Rotary transformer decoding angle compensation processing method under low-speed working condition of motor

Abstract

The invention relates to a rotary transformer decoding angle compensation processing method under a low-speed working condition of a motor, and belongs to the technical field of motor rotor position detection, and the method comprises the steps: tracking the position of a motor rotor through a preset rotary decoding module according to a preset acquisition frequency, and obtaining a digital signal value outputted by the rotary decoding module; determining an angle compensation interval according to the change of a digital signal value correspondingly output by the rotary decoding module at each acquisition moment along with time, and performing interpolation processing in the angle compensation interval based on a pre-constructed angle compensation model; wherein the angle compensation interval is a corresponding time interval when the digital signal value changes; motor rotor position information is generated and output, and the position information at least comprises the angle value. According to the invention, when the resolver decoding angle resolution is low, angle interpolation is carried out by using the motor speed, and the DQ axis current fluctuation caused by large angle deviation can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor rotor position detection, and in particular to a method for processing a resolver decoding angle compensation under a motor low-speed condition. Background Art

[0002] Permanent magnet synchronous motors are widely used in new energy vehicles, which often require smooth starting and no jitter at low or very low speeds. Therefore, it is of great significance to study the position and speed detection of motors at low or very low speeds. To measure the rotor position of a permanent magnet synchronous motor, a resolver is generally used to detect the rotor position. A resolver, referred to as a resolver, is used to measure the angular displacement of a rotating object. At the same time, a resolver decoding chip is required for decoding and output. The resolver decoding chip generally outputs an angle signal, and the speed is obtained by direct differentiation and filtering.

[0003] With the development of high-speed motors, the requirements for resolver decoding angles are wide speed range and high position accuracy. In addition, there are multiple angle resolution configurations for resolver digital conversion chips, namely 10bit, 12bit, 14bit, and 16bit. As the angle resolution increases, the maximum speed measured by the resolver digital conversion chip will also decrease; therefore, the method of decoding with high resolution (16bit) cannot be applied to the high speed range, that is, the speed bandwidth limits the use of high resolution. For this reason, the decoding angle resolution has to be reduced to increase the bandwidth of the speed detection. However, after the angle resolution is reduced, the decoding angle obtained at extremely low speeds is inaccurate, which will affect the control accuracy of the motor current and cause the problem of increased fluctuation range of the motor control current. Summary of the invention

[0004] In order to obtain the accurate position of the rotor of a permanent magnet synchronous motor at extremely low speeds and improve the problem of large fluctuations in motor control current and poor control accuracy caused by inaccurate rotor position at extremely low speeds, the present application provides a method for compensating the resolver decoding angle under low-speed motor conditions.

[0005] In a first aspect, the present application provides a method for processing a resolver decoding angle compensation under a motor low-speed condition, comprising: tracking a motor rotor position through a preset rotation decoding module according to a preset acquisition frequency, and acquiring a digital signal value output by the rotation decoding module; According to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, an angle compensation interval is determined, and interpolation processing is performed within the angle compensation interval based on a pre-built angle compensation model; wherein the angle compensation interval is a time interval corresponding to the change of the digital signal value; Generate and output motor rotor position information, wherein the position information at least includes an angle value.

[0006] By adopting the above technical scheme, the rotary decoding module mentioned in the above scheme can be a rotary decoding chip AD2S1210. When the rotor runs at an extremely low speed, the angle output by AD2S1210 will remain unchanged as the angle value outputted by time delays, but the motor rotor has actually run to another angle; that is, when the rotary decoding module outputs the same AD value (i.e., digital signal value) at different times, the real angle of the rotor has changed. In order to make the angle detection of the rotor closer to the actual operating condition of the rotor, the present application performs angle compensation during the current change and the previous change (i.e., the angle compensation interval) each time the AD value changes, that is, the angle value is calculated and inserted within the angle compensation interval, and the amount of data is increased by interpolation to accurately reflect the angle change of the motor rotor under extremely low speed operating conditions, and the discrete angle value detected by the rotary decoding module is converted into a continuous floating point, which effectively suppresses the fluctuation of the DQ axis current, improves the accuracy of the decoding angle obtained at extremely low speed, and thus improves the problem of large fluctuation of the motor control current and poor control accuracy caused by inaccurate rotor position at extremely low speed.

[0007] Optionally, determining the angle compensation interval according to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, and performing interpolation processing within the angle compensation interval based on a pre-built angle compensation model, includes: Whenever a digital signal value corresponding to an acquisition time is received, it is determined whether the digital signal value corresponding to the current acquisition time is consistent with the digital signal value corresponding to the previous acquisition time; If the judgment result is inconsistent, the corresponding acquisition moment is determined as the target acquisition moment, and based on the digital signal value acquired at the current acquisition moment, the angle value θ at the current target acquisition moment is determined and stored; the angular velocity ω of the motor rotor from the previous target acquisition moment to the current target acquisition moment is calculated; wherein the angle compensation interval is the time interval formed by two adjacent target acquisition moments; If the judgment result is consistent, the corresponding acquisition time is determined as the time to be interpolated, and the angle value θ′ corresponding to the current time to be interpolated is calculated based on the angle value θ and the angular velocity ω of the angle compensation interval before the current time to be interpolated; The calculation formula of the angle value corresponding to the interpolation time is as follows: θ′ (k,i) =θ k +iω k-1 Δt Wherein, the digital signal value is AD value, θ k Get the angle value corresponding to the moment for the kth target, ω k-1is the angular velocity in the time interval from the k-1th target acquisition moment to the kth target acquisition moment; θ′ (k,i) It refers to the angle value corresponding to the i interpolation moments that appear after the k-th target acquisition moment; AD(k) is the digital signal value (i.e., AD value) corresponding to the k-th target acquisition moment, ADmax is the maximum AD value of the preset resolver decoding resolution corresponding to the rotation decoding module; Δt is the time interval between adjacent acquisition moments.

[0008] Optionally, the angle values ​​contained in the motor rotor position information are arranged in sequence according to the chronological order of the corresponding acquisition moments; The method further comprises: determining a dynamic behavior of the motor rotor based on the generated motor rotor position information; Deriving angle values ​​with a correlation relationship from all motor rotor position information with the same dynamic behavior to form a comparison group; wherein all angle values ​​belonging to the same comparison group have the same arrangement order in the corresponding motor rotor position information; If in the same comparison group, there are at least two angle values ​​whose difference is greater than the preset fault tolerance range, fault risk information is generated and output.

[0009] By adopting the above technical solution, the present application assumes that the tracking and acquisition frequency of the motor rotor position by the rotation decoding module remains unchanged, and dynamic behavior refers to a complete action (such as one circle) performed by the motor rotor multiple times. The present application proposes to analyze all motor rotor position information for the same dynamic behavior, specifically analyzing the angle values, that is, comparing the angle values ​​obtained when the motor rotor performs the same dynamic behavior in different time periods, and comparing the difference between the two angle values ​​corresponding to the same acquisition time (that is, any two angle values ​​in the same comparison group) with the preset deviation value. If the difference is greater than the preset fault tolerance range, it may be due to a large interpolation error, or it may be due to a motor failure that affects the rotation speed of the motor rotor and causes an excessive angle deviation. This cross-validation method is used as a prediction scheme for motor failure risks.

[0010] Optionally, the method further includes: If there is no dynamic behavior identical to the target dynamic behavior among all the dynamic behaviors determined in the historical period, then based on preset considerations, the correlation between each dynamic behavior determined in the historical period and the target dynamic behavior is calculated, and the dynamic behavior with a correlation higher than the preset correlation is used as the reference dynamic behavior of the target dynamic behavior. An angle value with a correlation relationship is derived from the motor rotor position information of the target dynamic behavior and the corresponding reference dynamic behavior to form a comparison group; the considerations include at least the rotation speed and the stator rotation direction.

[0011] By adopting the above-mentioned technical scheme, corresponding to the dynamic behavior generated for the first time (i.e., the target dynamic behavior), in order to verify whether there is a risk of failure of the motor rotor in the process of executing the dynamic behavior, the present application specifically determines the correlation with the target dynamic behavior based on each dynamic behavior determined in the historical period, so as to find a reference dynamic behavior that matches the target dynamic behavior, and then screen out the angle values ​​that can constitute a comparison group from the reference dynamic behavior and the target dynamic behavior.

[0012] Optionally, the calculating of the correlation between each dynamic behavior determined in the historical period and the target dynamic behavior, taking the dynamic behavior with a correlation higher than a preset correlation as a reference dynamic behavior of the target dynamic behavior, and deriving an angle value with a correlation relationship from the motor rotor position information of the target dynamic behavior and the corresponding reference dynamic behavior to form a comparison group includes: Decomposing the target dynamic behavior into a plurality of decomposed behaviors, so that the decomposed behaviors satisfy: among all dynamic behaviors determined in the historical period, there is a reference dynamic behavior, and the correlation between some behaviors in the reference dynamic behavior and the decomposed behavior is higher than a preset correlation; Angle values ​​with a correlation relationship are obtained from the motor rotor position information of the decomposed behavior and the corresponding partial behavior to form a comparison group.

[0013] By adopting the above-mentioned technical scheme, in order to improve the accuracy and comprehensiveness of analyzing fault risks based on target dynamic behaviors, the present application further proposes to disassemble the target dynamic behavior to obtain several decomposed behaviors, thereby increasing the number of reference dynamic behaviors matched by the decomposed behaviors, and then increasing the number of angle values ​​of the comparison group, so as to increase the accuracy of predicting the risk of motor rotor failure by increasing the sample size.

[0014] Optionally, if there are at least two angle values ​​in the same comparison group whose difference is greater than a preset fault tolerance range, generating and outputting fault risk information further includes: If in the same comparison group, there is a difference between the first angle value and the second angle value that is greater than a preset fault tolerance range, then based on a time interval formed by acquisition moments corresponding to the first angle value and the second angle value, determining the execution time of the motor rotor executing the corresponding dynamic behavior within the time interval, and the temperature data within the time interval; The determined execution time and temperature data are input into a pre-built matching model, and an ideal fault tolerance range is output through the matching model. If the difference between the first angle value and the second angle value exceeds the ideal fault tolerance range, fault risk information is generated and output.

[0015] By adopting the above technical solution, since the speed of the motor stator will also be affected by environmental factors (such as temperature) and working time (i.e. execution time), when making a difference comparison on the angle values ​​within the same comparison group, the above-mentioned influencing factors can be combined to match the ideal fault tolerance range to improve the comprehensiveness of the assessment of fault risks.

[0016] Optionally, the method further includes: Whenever the motor rotor position information is generated, a first comparison curve is generated for all the angle values ​​contained in the same motor rotor position information in the order of acquisition time, and the first comparison curve is added to the corresponding motor rotor position information; whenever a comparison group is generated, a second comparison curve is generated for all the angle values ​​in the same comparison group in the order of dynamic behavior generation time, and the second comparison curve is output.

[0017] By adopting the above technical scheme, the angle values ​​generated by the same state behavior are used to generate a first comparison curve in the order of acquisition time, so as to more intuitively know the change of the rotation angle of the motor rotor over time; and the angle values ​​of the same state behavior performed at different times are brought together and displayed in the form of a curve chart more vividly, showing the angle deviation of the motor rotor when the same dynamic behavior is performed at different periods.

[0018] In a second aspect, the present application provides a resolver decoding angle compensation processing system under low-speed working conditions of a motor, comprising: a rotor position tracking module, for tracking the motor rotor position through a preset rotation decoding module according to a preset acquisition frequency, and obtaining a digital signal value output by the rotation decoding module; A rotor angle compensation module, used to determine an angle compensation interval according to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, and to perform interpolation processing within the angle compensation interval based on a pre-built angle compensation model; wherein the angle compensation interval is a time interval corresponding to the change of the digital signal value; The position information output module is used to generate and output the motor rotor position information, wherein the position information at least includes an angle value.

[0019] In a third aspect, the present application provides a resolver decoding angle compensation processing device under low-speed motor conditions, comprising a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any method described in the first aspect.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute any one of the methods described in the first aspect.

[0021] In summary, this application includes the following beneficial technical effects: The present application proposes to use the motor speed for angle interpolation when the angle resolution of the resolver decoding is low, and to increase the amount of data in an interpolation manner, so as to convert the discrete angle value detected by the rotary decoding module into a continuous floating point, thereby realizing continuous change of the angle, effectively suppressing the fluctuation of the DQ axis current, and improving the accuracy of the decoding angle obtained at extremely low speeds. The DQ axis current fluctuation caused by large angle deviation can be effectively improved, and the possibility of angle compensation for the resolver decoding position jump is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a flow chart of a method for processing resolver decoding angle compensation under low-speed motor conditions disclosed in an embodiment of the present application.

[0024] Figure 2 It is a logic flow chart of interpolation using an angle compensation model in an embodiment of the present application.

[0025] Figure 3 It is a schematic diagram used to reflect the relationship between the target acquisition time and the time to be interpolated in the embodiment of the present application.

[0026] Figure 4 It is a structural block diagram of a resolver decoding angle compensation processing system under low-speed motor conditions disclosed in an embodiment of the present application.

[0027] Explanation of the accompanying drawings: 1. Rotor position tracking module; 2. Rotor angle compensation module; 3. Position information output module. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-4 This application is described in further detail.

[0029] The embodiment of the present application discloses a method for processing angle compensation of a resolver decoder under low-speed working conditions of a motor (hereinafter referred to as the angle compensation processing method). The execution subject of the angle compensation processing method is a system for processing angle compensation of a resolver decoder under low-speed working conditions of a motor (hereinafter referred to as the angle compensation processing system). Figure 1-3 The specific process steps of the angle compensation processing method are elaborated in detail.

[0030] S101, according to a preset acquisition frequency, the motor rotor position is tracked by a preset rotation decoding module, and a digital signal value output by the rotation decoding module is acquired.

[0031] In implementation, the rotary decoding module disclosed in this embodiment realizes the tracking of the motor rotor position and angle based on the resolver decoding principle. Specifically, the rotary decoding module includes a resolver and a resolver decoding chip. The rotor position is detected by the resolver, and then decoded and outputted by the resolver decoding chip (such as using the resolver digital conversion chip AD2S1210 to output AD value), and finally the rotor speed and angle value are obtained through differentiation and filtering operations.

[0032] S102, determining the angle compensation interval according to the change of the digital signal value output by the rotation decoding module at each acquisition moment over time, and performing interpolation processing within the angle compensation interval based on a pre-built angle compensation model; wherein the angle compensation interval is the time interval corresponding to the change of the digital signal value.

[0033] Specifically, S102 includes the following sub-steps: Whenever a digital signal value corresponding to an acquisition time is received, it is determined whether the digital signal value corresponding to the current acquisition time is consistent with the digital signal value corresponding to the previous acquisition time; If the judgment result is inconsistent, the corresponding acquisition moment is determined as the target acquisition moment, and based on the digital signal value acquired at the current acquisition moment, the angle value θ at the current target acquisition moment is determined and stored; the angular velocity ω of the motor rotor from the previous target acquisition moment to the current target acquisition moment is calculated; wherein the angle compensation interval is the time interval formed by two adjacent target acquisition moments; If the judgment result is consistent, the corresponding acquisition time is determined as the time to be interpolated, and the angle value θ′ corresponding to the current time to be interpolated is calculated based on the angle value θ and the angular velocity ω of the angle compensation interval before the current time to be interpolated; The calculation formula of the angle value corresponding to the interpolation time is as follows: θ′ (k,i) =θ k +iω k-1 Δt Among them, θ k Get the angle value corresponding to the moment for the kth target, ω k-1 is the angular velocity in the time interval from the k-1th target acquisition moment to the kth target acquisition moment; θ′ (k,i)It refers to the angle value corresponding to the i interpolation moments that appear after the k-th target acquisition moment; AD(k) is the digital signal value (i.e., AD value) corresponding to the k-th target acquisition moment, ADmax is the maximum AD value of the preset resolver decoding resolution corresponding to the rotation decoding module; Δt is the time interval between adjacent acquisition moments.

[0034] In implementation, combined Figure 2 First, the present application will control the rotation decoding module to obtain the angle value of the rotor according to the preset acquisition frequency, that is, each angle value corresponds to an acquisition moment, the time interval between adjacent acquisition moments is Δt, and the acquisition frequency = 1 / Δt. And each acquisition moment will also output a corresponding digital signal value (hereinafter referred to as AD value).

[0035] Whenever an AD value corresponding to an acquisition moment is acquired, the angle compensation processing system is used to compare the AD value at the current acquisition moment with the AD value at the previous acquisition moment to determine whether they are consistent; If the result of the determination is inconsistent, the count i of the preset timer is cleared, and the current acquisition time is determined as the target acquisition time, the angle value θ at the target acquisition time is recorded, and based on the angle value θ obtained at the current acquisition time, the angular velocity ω of the motor rotor from the previous target acquisition time to the current target acquisition time and the speed n are calculated; the calculation formula is as follows: ω k-1 Refers to the angular velocity of the motor rotor from the k-1th target acquisition time to the kth target acquisition time; similarly, n k-1 Refers to the speed of the motor rotor from the k-1th target acquisition time to the kth target acquisition time; AD k It refers to the digital signal value obtained at the time of k-th target acquisition, AD k-1 It refers to the digital signal value obtained at the k-1th target acquisition moment, ADmax refers to the maximum AD value that the resolver digital conversion chip AD2S1210 can output at a specified resolution, and Δt′ refers to the total duration from the k-1th target acquisition moment to the kth target acquisition moment.

[0036] Reference Figure 2 and Figure 3 , if the result is consistent, interpolation is required. Specifically, the current acquisition moment is determined as the interpolation moment, and the timer count i=i+1 (the initial value of i is 0); it should be noted here that once the timer is reset, i will automatically be assigned the initial value. Based on the angle value θ and angular velocity ω of the previous angle compensation interval at the interpolation moment, the angle value θ′ corresponding to the interpolation moment is calculated; the angle value calculation formula corresponding to the interpolation moment is as follows: θ′(k,i) =θ k +iω k-1 Δt Among them, θ′ (k,i) It refers to the angle value corresponding to the i-th interpolation moment after the k-th target acquisition moment; θ k Get the angle value corresponding to the moment for the kth target; ω k-1 is the angular velocity of the angle compensation interval formed from the k-1th target acquisition moment to the kth target acquisition moment; Δt is the time interval between adjacent acquisition moments; in the embodiment of the present application, the adjacent acquisition time interval Δt = the duration T of a single interruption cycle of the motor, that is, the present application exemplarily interpolates according to the interruption cycle T.

[0037] S103, generating and outputting motor rotor position information, wherein the position information at least includes an angle value.

[0038] In implementation, the motor rotor position information specifically refers to the angle value and angular velocity detected or calculated corresponding to each acquisition moment; wherein the acquisition moment here includes both the target acquisition moment and the time to be interpolated. And the angle values ​​and angular velocities contained in the motor rotor position information are arranged in the order of the corresponding acquisition moments.

[0039] Optionally, the angle compensation processing method further includes: S104, determining the dynamic behavior of the motor rotor according to the generated motor rotor position information; S105, deriving angle values ​​with a correlation relationship from all motor rotor position information with the same dynamic behavior to form a comparison group; wherein all angle values ​​belonging to the same comparison group have the same arrangement order in the corresponding motor rotor position information; S106: If in the same comparison group, there are at least two angle values ​​whose difference is greater than a preset fault tolerance range, fault risk information is generated and output.

[0040] In implementation, since the resolver digital conversion chip AD2S1210 can not only detect the angle value and rotation speed of the rotor, but also detect the direction of rotation, the dynamic behavior of the motor rotor in the embodiment of the present application can be specifically described with the help of the two data of direction of rotation and angle value, such as: one dynamic behavior is to rotate in a clockwise direction from the initial position, and stop rotating after M Δt; the other dynamic behavior is: starting from the initial position, first rotate clockwise, and after N Δt, rotate counterclockwise, and stop rotating after N Δt.

[0041] However, in the actual working process, the motor often repeatedly performs the same dynamic behavior. Therefore, the present application proposes to compare the angle values ​​in the motor rotor position information with the same dynamic behavior, and the present application assumes that the same dynamic behavior satisfies: the initial position of the motor rotor is the same, the motor rotor experiences the same rotation direction, and the number of Δt consumed when the rotation direction is switched or the corresponding rotation direction is stopped is the same (such as switching the rotation direction or stopping the rotation in that direction when rotating in a clockwise direction for N Δt).

[0042] Therefore, the present application can collect the angle values ​​of the same order (i.e., those with a correlation relationship) from all motor rotor position information of the same dynamic behavior to form a comparison group according to the arrangement order of the angle values ​​in the motor rotor position information to which they belong. For example, the motor rotor position information A contains the angle values ​​θ arranged in order. A1 ,θ A2 ,θ A3 ; The motor rotor position information B contains the angle values ​​θ arranged in order B1 ,θ B2 ,θ B3 If the dynamic behaviors corresponding to the motor rotor position information A and the motor rotor position information B are the same, the following comparison group (θ A1 ,θ B1 ), (θ A2 ,θ B2 ), (θ A3 ,θ B3 ).

[0043] Each angle value in the same comparison group is subtracted from other angle values ​​in the same comparison group. If any difference is greater than the preset fault tolerance range, it is considered that there is a risk of motor failure. At this time, fault risk information will be generated and output. The fault risk information may include the corresponding angle value to inform maintenance personnel that a fault warning is generated when turning to the position of the corresponding angle value.

[0044] Optionally, S106 may further include the following sub-steps: If there is no dynamic behavior identical to the target dynamic behavior among all the dynamic behaviors determined in the historical period, then based on the preset considerations, the target dynamic behavior is decomposed into a number of decomposed behaviors, so that the decomposed behaviors satisfy: there is a reference dynamic behavior among all the dynamic behaviors determined in the historical period, and the correlation between some behaviors in the reference dynamic behavior and the decomposed behavior is higher than the preset correlation; Angle values ​​with a correlation relationship are obtained from the motor rotor position information of the decomposed behavior and the corresponding partial behavior to form a comparison group.

[0045] In implementation, the angle compensation processing system will store each determined dynamic behavior and classify the same dynamic behavior. The target dynamic behavior is the first dynamic behavior that has never appeared in all the historically stored dynamic behaviors, and for this dynamic behavior, the present application provides splitting it into several decomposed behaviors to match part of the behaviors in all the historically stored dynamic behaviors. The partial behavior here refers to the local behavior of a certain dynamic behavior stored in history. Exemplarily, the rules for the target dynamic behavior disclosed in the present application are: starting from the initial position of the motor rotor, according to the change of the rotation of the motor rotor over time, the motor rotor is decomposed into several behavior segments according to the rotation direction, and then the initial position, rotation direction, and Δt quantity of each behavior segment are compared with the historically stored dynamic behavior to determine whether the historically stored dynamic behavior contains the behavior segment. If not, the behavior segment is further split until the position is included. The initial direction can be expressed in the form of Δt.

[0046] If the target dynamic behavior is to start from the initial position, first rotate x Δt clockwise, then rotate y Δt counterclockwise, and finally rotate x Δt clockwise; then according to the above decomposition rules, it can be divided into three sections according to the rotation direction: Behavior segment 1: Rotate x Δt clockwise, the corresponding initial position can be expressed as 0, and the end position can be expressed as: +xΔt; Behavior segment 2: Rotate counterclockwise by y Δt, the corresponding initial position can be expressed as +xΔt, and the end position can be expressed as: (xy)Δt; Behavior segment 3: Rotate x Δt clockwise, the corresponding initial position can be expressed as (xy)Δt, and the end position can be expressed as: (2x-y)Δt Each dynamic behavior stored in history can also be represented by Δt, and when calculating the end position and the initial position, a clockwise rotation of Δt can be defined as +Δt; and a counterclockwise rotation of Δt can be defined as -Δt.

[0047] Correspondingly, when screening the dynamic behaviors stored in the history, the angle compensation processing system first determines whether there is a dynamic behavior whose initial position and end position are exactly the same as the above-mentioned behavior segment. If not, it determines whether there is a dynamic behavior that contains the above-mentioned behavior segment (i.e., the reference dynamic behavior), such as reference dynamic behavior 1: rotate z Δt clockwise (the corresponding initial position and end position are: 0, +zΔt, respectively), and then rotate z Δt counterclockwise ((the corresponding initial position and end position are: +zΔt, 0, respectively)); where z>x, then the clockwise rotation behavior in the reference dynamic behavior 1 contains the dynamic behavior corresponding to behavior segment 1, and the partial behavior with the initial position and end position of 0, xΔt, respectively, can be cut out from the reference dynamic behavior 1 as the partial behavior corresponding to dynamic 1.

[0048] If the dynamic behavior of the above-mentioned behavior segment is not included in the dynamic behavior stored in history, the corresponding behavior segment is further split, and Δt is used as the minimum splitting unit. For example, the initial position and the end position corresponding to behavior segment 2 are (xy)Δt and (2x-y)Δt respectively. Any integer in the interval [xy, 2x-y] can be selected as the splitting point, such as 0, and behavior segment 2 is split into behavior segment 2a whose initial position and the end position are (xy)Δt and 0 respectively, and behavior segment 2b whose initial position and the end position are 0 and (2x-y)Δt respectively. Behavior segment 2a and behavior segment 2b are then compared with the dynamic behavior stored in history to determine whether there is an inclusion relationship. If there is an inclusion relationship, further splitting is stopped.

[0049] The behavior segments formed by the final decomposition of the target dynamic behavior are the decomposed behaviors. The angle compensation processing system then combines the decomposed behaviors with the motor rotor position information in the corresponding partial behaviors with the same sequence of angle values ​​(i.e., angle values ​​with a correlation relationship) to form a comparison group.

[0050] Optionally, S106 further includes the following steps: If in the same comparison group, the difference between the first angle value and the second angle value is greater than the preset fault tolerance range, then based on the time interval formed by the acquisition moments corresponding to the first angle value and the second angle value, determine the execution time of the motor rotor performing the corresponding dynamic behavior within the time interval, and the temperature data within the time interval; The determined execution time and temperature data are input into a pre-built matching model, and an ideal fault tolerance range is output through the matching model. If the difference between the first angle value and the second angle value exceeds the ideal fault tolerance range, fault risk information is generated and output.

[0051] In implementation, the angle compensation processing system pre-stores the corresponding relationship between the endpoint range deviation value and the execution time and temperature, that is, it stores several temperature ranges, and each temperature range corresponds to several execution time ranges, and the endpoint range deviation value corresponding to each execution time range; The execution duration T is determined based on the time difference between the acquisition moment corresponding to the first angle value (hereinafter referred to as T1) and the acquisition moment corresponding to the second angle value (hereinafter referred to as T2). In other embodiments, the execution duration can be considered to have eliminated the time when the motor stops running during [T1, T2].

[0052] Then obtain the temperature data when the motor rotor executes the dynamic behavior corresponding to the first angle value and the dynamic behavior corresponding to the second angle value, and it can be assumed that while using the rotation decoding module to collect the position of the motor rotor, this application will also receive the temperature data of the surrounding environment of the motor rotor detected by a preset temperature sensor.

[0053] Then, the endpoint range deviation value is determined according to the corresponding relationship stored in the angle compensation processing system, as well as the determined temperature data and execution time, and the endpoint range deviation value is used to correct the endpoint value of the preset fault tolerance range to form an ideal fault tolerance range after correction; wherein, the endpoint range deviation value can be a negative number or a positive number, so the correction method can be: sum the endpoint value of the preset fault tolerance range with the endpoint range deviation value to obtain the endpoint value of the ideal fault tolerance range.

[0054] Optionally, the angle compensation processing method further includes: Whenever the motor rotor position information is generated, all angle values ​​contained in the same motor rotor position information are used to generate a first comparison curve in the order of acquisition time, and the first comparison curve is added to the corresponding motor rotor position information; Whenever a comparison group is generated, all angle values ​​in the same comparison group are used to generate a second comparison curve in the order of the time when the dynamic behavior is generated, and the second comparison curve is output.

[0055] Optionally, the horizontal coordinates of the first comparison curve and the second comparison curve are both acquisition times, and the vertical coordinates are both angle values, so that the first comparison curve can be used to represent the change in the angle value of the motor rotor over time when it performs a certain dynamic behavior, and the second comparison curve can be used to represent the change in the angle value of the motor rotor over time when it performs the same dynamic behavior multiple times.

[0056] The embodiment of the present application also discloses a resolver decoding angle compensation processing system under low-speed motor conditions. Figure 4 ,include: The rotor position tracking module 1 is used to track the motor rotor position through a preset rotation decoding module according to a preset acquisition frequency, and obtain the digital signal value output by the rotation decoding module; The rotor angle compensation module 2 is used to determine the angle compensation interval according to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, and to perform interpolation processing within the angle compensation interval based on the pre-built angle compensation model; wherein the angle compensation interval is the time interval corresponding to the change of the digital signal value; The position information output module 3 is used to generate and output the motor rotor position information, wherein the position information at least includes an angle value.

[0057] Optionally, the rotor angle compensation module 2 is further used to determine whether the digital signal value corresponding to the current acquisition moment is consistent with the digital signal value corresponding to the previous acquisition moment whenever the digital signal value corresponding to the acquisition moment is received; If the judgment result is inconsistent, the corresponding acquisition moment is determined as the target acquisition moment, and based on the digital signal value acquired at the current acquisition moment, the angle value θ at the current target acquisition moment is determined and stored; the angular velocity ω of the motor rotor from the previous target acquisition moment to the current target acquisition moment is calculated; wherein the angle compensation interval is the time interval formed by two adjacent target acquisition moments; If the judgment result is consistent, the corresponding acquisition time is determined as the time to be interpolated, and the angle value θ′ corresponding to the current time to be interpolated is calculated based on the angle value θ and the angular velocity ω of the angle compensation interval before the current time to be interpolated; The calculation formula of the angle value corresponding to the interpolation time is as follows: θ′ (k,i) =θ k +iω k-1 Δt Optionally, it also includes a fault risk warning module, which is used to determine the dynamic behavior of the motor rotor based on the generated motor rotor position information; derive angle values ​​with correlation from all motor rotor position information with the same dynamic behavior to form a comparison group; wherein all angle values ​​belonging to the same comparison group have the same arrangement order in the corresponding motor rotor position information; and is also used to generate and output fault risk information if there are at least two angle values ​​in the same comparison group whose difference is greater than a preset fault tolerance range.

[0058] Optionally, the fault risk warning module is also used for calculating the correlation between each dynamic behavior determined in the historical period and the target dynamic behavior based on preset consideration factors if there is no dynamic behavior identical to the target dynamic behavior among all the dynamic behaviors determined in the historical period, taking the dynamic behavior with a correlation higher than the preset correlation as the reference dynamic behavior of the target dynamic behavior, and deriving an angle value with a correlation relationship from the motor rotor position information of the target dynamic behavior and the corresponding reference dynamic behavior to form a comparison group; the consideration factors include at least the rotation speed and the stator rotation direction, Optionally, the fault risk warning module is also used to decompose the target dynamic behavior into several decomposed behaviors so that the decomposed behavior satisfies: among all the dynamic behaviors determined in the historical period, there is a reference dynamic behavior, and the correlation between some behaviors in the reference dynamic behavior and the decomposed behavior is higher than a preset correlation; and derive angle values ​​with correlation relationships from the motor rotor position information of the decomposed behavior and the corresponding partial behavior to form a comparison group.

[0059] Optionally, the fault risk warning module is also used to determine, based on the time interval formed by the acquisition moments corresponding to the first angle value and the second angle value, the execution time of the motor rotor performing the corresponding dynamic behavior within the time interval, and the temperature data within the time interval if the difference between the first angle value and the second angle value in the same comparison group is greater than a preset fault tolerance range; and is also used to input the determined execution time and temperature data into a pre-built matching model, output an ideal fault tolerance range through the matching model, and generate and output fault risk information if the difference between the first angle value and the second angle value exceeds the ideal fault tolerance range.

[0060] Optionally, it also includes an angle change display module, which is used to generate a first comparison curve for all angle values ​​contained in the same motor rotor position information in the order of acquisition time whenever the motor rotor position information is generated, and add the first comparison curve to the corresponding motor rotor position information; whenever a comparison group is generated, all angle values ​​in the same comparison group are generated in the order of dynamic behavior generation time to generate a second comparison curve, and output the second comparison curve.

[0061] An embodiment of the present application also discloses a resolver decoding angle compensation processing device under low-speed motor conditions. The resolver decoding angle compensation processing device under low-speed motor conditions includes a memory and a processor. The memory stores a computer program that can be loaded by the processor and executed by the resolver decoding angle compensation processing method under low-speed motor conditions as described above.

[0062] An embodiment of the present application also discloses a computer-readable storage medium, which stores a computer program that can be loaded by a processor and executes the resolver decoding angle compensation processing method under the low-speed working condition of the motor as described above. The computer-readable storage medium includes, for example: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0063] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0064] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the protection scope of the application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

Claims

1. A method for compensating a resolver decoding angle under low-speed conditions of a motor, characterized in that: include: According to a preset acquisition frequency, the motor rotor position is tracked by a preset rotation decoding module, and a digital signal value output by the rotation decoding module is acquired; According to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, an angle compensation interval is determined, and interpolation processing is performed within the angle compensation interval based on a pre-built angle compensation model; wherein the angle compensation interval is a time interval corresponding to the change of the digital signal value; Generate and output motor rotor position information, wherein the position information at least includes an angle value.

2. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 1 is characterized in that: The method of determining an angle compensation interval according to a change in a digital signal value outputted by the rotation decoding module at each acquisition moment over time, and performing interpolation processing within the angle compensation interval based on a pre-built angle compensation model, comprises: Whenever a digital signal value corresponding to an acquisition time is received, it is determined whether the digital signal value corresponding to the current acquisition time is consistent with the digital signal value corresponding to the previous acquisition time; If the judgment result is inconsistent, the corresponding acquisition moment is determined as the target acquisition moment, and based on the digital signal value acquired at the current acquisition moment, the angle value θ at the current target acquisition moment is determined and stored; the angular velocity ω of the motor rotor from the previous target acquisition moment to the current target acquisition moment is calculated; wherein the angle compensation interval is the time interval formed by two adjacent target acquisition moments; If the judgment result is consistent, the corresponding acquisition time is determined as the time to be interpolated, and the angle value θ′ corresponding to the current time to be interpolated is calculated based on the angle value θ and the angular velocity ω of the angle compensation interval before the current time to be interpolated; The calculation formula for the angle value corresponding to the interpolation time is as follows: θ′ (k,i) =θ k +iω k-1 Δt Wherein, the digital signal value is AD value, θ k Get the angle value corresponding to the moment for the kth target, ω k-1 is the angular velocity in the time interval from the k-1th target acquisition moment to the kth target acquisition moment; θ′ (k,i) It refers to the angle value corresponding to the i interpolation moments that appear after the k-th target acquisition moment; AD(k) is the digital signal value (i.e., AD value) corresponding to the k-th target acquisition moment, ADmax is the maximum AD value of the preset resolver decoding resolution corresponding to the rotation decoding module; Δt is the time interval between adjacent acquisition moments.

3. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 1 is characterized in that: The angle values ​​contained in the motor rotor position information are arranged in sequence according to the order of the corresponding acquisition times; The method further comprises: determining a dynamic behavior of the motor rotor based on the generated motor rotor position information; Deriving angle values ​​with a correlation relationship from all motor rotor position information with the same dynamic behavior to form a comparison group; wherein all angle values ​​belonging to the same comparison group have the same arrangement order in the corresponding motor rotor position information; If in the same comparison group, there are at least two angle values ​​whose difference is greater than the preset fault tolerance range, fault risk information is generated and output.

4. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 3 is characterized in that: The method further comprises: If there is no dynamic behavior identical to the target dynamic behavior among all the dynamic behaviors determined in the historical period, then based on preset considerations, the correlation between each dynamic behavior determined in the historical period and the target dynamic behavior is calculated, and the dynamic behavior with a correlation higher than the preset correlation is used as the reference dynamic behavior of the target dynamic behavior. An angle value with a correlation relationship is derived from the motor rotor position information of the target dynamic behavior and the corresponding reference dynamic behavior to form a comparison group; the considerations include at least the rotation speed and the stator rotation direction.

5. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 4 is characterized in that: The calculating of the correlation between each dynamic behavior determined in the historical period and the target dynamic behavior, taking the dynamic behavior with a correlation higher than a preset correlation as the reference dynamic behavior of the target dynamic behavior, and obtaining an angle value with a correlation relationship from the motor rotor position information of the target dynamic behavior and the corresponding reference dynamic behavior to form a comparison group, includes: Decomposing the target dynamic behavior into a plurality of decomposed behaviors, so that the decomposed behaviors satisfy: among all dynamic behaviors determined in the historical period, there is a reference dynamic behavior, and the correlation between some behaviors in the reference dynamic behavior and the decomposed behavior is higher than a preset correlation; Angle values ​​with a correlation relationship are obtained from the motor rotor position information of the decomposed behavior and the corresponding partial behavior to form a comparison group.

6. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 3 is characterized in that: If the difference between at least two angle values ​​in the same comparison group is greater than a preset fault tolerance range, generating and outputting fault risk information also includes: If in the same comparison group, there is a difference between the first angle value and the second angle value that is greater than a preset fault tolerance range, then based on a time interval formed by acquisition moments corresponding to the first angle value and the second angle value, determining the execution time of the motor rotor executing the corresponding dynamic behavior within the time interval, and the temperature data within the time interval; The determined execution time and temperature data are input into a pre-built matching model, and an ideal fault tolerance range is output through the matching model. If the difference between the first angle value and the second angle value exceeds the ideal fault tolerance range, fault risk information is generated and output.

7. The resolver decoding angle compensation processing method under low-speed motor working conditions according to claim 3 is characterized in that: The method further comprises: Whenever the motor rotor position information is generated, all angle values ​​included in the same motor rotor position information are used to generate a first comparison curve in the order of acquisition time, and the first comparison curve is added to the corresponding motor rotor position information; Whenever a comparison group is generated, all angle values ​​in the same comparison group are used to generate a second comparison curve in the order of the time when the dynamic behavior is generated, and the second comparison curve is output.

8. A resolver decoding angle compensation processing system under low-speed motor conditions, characterized in that: include, A rotor position tracking module (1) is used to track the motor rotor position through a preset rotation decoding module according to a preset acquisition frequency, and to obtain a digital signal value output by the rotation decoding module; A rotor angle compensation module (2) is used to determine an angle compensation interval according to the change of the digital signal value outputted by the rotation decoding module at each acquisition moment over time, and to perform interpolation processing within the angle compensation interval based on a pre-built angle compensation model; wherein the angle compensation interval is a time interval corresponding to the change of the digital signal value; The position information output module (3) is used to generate and output the motor rotor position information, wherein the position information at least includes an angle value.

9. A resolver decoding angle compensation processing device under low-speed motor conditions, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any one of the methods according to claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute any one of the methods as claimed in claims 1 to 7.

Images