Motor angle determination method and device and electronic equipment
By combining two angle determination methods and Kalman filtered data fusion technology, the problem of inaccurate angle determination of permanent magnet synchronous motors is solved, and the accuracy of angles and dynamic response capabilities are improved.
Patent Information
- Application Number
- CN202411355850.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-02-14
AI Technical Summary
In the prior art, when determining the angle of a permanent magnet synchronous motor, especially when the motor speed changes dynamically, there is a problem of inaccurate angle determination, resulting in poor dynamic performance and low accuracy.
The motor angle is determined by using two different angle determination methods (such as the arctangent calculation method and the phase-locked loop estimation method), and the corresponding deviation value is determined based on the current operating conditions of the motor (steady state or dynamic), and the data fusion is calculated. The fusion parameters are used to fusion data using Kalman filtering method to obtain the target angle after fusion.
It improves the accuracy of determining the motor angle, enhances the motor's response ability under dynamic conditions, and ensures high-precision tracking of the motor angle.
Smart Images
Figure CN119448855A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of motors, and in particular, to a method and device for determining a motor angle, and an electronic device. Background Art
[0002] Permanent magnet synchronous motors are widely used in the vehicle field due to their unique structural characteristics and high-performance speed and torque characteristics. The control of permanent magnet synchronous motors adopts vector control. In order to ensure high-performance control of the motor, it is necessary to accurately obtain relevant information of the motor rotor, especially the motor angle, that is, the position information of the motor rotor. Summary of the invention
[0003] The purpose of the present disclosure is to provide a method, device and electronic device for determining a motor angle.
[0004] In order to achieve the above object, according to a first aspect of the present disclosure, a method for determining a motor angle is provided, the method comprising: Determine the angle of the motor by using a first angle determination method as a first angle; Determine the angle of the motor using a second angle determination method as a second angle; Determining a current target operating condition of the motor according to the first angle and the second angle; Determining, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method; Determining a fusion parameter of data fusion according to the first deviation value and the second deviation value; Using a preset data fusion method, data fusion is performed on the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
[0005] Optionally, determining the current target operating condition of the motor according to the first angle and the second angle includes: determining an angle difference between the first angle and the second angle; If the angle difference is less than the target error threshold, it is determined that the motor is in a steady-state condition; If the angle difference is greater than the target error threshold, it is determined that the motor is in a dynamic operating condition.
[0006] Optionally, the target error threshold is determined by: Determining a current target speed of the motor; According to a pre-calibrated first correspondence relationship between the motor speed and the angle error under a steady-state condition, determining an angle error corresponding to the target speed as a first angle error; According to a pre-calibrated second corresponding relationship between the motor speed and the angle error under dynamic working conditions, determining an angle error corresponding to the target speed as a second angle error; An average value of the first angle error and the second angle error is determined as the target error threshold.
[0007] Optionally, the angle error is determined by a difference between angles of the motor determined by the first angle determination method and the second angle determination method for a specified motor speed.
[0008] Optionally, determining, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method includes: Determining a current target speed of the motor; Acquire a third correspondence relationship between a motor speed that is pre-calibrated and corresponds to the target operating condition, an angle deviation of the first angle determination method, and an angle deviation of the second angle determination method; According to the third corresponding relationship, the angle deviation of the first angle determination method corresponding to the target speed is determined as the first deviation value, and the angle deviation of the second angle determination method corresponding to the target speed is determined as the second deviation value.
[0009] Optionally, the angle deviation of the first angle determination method is used to characterize the deviation of the angle of the motor determined by the first angle determination method relative to the angle of the motor determined by the third angle determination method; the angle deviation of the second angle determination method is used to characterize the deviation of the angle of the motor determined by the second angle determination method relative to the angle of the motor determined by the third angle determination method.
[0010] Optionally, if the first deviation value and the second deviation value are standard deviations, determining a fusion parameter of data fusion according to the first deviation value and the second deviation value includes: determining a sum of squares of the first deviation value and the second deviation value; The ratio of the square of the first deviation value to the sum of the squares is determined as the fusion parameter.
[0011] Optionally, using a preset data fusion method to fuse the first angle and the second angle according to the fusion parameter to obtain a fused target angle includes: The Kalman filter method is used, the fusion parameter is used as the gain coefficient of the Kalman filter, and data fusion is performed on the first angle and the second angle to obtain the target angle.
[0012] According to a second aspect of the present disclosure, a motor angle determination device is provided, the device comprising: A first determining module, configured to determine an angle of the motor using a first angle determining method as a first angle; A second determining module, configured to determine the angle of the motor by using a second angle determining method as a second angle; A third determination module, configured to determine a current target operating condition of the motor according to the first angle and the second angle; a fourth determination module, configured to determine, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method; a fifth determining module, configured to determine a fusion parameter of data fusion according to the first deviation value and the second deviation value; The data fusion module is used to use a preset data fusion method to perform data fusion on the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
[0013] According to a third aspect of the present disclosure, there is provided an electronic device, including: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure.
[0014] Through the above technical solution, the angle of the motor is determined by the first angle determination method as the first angle, and the angle of the motor is determined by the second angle determination method as the second angle. Then, according to the first angle and the second angle, the target working condition of the motor is determined, and then according to the target working condition, the first deviation value corresponding to the first angle determination method and the second deviation value corresponding to the second angle determination method are determined. According to the first deviation value and the second deviation value, the fusion parameter of data fusion is determined, and then the preset data fusion method is used to fuse the first angle and the second angle according to the fusion parameter to obtain the fused target angle. Thus, the motor angle is determined by two different methods, and the deviation of each of the two methods for determining the motor angle is obtained in combination with the current working condition of the motor, and then the fusion parameter is determined based on the deviation to fuse the motor angle determined by the two methods to obtain the target angle. In this way, the fusion parameter is flexibly determined in combination with the actual working condition of the motor to ensure the accuracy of the fused angle, so that even if the motor speed changes dynamically, the accurate motor angle can still be obtained, the accuracy of the motor angle determination is higher, and the dynamic response is better.
[0015] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a flow chart of a method for determining a motor angle provided according to an embodiment of the present disclosure; Figure 2 is an exemplary schematic diagram of a calibration tool in the motor angle determination method provided by the present disclosure; Figure 3 is a block diagram of a motor angle determination device provided according to an embodiment of the present disclosure; Figure 4 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION
[0017] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0018] As described in the background technology, the accuracy of the motor angle is of great significance for the control of the motor. At present, the more commonly used motor angle sensor is a rotary transformer. Based on the rotary transformer, a hardware decoding solution or a software decoding solution is usually used to determine the motor angle. In the hardware decoding solution, a hardware decoding chip is required. Such chips are usually expensive and require a large cost. In the software decoding solution, the motor rotor position (i.e., the motor angle) is solved by a second-order position tracking algorithm. When the motor speed changes greatly, there will be static errors in the solution of the position, and the error of the motor rotor position obtained will be large, resulting in poor dynamic performance and low precision.
[0019] In order to solve the above technical problems, the present disclosure provides a method, device and electronic device for determining a motor angle.
[0020] Figure 1 FIG. 1 is a flow chart of a method for determining a motor angle according to an embodiment of the present disclosure. Figure 1 As shown, the motor angle determination method provided by the present disclosure may include steps 11 to 16.
[0021] In step 11, the angle of the motor is determined by using a first angle determination method as a first angle.
[0022] In step 12, the angle of the motor is determined using a second angle determination method as a second angle.
[0023] The first angle determination method and the second angle determination method are two different methods capable of determining the motor angle.
[0024] Optionally, the first angle determination method and the second angle determination method can both determine the motor angle by software decoding. A rotary transformer can be provided on the motor, and the first angle determination method and the second angle determination method can determine the motor angle based on relevant parameters collected by the rotary transformer.
[0025] In a possible implementation, the first angle determination method may be an inverse tangent calculation method, and the second angle determination method may be a phase-locked loop estimation method.
[0026] If the first angle determination method is the inverse tangent calculation method, the first angle theta1 can be determined by the following method: theta1 = arctan[sin(theta_ref) / cos(theta_ref)] Wherein, sin(theta_ref) is the reference sine signal of the resolver, and theta_ref is the reference cosine signal of the resolver.
[0027] If the second angle determination method is a phase-locked loop estimation method, the phase-locked loop observer satisfies the following equation: sin(theta_ref)cos(theta2) - cos(theta_ref)sin(theta2) = sin(theta_ref- theta2) When the phase-locked loop converges, theta_ref-theta2 approaches 0. Based on this, theta_ref in the above formula is replaced by theta2 to obtain the second angle theta2.
[0028] In step 13, the current target operating state of the motor is determined according to the first angle and the second angle.
[0029] The target operating condition may be a steady-state operating condition or a dynamic operating condition. When the motor is in a steady-state operating condition, the motor speed is relatively stable, and there is basically no situation where the motor speed changes too fast. When the motor is in a dynamic operating condition, the motor speed changes quickly.
[0030] In a possible implementation, step 13 may include the following steps: determining an angular difference between a first angle and a second angle; If the angle difference is less than the target error threshold, it is determined that the motor is in a steady-state condition; If the angle difference is greater than the target error threshold, it is determined that the motor is in a dynamic operating condition.
[0031] In a possible embodiment, the target error threshold may be preset, for example, based on an empirical value.
[0032] In another possible embodiment, the target error threshold may be determined in the following manner: Determine the current target speed of the motor; According to a pre-calibrated first corresponding relationship between the motor speed and the angle error under a steady-state condition, an angle error corresponding to the target speed is determined as a first angle error; According to a pre-calibrated second corresponding relationship between the motor speed and the angle error under dynamic working conditions, an angle error corresponding to the target speed is determined as a second angle error; An average value of the first angle error and the second angle error is determined as a target error threshold.
[0033] The angle error is determined by the difference between the angles of the motor determined by the first angle determination method and the second angle determination method for a specified motor speed.
[0034] The first corresponding relationship and the second corresponding relationship may be calibrated in advance. The calibration of the above corresponding relationship may be based on the following: Figure 2 The calibration tool shown is used. Figure 2 As shown, the calibration tool may include a motor, two rotary transformers and a hardware circuit, wherein the hardware circuit may include a software decoding circuit, a hardware decoding circuit and an MCU (Microcontroller Unit). The two rotary transformers are installed on the motor shaft at the same time, the first rotary transformer E1 is connected to the hardware decoding circuit, and its data is used by the hardware decoding circuit; the second rotary transformer E2 is connected to the software decoding circuit, and its data is used by the software decoding circuit. Based on the calibration tool, the motor angle determined by the hardware decoding circuit is used as the angle reference, and the angle error estimated by the software decoding circuit is determined under steady-state conditions and dynamic conditions respectively to form the above-mentioned first corresponding relationship and the second corresponding relationship. Among them, the software decoding circuit can determine the motor angle using the first angle determination method and the second angle determination method respectively through the data of the second rotary transformer.
[0035] For example, the calibration process for the first corresponding relationship under steady-state conditions can be described as follows: For a given motor speed range, multiple first motor speeds to be calibrated are determined within the given motor speed range at certain intervals. For example, for a given motor speed range of 0-10000 rpm, 0 rpm, 500 rpm, 1000 rpm, ..., 10000 rpm are selected at intervals of 500 rpm.
[0036] For each first motor speed, the motor is controlled to be at the speed, and the motor angle is determined according to the first angle determination method as the first experimental angle; and the motor angle is determined according to the second angle determination method as the second experimental angle. For each first motor speed, multiple sets of first experimental angles and second experimental angles can be collected.
[0037] After collecting the above data for each first motor speed, for each first motor speed, based on multiple groups of first experimental angles and second experimental angles corresponding to the first motor speed, the first experimental angle and the second experimental angle of each group can be subtracted and the average value can be taken, and the average value can be used as the angle error corresponding to the first motor speed.
[0038] Based on the above method, the angle error corresponding to each first motor speed can be obtained, thus forming the above first corresponding relationship.
[0039] For example, the calibration process for the second corresponding relationship under dynamic conditions can be described as follows: For a given motor speed range, multiple speed ranges to be calibrated are determined within the given motor speed range at certain intervals. For example, for a given motor speed range of 0-10000 rpm, 0-500 rpm, 500-1000 rpm, 1000-1500 rpm, ..., 9500-10000 rpm are selected at intervals of 500 rpm.
[0040] For each speed range, the motor speed is controlled to gradually increase from the lowest value of the speed range to the highest value of the speed range. During this period, according to the relevant data of the motor when the motor speed is the second motor speed, the motor angle is determined according to the first angle determination method as the third experimental angle; and the motor angle is determined according to the second angle determination method as the fourth experimental angle. Among them, the second motor speed is a speed value within the speed range, such as the midpoint of the speed value within the speed range. For example, for the speed range of 0-500rpm, the second motor speed can be set to 250rpm. For each speed range, multiple sets of third experimental angles and fourth experimental angles can be collected.
[0041] After collecting the above data for each speed range, for each speed range, based on multiple groups of third experimental angles and fourth experimental angles corresponding to the speed range, the third experimental angle and the fourth experimental angle of each group can be subtracted and the average value can be taken as the angle error corresponding to the speed range.
[0042] Based on the above method, the angular error corresponding to each speed range can be obtained, based on which a second corresponding relationship can be formed. For example, the highest value (or lowest value) of each speed range can be taken to form a corresponding relationship with the angular error of the speed range. For example, the angular error corresponding to the speed range of 0-500rpm can correspond to 0rpm and 500rpm, the angular error corresponding to the speed range of 500-1000rpm can correspond to 1000rpm, and so on.
[0043] Based on the above method, the first corresponding relationship and the second corresponding relationship can be pre-calibrated.
[0044] When it is necessary to determine the target error threshold, the current rotation speed of the motor may be determined first as the target rotation speed.
[0045] In a possible implementation manner, the target rotational speed may be obtained by a rotational speed sensor.
[0046] In another possible implementation, the target speed can be obtained by differentiating the motor angle and calculating it through low-pass filtering. In this implementation, the target speed of the second cycle can be determined in the above manner using the motor angle determined in the first cycle, wherein the first cycle is the cycle before the second cycle, and the motor angle determined in the first cycle can be the fused target angle determined in the first cycle using the motor angle determination method provided by the present disclosure.
[0047] After determining the current target speed of the motor, the angle error corresponding to the target speed can be determined from the first corresponding relationship as the first angle error, and the angle error corresponding to the target speed can also be determined from the second corresponding relationship as the second angle error.
[0048] Furthermore, an average value of the first angle error and the second angle error is taken, and the average value is used as the target error threshold.
[0049] If the angle difference is less than the target error threshold, it means that the motor angle determined by the first angle determination method is not much different from the motor angle determined by the second angle determination method, which means that there is currently no phenomenon of inaccurate motor angle determination due to excessively rapid changes in motor speed, that is, the motor currently does not have a rapid speed change, so it can be determined that the motor is in a steady-state operating condition.
[0050] If the angle difference is greater than the target error threshold, it means that the motor angle determined by the first angle determination method is very different from the motor angle determined by the second angle determination method, which means that there may be an inaccurate motor angle determination caused by the motor speed changing too fast. That is, the motor may currently be in a state of rapid speed change. Therefore, it can be determined that the motor is in a dynamic working condition.
[0051] In step 14, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method are determined.
[0052] As mentioned above, the target operating condition may be a dynamic operating condition or a steady-state operating condition. Based on the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method may be determined.
[0053] In a possible implementation, step 14 may include the following steps: Determine the current target speed of the motor; Acquire a third correspondence relationship between a motor speed that is pre-calibrated and corresponds to a target operating condition, an angle deviation of the first angle determination method, and an angle deviation of the second angle determination method; According to the third corresponding relationship, the angle deviation of the first angle determination method corresponding to the target speed is determined as the first deviation value, and the angle deviation of the second angle determination method corresponding to the target speed is determined as the second deviation value.
[0054] The angle deviation of the first angle determination method is used to characterize the deviation of the angle of the motor determined by the first angle determination method relative to the angle of the motor determined by the third angle determination method; the angle deviation of the second angle determination method is used to characterize the deviation of the angle of the motor determined by the second angle determination method relative to the angle of the motor determined by the third angle determination method. Optionally, the third angle determination method can be a method for determining the motor angle by a hardware decoding circuit.
[0055] The third corresponding relationship can be obtained by pre-calibration. The third corresponding relationship can be calibrated respectively for the steady-state working condition and the dynamic working condition of the motor.
[0056] The calibration of the third correspondence relationship can be completed by the calibration tooling described above, and can be calibrated together with the first correspondence relationship and the second correspondence relationship.
[0057] For the steady-state working condition of the motor, multiple groups of first experimental angles and second experimental angles can be collected for each first motor speed in the manner described above. At the same time, for each first motor speed, corresponding to the collection process of each group of first experimental angles and second experimental angles, the hardware decoding circuit in the calibration tooling can obtain the corresponding motor angle as the reference motor angle. In this way, multiple groups of first experimental angles, second experimental angles and reference motor angles are collected for each first motor speed.
[0058] After the above data collection is completed, for each first motor speed, the standard deviation of the first experimental angle relative to the reference motor angle can be calculated as the angle deviation of the first angle determination method. At the same time, the standard deviation of the second experimental angle relative to the reference motor angle can be calculated as the angle deviation of the second angle determination method.
[0059] Based on the above method, the angle deviation of the first angle determination method and the angle deviation of the second angle determination method corresponding to each first motor speed can be obtained, thus forming a third corresponding relationship under steady-state conditions.
[0060] For the dynamic working condition of the motor, multiple sets of third experimental angles and fourth experimental angles can be collected for each speed range in accordance with the method described above. At the same time, for each second motor speed, corresponding to the collection process of each set of third experimental angles and fourth experimental angles, the hardware decoding circuit in the calibration tooling can obtain the corresponding motor angle as the reference motor angle. In this way, multiple sets of third experimental angles, fourth experimental angles and reference motor angles are collected for each second motor speed (i.e., speed range).
[0061] After the above data collection is completed, for each speed range, the standard deviation of the third experimental angle relative to the reference motor angle can be calculated as the angle deviation of the first angle determination method. At the same time, the standard deviation of the fourth experimental angle relative to the reference motor angle can be calculated as the angle deviation of the second angle determination method.
[0062] Based on the above method, the angle deviation of the first angle determination method and the angle deviation of the second angle determination method corresponding to each speed range can be obtained, and based on this, a third corresponding relationship under dynamic conditions can be formed. For example, the highest value (or lowest value) of each speed range can be taken to form a corresponding relationship with the angle deviation of the first angle determination method and the angle deviation of the second angle determination method corresponding to the speed range.
[0063] Based on the above method, the third corresponding relationship of the steady-state working condition and the third corresponding relationship of the dynamic working condition can be pre-calibrated.
[0064] In this way, after determining the target speed and target operating condition, the angle deviation of the first angle determination method corresponding to the target speed can be determined as the first deviation value based on the third corresponding relationship corresponding to the target operating condition, and the angle deviation of the second angle determination method corresponding to the target speed can be determined as the second deviation value.
[0065] In step 15, a fusion parameter of data fusion is determined according to the first deviation value and the second deviation value.
[0066] As mentioned above, the first deviation value and the second deviation value may be standard deviations. Accordingly, step 15 may include the following steps: Determine the sum of squares of the first deviation value and the second deviation value; The ratio of the square of the first deviation value to the sum of the squares is determined as a fusion parameter.
[0067] That is, the fusion parameters are determined according to the following formula: Fusion parameter = deta1 2 / (deta1 2 + deta2 2 ) Among them, deta1 2 is the first deviation value, deta2 2 is the second deviation value.
[0068] In step 16, a preset data fusion method is used to fuse the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
[0069] Optionally, the preset data fusion method may be a Kalman filter method. Accordingly, the Kalman filter method may be used to fuse the first angle and the second angle using the fusion parameter as a gain coefficient of the Kalman filter to obtain the target angle.
[0070] For example, the target angle theta3 can be determined by the following formula: theta3 = theta1 + k * ( theta2 - theta1 ) Among them, theta1 is the first angle, theta2 is the second angle, and k is the gain coefficient.
[0071] Optionally, the preset data fusion method may be other data fusion methods other than the Kalman filtering method, for example, a weighted average method, a multi-Bayesian estimation method, etc. For example, if the preset data fusion method is a weighted average method, the fusion parameter may be the weights corresponding to the first angle and the second angle, respectively, and the fusion parameter may be obtained by pre-calibrating the corresponding relationship between the first deviation value, the second deviation value and the respective weights and executing step 15. Other data fusion methods are not described in detail in this disclosure.
[0072] Through the above technical solution, the angle of the motor is determined by the first angle determination method as the first angle, and the angle of the motor is determined by the second angle determination method as the second angle. Then, according to the first angle and the second angle, the target working condition of the motor is determined, and then according to the target working condition, the first deviation value corresponding to the first angle determination method and the second deviation value corresponding to the second angle determination method are determined. According to the first deviation value and the second deviation value, the fusion parameter of data fusion is determined, and then the preset data fusion method is used to fuse the first angle and the second angle according to the fusion parameter to obtain the fused target angle. Thus, the motor angle is determined by two different methods, and the deviation of each of the two methods for determining the motor angle is obtained in combination with the current working condition of the motor, and then the fusion parameter is determined based on the deviation to fuse the motor angle determined by the two methods to obtain the target angle. In this way, the fusion parameter is flexibly determined in combination with the actual working condition of the motor to ensure the accuracy of the fused angle, so that even if the motor speed changes dynamically, the accurate motor angle can still be obtained, the accuracy of the motor angle determination is higher, and the dynamic response is better.
[0073] Figure 3 is a block diagram of a motor angle determination device provided according to an embodiment of the present disclosure. Figure 3 As shown, the device 30 may include: A first determination module 31, configured to determine an angle of the motor as a first angle by using a first angle determination method; A second determination module 32, configured to determine the angle of the motor as a second angle by using a second angle determination method; A third determination module 33, configured to determine a current target operating condition of the motor according to the first angle and the second angle; a fourth determination module 34, configured to determine, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method; A fifth determining module 35, configured to determine a fusion parameter of data fusion according to the first deviation value and the second deviation value; The data fusion module 36 is used to use a preset data fusion method to perform data fusion on the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
[0074] Optionally, the third determining module 33 includes: A first determining submodule, configured to determine an angle difference between the first angle and the second angle; A second determination submodule, configured to determine that the motor is in a steady-state condition if the angle difference is less than a target error threshold; The third determination submodule is used to determine that the motor is in a dynamic working condition if the angle difference is greater than the target error threshold.
[0075] Optionally, the target error threshold is determined by the following modules: A sixth determination module, used to determine a current target speed of the motor; a seventh determination module, configured to determine, according to a pre-calibrated first correspondence between the motor speed and the angle error under a steady-state condition, an angle error corresponding to the target speed as a first angle error; an eighth determination module, configured to determine, according to a pre-calibrated second corresponding relationship between the motor speed and the angle error under a dynamic working condition, an angle error corresponding to the target speed as a second angle error; A ninth determination module is configured to determine an average value of the first angle error and the second angle error as the target error threshold.
[0076] Optionally, the angle error is determined by a difference between angles of the motor determined by the first angle determination method and the second angle determination method for a specified motor speed.
[0077] Optionally, the fourth determining module 34 includes: A fourth determination submodule, used to determine a current target speed of the motor; an acquisition submodule, configured to acquire a third corresponding relationship between a pre-calibrated motor speed corresponding to the target operating condition, an angle deviation of the first angle determination method, and an angle deviation of the second angle determination method; The fifth determination submodule is used to determine the angle deviation of the first angle determination method corresponding to the target speed as the first deviation value according to the third corresponding relationship, and determine the angle deviation of the second angle determination method corresponding to the target speed as the second deviation value.
[0078] Optionally, the angle deviation of the first angle determination method is used to characterize the deviation of the angle of the motor determined by the first angle determination method relative to the angle of the motor determined by the third angle determination method; the angle deviation of the second angle determination method is used to characterize the deviation of the angle of the motor determined by the second angle determination method relative to the angle of the motor determined by the third angle determination method.
[0079] Optionally, the fifth determining module 35 includes: A sixth determination submodule, configured to determine a sum of squares of the first deviation value and the second deviation value if the first deviation value and the second deviation value are standard deviations; A seventh determination submodule is used to determine the ratio of the square of the first deviation value to the sum of the squares as the fusion parameter.
[0080] Optionally, the data fusion module 36 includes: The fusion submodule is used to use the Kalman filtering method, take the fusion parameter as the gain coefficient of the Kalman filtering, perform data fusion on the first angle and the second angle, and obtain the target angle.
[0081] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0082] Figure 4 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 4 As shown, the electronic device 700 may include: a processor 701 , a memory 702 . The electronic device 700 may also include one or more of a multimedia component 703 , an input / output (I / O) interface 704 , and a communication component 705 .
[0083] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned motor angle determination method. The memory 702 is used to store various types of data to support the operation of the electronic device 700. For example, these data may include instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module.
[0084] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned motor angle determination method.
[0085] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned motor angle determination method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned motor angle determination method.
[0086] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a processor. When the computer program is executed by the processor, the steps of the above-mentioned motor angle determination method are implemented.
[0087] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0088] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0089] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A method for determining a motor angle, characterized in that: The method comprises: Determine the angle of the motor by using a first angle determination method as a first angle; Determine the angle of the motor using a second angle determination method as a second angle; Determining a current target operating condition of the motor according to the first angle and the second angle; Determining, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method; Determining a fusion parameter of data fusion according to the first deviation value and the second deviation value; Using a preset data fusion method, data fusion is performed on the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
2. The method according to claim 1, characterized in that The step of determining the current target operating state of the motor according to the first angle and the second angle includes: determining an angle difference between the first angle and the second angle; If the angle difference is less than the target error threshold, it is determined that the motor is in a steady-state condition; If the angle difference is greater than the target error threshold, it is determined that the motor is in a dynamic operating condition.
3. The method according to claim 2, characterized in that The target error threshold is determined by: Determining a current target speed of the motor; According to a pre-calibrated first correspondence relationship between the motor speed and the angle error under a steady-state condition, determining an angle error corresponding to the target speed as a first angle error; According to a pre-calibrated second corresponding relationship between the motor speed and the angle error under dynamic working conditions, determining an angle error corresponding to the target speed as a second angle error; An average value of the first angle error and the second angle error is determined as the target error threshold.
4. The method according to claim 3, characterized in that The angle error is determined by the difference between the angles of the motor determined by the first angle determination method and the second angle determination method for a specified motor speed.
5. The method according to claim 1, characterized in that The determining, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method comprises: Determining a current target speed of the motor; Acquire a third correspondence relationship between a motor speed that is pre-calibrated and corresponds to the target operating condition, an angle deviation of the first angle determination method, and an angle deviation of the second angle determination method; According to the third corresponding relationship, the angle deviation of the first angle determination method corresponding to the target speed is determined as the first deviation value, and the angle deviation of the second angle determination method corresponding to the target speed is determined as the second deviation value.
6. The method according to claim 5, characterized in that The angle deviation of the first angle determination method is used to characterize the deviation of the angle of the motor determined by the first angle determination method relative to the angle of the motor determined by the third angle determination method; The angle deviation of the second angle determination method is used to characterize a deviation of the angle of the electric machine determined by the second angle determination method relative to the angle of the electric machine determined by the third angle determination method.
7. The method according to claim 1, characterized in that If the first deviation value and the second deviation value are standard deviations, determining a fusion parameter of data fusion according to the first deviation value and the second deviation value includes: determining a sum of squares of the first deviation value and the second deviation value; The ratio of the square of the first deviation value to the sum of the squares is determined as the fusion parameter.
8. The method according to claim 1, characterized in that The method of using a preset data fusion method to fuse the first angle and the second angle according to the fusion parameter to obtain a fused target angle includes: The Kalman filter method is used, the fusion parameter is used as the gain coefficient of the Kalman filter, and data fusion is performed on the first angle and the second angle to obtain the target angle.
9. A motor angle determination device, characterized in that: The device comprises: A first determining module, configured to determine an angle of the motor using a first angle determining method as a first angle; A second determining module, configured to determine the angle of the motor by using a second angle determining method as a second angle; A third determination module, configured to determine a current target operating condition of the motor according to the first angle and the second angle; a fourth determination module, configured to determine, according to the target operating condition, a first deviation value corresponding to the first angle determination method and a second deviation value corresponding to the second angle determination method; a fifth determining module, configured to determine a fusion parameter of data fusion according to the first deviation value and the second deviation value; The data fusion module is used to use a preset data fusion method to perform data fusion on the first angle and the second angle according to the fusion parameters to obtain a fused target angle.
10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 8.