Electric drive rotating speed estimation method, device, storage medium and computer program product

Abstract

The invention discloses an electric drive rotating speed estimation method, a device, a storage medium and a computer program product, and relates to the technical field of motor control, and the method comprises the steps: obtaining a three-phase voltage original analog-to-digital conversion value set and a three-phase current original analog-to-digital conversion value set; based on a preset electric rotating speed calculation algorithm and a confidence calculation algorithm, according to the three-phase voltage original analog-to-digital conversion value set, calculating to obtain a voltage electric rotating speed and a voltage confidence, and according to the three-phase current original analog-to-digital conversion value set, calculating to obtain a current electric rotating speed and a current confidence; and based on a preset electric rotating speed fusion algorithm, according to the voltage confidence coefficient and the current confidence coefficient, fusing and converting the voltage electric rotating speed and the current electric rotating speed to obtain a functional safety rotating speed. According to the method and the device, resolver redundant EVADC soft decoding does not need to be developed, the problem of relatively high development cost of rotating speed estimation through resolver soft decoding is solved, the CPU load rate and memory resource consumption are reduced, and the development cost is further reduced.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to an electric drive speed estimation method, device, storage medium and computer program product. Background Art

[0002] With the continuous advancement of automobile technology and the improvement of intelligence, automobile functional safety has become an important development direction of the automobile industry. As an important part of new energy vehicles, the electric drive system is mainly composed of motor controllers, motors and reducers. It is the key to converting electrical energy into driving force and carries important functions such as vehicle driving. Therefore, reliability and safety are crucial for electric drive systems. With the publication and revision of relevant standards at home and abroad, people are paying more and more attention to the safety of electric drive systems. Among them, speed safety is one of the most important safety goals in electric drive systems. By real-time monitoring of the motor output speed during vehicle driving, when some unexpected speed output occurs, the vehicle can enter a pre-defined safe state through corresponding processing, thereby reducing unexpected hazards and ensuring personal safety.

[0003] In order to achieve the speed safety goal, the current accurate speed of the motor must be obtained first before speed monitoring can be performed. In the electric drive system, the most commonly used method is to obtain the Sin / Cos outer envelope through the resolver redundant EVADC soft decoding, calculate the angle signal through the inverse tangent, and then calculate the electrical speed through the angle, thereby monitoring the drive motor speed and reducing the risk of unexpected speed in the electric drive system.

[0004] However, this method obtains the rotation speed by de-enveloping the redundant EVADC of the resolver. The resolver soft decoding has high requirements on timing, which increases the difficulty of software development, CPU load rate and excessive consumption of memory resources. It brings more manpower investment in functional safety unit testing, integration testing and requirement testing, which will undoubtedly lead to a large increase in costs.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of this application is to provide an electric drive speed estimation method, device, storage medium and computer program product, aiming to solve the technical problem of high development cost of speed estimation through existing resolver soft decoding.

[0007] To achieve the above purpose, the present application proposes a method for estimating electric drive speed, the method comprising:

[0008] Obtaining a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current;

[0009] Based on the preset electric speed calculation algorithm and confidence calculation algorithm, the voltage electric speed and voltage confidence are calculated according to the three-phase voltage original analog-to-digital conversion value set, and the current electric speed and current confidence are calculated according to the three-phase current original analog-to-digital conversion value set;

[0010] Based on a preset electric speed fusion algorithm, the voltage electric speed and the current electric speed are fused and converted according to the voltage confidence and the current confidence to obtain a functional safety speed.

[0011] In one embodiment, the step of calculating the voltage electric speed and the voltage confidence based on the preset electric speed calculation algorithm and the confidence calculation algorithm according to the three-phase voltage original analog-to-digital conversion value set comprises:

[0012] Based on a preset amplitude calculation algorithm and a position difference calculation algorithm, a voltage position difference set and a voltage amplitude set are calculated according to the three-phase voltage original analog-to-digital conversion value set;

[0013] Based on the electric speed calculation algorithm, the voltage electric speed is calculated according to the voltage position difference set;

[0014] Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain the voltage confidence.

[0015] In one embodiment, the step of calculating a voltage position difference set and a voltage amplitude set based on a preset amplitude calculation algorithm and a position difference calculation algorithm according to the three-phase voltage original analog-to-digital conversion value set comprises:

[0016] Performing physical value conversion on the three-phase voltage original analog-to-digital conversion value set to obtain a three-phase voltage physical value set;

[0017] Performing Clarke transformation on the three-phase voltage physical value set to obtain a two-phase voltage signal set;

[0018] Based on a preset first-order infinite impulse response filter, filtering the two-phase voltage signal set to obtain a filtered voltage signal set;

[0019] Performing an inverse tangent transformation on the filtered voltage signal set to obtain a voltage electrical angle set, wherein the voltage electrical angles in the voltage electrical angle set are arranged according to a preset short-cycle time sequence;

[0020] Based on the position difference calculation algorithm, calculate the position difference between any two adjacent voltage electrical angles in the voltage electrical angle set to obtain the voltage position difference set;

[0021] Based on the amplitude calculation algorithm, the square sum of the amplitude of each filtered voltage signal in the filtered voltage signal set is calculated to obtain the voltage amplitude set.

[0022] In one embodiment, the step of calculating the voltage electric speed based on the electric speed calculation algorithm and according to the voltage position difference set comprises:

[0023] Adding the voltage position differences in the voltage position difference set to obtain a voltage position difference sum;

[0024] The voltage position difference is divided by the preset slow cycle period data to obtain the voltage and electric speed.

[0025] In one embodiment, the step of performing a confidence check on the three-phase voltage original analog-to-digital conversion value set based on the confidence calculation algorithm and according to the voltage position difference set and the voltage amplitude set to obtain the voltage confidence comprises:

[0026] Performing sample quantity statistics on the three-phase voltage original analog-to-digital conversion value set to obtain a voltage sampling quantity value;

[0027] Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain a credible voltage original analog-to-digital conversion value set;

[0028] Performing sample quantity statistics on the set of credible voltage original analog-to-digital conversion values ​​to obtain credible current sample quantity values;

[0029] The voltage confidence is obtained by dividing the credible voltage sample quantity value by the voltage sampling quantity value.

[0030] In one embodiment, the step of fusing and converting the voltage electric speed and the current electric speed based on a preset electric speed fusion algorithm according to the voltage confidence and the current confidence to obtain a functional safety speed includes:

[0031] Adding the voltage confidence and the current confidence to obtain the sum of the current and voltage confidences;

[0032] Determining whether the sum of the current and voltage confidences is greater than a preset confidence calibration threshold;

[0033] If not, the functional safety speed is zero;

[0034] If so, based on the electric speed fusion algorithm, the voltage electric speed is multiplied by the voltage confidence to obtain a first voltage electric speed, and the current electric speed is multiplied by the current confidence to obtain a first current electric speed;

[0035] Adding the first voltage-electric speed and the first voltage-electric speed to obtain a first electric speed;

[0036] Dividing the first electrical rotation speed by the current and voltage confidence sum to obtain a second electrical rotation speed;

[0037] The second electrical rotation speed is divided by a preset pole pair value to obtain the functional safety rotation speed.

[0038] In one embodiment, the step of obtaining a set of original analog-to-digital conversion values ​​of three-phase voltages and a set of original analog-to-digital conversion values ​​of three-phase currents comprises:

[0039] In a preset slow cycle period, in response to a preset short cycle timing sampling task, data sampling is performed on a preset electric drive system to obtain a plurality of original analog-to-digital conversion values ​​of three-phase voltage and original analog-to-digital conversion values ​​of three-phase power supply;

[0040] The three-phase voltage original analog-to-digital conversion value set is established based on several copies of the three-phase voltage original analog-to-digital conversion values, and the three-phase current original analog-to-digital conversion value set is established based on several copies of the three-phase current original analog-to-digital conversion values.

[0041] In addition, to achieve the above purpose, the present application also proposes an electric drive speed estimation device, the electric drive speed estimation device comprising:

[0042] An acquisition module, used to acquire a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current;

[0043] A calculation module, for calculating the voltage electric speed and the voltage confidence according to the three-phase voltage original analog-to-digital conversion value set based on a preset electric speed calculation algorithm and a confidence calculation algorithm, and calculating the current electric speed and the current confidence according to the three-phase current original analog-to-digital conversion value set;

[0044] The fusion module is used to fuse and convert the voltage electric speed and the current electric speed based on a preset electric speed fusion algorithm according to the voltage confidence and the current confidence to obtain a functional safety speed.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes an electric drive speed estimation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the electric drive speed estimation method as described above.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the electric drive speed estimation method described above are implemented.

[0047] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the electric drive speed estimation method as described above are implemented.

[0048] The present application provides an electric drive speed estimation method, which obtains the voltage electric speed, current electric speed, voltage confidence and current confidence according to the three-phase voltage original analog-to-digital conversion value set and the three-phase current original analog-to-digital conversion value set, and then fuses and converts the voltage electric speed and current electric speed according to the voltage confidence and current confidence to obtain the functional safety speed without developing the resolver redundant EVADC soft decoding. Thus, the existing technical problem of high development cost of speed estimation through resolver soft decoding is solved, the CPU load rate and memory resource consumption are reduced, and the development cost is further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0051] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the electric drive speed estimation method of the present application;

[0052] Figure 2 A schematic diagram of a simplified flow chart of calculating a second electric speed according to the voltage confidence, current confidence, voltage electric speed and current electric speed provided in the first embodiment of the present application;

[0053] Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the electric drive speed estimation method of the present application;

[0054] Figure 4 A schematic diagram of a brief flow chart of the electric drive speed estimation method provided in Embodiment 1 or 2 of the present application;

[0055] Figure 5 This is a schematic diagram of the module structure of the electric drive speed estimation device according to an embodiment of the present application;

[0056] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the electric drive speed estimation method in the embodiment of the present application.

[0057] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] The main solutions of the embodiments of this application are:

[0061] Obtaining a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current;

[0062] Based on the preset electric speed calculation algorithm and confidence calculation algorithm, the voltage electric speed and voltage confidence are calculated according to the three-phase voltage original analog-to-digital conversion value set, and the current electric speed and current confidence are calculated according to the three-phase current original analog-to-digital conversion value set;

[0063] Based on a preset electric speed fusion algorithm, the voltage electric speed and the current electric speed are fused and converted according to the voltage confidence and the current confidence to obtain a functional safety speed.

[0064] Since the most commonly used method in the existing technology is to obtain the Sin / Cos outer envelope through the resolver redundant EVADC soft decoding, calculate the angle signal through the inverse tangent, and then calculate the electrical speed through the angle, and then monitor the drive motor speed, reducing the risk of unexpected speed of the electric drive system. However, this method obtains the speed through the resolver redundant EVADC de-envelope, and the resolver soft decoding has high timing requirements, which increases the difficulty of software development, increases the CPU load rate and excessive consumption of memory resources. It brings more manpower investment in functional safety unit testing, integration testing and requirement testing, which will undoubtedly lead to a large increase in costs.

[0065] The present application provides a solution, which obtains the voltage electric speed, current electric speed, voltage confidence and current confidence according to the three-phase voltage original analog-to-digital conversion value set and the three-phase current original analog-to-digital conversion value set, and then fuses and converts the voltage electric speed and current electric speed according to the voltage confidence and current confidence to obtain the functional safety speed, without the need to develop the resolver redundant EVADC soft decoding. Thus, the existing technical problem of high development cost of speed estimation through resolver soft decoding is solved, the CPU load rate and memory resource consumption are reduced, and the development cost is further reduced.

[0066] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an electric drive speed estimation system, etc. The electric drive speed estimation system is taken as an example to illustrate this embodiment and the following embodiments.

[0067] Based on this, the present application embodiment provides a method for estimating electric drive speed, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the electric drive speed estimation method of the present application.

[0068] In this embodiment, the electric drive speed estimation method includes steps S10 to S30:

[0069] Step S10, obtaining a set of original analog-to-digital conversion values ​​of three-phase voltages and a set of original analog-to-digital conversion values ​​of three-phase currents;

[0070] The electric drive speed estimation system obtains a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current.

[0071] It should be noted that the phase voltage original analog-to-digital conversion value set refers to the original digital value set of the voltage signal obtained from the three phases of the three-phase motor. These values ​​are the direct results of the voltage signal after analog-to-digital conversion and are used for subsequent voltage and electric speed calculations; the three-phase current original analog-to-digital conversion value set refers to the original digital value set of the current signal obtained from the three phases of the three-phase motor. These values ​​are the direct results of the current signal after analog-to-digital conversion and are used for subsequent current and electric speed calculations.

[0072] Among them, analog-to-digital conversion value refers to analog-to-digital conversion value (Analog-to-Digital Value, AD value), which is a common term in the field of electronic engineering and signal processing. AD value is the result value after converting analog signal into digital signal through analog-to-digital converter (ADC, Analog-to-Digital Converter).

[0073] In a feasible implementation, step S10 may include steps S101 to S102:

[0074] Step S101, in a preset slow cycle period, in response to a preset fast cycle timing sampling task, data sampling is performed on a preset electric drive system to obtain a plurality of original analog-to-digital conversion values ​​of three-phase voltage and original analog-to-digital conversion values ​​of three-phase power supply;

[0075] Step S102, establishing the three-phase voltage original analog-to-digital conversion value set according to several copies of the three-phase voltage original analog-to-digital conversion values, and establishing the three-phase current original analog-to-digital conversion value set according to several copies of the three-phase current original analog-to-digital conversion values.

[0076] The electric drive speed estimation system samples data of the electric drive system in response to the fast-cycle timed sampling task within a preset slow-cycle period, that is, collects the voltage and current data of the motor within a fixed time interval to obtain a number of three-phase voltage raw analog-to-digital conversion values ​​and three-phase power supply raw analog-to-digital conversion values, and then establishes a three-phase voltage raw analog-to-digital conversion value set based on the several three-phase voltage raw analog-to-digital conversion values, and establishes a three-phase current raw analog-to-digital conversion value set based on the several three-phase current raw analog-to-digital conversion values.

[0077] It should be noted that the slow cycle period refers to a time frame that is longer than the sampling frequency, in which multiple fast cycle sampling tasks are arranged, and the fast cycle scheduled sampling task refers to the sampling activity performed at a high frequency within the slow cycle period, which is used to collect motor data in real time.

[0078] In this embodiment, by responding to the fast cycle timing sampling task within the preset slow cycle period, the three-phase voltage and current data of the electric drive system can be continuously and comprehensively collected, ensuring that sufficient information is obtained to monitor and control the motor, and ensuring that the collected data is organized into a set, which helps to maintain the integrity and consistency of the data and provide a reliable data source for subsequent analysis. By organizing the original analog-to-digital conversion values ​​into a set, the efficiency of data processing can be improved, which is convenient for automation and algorithm processing. The established original analog-to-digital conversion value set provides a basis for subsequent signal processing, feature extraction and state evaluation, such as electric speed calculation, confidence evaluation, etc. Accurate and complete data sets are helpful for fault diagnosis and performance optimization, and potential technical problems can be discovered and solved in a timely manner. As a result, not only the efficiency and quality of data acquisition are improved, but also a solid foundation is provided for the accuracy, reliability and robustness of the system, which helps to solve key technical problems in motor control and state monitoring.

[0079] Step S20, based on the preset electric speed calculation algorithm and confidence calculation algorithm, according to the three-phase voltage original analog-to-digital conversion value set, the voltage electric speed and voltage confidence are calculated, and according to the three-phase current original analog-to-digital conversion value set, the current electric speed and current confidence are calculated;

[0080] The electric drive speed estimation system is based on a preset electric speed calculation algorithm and a confidence calculation algorithm. It calculates the voltage electric speed and voltage confidence according to the set of original analog-to-digital conversion values ​​of the three-phase voltage, and calculates the current electric speed and current confidence according to the set of original analog-to-digital conversion values ​​of the three-phase current. It extracts the motor speed information from the voltage and current digital signals and evaluates the credibility of the speed information.

[0081] It should be noted that the electric speed calculation algorithm is used to calculate the motor speed based on the analog-to-digital conversion values ​​of voltage and current. This algorithm is usually based on the electrical model and physical model of the motor; the confidence calculation algorithm is used to evaluate the reliability of the electric speed calculation results. This algorithm may be based on statistical principles, such as standard deviation, mean square error, etc.

[0082] Step S30, based on a preset electric speed fusion algorithm, according to the voltage confidence and the current confidence, the voltage electric speed and the current electric speed are fused and converted to obtain a functional safety speed.

[0083] The electric drive speed estimation system is based on a preset electric speed fusion algorithm. It fuses and converts the voltage electric speed and the current electric speed according to the voltage confidence and current confidence. The purpose is to integrate the information of the voltage electric speed and the current electric speed, and weight this information according to their respective confidence levels, so as to obtain a comprehensive and more reliable functional safety speed.

[0084] It should be noted that the electrical speed fusion algorithm is usually based on signal processing and data fusion theory, and is used to combine speed estimates from different data sources (such as voltage and current signals) and weight these estimates according to the confidence level of each data source; the functional safety speed is the fused speed estimate, which is used for motor control and protection, and needs to meet functional safety requirements to obtain a more accurate and reliable motor speed estimate.

[0085] In a feasible implementation, step S30 may include steps S301 to S307:

[0086] Step S301, adding the voltage confidence and the current confidence to obtain the sum of the current and voltage confidences;

[0087] Step S302, determining whether the sum of the current and voltage confidences is greater than a preset confidence calibration threshold;

[0088] Step S303, if not, the functional safety speed is zero;

[0089] Step S304: If yes, based on the electric speed fusion algorithm, multiply the voltage electric speed by the voltage confidence to obtain a first voltage electric speed, and multiply the current electric speed by the current confidence to obtain a first current electric speed;

[0090] Step S305, adding the first voltage electric speed and the first voltage electric speed to obtain a first electric speed;

[0091] Step S306, dividing the first electrical rotation speed by the sum of the current and voltage confidence levels to obtain a second electrical rotation speed;

[0092] Step S307: Divide the second electrical speed by a preset pole pair value to obtain the functional safety speed.

[0093] refer to Figure 2 , Figure 2 A simplified flow chart of calculating the second electric speed according to the voltage confidence, current confidence, voltage electric speed and current electric speed provided in Example 1 of the present application, wherein the electric speed shown in the figure is the second electric speed, the electric drive speed estimation system adds the voltage confidence and the current confidence to obtain the sum of the current and voltage confidences, and then determines whether the sum of the current and voltage confidences is greater than a preset confidence calibration threshold; if the sum of the current and voltage confidences is less than or equal to the confidence calibration threshold, the second electric speed is zero, and the functional safety speed is also zero; if the sum of the current and voltage confidences is greater than the confidence calibration threshold, the system multiplies the voltage electric speed by the voltage confidence based on the electric speed fusion algorithm to obtain the first voltage electric speed, and multiplies the current electric speed by the current confidence to obtain the first current electric speed, and then adds the first voltage electric speed and the first voltage electric speed to obtain the first electric speed, divides the first electric speed by the current and voltage confidence to obtain the second electric speed, and finally divides the second electric speed by the preset pole pair value to obtain the functional safety speed.

[0094] In this embodiment, through confidence checking, unreliable data can be identified and eliminated, thereby improving the accuracy and reliability of motor control. By utilizing a confidence-weighted fusion algorithm, the error of a single signal source can be reduced and the accuracy of electric speed estimation can be improved. By calculating confidence and electric speed in real time, the response speed of the system can be improved, so that the control strategy can adapt to changes in the motor state more quickly. The improved electric speed estimation accuracy can improve the accuracy of motor control and reduce performance degradation caused by control errors. By calculating confidence in real time, signs of faults can be discovered earlier, improving the timeliness of fault detection and reducing potential downtime and maintenance costs. In addition, this method can also enhance the system's robustness to sensor failures and external interference, and improve the overall performance and stability of the system.

[0095] This embodiment provides an electric drive speed estimation method, which obtains voltage electric speed, current electric speed, voltage confidence and current confidence according to the three-phase voltage original analog-to-digital conversion value set and the three-phase current original analog-to-digital conversion value set, and then fuses and converts the voltage electric speed and the current electric speed according to the voltage confidence and the current confidence to obtain the functional safety speed without developing the resolver redundant EVADC soft decoding. Thus, the existing technical problem of high development cost of speed estimation through resolver soft decoding is solved, the CPU load rate and memory resource consumption are reduced, and the development cost is further reduced.

[0096] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , step S20 may include steps S201 to S203:

[0097] Step S201, based on a preset amplitude calculation algorithm and a position difference calculation algorithm, according to the three-phase voltage original analog-to-digital conversion value set, calculate a voltage position difference set and a voltage amplitude set;

[0098] Step S202, based on the electric speed calculation algorithm, according to the voltage position difference set, calculate the voltage electric speed;

[0099] Step S203: Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain the voltage confidence.

[0100] The electric drive speed estimation system is based on a preset amplitude calculation algorithm and a position difference calculation algorithm. According to the original analog-to-digital conversion value set of the three-phase voltage, a voltage position difference set and a voltage amplitude set are calculated. These algorithms are usually based on signal processing technology, such as Fourier transform, to extract the key features of the voltage signal. Then, based on the electric speed calculation algorithm, the voltage and electric speed are calculated according to the voltage position difference set. Finally, based on the confidence calculation algorithm, the three-phase voltage original analog-to-digital conversion value set is checked for confidence according to the voltage position difference set and the voltage amplitude set to obtain the voltage confidence. This algorithm usually involves statistical principles, such as standard deviation, mean square error, etc., as well as possible signal processing technology, which is used to quantify the reliability of the voltage and electric speed calculation results.

[0101] In a feasible implementation, step S201 may include steps S2011 to S2016:

[0102] Step S2011, performing physical value conversion on the three-phase voltage original analog-to-digital conversion value set to obtain a three-phase voltage physical value set;

[0103] Step S2012, performing Clarke transformation on the three-phase voltage physical value set to obtain a two-phase voltage signal set;

[0104] Step S2013, filtering the two-phase voltage signal set based on a preset first-order infinite impulse response filter to obtain a filtered voltage signal set;

[0105] Step S2014, performing an arc tangent transformation on the filtered voltage signal set to obtain a voltage electrical angle set, wherein the voltage electrical angles in the voltage electrical angle set are arranged according to a preset fast cycle time sequence;

[0106] Step S2015, calculating the position difference between any two adjacent voltage electrical angles in the voltage electrical angle set based on the position difference calculation algorithm, to obtain the voltage position difference set;

[0107] Step S2016: Based on the amplitude calculation algorithm, the square sum of the amplitude of each filtered voltage signal in the filtered voltage signal set is calculated to obtain the voltage amplitude set.

[0108] The electric drive speed estimation system converts the original analog-to-digital conversion value set of the three-phase voltage into physical values ​​to obtain the three-phase voltage physical value set. This process usually requires proportional conversion of the original analog-to-digital conversion value to reflect the actual voltage level. The purpose is to obtain the voltage value that can be directly used for physical analysis and calculation from the original digital signal, and then apply Clarke transform to the three-phase voltage physical value set. Clarke transform is a mathematical transformation used to convert a three-phase coordinate system (usually phase A, phase B, and phase C) into a two-phase orthogonal coordinate system (usually represented as phase α and phase β) to obtain a two-phase voltage signal set. The purpose of Clarke transform is to eliminate one phase and simplify the three-phase system into a two-phase system for easy analysis and processing. By converting the three-phase voltage physical value set into a two-phase voltage signal set, the computational complexity can be reduced while retaining enough information for accurate electric speed and confidence calculation. A first-order infinite impulse response (IIR) filter is then used to filter the two-phase voltage signal set to obtain a filtered voltage signal set. By filtering, high-frequency noise and interference in the signal can be removed, and the frequency components useful for electric speed calculation can be retained, thereby improving the accuracy and reliability of electric speed estimation. The filtered voltage signal set is then filtered. The inverse tangent transformation (usually called inverse tangent or inverse tangent function) is a mathematical transformation used to extract the phase information of the voltage from the two-phase voltage signal. In motor control, it usually refers to calculating the electrical angle of the voltage from the α-phase and β-phase voltages to obtain a voltage electrical angle set, wherein the voltage electrical angles in the voltage electrical angle set are arranged according to a preset fast cycle timing sequence, and then based on the position difference calculation algorithm, the position difference between any two adjacent voltage electrical angles in the voltage electrical angle set is calculated to obtain a voltage position difference set. These differences reflect the phase change of the voltage signal and can be used to estimate the speed of the motor. Finally, based on the amplitude calculation algorithm, the square sum of the amplitude of each filtered voltage signal in the filtered voltage signal set is calculated to obtain a voltage amplitude set. These amplitude information reflects the strength of the voltage signal and can be used to evaluate the signal quality and the operating status of the motor.

[0109] It should be noted that the Clarke transform is a mathematical transformation from a three-phase coordinate system to a two-phase orthogonal coordinate system, and the first-order infinite impulse response filter (IIR) is a digital filter that uses a feedback loop to process the input signal and can achieve a specific frequency response such as low pass, high pass, band pass or band stop.

[0110] In this embodiment, by converting the original analog-to-digital conversion value of the three-phase voltage into a physical value, the data can be standardized to make it closer to the actual voltage level, which is convenient for subsequent processing. The three-phase voltage signal is converted into a two-phase voltage signal using Clarke transform, which simplifies the complexity of signal processing while retaining sufficient information for the calculation of electrical angle and electrical speed. The two-phase voltage signal is filtered by a first-order infinite impulse response filter, which effectively suppresses noise and unnecessary frequency components and improves the quality of the signal. The electrical angle information is extracted from the filtered voltage signal through inverse tangent transform, which provides key phase data for the position and speed estimation of the motor. The position difference between adjacent electrical angles in the voltage electrical angle set is calculated, which provides basic data for the calculation of the electrical speed. The square sum of the amplitude of the filtered voltage signal is calculated, which provides the strength information of the voltage signal, which is very useful for evaluating the operating status and health status of the motor. The voltage position difference and amplitude information are combined to improve the accuracy of the motor control strategy, especially in speed and position control. Through accurate position difference and amplitude calculation, the system can better resist external interference and internal changes, thereby improving the robustness of the system.

[0111] In another feasible implementation, step S202 may include steps S2021 to S2022:

[0112] Step S2021, adding all voltage position differences in the voltage position difference set to obtain a voltage position difference sum;

[0113] Step S2022, dividing the voltage position difference by the preset slow cycle time period data to obtain the voltage and electric speed.

[0114] The electric drive speed estimation system adds up all the voltage position differences in the voltage position difference set to obtain the voltage position difference sum. The voltage position difference set contains the differences between adjacent voltage electrical angles. These differences reflect the position changes of the motor rotor within a specific time interval. The voltage position difference sum can be used to estimate the total speed of the motor within a certain time. The voltage position difference sum is then divided by the preset slow cycle time period data to obtain the voltage electrical speed. This principle is based on the definition of motor speed, that is, the change in rotor position per unit time. In this way, the average speed of the motor can be obtained from the position difference sum.

[0115] It should be noted that the voltage position difference sum is the cumulative sum of all individual voltage position differences, indicating the total position change of the motor rotor within a certain period of time.

[0116] In this embodiment, by adding all the voltage position differences in the voltage position difference set, the total position change of the motor rotor within a certain period of time can be quantified, and the voltage electrical speed of the motor can be obtained by dividing the sum of the voltage position differences by the preset slow cycle time period data. This is a speed estimation method based on position change, which provides a speed calculation method that directly links position change and time, which helps to improve the accuracy of speed estimation. By converting the position difference into electrical speed, the raw data can be converted into more meaningful engineering parameters, enhancing the availability and interpretability of the data, allowing real-time monitoring of the motor speed, and providing timely feedback to the motor control system, which helps to achieve more precise control.

[0117] In another feasible implementation, step S203 may include steps S2031 to S2034:

[0118] Step S2031, performing sample quantity statistics on the three-phase voltage original analog-to-digital conversion value set to obtain a voltage sampling quantity value;

[0119] Step S2032: Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain a credible voltage original analog-to-digital conversion value set;

[0120] Step S2033, performing sample quantity statistics on the set of credible voltage original analog-to-digital conversion values ​​to obtain credible current sample quantity values;

[0121] Step S2034: Divide the number of credible voltage samples by the number of voltage samplings to obtain the voltage confidence.

[0122] The electric drive speed estimation system counts all samples in the three-phase voltage raw analog-to-digital conversion value set to obtain the voltage sampling quantity value, and then based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, performs a confidence check on the three-phase voltage raw analog-to-digital conversion value set to obtain a reliable voltage raw analog-to-digital conversion value set. The algorithm uses the voltage position difference set and the voltage amplitude set to evaluate the reliability of each sample in the three-phase voltage raw analog-to-digital conversion value set, and then performs sample quantity statistics on the reliable voltage raw analog-to-digital conversion value set to obtain a reliable current sample quantity value, and finally divides the reliable voltage sample quantity value by the voltage sampling quantity value to obtain the voltage confidence.

[0123] It should be noted that the voltage sampling quantity value refers to the total number of samples in the three-phase voltage original analog-to-digital conversion value set; the confidence calculation algorithm is used to evaluate the reliability of the three-phase voltage original analog-to-digital conversion value set based on the voltage position difference set and the voltage amplitude set; the confidence check is to screen the original data based on the voltage position difference set and the voltage amplitude set to determine the credibility of the data; the credible voltage original analog-to-digital conversion value set is a set of voltage original analog-to-digital conversion values ​​that are considered to be reliable after the confidence check; the credible voltage sample quantity value refers to the number of samples in the credible voltage original analog-to-digital conversion value set; the voltage confidence is the ratio of the credible voltage sample quantity value to the voltage sampling quantity value, which reflects the reliability of the voltage data.

[0124] In this embodiment, by counting the number of samples of the three-phase voltage raw analog-to-digital conversion value set, the total number of data points collected within a certain period of time can be accurately known. By using the confidence calculation algorithm to perform a confidence check on the raw data, reliable data can be screened out and the data quality can be improved. By counting the number of samples of the reliable voltage raw analog-to-digital conversion value set, it can be ensured that subsequent calculations are based on reliable data. By calculating the ratio of the number of reliable samples to the total number of samples, the confidence of the voltage data can be evaluated in real time to provide the system with instant data reliability feedback. The calculation result of the voltage confidence can be used to optimize control decisions, especially when the confidence is low, conservative measures can be taken to avoid potential risks. Real-time monitoring of confidence helps fault detection and diagnosis. Low confidence may indicate sensor failure or data acquisition problems.

[0125] In this embodiment, by calculating the voltage position difference set and the voltage amplitude set, the running state of the motor, including the speed and position, can be monitored more accurately. By using the electric speed calculation algorithm and combining the voltage position difference set, a more reliable voltage electric speed can be calculated. By using the confidence calculation algorithm, the confidence check of the three-phase voltage original analog-to-digital conversion value set can be performed to obtain higher data quality. Accurate electric speed and confidence evaluation help improve the accuracy of motor control and reduce performance degradation caused by control errors. By calculating confidence in real time, fault signs can be found earlier, the timeliness of fault detection can be improved, and potential downtime and maintenance costs can be reduced. In addition, this method can improve the robustness of the system to abnormal data and sensor errors, and reduce control errors caused by inaccurate data. As a result, not only the accuracy and reliability of motor state monitoring are improved, but also strong support is provided for real-time feedback, fault detection and performance optimization of the system, which helps to solve multiple technical problems in the field of motor control.

[0126] For example, in order to help understand the implementation process of the electric drive speed estimation method obtained by combining the first embodiment, the second embodiment and the third embodiment, please refer to Figure 4 , Figure 4 A schematic diagram of a simplified flow chart of the electric drive speed estimation method provided in Embodiment 1 or 2 of the present application, with a fast cycle of 51.2us and a slow cycle of 5ms, specifically:

[0127] 1) 51.2us periodically triggers the sampling of the original analog-to-digital conversion values ​​(original AD values) of the three-phase voltage and current.

[0128] 2) Calculate the physical values ​​of the three-phase voltage and current based on the three-phase voltage and current AD values ​​periodically every 5ms.

[0129] 3) The three-phase voltage and current physical values ​​are converted into two-phase voltage and current of alpha and beta axes by Clarke transformation at a period of 5 ms. Clarke uses equal amplitude transformation, and the formula is:

[0130] U alpha =U u ;

[0131]

[0132] Among them, U u , U v , U w are the three components of the three-phase voltage in the three-phase coordinate system, corresponding to the u phase, v phase and w phase respectively; U alpha is the first component of the two-phase voltage after Clarke transformation, usually called the α-axis component; U beta It is the second component of the two-phase voltage after Clarke transformation, usually called the β-axis component.

[0133] 4) Use a first-order infinite impulse response filter (IIR) to filter the two-phase voltage and current signals of the alpha and beta axes periodically for 5 ms to obtain an intensity-averaged signal. The first-order IIR filter should be as follows:

[0134] y[n]=b0(u[n]+a1u[n-1]+b1y[n-1]).

[0135] Among them, u[n] is the nth sampling value of the input signal, u[n-1] is the n-1th sampling value of the input signal, y[n] is the nth sampling value of the output signal, y[n-1] is the n-1th sampling value of the output signal, and a1, b0, b1 are the filter coefficients used for the filter.

[0136] 5) Perform Arctan inverse tangent on the filtered signals of the two-phase voltage and current of the alpha and beta axes periodically for 5 ms to obtain the electrical angles of the voltage and current respectively.

[0137] 6) Periodically calculate the position difference between the current and voltage electrical angles in the current cycle and the previous cycle every 5 ms to obtain the voltage and current position differences.

[0138] 7) The square sum of the voltage and current signal amplitudes after each fast cycle filtering is calculated periodically every 5 ms, where the formula for the amplitude calculation algorithm is as follows:

[0139] 1.5(alpha 2 +beta 2 ).

[0140] Among them, alpha is the first component or α-axis component of the voltage and current signal after fast cycle filtering; beta is the second component or β-axis component of the voltage and current signal after fast cycle filtering.

[0141] A confidence check is performed on each group of fast-cycle signals (original AD values) based on the calculated amplitude and position difference of the voltage and current signals. The signals that pass the confidence check are considered to be trustworthy. Finally, the confidence ratio of voltage and current is calculated based on N_trusted / N (N: the number of samples within a 5ms period, N_trusted: the number of trusted samples within a 5ms period).

[0142] 8) The voltage, current and speed are calculated periodically by dividing the accumulated position difference by the time difference with a period of 5ms. The time difference is the number of sampled signals involved in the calculation multiplied by the fast cycle 51.2us, which is approximately equal to 5s.

[0143] 9) The electric speed obtained by the voltage and current is integrated periodically for 5ms to obtain the final electric speed.

[0144] 10) Finally, the mechanical speed is calculated by dividing the electrical speed by the number of pole pairs for subsequent speed monitoring.

[0145] Compared with the prior art, the electric drive speed estimation method described in this embodiment has the following advantages:

[0146] 1) No need to develop resolver redundant EVADC soft decoding, reducing CPU load rate and memory resource consumption;

[0147] 2) The workload of unit testing, integration testing and requirement testing of the speed estimation part is greatly reduced;

[0148] 3) The dual speeds calculated by three-phase current and voltage are integrated to realize the functional safety redundant safety mechanism and improve the diagnostic coverage and confidence of the speed signal.

[0149] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the electric drive speed estimation method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0150] This application also provides an electric drive speed estimation device, please refer to Figure 5 , the electric drive speed estimation device comprises:

[0151] An acquisition module 10 is used to acquire a set of original analog-to-digital conversion values ​​of three-phase voltages and a set of original analog-to-digital conversion values ​​of three-phase currents;

[0152] A calculation module 20, for calculating the voltage electric speed and the voltage confidence according to the three-phase voltage original analog-to-digital conversion value set based on a preset electric speed calculation algorithm and a confidence calculation algorithm, and calculating the current electric speed and the current confidence according to the three-phase current original analog-to-digital conversion value set;

[0153] The fusion module 30 is used to fuse and convert the voltage electric speed and the current electric speed based on a preset electric speed fusion algorithm according to the voltage confidence and the current confidence to obtain a functional safety speed.

[0154] Optionally, the calculation module 20 is further used for:

[0155] Based on a preset amplitude calculation algorithm and a position difference calculation algorithm, a voltage position difference set and a voltage amplitude set are calculated according to the three-phase voltage original analog-to-digital conversion value set;

[0156] Based on the electric speed calculation algorithm, the voltage electric speed is calculated according to the voltage position difference set;

[0157] Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain the voltage confidence.

[0158] Optionally, the calculation module 20 is further used for:

[0159] Performing physical value conversion on the three-phase voltage original analog-to-digital conversion value set to obtain a three-phase voltage physical value set;

[0160] Performing Clarke transformation on the three-phase voltage physical value set to obtain a two-phase voltage signal set;

[0161] Based on a preset first-order infinite impulse response filter, filtering the two-phase voltage signal set to obtain a filtered voltage signal set;

[0162] Performing an inverse tangent transformation on the filtered voltage signal set to obtain a voltage electrical angle set, wherein the voltage electrical angles in the voltage electrical angle set are arranged according to a preset short-cycle time sequence;

[0163] Based on the position difference calculation algorithm, calculate the position difference between any two adjacent voltage electrical angles in the voltage electrical angle set to obtain the voltage position difference set;

[0164] Based on the amplitude calculation algorithm, the square sum of the amplitude of each filtered voltage signal in the filtered voltage signal set is calculated to obtain the voltage amplitude set.

[0165] Optionally, the calculation module 20 is further used for:

[0166] Adding the voltage position differences in the voltage position difference set to obtain a voltage position difference sum;

[0167] The voltage position difference is divided by the preset slow cycle period data to obtain the voltage and electric speed.

[0168] Optionally, the calculation module 20 is further used for:

[0169] Performing sample quantity statistics on the three-phase voltage original analog-to-digital conversion value set to obtain a voltage sampling quantity value;

[0170] Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain a credible voltage original analog-to-digital conversion value set;

[0171] Performing sample quantity statistics on the set of credible voltage original analog-to-digital conversion values ​​to obtain credible current sample quantity values;

[0172] The voltage confidence is obtained by dividing the credible voltage sample quantity value by the voltage sampling quantity value.

[0173] Optionally, the fusion module 30 is further used for:

[0174] Adding the voltage confidence and the current confidence to obtain the sum of the current and voltage confidences;

[0175] Determining whether the sum of the current and voltage confidences is greater than a preset confidence calibration threshold;

[0176] If not, the functional safety speed is zero;

[0177] If so, based on the electric speed fusion algorithm, the voltage electric speed is multiplied by the voltage confidence to obtain a first voltage electric speed, and the current electric speed is multiplied by the current confidence to obtain a first current electric speed;

[0178] Adding the first voltage-electric speed and the first voltage-electric speed to obtain a first electric speed;

[0179] Dividing the first electrical rotation speed by the current and voltage confidence sum to obtain a second electrical rotation speed;

[0180] The second electrical rotation speed is divided by a preset pole pair value to obtain the functional safety rotation speed.

[0181] Optionally, the acquisition module 10 is further used for:

[0182] In a preset slow cycle period, in response to a preset short cycle timing sampling task, data sampling is performed on a preset electric drive system to obtain a plurality of original analog-to-digital conversion values ​​of three-phase voltage and original analog-to-digital conversion values ​​of three-phase power supply;

[0183] The three-phase voltage original analog-to-digital conversion value set is established based on several copies of the three-phase voltage original analog-to-digital conversion values, and the three-phase current original analog-to-digital conversion value set is established based on several copies of the three-phase current original analog-to-digital conversion values.

[0184] The electric drive speed estimation device provided by the present application adopts the electric drive speed estimation method in the above embodiment, which can solve the technical problem of high development cost of speed estimation through resolver soft decoding. Compared with the prior art, the beneficial effects of the electric drive speed estimation device provided by the present application are the same as the beneficial effects of the electric drive speed estimation method provided by the above embodiment, and other technical features in the electric drive speed estimation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0185] The present application provides an electric drive speed estimation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the electric drive speed estimation method in the above-mentioned embodiment one.

[0186] Reference below Figure 6 , which shows a schematic diagram of the structure of an electric drive speed estimation device suitable for implementing the embodiment of the present application. The electric drive speed estimation device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electric drive speed estimation device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0187] like Figure 6 As shown, the electric drive speed estimation device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the electric drive speed estimation device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the electric drive speed estimation device to communicate with other devices wirelessly or by wire to exchange data. Although the electric drive speed estimation device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0188] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0189] The electric drive speed estimation device provided by the present application adopts the electric drive speed estimation method in the above embodiment, which can solve the technical problem of high development cost of speed estimation through soft decoding of rotary transformer. Compared with the prior art, the beneficial effects of the electric drive speed estimation device provided by the present application are the same as the beneficial effects of the electric drive speed estimation method provided by the above embodiment, and other technical features in the electric drive speed estimation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0190] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0191] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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.

[0192] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the electric drive speed estimation method in the above-mentioned embodiment.

[0193] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0194] The computer-readable storage medium may be included in the electric drive speed estimation device; or may exist independently without being assembled into the electric drive speed estimation device.

[0195] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electric drive speed estimation device, the electric drive speed estimation device:

[0196] Obtaining a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current;

[0197] Based on the preset electric speed calculation algorithm and confidence calculation algorithm, the voltage electric speed and voltage confidence are calculated according to the three-phase voltage original analog-to-digital conversion value set, and the current electric speed and current confidence are calculated according to the three-phase current original analog-to-digital conversion value set;

[0198] Based on a preset electric speed fusion algorithm, the voltage electric speed and the current electric speed are fused and converted according to the voltage confidence and the current confidence to obtain a functional safety speed.

[0199] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0200] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various 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 the code contains one or more executable instructions for realizing 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 boxes represented in succession 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 operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0201] The modules involved in the embodiments of the present application may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0202] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned electric drive speed estimation method, and can solve the technical problem of high development cost of speed estimation through rotational soft decoding. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the electric drive speed estimation method provided in the above-mentioned embodiment, and will not be repeated here.

[0203] The present application also provides a computer program product, including a computer program, which implements the steps of the electric drive speed estimation method as described above when executed by a processor.

[0204] The computer program product provided by the present application can solve the technical problem of high development cost of speed estimation through resolver soft decoding. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the electric drive speed estimation method provided by the above embodiment, which will not be described in detail here.

[0205] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for estimating electric drive speed, characterized in that: The method comprises: Obtaining a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current; Based on the preset electric speed calculation algorithm and confidence calculation algorithm, the voltage electric speed and voltage confidence are calculated according to the three-phase voltage original analog-to-digital conversion value set, and the current electric speed and current confidence are calculated according to the three-phase current original analog-to-digital conversion value set; Based on a preset electric speed fusion algorithm, the voltage electric speed and the current electric speed are fused and converted according to the voltage confidence and the current confidence to obtain a functional safety speed.

2. The method according to claim 1, characterized in that The step of calculating the voltage electric speed and the voltage confidence based on the preset electric speed calculation algorithm and the confidence calculation algorithm and according to the three-phase voltage original analog-to-digital conversion value set comprises: Based on a preset amplitude calculation algorithm and a position difference calculation algorithm, a voltage position difference set and a voltage amplitude set are calculated according to the three-phase voltage original analog-to-digital conversion value set; Based on the electric speed calculation algorithm, the voltage electric speed is calculated according to the voltage position difference set; Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain the voltage confidence.

3. The method according to claim 2, characterized in that The step of calculating a voltage position difference set and a voltage amplitude set based on a preset amplitude calculation algorithm and a position difference calculation algorithm according to the three-phase voltage original analog-to-digital conversion value set comprises: Performing physical value conversion on the three-phase voltage original analog-to-digital conversion value set to obtain a three-phase voltage physical value set; Performing Clarke transformation on the three-phase voltage physical value set to obtain a two-phase voltage signal set; Based on a preset first-order infinite impulse response filter, filtering the two-phase voltage signal set to obtain a filtered voltage signal set; Performing an inverse tangent transformation on the filtered voltage signal set to obtain a voltage electrical angle set, wherein the voltage electrical angles in the voltage electrical angle set are arranged according to a preset short-cycle time sequence; Based on the position difference calculation algorithm, calculate the position difference between any two adjacent voltage electrical angles in the voltage electrical angle set to obtain the voltage position difference set; Based on the amplitude calculation algorithm, the square sum of the amplitude of each filtered voltage signal in the filtered voltage signal set is calculated to obtain the voltage amplitude set.

4. The method according to claim 2, characterized in that The step of calculating the voltage electric speed based on the electric speed calculation algorithm and according to the voltage position difference set comprises: Adding the voltage position differences in the voltage position difference set to obtain a voltage position difference sum; The voltage position difference is divided by the preset slow cycle period data to obtain the voltage and electric speed.

5. The method according to claim 2, characterized in that The step of performing a confidence check on the three-phase voltage original analog-to-digital conversion value set based on the confidence calculation algorithm and according to the voltage position difference set and the voltage amplitude set to obtain the voltage confidence comprises: Performing sample quantity statistics on the three-phase voltage original analog-to-digital conversion value set to obtain a voltage sampling quantity value; Based on the confidence calculation algorithm, according to the voltage position difference set and the voltage amplitude set, a confidence check is performed on the three-phase voltage original analog-to-digital conversion value set to obtain a credible voltage original analog-to-digital conversion value set; Performing sample quantity statistics on the set of credible voltage original analog-to-digital conversion values ​​to obtain credible current sample quantity values; The voltage confidence is obtained by dividing the credible voltage sample quantity value by the voltage sampling quantity value.

6. The method according to claim 1, characterized in that The step of fusing and converting the voltage electric speed and the current electric speed based on the preset electric speed fusion algorithm according to the voltage confidence and the current confidence to obtain the functional safety speed includes: Adding the voltage confidence and the current confidence to obtain the sum of the current and voltage confidences; Determining whether the sum of the current and voltage confidences is greater than a preset confidence calibration threshold; If not, the functional safety speed is zero; If so, based on the electric speed fusion algorithm, the voltage electric speed is multiplied by the voltage confidence to obtain a first voltage electric speed, and the current electric speed is multiplied by the current confidence to obtain a first current electric speed; Adding the first voltage-electric speed and the first voltage-electric speed to obtain a first electric speed; Dividing the first electrical rotation speed by the current and voltage confidence sum to obtain a second electrical rotation speed; The second electrical rotation speed is divided by a preset pole pair value to obtain the functional safety rotation speed.

7. The method according to claim 1, characterized in that The step of obtaining a set of original analog-to-digital conversion values ​​of three-phase voltages and a set of original analog-to-digital conversion values ​​of three-phase currents comprises: In a preset slow cycle period, in response to a preset short cycle timing sampling task, data sampling is performed on a preset electric drive system to obtain a plurality of original analog-to-digital conversion values ​​of three-phase voltage and original analog-to-digital conversion values ​​of three-phase power supply; The three-phase voltage original analog-to-digital conversion value set is established based on several copies of the three-phase voltage original analog-to-digital conversion values, and the three-phase current original analog-to-digital conversion value set is established based on several copies of the three-phase current original analog-to-digital conversion values.

8. An electric drive speed estimation device, characterized in that: The device comprises: An acquisition module, used to acquire a set of original analog-to-digital conversion values ​​of three-phase voltage and a set of original analog-to-digital conversion values ​​of three-phase current; A calculation module, for calculating the voltage electric speed and the voltage confidence according to the three-phase voltage original analog-to-digital conversion value set based on a preset electric speed calculation algorithm and a confidence calculation algorithm, and calculating the current electric speed and the current confidence according to the three-phase current original analog-to-digital conversion value set; The fusion module is used to fuse and convert the voltage electric speed and the current electric speed based on a preset electric speed fusion algorithm according to the voltage confidence and the current confidence to obtain a functional safety speed.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the electric drive speed estimation method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the electric drive speed estimation method according to any one of claims 1 to 7 are implemented.

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