Method and device for calibrating zero position of rotary transformer

Abstract

The invention provides a rotary transformer zero calibration method and device. The method comprises the steps of determining a plurality of first test currents according to a pre-calibrated IsMax value and a preset d-axis current instruction value determination algorithm; wherein the q-axis current instruction value of the first test current is 0; performing control test on the motor controller according to the first test current to obtain a rotary transformer zero rough value; determining a first control target and a second control target of the resolver position angle; determining a second test current according to the rotary transformer zero rough value; wherein the q-axis current instruction value of the second test current is 0; performing control test on the motor controller according to the first test current, the first control target and the second control target to obtain a to-be-written rotary transformer zero value; and writing the to-be-written rotary transformer zero value into an NVM (Non-Volatile Memory) of a motor controller. According to the method and the device, the zero position of the rotary transformer can be accurately and quickly recalibrated, so that the NVH problem is avoided, and the performance of the electric vehicle and the user experience are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle motor technology, and more specifically, to a resolver zero position calibration method and device. Background Art

[0002] At present, in electric vehicles and other industrial applications, permanent magnet synchronous motors (PMSM) have become the first choice for drive systems due to their excellent energy efficiency and performance stability. In the production process of electric drive assemblies, each assembly will undergo rigorous bench testing to determine its unique resolver zero position and write this precise value into the non-volatile memory (NVM) of the motor controller. In this way, each time the controller is powered on and initialized, the resolver zero position value can be read from the NVM to ensure the accuracy of motor control. However, in actual applications, after the electric drive assembly is installed in the vehicle system, its resolver zero position usually does not change, but in some special cases, such as forced changes by external forces or incorrect resolver zero position write values ​​due to errors in the manufacturing process, it is necessary to recalibrate the resolver zero position on the vehicle. In the prior art, the method of high-frequency harmonic injection is often used to obtain the actual resolver zero position value, but this method will bring problems in noise, vibration and harshness (NVH), affecting the comfort and performance of the vehicle. Summary of the invention

[0003] The purpose of the present application is to provide a resolver zero position calibration method and device, which can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, and further facilitating improving the performance and user experience of electric vehicles.

[0004] The first aspect of the present application provides a resolver zero position calibration method, comprising:

[0005] Get the pre-calibrated IsMax value;

[0006] Determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0;

[0007] Performing a control test on the motor controller according to the first test current to obtain a rough value of the resolver zero position;

[0008] Determine a first control target and a second control target of the resolver position angle;

[0009] Determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0;

[0010] Performing a control test on the motor controller according to the first test current, the first control target, and the second control target to obtain a resolver zero position value to be written;

[0011] The resolver zero position value to be written is written into the NVM of the motor controller.

[0012] In the above implementation process, the method can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, which is beneficial to improving the performance and user experience of electric vehicles.

[0013] Further, the controlling test of the motor controller according to the first test current to obtain a rough value of the resolver zero position includes:

[0014] When the motor controller is controlled and tested according to the first test current, the resolver zero position writing value is controlled to gradually change from 0° to 360° to obtain a first test result;

[0015] Obtain a first resolver zero position write value and a second resolver zero position write value corresponding to each of the first test currents according to the first test result; wherein the first resolver zero position write value is a resolver zero position write value at a maximum positive torque value, and the second resolver zero position write value is a resolver zero position write value at a minimum negative torque value;

[0016] Calculate the resolver zero position value corresponding to each first test current according to the first resolver zero position written value and the second resolver zero position written value;

[0017] The rough value of the resolver zero position is calculated according to the resolver zero position value corresponding to the first test current.

[0018] Further, the determining of the first control target and the second control target of the resolver position angle includes:

[0019] A first control target is determined according to the first resolver zero-position write value, and a second control target is determined according to the second resolver zero-position write value.

[0020] Further, the controlling test of the motor controller is performed according to the first test current, the first control target and the second control target to obtain the resolver zero position value to be written, including:

[0021] Testing the motor controller according to the second test current and a preset first d-axis current command adjustment strategy to obtain a second test result;

[0022] Determine a first resolver zero position precision value according to the second test result and the first control target;

[0023] Testing the motor controller according to the second test current and a preset second d-axis current command adjustment strategy to obtain a third test result;

[0024] Determine a second resolver zero position precise value according to the third test result and the second control target;

[0025] The resolver zero position value to be written is calculated according to the first resolver zero position precise value and the second resolver zero position precise value.

[0026] A second aspect of the present application provides a resolver zero position calibration device, the resolver zero position calibration device comprising:

[0027] An acquisition unit, used for acquiring a pre-calibrated IsMax value;

[0028] A first determination unit, configured to determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0;

[0029] A first test unit, used for performing a control test on the motor controller according to the first test current to obtain a rough value of the resolver zero position;

[0030] A second determining unit, used to determine a first control target and a second control target of the resolver position angle;

[0031] A third determining unit is used to determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0;

[0032] A second test unit, configured to perform a control test on the motor controller according to the first test current, the first control target and the second control target, to obtain a resolver zero position value to be written;

[0033] A writing unit is used to write the resolver zero position value to be written into the NVM of the motor controller.

[0034] Furthermore, the first test unit includes:

[0035] A control subunit, used for controlling the resolver zero position write value to gradually change from 0° to 360° when the motor controller is subjected to a control test according to the first test current, so as to obtain a first test result;

[0036] An acquisition subunit is used to acquire, according to the first test result, a first resolver zero position write value and a second resolver zero position write value corresponding to each of the first test currents; wherein the first resolver zero position write value is a resolver zero position write value at a maximum positive torque value, and the second resolver zero position write value is a resolver zero position write value at a minimum negative torque value;

[0037] A first calculation subunit, configured to calculate a resolver zero position value corresponding to each of the first test currents according to the first resolver zero position written value and the second resolver zero position written value;

[0038] The first calculation subunit is further used to calculate a rough value of the resolver zero position according to the resolver zero position value corresponding to the first test current.

[0039] Further, the second determining unit is specifically configured to determine a first control target according to the first resolver zero position written value, and to determine a second control target according to the second resolver zero position written value.

[0040] Furthermore, the second test unit includes:

[0041] a testing subunit, configured to test the motor controller according to the second test current and a preset first d-axis current command adjustment strategy to obtain a second test result;

[0042] A determination subunit, configured to determine a first resolver zero position precise value according to the second test result and the first control target;

[0043] The testing subunit is further used to test the motor controller according to the second test current and a preset second d-axis current command adjustment strategy to obtain a third test result;

[0044] The determining subunit is further used to determine a second resolver zero position precise value according to the third test result and the second control target;

[0045] The second calculation subunit is used to calculate the resolver zero position value to be written according to the first resolver zero position precise value and the second resolver zero position precise value.

[0046] A third aspect of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the resolver zero position calibration method described in any one of the first aspects of the present application.

[0047] A fourth aspect of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the resolver zero position calibration method described in any one of the first aspect of the present application is executed.

[0048] The beneficial effect of the present application is that the method and device can perform certain control within the range of the electric drive assembly gear gap before the vehicle is started to obtain the zero position value of the rotary transformer. Among them, since the transmission gear has a certain gap, the motor does not generate torque on the shaft system when rotating in the gear gap, thus avoiding the difference in user experience at the vehicle level. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application 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 paying creative work.

[0050] Figure 1 A schematic diagram of a process flow of a resolver zero position calibration method provided in an embodiment of the present application;

[0051] Figure 2 A schematic flow chart of another resolver zero position calibration method provided in an embodiment of the present application;

[0052] Figure 3 A variation trend between a resolver zero position deviation value and torque provided in an embodiment of the present application;

[0053] Figure 4 A plurality of test results at different test currents provided in an embodiment of the present application;

[0054] Figure 5 A change trend of the resolver position angle based on torque change provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the points of writing a resolver zero position value @ a maximum positive torque value and writing a resolver zero position value @ a maximum negative torque value provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of determining a control target provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram of the structure of a resolver zero position calibration device provided in an embodiment of the present application;

[0058] Fig. 9 A schematic structural diagram of another resolver zero position calibration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0060] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0061] Example 1

[0062] Please see Figure 1 , Figure 1 A flowchart of a resolver zero position calibration method provided in this embodiment is shown in FIG. The resolver zero position calibration method includes:

[0063] S101. Obtain a pre-calibrated IsMax value.

[0064] S102 . Determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0.

[0065] S103, performing a control test on the motor controller according to the first test current to obtain a rough value of the resolver zero position.

[0066] S104: Determine a first control target and a second control target for the resolver position angle.

[0067] S105. Determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0.

[0068] S106 , performing a control test on the motor controller according to the first test current, the first control target, and the second control target to obtain a resolver zero position value to be written.

[0069] S107, writing the resolver zero position value to be written into the NVM of the motor controller.

[0070] In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0071] In this embodiment, the execution subject of the method may also be a smart device such as a smart phone, a tablet computer, etc., which is not limited in this embodiment.

[0072] It can be seen that the resolver zero position calibration method described in this embodiment can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, which is beneficial to improving the performance and user experience of electric vehicles.

[0073] Example 2

[0074] Please see Figure 2 , Figure 2 A flowchart of a resolver zero position calibration method provided in this embodiment is provided. The resolver zero position calibration method includes:

[0075] S201. Obtain a pre-calibrated IsMax value.

[0076] In this embodiment, the IsMax value is used to indicate the limiting current command value of the maximum torque that the electric drive assembly can output under specific conditions. Specifically, the IsMax value is used to ensure that the maximum torque output does not drive the entire vehicle, but can make the gear surface fit tightly so that the gear clearance can be fully measured.

[0077] In this embodiment, the IsMax value can be obtained by calibration after the electric drive assembly is mounted on the vehicle. Specifically, the IsMax value can be obtained by calibration on the vehicle in which the resolver zero position writing value has been determined to be correct.

[0078] S202 . Determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0.

[0079] In this embodiment, the method can determine that the first test current is IsMax, 0.75*IsMax, 0.5*IsMax, etc.; the q-axis current command value of the first test current is always 0.

[0080] In this embodiment, Trq=1.5*P*[Fluxm*Iq+(Ld-Lq)*Id*Iq];

[0081] Among them, Trq is the electromagnetic torque of the motor, and its size depends on the structural parameters of the motor (such as flux Fluxm, d-axis inductance Ld, q-axis inductance Lq) and current control parameters (such as d-axis current command Id, q-axis current command Iq);

[0082] Id is the d-axis current command value, which is used to represent the current component flowing through the motor d-axis (direct axis);

[0083] Iq is the q-axis current command value, which is used to represent the current component flowing through the motor q-axis (quadrature axis);

[0084] P is the number of pole pairs of the motor, which is used to reflect the relationship between the motor speed and torque;

[0085] Fluxm is the permanent magnet flux of the motor, which is used to reflect the magnetic field strength and direction of the motor;

[0086] Ld and Lq represent the d-axis inductance and q-axis inductance of the motor, respectively.

[0087] It can be seen that when the resolver zero position written value = the actual resolver zero position value, when the current control of Id = IsMax, Iq = 0 is performed, the torque is determined to be 0;

[0088] When the resolver zero position written value is ≠ the actual resolver zero position value, when the current control is performed with Id=IsMax, Iq=0, the torque exists with the resolver zero position deviation value. Figure 3 The change of the trend shown. Figure 3 The changing trend between the resolver zero position deviation value and the torque is shown (this figure is used to reflect the changing trend, and the specific value of the torque is not limited).

[0089] S203. When the motor controller is subjected to a control test according to the first test current, the resolver zero position write value is controlled to gradually change from 0° to 360° to obtain a first test result.

[0090] In this embodiment, the method can be actually tested according to the variation characteristics of the torque with the resolver zero position deviation value.

[0091] In this embodiment, during actual testing, the method can perform Id=IsMax, Iq=0 current control, set the resolver zero position write value to gradually change from 0° to 360°, read the resolver zero position write value at the maximum positive torque value and the minimum negative torque value, and then calculate the resolver zero position value based on this.

[0092] The calculation formula is:

[0093] Resolver zero position value = (resolver zero position written value @ torque positive maximum value + resolver zero position written value @ torque negative maximum value - 360°) / 2.

[0094] Note: If the resolver zero position value calculated by the above formula is negative, perform +360° processing.

[0095] Please see Figure 4 , Figure 4 A variety of test results under different test currents are shown, wherein the test result is a change trend of torque as the resolver zero position deviation value changes.

[0096] Please see Figure 5 , Figure 5 A variation trend of the resolver position angle based on torque variation is shown.

[0097] S204. Obtain a first resolver zero-position write value and a second resolver zero-position write value corresponding to each first test current according to the first test result; wherein the first resolver zero-position write value is a resolver zero-position write value at a maximum positive torque value, and the second resolver zero-position write value is a resolver zero-position write value at a minimum negative torque value.

[0098] In this embodiment, the method can be based on Figure 5 The resolver zero position write value @ the maximum positive torque value and the resolver zero position write value @ the maximum negative torque value used to calculate the resolver zero position value are determined.

[0099] Please see Figure 6 , Figure 6A schematic diagram of the points for writing the resolver zero position value @ the maximum positive torque value and the resolver zero position value @ the maximum negative torque value is shown.

[0100] S205 , calculating the resolver zero position value corresponding to each first test current according to the first resolver zero position written value and the second resolver zero position written value.

[0101] In this embodiment, the method calculates the resolver zero position value using the following calculation formula:

[0102] Resolver zero value 1 = (Value1 + Value2 - 360°) / 2;

[0103] Resolver zero value 2 = (Value3 + Value4 - 360°) / 2;

[0104] Resolver zero value 3 = (Value5 + Value6 - 360°) / 2;

[0105] Theoretically, Value1 = Value3 = Value5; Value2 = Value4 = Value6;

[0106] That is, resolver zero position value 1 = resolver zero position value 2 = resolver zero position value 3.

[0107] S206. Calculate a rough resolver zero position value according to the resolver zero position value corresponding to the first test current.

[0108] In actual situations, various errors may cause slight inconsistencies among resolver zero position value 1, resolver zero position value 2, and resolver zero position value 3. Therefore, this method defines the resolver zero position rough value as:

[0109] The rough value of resolver zero position = (resolver zero position value 1 + resolver zero position value 2 + resolver zero position value 3) / 3.

[0110] In this embodiment, the rough value of the resolver zero position is not limited to being obtained by averaging one or more sets of resolver zero position values; meanwhile, the multiple sets of resolver zero position values ​​are not limited to using the following current instructions: IsMax, 0.75*IsMax, 0.5*IsMax.

[0111] In this embodiment, if various errors are properly processed so that the deviation between the calculated resolver zero position rough value and the actual resolver zero position value is within the acceptable range for motor control, it is no longer necessary to perform subsequent steps.

[0112] S207: Determine a first control target according to the first resolver zero position write value, and determine a second control target according to the second resolver zero position write value.

[0113] In this embodiment, the method can perform closed-loop control of the resolver position angle, which is specifically divided into two closed-loop controls.

[0114] Please see Figure 7 , Figure 7 A schematic diagram for determining a control target is shown.

[0115] S208. Determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0.

[0116] S209 , testing the motor controller according to the second test current and the preset first d-axis current command adjustment strategy to obtain a second test result.

[0117] S210: Determine a first resolver zero position precise value according to the second test result and the first control target.

[0118] In this embodiment, the first control target of the resolver position angle is Figure 7 Value7 in .

[0119] In this embodiment, the method can fine-tune the resolver zero position value used in the control software based on the rough value of the resolver zero position obtained by the test, so that when the current control is performed with the Id command value = Is and the Iq command value constant = 0, the angle is stabilized at Value7. At this time, the Is value gradually increases from small to large. When the control is stable when Is is small, the Is value is gradually increased, and the adjustment range of the resolver zero position value is gradually reduced. At the maximum Is, the resolver zero position value when the angle is stable at Value7 is defined as the first resolver zero position precise value.

[0120] S211 . Test the motor controller according to the second test current and the preset second d-axis current command adjustment strategy to obtain a third test result.

[0121] S212: Determine a second resolver zero position precision value according to the third test result and the second control target.

[0122] In this embodiment, the second control target of the resolver position angle is Figure 7 Value8 in .

[0123] In this embodiment, the method can fine-tune the resolver zero position value used in the control software based on the rough value of the resolver zero position obtained by the test, so that when the current control is performed with the Id command value = Is and the Iq command value constant = 0, the angle is stabilized at Value8. At this time, the Is value gradually increases from small to large. When the control is stable when Is is small, the Is value is gradually increased, and the adjustment range of the resolver zero position value is gradually reduced. At the maximum Is, the resolver zero position value when the angle is stable at Value8 is defined as the second resolver zero position precise value.

[0124] S213, calculating the resolver zero position value to be written according to the first resolver zero position precise value and the second resolver zero position precise value.

[0125] In this embodiment, the final calibrated resolver zero position accurate value (i.e., the resolver zero position value to be written) can be calculated by the following formula:

[0126] Resolver zero position precise value = (resolver zero position precise value 1 + resolver zero position precise value 2) / 2.

[0127] S214, writing the resolver zero position value to be written into the NVM of the motor controller.

[0128] In this embodiment, the resolver zero position value to be written is written into the NVM (ie, non-volatile memory) of the motor controller for motor control.

[0129] In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0130] In this embodiment, the execution subject of the method may also be a smart device such as a smart phone, a tablet computer, etc., which is not limited in this embodiment.

[0131] It can be seen that the resolver zero position calibration method described in this embodiment can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, which is beneficial to improving the performance and user experience of electric vehicles.

[0132] Example 3

[0133] Please see Figure 8 , Figure 8 The following is a schematic diagram of the structure of a resolver zero position calibration device provided in this embodiment. Figure 8 As shown, the resolver zero position calibration device comprises:

[0134] An acquisition unit 310 is used to acquire a pre-calibrated IsMax value;

[0135] A first determination unit 320 is used to determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0;

[0136] A first test unit 330 is used to perform a control test on the motor controller according to a first test current to obtain a rough value of the resolver zero position;

[0137] A second determining unit 340, configured to determine a first control target and a second control target for a resolver position angle;

[0138] The third determination unit 350 is used to determine the second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0;

[0139] The second test unit 360 is used to perform a control test on the motor controller according to the first test current, the first control target and the second control target to obtain a resolver zero position value to be written;

[0140] The writing unit 370 is used to write the resolver zero position value to be written into the NVM of the motor controller.

[0141] In this embodiment, the explanation of the resolver zero position calibration device can refer to the description in Embodiment 1 or Embodiment 2, and will not be further elaborated in this embodiment.

[0142] It can be seen that the resolver zero position calibration device described in this embodiment can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, which is beneficial to improving the performance and user experience of electric vehicles.

[0143] Example 4

[0144] Please see Fig. 9 , Fig. 9 The following is a schematic diagram of the structure of a resolver zero position calibration device provided in this embodiment. Fig. 9 As shown, the resolver zero position calibration device comprises:

[0145] An acquisition unit 310 is used to acquire a pre-calibrated IsMax value;

[0146] A first determination unit 320 is used to determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0;

[0147] A first test unit 330 is used to perform a control test on the motor controller according to a first test current to obtain a rough value of the resolver zero position;

[0148] A second determining unit 340, configured to determine a first control target and a second control target for a resolver position angle;

[0149] The third determination unit 350 is used to determine the second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0;

[0150] The second test unit 360 is used to perform a control test on the motor controller according to the first test current, the first control target and the second control target to obtain a resolver zero position value to be written;

[0151] The writing unit 370 is used to write the resolver zero position value to be written into the NVM of the motor controller.

[0152] As an optional implementation, the first testing unit 330 includes:

[0153] The control subunit 331 is used to control the resolver zero position write value to gradually change from 0° to 360° when the motor controller is controlled and tested according to the first test current, so as to obtain a first test result;

[0154] An acquisition subunit 332 is used to acquire a first resolver zero position write value and a second resolver zero position write value corresponding to each first test current according to the first test result; wherein the first resolver zero position write value is a resolver zero position write value at a maximum positive torque value, and the second resolver zero position write value is a resolver zero position write value at a minimum negative torque value;

[0155] A first calculation subunit 333, configured to calculate a resolver zero position value corresponding to each first test current according to the first resolver zero position write value and the second resolver zero position write value;

[0156] The first calculation subunit 333 is further used to calculate the resolver zero position rough value according to the resolver zero position value corresponding to the first test current.

[0157] As an optional implementation manner, the second determining unit 340 is specifically configured to determine the first control target according to the first resolver zero-bit write value, and determine the second control target according to the second resolver zero-bit write value.

[0158] As an optional implementation, the second testing unit 360 includes:

[0159] The testing subunit 361 is used to test the motor controller according to the second test current and the preset first d-axis current command adjustment strategy to obtain a second test result;

[0160] A determination subunit 362, configured to determine a first resolver zero position precise value according to the second test result and the first control target;

[0161] The testing subunit 361 is further used to test the motor controller according to the second test current and the preset second d-axis current command adjustment strategy to obtain a third test result;

[0162] The determination subunit 362 is further used to determine the second resolver zero position precise value according to the third test result and the second control target;

[0163] The second calculation subunit 363 is used to calculate the resolver zero position value to be written according to the first resolver zero position precise value and the second resolver zero position precise value.

[0164] In this embodiment, the explanation of the resolver zero position calibration device can refer to the description in Embodiment 1 or Embodiment 2, and will not be further elaborated in this embodiment.

[0165] It can be seen that the resolver zero position calibration device described in this embodiment can accurately and quickly recalibrate the resolver zero position, thereby avoiding NVH problems, which is beneficial to improving the performance and user experience of electric vehicles.

[0166] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the resolver zero position calibration method in Embodiment 1 or Embodiment 2 of the present application.

[0167] An embodiment of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the resolver zero position calibration method in Embodiment 1 or Embodiment 2 of the present application is executed.

[0168] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device 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 devices, methods and computer program products according to multiple embodiments of the present application. 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, a program segment or a part of a 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.

[0169] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0170] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0171] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0172] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0173] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A resolver zero position calibration method, characterized in that: include: Get the pre-calibrated IsMax value; Determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0; Performing a control test on the motor controller according to the first test current to obtain a rough value of the resolver zero position; Determine a first control target and a second control target of the resolver position angle; Determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0; Performing a control test on the motor controller according to the first test current, the first control target and the second control target to obtain a resolver zero position value to be written; The resolver zero position value to be written is written into the NVM of the motor controller.

2. The resolver zero position calibration method according to claim 1, characterized in that: The controlling test of the motor controller according to the first test current to obtain a rough value of the resolver zero position includes: When the motor controller is controlled and tested according to the first test current, the resolver zero position writing value is controlled to gradually change from 0° to 360° to obtain a first test result; Obtain a first resolver zero position write value and a second resolver zero position write value corresponding to each of the first test currents according to the first test result; wherein the first resolver zero position write value is a resolver zero position write value at a maximum positive torque value, and the second resolver zero position write value is a resolver zero position write value at a minimum negative torque value; Calculate the resolver zero position value corresponding to each first test current according to the first resolver zero position written value and the second resolver zero position written value; The resolver zero position rough value is calculated according to the resolver zero position value corresponding to the first test current.

3. The resolver zero position calibration method according to claim 2, characterized in that: The first control target and the second control target of determining the resolver position angle include: A first control target is determined according to the first resolver zero position written value, and a second control target is determined according to the second resolver zero position written value.

4. The resolver zero position calibration method according to claim 1, characterized in that: The controlling test of the motor controller is performed according to the first test current, the first control target and the second control target to obtain the resolver zero position value to be written, including: Testing the motor controller according to the second test current and the preset first d-axis current command adjustment strategy to obtain a second test result; Determine a first resolver zero position precision value according to the second test result and the first control target; Testing the motor controller according to the second test current and a preset second d-axis current command adjustment strategy to obtain a third test result; Determine a second resolver zero position precise value according to the third test result and the second control target; The resolver zero position value to be written is calculated according to the first resolver zero position precise value and the second resolver zero position precise value.

5. A resolver zero position calibration device, characterized in that: The resolver zero position calibration device comprises: An acquisition unit, used for acquiring a pre-calibrated IsMax value; A first determination unit, configured to determine a plurality of first test currents according to the IsMax value and a preset d-axis current command value determination algorithm; wherein the q-axis current command values ​​of the first test currents are all 0; A first test unit, used for performing a control test on the motor controller according to the first test current to obtain a rough value of the resolver zero position; A second determining unit, used to determine a first control target and a second control target of the resolver position angle; A third determining unit is used to determine a second test current according to the rough value of the resolver zero position; wherein the q-axis current command value of the second test current is 0; A second test unit, configured to perform a control test on the motor controller according to the first test current, the first control target and the second control target, to obtain a resolver zero position value to be written; A writing unit is used to write the resolver zero position value to be written into the NVM of the motor controller.

6. The resolver zero position calibration device according to claim 5, characterized in that: The first testing unit comprises: A control subunit, used for controlling the resolver zero position write value to gradually change from 0° to 360° when the motor controller is subjected to a control test according to the first test current, so as to obtain a first test result; An acquisition subunit is used to acquire, according to the first test result, a first resolver zero position write value and a second resolver zero position write value corresponding to each of the first test currents; wherein the first resolver zero position write value is a resolver zero position write value at a maximum positive torque value, and the second resolver zero position write value is a resolver zero position write value at a minimum negative torque value; A first calculation subunit, configured to calculate a resolver zero position value corresponding to each of the first test currents according to the first resolver zero position written value and the second resolver zero position written value; The first calculation subunit is further used to calculate a rough value of the resolver zero position according to the resolver zero position value corresponding to the first test current.

7. The resolver zero position calibration device according to claim 6, characterized in that: The second determining unit is specifically configured to determine a first control target according to the first resolver zero position written value, and to determine a second control target according to the second resolver zero position written value.

8. The resolver zero position calibration device according to claim 5, characterized in that: The second test unit comprises: a testing subunit, configured to test the motor controller according to the second test current and a preset first d-axis current command adjustment strategy to obtain a second test result; A determination subunit, configured to determine a first resolver zero position precise value according to the second test result and the first control target; The testing subunit is further used to test the motor controller according to the second test current and a preset second d-axis current command adjustment strategy to obtain a third test result; The determining subunit is further used to determine a second resolver zero position precise value according to the third test result and the second control target; The second calculation subunit is used to calculate the resolver zero position value to be written according to the first resolver zero position precise value and the second resolver zero position precise value.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the resolver zero position calibration method according to any one of claims 1 to 4.

10. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the resolver zero position calibration method according to any one of claims 1 to 4 is executed.

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