Vehicle motor control method and system and vehicle

Abstract

The invention discloses a vehicle motor control method. The method comprises the following steps: acquiring a differential sampling signal from a motor rotor position sensor of a vehicle; judging whether abnormal signals exist in the differential sampling signals or not; if the abnormal signal exists, performing redundancy calculation on the abnormal signal according to other normal signals in the differential sampling signal to obtain a backup signal; and determining the position of the motor rotor of the vehicle based on the backup signal and other normal signals in the differential sampling signals. The invention further discloses a system and a vehicle applying the method.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle motor control method, system and vehicle. Background Art

[0002] The motor rotor refers to the rotating body supported by bearings in the vehicle's motor. Its role in the motor is to convert electrical energy into mechanical energy or mechanical energy into electrical energy. The motor rotor position is crucial to the normal operation of the motor because it directly affects the motor's output power and efficiency. If the motor rotor position is inaccurate, it may cause unstable motor operation or even damage the motor.

[0003] The motor rotor position sensor is a device used to detect the position of the motor rotor. It converts the mechanical position into an electrical signal for use by the motor controller to decide when to switch the current direction and intensity of the vehicle motor, thereby controlling the rotation speed and torque of the vehicle motor. In new energy vehicles, the accurate operation of the motor rotor position sensor is crucial to ensure the safety and stability of vehicle driving, especially at critical moments such as emergency braking, acceleration or steering. The response speed and accuracy of the motor rotor position sensor directly affect the response of the motor.

[0004] When the motor rotor position sensor fails, the existing technology mostly uses the three-phase back electromotive force of the permanent magnet motor to estimate the motor rotor position as a redundant strategy. The disadvantage of this method is that the estimated motor rotor position is relatively inaccurate. Accurate motor rotor position estimation is crucial to improving the efficiency and performance of the motor. Researching and developing more accurate and efficient motor rotor position estimation methods is of great significance to promoting the development of motor technology.

[0005] The following is an explanation of the terms that may be involved in this application, as follows: ADC sampling: a technique that discretizes analog signals according to a certain sampling frequency and then converts them into digital signals. Summary of the invention

[0006] In order to solve the above technical problems, the present invention specifically provides the following technical solutions.

[0007] The present invention provides a vehicle motor control method, comprising the following steps: S1, obtaining a differential sampling signal from a motor rotor position sensor of a vehicle; S2, determining whether there is an abnormal signal in the differential sampling signal; S3, if there is an abnormal signal, redundancy calculation is performed on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal; S4, determining the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

[0008] Optionally, the step S1 includes: Four differential sampling signals of the motor rotor position sensor including two sine differential sampling signals and two cosine differential sampling signals are obtained.

[0009] Optionally, step S1 includes the following sub-steps: S11, collecting four voltage values ​​of the motor rotor position sensor through ADC sampling technology; S12, converting the four voltage values ​​into a decimal range according to the ratio respectively, to obtain the two sine differential sampling signals and the two cosine differential sampling signals.

[0010] Optionally, step S2 includes the following sub-steps: S21, determining the sum of the two sine differential sampling signals as a sine sum, and determining the sum of the two cosine differential sampling signals as a cosine sum; S22, based on the four-way differential sampling signals, the sine sum and the cosine sum, determine whether there is an abnormal signal in the four-way differential sampling signals.

[0011] Optionally, the sub-step S22 includes the following operations: S221, respectively determining whether the four-channel differential sampling signals exceed a preset single-channel signal reference range; S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, determining whether the sine sum or cosine sum exceeds the preset sum signal reference range; S223: If the result of the operation S222 is beyond the preset sum signal reference range, the differential sampling signal exceeding the single signal reference range is determined to be an abnormal signal.

[0012] Optionally, the sub-step S21 further includes the following operations: S210, determining the single-channel signal reference range and the sum signal reference range based on chip characteristics of the motor rotor position sensor.

[0013] Optionally, the operation S222 includes: When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, determine whether the cosine sum exceeds the preset sum signal reference range; if the differential sampling signal is a cosine differential sampling signal, determine whether the sine sum exceeds the preset sum signal reference range.

[0014] Optionally, step S3 includes the following sub-steps: S31, if there is an abnormal signal, and the abnormal signal is a sinusoidal differential sampling signal, the difference between the cosine sum and another sinusoidal differential sampling signal is determined as the backup signal; S32: If the abnormal signal is a cosine differential sampling signal, the difference between the sine sum and another cosine differential sampling signal is determined as the backup signal.

[0015] In addition, the present invention also provides a vehicle motor control system, comprising: A differential sampling signal acquisition module, used to acquire a differential sampling signal from a motor rotor position sensor of a vehicle; An abnormal signal judging module, used for judging whether there is an abnormal signal in the differential sampling signal; A redundant calculation module, used for performing redundant calculation on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal; The motor control module is used to determine the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

[0016] In addition, the present invention also provides a vehicle, comprising the vehicle motor control system as described above.

[0017] Through the above technical scheme, the function of accurately estimating the motor rotor position can be realized when the motor rotor position sensor fails, thereby solving the problem of inaccurate estimation results of the method of estimating the motor rotor position using the three-phase back electromotive force of the permanent magnet motor in the prior art, thereby achieving the purpose of ensuring the stable operation of the motor and improving the operating efficiency and performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a vehicle motor control method provided by an embodiment of the present invention; Figure 2 A schematic diagram of a module of a vehicle motor control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] The specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] Although the various steps in the flowchart in the embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0022] In the following description, the suffixes such as "module" and "device" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module" and "device" can be used interchangeably.

[0023] Although the terms first, second, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.

[0024] See also Figure 1 According to one aspect of the present application, there is provided a vehicle motor control method, comprising the following steps: S1, a motor rotor position sensor of a vehicle is communicatively connected to a data processing device, and the data processing device may be, for example, an on-board computer or other data processing terminal such as a smart phone that can be communicatively connected to the motor rotor position sensor.

[0025] The data processing device obtains a differential sampling signal from the motor rotor position sensor.

[0026] S2, the data processing device determines whether there is an abnormal signal in the differential sampling signal.

[0027] S3, if there is an abnormal signal, the data processing device determines that the motor rotor position sensor has failed, and then the data processing device performs redundant calculation on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal.

[0028] S4, the data processing device determines the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

[0029] Through the above technical scheme, the function of accurately estimating the motor rotor position can be realized when the motor rotor position sensor fails, thereby solving the problem of inaccurate estimation results of the method of estimating the motor rotor position using the three-phase back electromotive force of the permanent magnet motor in the prior art, thereby achieving the purpose of ensuring the stable operation of the motor and improving the operating efficiency and performance of the motor.

[0030] The step S1 may include: The data processing device obtains four differential sampling signals of the motor rotor position sensor, including two sine differential sampling signals and two cosine differential sampling signals.

[0031] The two sine differential sampling signals may be a positive sine signal and a negative sine signal, and the two cosine differential sampling signals may be a positive cosine signal and a negative cosine signal.

[0032] The step S1 may include the following sub-steps: S11, the data processing device collects four voltage values ​​of the motor rotor position sensor through ADC sampling technology.

[0033] S12, the data processing device converts the four voltage values ​​into a decimal range according to the ratio respectively, to obtain the two sine differential sampling signals and the two cosine differential sampling signals.

[0034] In this implementation manner, the reference range of the four voltage values ​​is preferably 0 to 3.3 volts, and the decimal range is preferably 0 to 4095.

[0035] The step S2 may include the following sub-steps: S21, the data processing device determines the sum of the two sine differential sampling signals as the sine sum, and determines the sum of the two cosine differential sampling signals as the cosine sum. Specifically: the sum of the positive sine signal and the negative sine signal is determined as the sine sum, and the sum of the positive cosine signal and the negative cosine signal is determined as the cosine sum.

[0036] S22, the data processing device determines whether there is an abnormal signal in the four-channel differential sampling signal based on the four-channel differential sampling signal, the sine sum and the cosine sum.

[0037] The sub-step S22 may include the following operations: S221, the data processing device determines whether the four-channel differential sampling signals exceed a preset single-channel signal reference range.

[0038] In this embodiment, the data processing device can set corresponding single-channel signal flag bits for the four differential sampling signals respectively. If the single-channel differential sampling signal exceeds the preset single-channel signal reference range, the corresponding single-channel signal flag bit is set to the preset first abnormal value; if the single-channel differential sampling signal does not exceed the preset single-channel signal reference range, the corresponding single-channel signal flag bit is set to the preset first normal value.

[0039] Among them, the first abnormal value is preferably 0, and the first normal value is preferably 1.

[0040] S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, the data processing device determines whether the sine sum or cosine sum exceeds the preset sum signal reference range.

[0041] In this implementation manner, the data processing device can determine whether only one differential sampling signal exceeds a preset single-channel signal reference range through the single-channel signal flag bit corresponding to the four-channel differential sampling signals.

[0042] In this embodiment, the data processing device can set corresponding sum signal flags for the sine sum and cosine sum respectively. If the sine sum or cosine sum exceeds the preset sum signal reference range, the corresponding sum signal flag is set to a preset second abnormal value. If the sine sum or cosine sum does not exceed the preset sum signal reference range, the corresponding sum signal flag is set to a preset second normal value.

[0043] Among them, the second abnormal value is preferably 0, and the second normal value is preferably 1.

[0044] S223, if the execution result of the operation S222 is beyond the preset sum signal reference range, the data processing device determines that the differential sampling signal exceeding the single signal reference range is an abnormal signal.

[0045] In this implementation manner, the data processing device may determine whether the execution result of the operation S222 exceeds a preset sum signal reference range through a sum signal flag corresponding to the sine sum and the cosine sum.

[0046] This embodiment can quickly and conveniently determine whether only one differential sampling signal exceeds the preset single-channel signal reference range by setting corresponding single-channel signal flag bits for the four differential sampling signals respectively; this embodiment can quickly and conveniently determine whether the execution result of the operation S222 exceeds the preset sum signal reference range by setting corresponding sum signal flag bits for the sine sum and cosine sum respectively, thereby improving the execution efficiency and execution accuracy of the vehicle motor control method.

[0047] The sub-step S21 may also include the following operations: S210, the data processing device determines the single-channel signal reference range and the sum signal reference range based on the chip characteristics of the motor rotor position sensor.

[0048] The chip characteristics of the motor rotor position sensor may include a variation range and an error range of an output signal of the motor rotor position sensor chip within a preset temperature range. In this embodiment, the temperature range is preferably -40°C to 140°C.

[0049] The operation S222 may include: When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, the data processing device determines whether the cosine sum exceeds the preset sum signal reference range. If the differential sampling signal is a cosine differential sampling signal, the data processing device determines whether the sine sum exceeds the preset sum signal reference range.

[0050] For example, if only the positive sine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the cosine sum exceeds the preset sum signal reference range. If only the positive cosine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the sine sum exceeds the preset sum signal reference range.

[0051] Similarly, if only the negative sine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the cosine sum exceeds the preset sum signal reference range. If only the negative cosine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the sine sum exceeds the preset sum signal reference range.

[0052] The step S3 may include the following sub-steps: S31, if there is an abnormal signal, and the abnormal signal is a sinusoidal differential sampling signal, the data processing device determines the difference between the cosine sum and another sinusoidal differential sampling signal as the backup signal.

[0053] For example, if the abnormal signal is a positive sine signal, the data processing device determines the difference between the cosine sum and the negative sine signal as the backup signal.

[0054] Similarly, if the abnormal signal is a negative sinusoidal signal, the data processing device determines the difference between the cosine sum and the positive sinusoidal signal as the backup signal.

[0055] S32: If the abnormal signal is a cosine differential sampling signal, the data processing device determines the difference between the sine sum and another cosine differential sampling signal as the backup signal.

[0056] For example, if the abnormal signal is a positive cosine signal, the data processing device determines the difference between the sine sum and the negative cosine signal as the backup signal.

[0057] Similarly, if the abnormal signal is a negative cosine signal, the data processing device determines the difference between the sine sum and the positive cosine signal as the backup signal.

[0058] See also Figure 2 According to another aspect of the present application, a vehicle motor control system is provided, comprising: The differential sampling signal acquisition module 1 is communicatively connected to the motor rotor position sensor of the vehicle and is used to acquire the differential sampling signal from the motor rotor position sensor.

[0059] The abnormal signal judging module 2 is used to judge whether there is an abnormal signal in the differential sampling signal.

[0060] The redundant calculation module 3 is used to perform redundant calculation on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal.

[0061] The motor control module 4 is used to determine the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

[0062] The differential sampling signal acquisition module 1 may include the following submodules: The four-channel signal acquisition submodule is used to acquire four-channel differential sampling signals of the motor rotor position sensor, including two channels of sine differential sampling signals and two channels of cosine differential sampling signals.

[0063] The four-way signal acquisition submodule may include the following units: The sampling unit is used to collect four voltage values ​​of the motor rotor position sensor through ADC sampling technology.

[0064] The conversion unit is used to convert the four voltage values ​​into a decimal range according to the ratio respectively, so as to obtain the two sine differential sampling signals and the two cosine differential sampling signals.

[0065] The abnormal signal judgment module 2 may include the following submodules: The summing submodule is used to determine the sum of the two sine differential sampling signals as the sine sum, and to determine the sum of the two cosine differential sampling signals as the cosine sum.

[0066] The abnormal signal judgment submodule is used to judge whether there is an abnormal signal in the four-channel differential sampling signal based on the four-channel differential sampling signal, the sine sum and the cosine sum.

[0067] The abnormal signal judgment submodule may include the following units: The first judging unit is used to judge whether the four-channel differential sampling signals exceed a preset single-channel signal reference range.

[0068] The second judgment unit is used to judge whether the cosine sum exceeds the preset sum signal reference range when only one differential sampling signal exceeds the preset single signal reference range, if the differential sampling signal is a sine differential sampling signal; if the differential sampling signal is a cosine differential sampling signal, judge whether the sine sum exceeds the preset sum signal reference range.

[0069] The third judgment unit is used to judge that the differential sampling signal exceeding the single-channel signal reference range is an abnormal signal when the execution result of the second judgment unit exceeds the preset sum signal reference range.

[0070] The redundant calculation module 3 may include the following submodules: The first determination submodule is used to determine the difference between the cosine sum and another sine differential sampling signal as the backup signal when there is an abnormal signal and the abnormal signal is a sine differential sampling signal.

[0071] The second determination submodule is used to determine the difference between the sine sum and another cosine differential sampling signal as the backup signal when the abnormal signal is a cosine differential sampling signal.

[0072] An embodiment of another aspect of the present application provides a vehicle, comprising the vehicle motor control system as described above.

[0073] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] In this document, the terms "comprises," "comprising" or any other variations thereof are intended to cover a non-exclusive inclusion of elements other than those listed and may also include other elements not expressly listed.

[0075] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle motor control method, characterized in that: The following steps are involved: S1, obtaining a differential sampling signal from a motor rotor position sensor of a vehicle; S2, determining whether there is an abnormal signal in the differential sampling signal; S3, if there is an abnormal signal, redundancy calculation is performed on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal; S4, determining the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

2. The vehicle motor control method according to claim 1, characterized in that: The step S1 comprises: Four differential sampling signals of the motor rotor position sensor including two sine differential sampling signals and two cosine differential sampling signals are obtained.

3. The vehicle motor control method according to claim 2, characterized in that: The step S1 comprises the following sub-steps: S11, collecting four voltage values ​​of the motor rotor position sensor through analog-to-digital converter (ADC) sampling technology; S12, converting the four voltage values ​​into a decimal range according to the ratio respectively, to obtain the two sine differential sampling signals and the two cosine differential sampling signals.

4. The vehicle motor control method according to claim 3, characterized in that: The step S2 comprises the following sub-steps: S21, determining the sum of the two sine differential sampling signals as a sine sum, and determining the sum of the two cosine differential sampling signals as a cosine sum; S22, based on the four-way differential sampling signals, the sine sum and the cosine sum, determine whether there is an abnormal signal in the four-way differential sampling signals.

5. The vehicle motor control method according to claim 4, characterized in that: The sub-step S22 includes the following operations: S221, respectively determining whether the four-channel differential sampling signals exceed a preset single-channel signal reference range; S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, determining whether the sine sum or cosine sum exceeds the preset sum signal reference range; S223: If the result of the operation S222 is beyond the preset sum signal reference range, the differential sampling signal exceeding the single signal reference range is determined to be an abnormal signal.

6. The vehicle motor control method according to claim 5, characterized in that: The sub-step S21 further includes the following operations: S210, determining the single-channel signal reference range and the sum signal reference range based on chip characteristics of the motor rotor position sensor.

7. The vehicle motor control method according to claim 5, characterized in that: The operation S222 includes: When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, determine whether the cosine sum exceeds the preset sum signal reference range; if the differential sampling signal is a cosine differential sampling signal, determine whether the sine sum exceeds the preset sum signal reference range.

8. The vehicle motor control method according to claim 2, characterized in that: The step S3 comprises the following sub-steps: S31, if there is an abnormal signal, and the abnormal signal is a sinusoidal differential sampling signal, the difference between the cosine sum and another sinusoidal differential sampling signal is determined as the backup signal; S32: If the abnormal signal is a cosine differential sampling signal, the difference between the sine sum and another cosine differential sampling signal is determined as the backup signal.

9. A vehicle motor control system, characterized in that: include: A differential sampling signal acquisition module, used to acquire a differential sampling signal from a motor rotor position sensor of a vehicle; An abnormal signal judging module, used for judging whether there is an abnormal signal in the differential sampling signal; A redundant calculation module, used for performing redundant calculation on the abnormal signal according to the remaining normal signals in the differential sampling signal to obtain a backup signal; The motor control module is used to determine the motor rotor position of the vehicle based on the backup signal and the remaining normal signals in the differential sampling signal.

10. A vehicle, characterized in that: Comprising the vehicle motor control system as claimed in claim 9.

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