it is defined to have two states: state A and state B, representing the injected positive high-frequency pulse voltage and negative high-frequency pulse voltage;

[0025] Set the transition probability matrix P, the matrix form is:

[0026] (5)

[0027] in, p ij Indicates from the state i Transfer to state j The probability of S is the state set; the element P AA represents the probability of transitioning from state A to state A, P AB represents the probability of transitioning from state A to state B;

[0028] A random number is generated each time a pulse is injected and compared with the set transition probability; if the random number is less than the transition probability of the current state, it switches to the next state, otherwise the current state remains unchanged.

[0029] Preferably, the Clark transform is as follows:

[0030] (6)

[0031] in i A 、i B 、i C is the sampled three-phase current.

[0032] Preferably, the average value of the total injection voltage in one injection cycle is zero.

[0033] The embodiment of the present invention further provides a hybrid motorcycle starting control device, which comprises the following steps:

[0034] The injection unit is used to inject positive and negative high-frequency random pulse voltages with random frequencies and random pulse widths into the d-axis voltage of the motor control loop at the time of motor startup;

[0035] The sampling and transformation unit is used to use the current sensor to sample the three-phase current containing high-frequency harmonics generated by the positive and negative high-frequency random pulse voltage, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β ;

[0036] An estimation unit is used to obtain a high frequency component by subtracting the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle. i αh , i βh , and then the high frequency component i αh , i βh After being processed by a phase-locked loop, the angle signal of the motor at zero speed and low speed is estimated;

[0037] The response unit is used to respond to the torque command according to the estimated angle signal at the start time.

[0038] An embodiment of the present invention further provides a hybrid motorcycle, which includes a memory and a processor. The memory stores a computer program, and the computer program can be executed by the processor to implement the above-mentioned start control method.

[0039] In the process of identifying the motor angle during the high-frequency injection process of the present invention, due to the high-frequency signal injected into the low-speed part of the motor, the high-frequency injection signal will produce harmonic interference with the natural frequency of the motor winding and the motor core, resulting in high-frequency resonance of the mechanical and electromagnetic structures, thereby causing high-frequency noise. At the same time, the injection of high-frequency voltage generates a high-frequency electromagnetic field, thereby causing a rapid change in the electromagnetic force inside the motor. This change will affect the mechanical vibration between the stator and the rotor, and emit high-frequency noise. And these harmonic magnetic fluxes are mainly distributed at the switching frequency and its multiples. At this time, the square wave of random frequency and random pulse width of the two-state Markov chain based on Logistic chaos modulation is injected into the d-axis voltage, which will diffuse the harmonic current spectrum to a wider range of spectrum while keeping the overall harmonic content unchanged, eliminating obvious harmonic noise peaks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A schematic flow chart of a start control method for a hybrid motorcycle provided by a first embodiment of the present invention;

[0042] Figure 2 A two-state Markov chain state transition diagram provided by an embodiment of the present invention;

[0043] Figure 3 A comparison diagram of the estimated motor angle and the actual motor angle provided by an embodiment of the present invention;

[0044] Figure 4 A comparison error result diagram of the estimated motor angle and the actual motor angle provided by an embodiment of the present invention;

[0045] Figure 5 The spectrum analysis result after high-frequency injection of a fixed switching frequency provided by an embodiment of the present invention;

[0046] Figure 6 The spectrum optimization result of the square wave with random frequency and random pulse width of the two-state Markov chain based on Logistic chaotic modulation provided in the embodiment of the present invention;

[0047] Figure 7 This is a schematic structural diagram of a start control device for a hybrid motorcycle provided in a second embodiment of the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] See also Figure 1 The first embodiment of the present invention provides a method for starting a hybrid motorcycle, which can be executed by the hybrid motorcycle, and in particular, is executed by one or more processors in the hybrid motorcycle to implement the following steps:

[0050] S1: When the motor starts, positive and negative high-frequency random pulse voltages with random frequencies and random pulse widths are injected into the d-axis voltage of the motor control loop.

[0051] In this embodiment, the positive and negative high-frequency random pulse voltages are obtained by modulating positive and negative fixed high-frequency pulse voltage signals with fixed frequency and fixed pulse, wherein the expressions of the positive and negative fixed high-frequency pulse voltage signals are as follows:

[0052] (1)

[0053] in, U dh It is a positive and negative fixed high-frequency pulse voltage signal. U qh is the voltage signal injected into the q-axis. V inj is the amplitude of the injected voltage signal, k is the frequency of the injected voltage signal, which is a multiple of the switching period, and n is a natural number.

[0054] Particularly, in the present embodiment, the positive and negative high-frequency random pulse voltage is a positive and negative high-frequency random pulse voltage with a random frequency and a random pulse width based on a two-state Markov chain of Logistic chaotic modulation.

[0055] In the two-state Markov chain based on Logistic chaos modulation, the voltage signal in formula (1) is converted into U dh When performing random processing, the premise of randomness is the law of conservation of energy of the excitation current generated by the square wave signal, that is:

[0056]

[0057] in, U 1 、U 2 、U N Represents the first, second and NA cycle of high frequency injection voltage; T 1 、T 2 、T N Represents the first, second and N The injection time of a cycle.

[0058] For the generation of Logistic chaotic sequence:

[0059] set up{ X(t) , } is a random process, and

[0060]

[0061] If in t 1, t 2, ..., t n Moment, Process X(t) The values ​​of are x 1, x 2, ..., x n , and there are

[0062]

[0063] Then it is called X(t) is a Markov process.

[0064] According to formula (4), if the current time t n The status is X n , the next moment t n+1 The status is X n+1 , then the next moment state X n+1 Only with current status X n Related to any past state X n-1 , X n-2 , …, X 1 and X 0Irrelevant.

[0065] In this embodiment, if Figure 2 As shown, for the Markov chain, it is defined that it has two states: state A and state B, representing the injected positive high-frequency pulse voltage and negative high-frequency pulse voltage;

[0066] Set the transition probability matrix P, the matrix form is:

[0067] (5)

[0068] in, p ij Indicates from the state i Transfer to state j The probability of S is the state set; the element P AA represents the probability of transitioning from state A to state A, P AB represents the probability of transitioning from state A to state B.

[0069] During state transition, a random number is generated each time a pulse is injected and compared with the set transition probability; if the random number is less than the transition probability of the current state, switch to the next state, otherwise keep the current state unchanged.

[0070] Among them, the random performance of random numbers under different distribution laws has obvious differences, and this embodiment proposes a two-state Markov chain random high-frequency injection based on Logistic chaotic modulation, aiming to perform a two-state Markov chain judgment on random numbers that meet the chaotic modulation principle, so as to obtain good random performance, achieve the effect of weakening the harmonics at the switching frequency and its multiples, and reduce electromagnetic noise and electromagnetic interference.

[0071] The transition probability can be selected based on the required pulse switching frequency and motor characteristics. A higher transition probability can produce more frequent state switching, which is suitable for suppressing noise in a specific frequency band.

[0072] Specifically, the average value of the total injection voltage in one injection cycle is zero.

[0073] The pulse signal injection is relatively complex, but the average value of the total injected voltage within one injection cycle is zero, which is beneficial to reducing the motor torque ripple and speed ripple caused by the injected signal.

[0074] S2: Use a current sensor to sample the three-phase current containing high-frequency harmonics generated by positive and negative high-frequency random pulse voltages, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β .

[0075] Among them, the Clark transformation is as follows:

[0076] (6)

[0077] i A 、i B 、iC is the sampled three-phase current.

[0078] S3: Subtract the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle to obtain the high-frequency component i αh , i βh , and then the high frequency component i αh , i βh After phase-locked loop processing, the angle signal of the motor at zero speed and low speed is estimated.

[0079] Specifically, the vector cross multiplication method is used to decouple the position error information, that is, i α , i β The high-frequency component is obtained by subtracting the current from the α and β axis currents of the previous cycle. i αh , i βh , then i αh , i βh After the phase-locked loop is processed, the angle error signal is adjusted so that the estimated motor angle of the system gradually approaches the actual motor angle, such as Figure 3-Figure 6 shown. Figure 3 A comparison diagram of the estimated motor angle and the actual motor angle provided by an embodiment of the present invention; Figure 4 The error result diagram of the comparison between the estimated motor angle and the actual motor angle provided by the embodiment of the present invention; Figure 3 and Figure 4 It can be seen that after the time reaches 0.2s, the estimated motor angle and the actual motor angle approach each other rapidly, and the angle difference is close to 0. Figure 5 The spectrum analysis result after high frequency injection of the fixed switching frequency provided by the embodiment of the present invention is as follows: Figure 5 It can be seen that under high-frequency injection with a fixed switching frequency, the harmonic content at the switching frequency and its multiples is high, the power spectrum density is large, and the spectrum is discretely distributed. Figure 6 The spectrum optimization result of the square wave with random frequency and random pulse width of the two-state Markov chain based on Logistic chaos modulation provided by the embodiment of the present invention is obtained from Figure 6 It can be seen that the square wave injection method of random frequency and random pulse width of the two-state Markov chain based on Logistic chaotic modulation disperses the harmonic energy at the switching frequency and its multiples into a certain frequency band in the form of spectrum expansion, thereby achieving the effect of weakening electromagnetic noise while keeping the total energy of electromagnetic noise basically unchanged.

[0080] S4: Respond to the torque command according to the estimated angle signal at the start time.

[0081] In this embodiment, the inaccurate angle signal measured by the Hall sensor is replaced by the estimated angle signal, so that the torque command can be more accurately responded to at the start time. The specific principle is:

[0082] The principle of positive and negative high-frequency random pulse voltage injection to identify the initial position of the motor mainly utilizes the salient pole effect of the motor.

[0083] First, a voltage pulse with alternating positive and negative polarity is applied to the d-axis voltage. Due to the action of the pulse voltage, the stator winding will generate a corresponding current response, and the magnitude and direction of this current will be affected by the rotor position.

[0084] Secondly, the three-phase current is processed by Clark transformation to obtain the current containing high-frequency components, and the current injected into the cycle Compared with the previous injection cycle Subtract and get the high-frequency current component i αh , i βh Finally, the high-frequency current component is processed by a phase-locked loop to accurately estimate the angle signal of the low-speed part of the motor, thereby determining the position information of the motor at zero and low speed.

[0085] In the process of identifying the motor angle during the high-frequency injection process, the high-frequency signal injected into the low-speed part of the motor will produce harmonic interference with the natural frequency of the motor winding and the motor core, resulting in high-frequency resonance of the mechanical and electromagnetic structures, which in turn causes high-frequency noise. At the same time, the injection of high-frequency voltage generates a high-frequency electromagnetic field, which leads to rapid changes in the electromagnetic force inside the motor. This change will affect the mechanical vibration between the stator and the rotor, and emit high-frequency noise. And these harmonic magnetic fluxes are mainly distributed at the switching frequency and its multiples. At this time, the square wave of random frequency and random pulse width of the two-state Markov chain based on Logistic chaos modulation is injected into the d-axis voltage. Under the condition that the overall harmonic content remains unchanged, the harmonic current spectrum will be spread to a wider range of spectrum, eliminating obvious harmonic noise spikes.

[0086] See also Figure 7 The second embodiment of the present invention further provides a hybrid motorcycle starting control device, which includes the following steps:

[0087] The injection unit 210 is used to inject a positive or negative high-frequency random pulse voltage with a random frequency and a random pulse width into the d-axis voltage of the motor control loop when the motor starts;

[0088] The sampling and transformation unit 220 is used to use the current sensor to sample the three-phase current containing high-frequency harmonics generated by the positive and negative high-frequency random pulse voltage, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β ;

[0089] The estimation unit 230 is used to obtain the high frequency component by subtracting the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle. i αh , i βh , and then the high frequency component i αh , i βh After being processed by a phase-locked loop, the angle signal of the motor at zero speed and low speed is estimated;

[0090] The response unit 240 is used to respond to the torque command according to the estimated angle signal at the start time.

[0091] The third embodiment of the present invention further provides a hybrid motorcycle, which includes a memory and a processor. The memory stores a computer program, and the computer program can be executed by the processor to implement the above-mentioned start control method.

[0092] In several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the apparatus, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0094] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, electronic device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code. It should be noted that in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. 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 hybrid motorcycle starting control method, characterized in that: The following steps are involved: S1: When the motor starts, a positive and negative high-frequency random pulse voltage with a random frequency and random pulse width is injected into the d-axis voltage of the motor control loop; S2: Use a current sensor to sample the three-phase current containing high-frequency harmonics generated by positive and negative high-frequency random pulse voltages, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β ; S3: Subtract the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle to obtain the high-frequency component i αh , i βh , and then the high frequency component i αh , i βh After being processed by a phase-locked loop, the angle signal of the motor at zero speed and low speed is estimated; S4: Responding to the torque command according to the estimated angle signal at the start time; the positive and negative high-frequency random pulse voltages are obtained by modulating the positive and negative fixed high-frequency pulse voltage signals of fixed frequency and fixed pulse, and the expressions of the positive and negative fixed high-frequency pulse voltage signals are as follows: (1) in, U dh It is a positive and negative fixed high-frequency pulse voltage signal. V inj is the amplitude of the injected voltage signal, k is the frequency of the injected voltage signal, which is a multiple of the switching period, and n is a natural number. U qh is the voltage signal injected into the q-axis; The positive and negative high-frequency random pulse voltage is a positive and negative high-frequency random pulse voltage with a random frequency and a random pulse width based on a two-state Markov chain of Logistic chaos modulation; In the two-state Markov chain based on Logistic chaos modulation, the voltage signal in formula (1) is converted into U dh When performing random processing, the premise of randomness is the law of conservation of energy of the excitation current generated by the square wave signal, that is: in, U 1 、U 2 、U N Represents the first, second and N High frequency injection voltage for each injection cycle; T 1 、T 2 、T N Represents the first, second and N The injection time of an injection cycle.

2. The hybrid motorcycle startup control method according to claim 1, characterized in that: The specific generation of random number sequences by Logistic chaotic sequence is as follows: set up{ X(t) , } is a random process, and If in t 1, t 2, ..., t n Moment, Process X(t) The values ​​of are x 1, x 2, ..., x n , and there are Then it is called X(t) is a Markov process; According to formula (4), if the current time t n The status is X n , the next moment t n+1 The status is X n+1 , then the next moment state X n+1 Only with current status X n Related to any past state X n-1 , X n-2 , …, X 1 and X 0Irrelevant.

3. The hybrid motorcycle startup control method according to claim 2, characterized in that: For the Markov chain, it is defined that it has two states: state A and state B, representing the injected positive high-frequency pulse voltage and negative high-frequency pulse voltage; Set the transition probability matrix P, the matrix form is: (5) in, p ij Indicates from the state i Transfer to state j The probability of S is the state set; the element P AA represents the probability of transitioning from state A to state A, P AB represents the probability of transitioning from state A to state B; A random number is generated at each pulse injection and compared with the set transition probability; If the random number is less than the transition probability of the current state, switch to the next state, otherwise keep the current state unchanged.

4. The hybrid motorcycle startup control method according to claim 1, characterized in that: The Clark transform is shown below: (6) in i A 、i B 、i C is the sampled three-phase current.

5. The hybrid motorcycle startup control method according to any one of claims 1 to 4, characterized in that: The average value of the total injection voltage during one injection cycle is zero.

6. A hybrid motorcycle starting control device, characterized in that: The following steps are involved: The injection unit is used to inject positive and negative high-frequency random pulse voltages with random frequencies and random pulse widths into the d-axis voltage of the motor control loop at the time of motor startup; The sampling and transformation unit is used to use the current sensor to sample the three-phase current containing high-frequency harmonics generated by the positive and negative high-frequency random pulse voltage, and perform Clark transformation on the sampled three-phase current to obtain the α-axis current i α and β-axis current i β ; An estimation unit is used to obtain a high frequency component by subtracting the α-axis current and β-axis current of the current injection cycle from the α-axis current and β-axis current of the previous injection cycle. i αh , i βh , and then the high frequency component i αh , i βh After being processed by a phase-locked loop, the angle signal of the motor at zero speed and low speed is estimated; The response unit is used to respond to the torque command according to the estimated angle signal at the start time; the positive and negative high-frequency random pulse voltage is obtained by modulating the positive and negative fixed high-frequency pulse voltage signals with fixed frequency and fixed pulse, and the expression of the positive and negative fixed high-frequency pulse voltage signal is as follows: (1) in, U dh It is a positive and negative fixed high-frequency pulse voltage signal. V inj is the amplitude of the injected voltage signal, k is the frequency of the injected voltage signal, which is a multiple of the switching period, and n is a natural number. U qh is the voltage signal injected into the q-axis; The positive and negative high-frequency random pulse voltage is a positive and negative high-frequency random pulse voltage with a random frequency and a random pulse width based on a two-state Markov chain of Logistic chaos modulation; In the two-state Markov chain based on Logistic chaos modulation, the voltage signal in formula (1) is converted into U dh When performing random processing, the premise of randomness is the law of conservation of energy of the excitation current generated by the square wave signal, that is: in, U 1 、U 2 、U N Represents the first, second and N High frequency injection voltage for each injection cycle; T 1 、T 2 、T N Represents the first, second and N The injection time of an injection cycle.

7. A hybrid motorcycle, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement the startup control method according to any one of claims 1 to 5.

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