Motor rotor position determination method and device, related equipment and vehicle

Abstract

The invention relates to a motor rotor position determination method and device, related equipment and a vehicle. The method comprises the steps that a first angle value corresponding to a windscreen wiper output shaft is obtained, and the motor rotating speed of a windscreen wiper motor is obtained; and determining the angle value of the motor rotor according to the first angle value and the motor rotating speed. Therefore, the angle value of the electronic rotor is obtained by obtaining the angle value of the output shaft of the windscreen wiper and combining the angle value of the output shaft of the windscreen wiper with the rotating speed of the motor for analysis, the hardware cost is reduced, meanwhile, the accuracy of motor control is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method and apparatus for determining the position of a motor rotor, related equipment and a vehicle. Background Art

[0002] The vehicle is equipped with a windshield wiper, which includes a windshield wiper motor and a windshield wiper mechanism. The windshield wiper mechanism is driven by the windshield wiper motor to clean the windshield of the vehicle. Currently, the windshield wiper motor can be implemented by a synchronous motor. However, if the hardware cost needs to be reduced, the use of a synchronous motor will lead to the problem of low motor control accuracy, which affects the user experience. Summary of the invention

[0003] The embodiments of the present application provide a method, device, electronic device, storage medium, computer program product and vehicle for determining the position of a motor rotor. The angle value of the electronic rotor is obtained by acquiring the angle value of the wiper output shaft, combining the angle value of the wiper output shaft with the motor speed for analysis, thereby reducing hardware costs while improving the accuracy of motor control and enhancing user experience.

[0004] The present application provides a method for determining the position of a motor rotor, which is applied to a wiper motor. The wiper motor includes a wiper output shaft and a motor rotor. The method includes:

[0005] Acquire a first angle value corresponding to the wiper output shaft, and acquire a motor speed of the wiper motor;

[0006] The angle value of the motor rotor is determined according to the first angle value and the motor speed.

[0007] Accordingly, an embodiment of the present application provides a motor rotor position determination device, which is applied to a wiper motor, wherein the wiper motor includes a wiper output shaft and a motor rotor, and the device includes:

[0008] A data acquisition unit, used to acquire a first angle value corresponding to the wiper output shaft, and to acquire a motor speed of the wiper motor;

[0009] An angle value determination unit is used to determine the angle value of the motor rotor according to the first angle value and the motor speed.

[0010] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the motor rotor position determination method provided in the embodiment of the present application.

[0011] In addition, an embodiment of the present application also provides a storage medium, which stores a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute any one of the motor rotor position determination methods provided in the embodiments of the present application.

[0012] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any of the motor rotor position determination methods provided in the embodiments of the present application.

[0013] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned motor rotor position determination device, or the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0014] In the embodiment of the present application, the wiper motor is applied to the wiper motor, which includes a wiper output shaft and a motor rotor. The first angle value corresponding to the wiper output shaft is obtained, and the motor speed of the wiper motor is obtained; the angle value of the motor rotor is determined according to the first angle value and the motor speed. In this way, by obtaining the angle value of the wiper output shaft, combining the angle value of the wiper output shaft and the motor speed for analysis, the angle value of the electronic rotor is obtained, which reduces the hardware cost while improving the accuracy of motor control and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a schematic diagram of an implementation environment scenario of the method for determining the motor rotor position provided in an embodiment of the present application;

[0017] Figure 2 It is a flow chart of a method for determining the position of a motor rotor provided by an embodiment of the present application;

[0018] Figure 3 is a flow chart for constructing a wiper shaft angle correction model provided by an embodiment of the present application;

[0019] Figure 4 is a construction flow chart of a transmission mechanism correction model provided by an embodiment of the present application;

[0020] Figure 5 It is a flowchart of a specific embodiment provided by an embodiment of the present application;

[0021] Figure 6 is a schematic diagram of the structure of a motor rotor position determination device provided by an embodiment of the present application;

[0022] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0024] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0025] The embodiments of the present application provide a method, device, electronic device, storage medium, computer program product and vehicle for determining the position of a motor rotor. The motor rotor position determination device can be integrated in an electronic device, which can be a server or a terminal.

[0026] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0027] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0028] See also Figure 1 , taking the motor rotor position determination device integrated into the electronic device as an example, Figure 1 A schematic diagram of an implementation scenario of the method for determining the motor rotor position provided in an embodiment of the present application, wherein the electronic device may be a terminal device, which obtains a first angle value corresponding to the wiper output shaft and a motor speed of the wiper motor; and determines the angle value of the motor rotor based on the first angle value and the motor speed.

[0029] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the motor rotor position determination method shown is only an example. The implementation environment scenario of the motor rotor position determination method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0030] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0031] This embodiment will be described from the perspective of a motor rotor position determination device. The motor rotor position determination device may be specifically integrated into an electronic device, which may be a terminal and / or a server, and this application does not limit this.

[0032] The motor rotor position determination method provided in the embodiment of the present application can be applied to a wiper motor, which includes a wiper output shaft and a motor rotor.

[0033] It should be noted that the wiper includes a wiper motor and a wiper mechanism. The worm gear on the armature shaft of the wiper motor drives the output gear through the turbine and the turbine shaft. Subsequently, the output arm connected to the wiper connecting rod is controlled by the wiper output shaft. When the wiper motor rotates, the output arm and the connecting rod will move in the front-to-back direction to drive the wiper to work.

[0034] The wiper motor refers to a synchronous motor, and the type of the synchronous motor can be adjusted according to actual conditions. For example, the wiper motor can be a brushless DC motor, and the wiper motor can also be a permanent magnet synchronous motor.

[0035] It should be noted that the brushless DC motor uses a permanent magnet rotor and a brushless motor controller, which can generate a magnetic field on the motor rotor and flip the polarity of the magnetic poles through the commutator, thereby forming a rotational torque on the motor rotor. The permanent magnet synchronous motor needs to be used in conjunction with an AC power supply, and its motor rotor is also composed of permanent magnets. The controller synchronizes the motor rotor with the magnetic field of the power supply by adjusting the frequency of the current, thereby achieving rotational motion.

[0036] However, since the wiper motor lacks a physical commutator, the real-time position of the motor rotor needs to be obtained through the controller. In addition, in order to ensure the accuracy of the wiper operation position control and the motor control accuracy, it is necessary to install corresponding position sensors at the location of the motor rotor and the location of the wiper output shaft, and determine the position of the motor rotor and the location of the wiper output shaft through the position sensor, and determine the size of the voltage input according to the motor rotor position. However, due to the high cost of the position sensor and the need to configure a dedicated port for the controller to acquire data, it is difficult to simultaneously reduce hardware costs and improve motor control accuracy.

[0037] In order to solve the above problems, the present application provides a method for determining the position of a motor rotor. Figure 2 , Figure 2 : is a flow chart of a method for determining the position of a motor rotor provided in an embodiment of the present application. The method for determining the position of an electronic rotor may include the following steps S101 to S102:

[0038] S101, obtaining a first angle value corresponding to a wiper output shaft, and obtaining a motor speed of a wiper motor.

[0039] The first angle value is used to indicate the position of the wiper output shaft.

[0040] There are many ways to obtain the first angle value, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, a position sensor is installed at the location of the wiper output shaft, and the position sensor senses the rotation angle or position of the wiper output shaft, and converts it into an electrical signal output to obtain the first angle value. For another example, a magnetic sensor is placed at the location of the wiper output shaft, and the magnetic field change is detected by the magnetic sensor, and the detected data is converted into the rotation angle or position of the wiper output shaft.

[0041] The motor speed refers to the number of revolutions of the wiper motor per unit time.

[0042] There are many ways to obtain the motor speed of the wiper motor, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, by measuring the current change of the wiper motor, the motor speed is determined by combining the mapping relationship between the current and the motor speed. For another example, by measuring the magnetic field change of the wiper motor, the motor speed is determined by combining the mapping relationship between the magnetic field change and the motor speed.

[0043] S102: Determine an angle value of a motor rotor according to the first angle value and the motor speed.

[0044] The motor rotor refers to the rotating part of the wiper motor. The angle value of the motor rotor is used to indicate the position of the motor rotor.

[0045] The specific structure of the motor rotor can be adjusted according to the type of wiper motor. For example, the motor rotor consists of a set of coils wound around an iron core and a permanent magnet. When the power is turned on, the coils in the rotor will generate a rotating magnetic field, which will be affected by the permanent magnet to form a rotational torque, causing the rotor to start rotating.

[0046] The motor rotor position determination method provided in the embodiment of the present application is applied to a wiper motor, which includes a wiper output shaft and a motor rotor. The first angle value corresponding to the wiper output shaft is obtained, and the motor speed of the wiper motor is obtained; the angle value of the motor rotor is determined according to the first angle value and the motor speed. In this way, by obtaining the angle value of the wiper output shaft, the angle value of the wiper output shaft is combined with the angle value of the wiper output shaft and the motor speed for analysis, and the angle value of the electronic rotor is obtained, which reduces the hardware cost while improving the accuracy of the motor control and improving the user experience.

[0047] In some embodiments, the process of determining the angle value of the motor rotor based on the first angle value and the motor speed may include: performing wiper shaft angle correction processing based on the first angle value and the motor speed to obtain a second angle value corresponding to the wiper output shaft; and determining the angle value of the motor rotor based on the second angle value.

[0048] The second angle value is used to indicate the corrected position information of the wiper output shaft.

[0049] The wiper shaft angle correction process refers to the process of correcting the angle value of the wiper output shaft. There are many ways to correct the wiper shaft angle, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it.

[0050] In some embodiments, a wiper shaft angle correction process is performed based on a first angle value and a motor speed to obtain a second angle value corresponding to the wiper output shaft. The process includes: obtaining a sliding angle value corresponding to the wiper output shaft at the motor speed; performing a wiper shaft angle correction process based on the first angle value and the sliding angle value to obtain a second angle value corresponding to the wiper output shaft.

[0051] The sliding angle value is used to indicate the angle value that the wiper output shaft slides through when the wiper motor stops running at the motor speed.

[0052] It should be noted that when the wiper motor stops running, the driving current of the wiper motor will stop instantly, but due to factors such as motion inertia, resistance and gravity of the mechanical structure. The wiper output shaft continues to run or stops early. For example, when the wiper output shaft indicates upward movement, the resistance and weight of the wiper wiper mechanism will hinder the operation of the wiper output shaft. For another example, when the wiper output shaft indicates downward movement, the gravity of the wiper wiper mechanism will promote the operation of the wiper output shaft. Therefore. When the wiper output shaft indicates upward movement or downward movement, the angle value that the wiper output shaft slides from movement to stop is different, that is, the sliding distance that the wiper output shaft slides from movement to stop is different.

[0053] Based on this, the sliding range of the wiper output shaft after the wiper motor stops at different motor speeds can be measured in advance. The sliding range is the range of the sliding distance. Further, a mapping relationship between the motor speed and the sliding range of the wiper output shaft is established, so that when the motor speed is known, the sliding range corresponding to the wiper output shaft at the motor speed can be determined through the mapping relationship, and the sliding angle value can be determined according to the sliding range and the attribute information of the wiper output shaft.

[0054] There are many ways to obtain the second angle value corresponding to the wiper output shaft, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, the first angle value and the sliding angle value are input into a Gaussian model for calculation, and the result output by the Gaussian model is used as the second angle value corresponding to the wiper output shaft. The Gaussian model refers to a model constructed based on the Gaussian algorithm. For another example, the first angle value and the sliding angle value are input into a discrete distribution model for calculation, and the result output by the discrete distribution model is used as the second angle value corresponding to the wiper output shaft. The discrete distribution model refers to a model constructed based on a discrete distribution algorithm.

[0055] In some embodiments, performing wiper shaft angle correction processing based on the first angle value and the sliding angle value to obtain a second angle value corresponding to the wiper output shaft may include: determining a correction coefficient of the wiper shaft angle correction model based on the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model; performing wiper shaft angle correction processing in the wiper shaft angle correction model based on the error coefficient and the correction coefficient to obtain the second angle value corresponding to the wiper output shaft.

[0056] The wiper shaft angle correction model refers to a model constructed based on a Gaussian algorithm and used for performing wiper shaft angle correction processing.

[0057] The error coefficient refers to a coefficient determined when constructing a wiper shaft angle correction model and used to correct the error of the angle value of the wiper output shaft sensed by the sensor.

[0058] The correction coefficient refers to a coefficient calculated based on an exponential function of a wiper shaft angle correction model and used to correct the angle value of the wiper output shaft.

[0059] In some embodiments, a correction coefficient of the wiper shaft angle correction model is determined based on a first angle value, a sliding angle value and an error coefficient of the wiper shaft angle correction model; the process based on the error coefficient and the correction coefficient may include: assigning values ​​to independent variable parameters to obtain multiple assigned parameters; determining multiple correction coefficients in the wiper shaft angle correction model based on the assigned parameters, the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model.

[0060] Among them, according to the error coefficient and the correction coefficient, the wiper shaft angle correction processing is performed in the wiper shaft angle correction model to obtain the second angle value corresponding to the wiper output shaft. The process includes: according to each correction coefficient and the error coefficient, the wiper shaft angle correction processing is performed in the wiper shaft angle correction model to obtain multiple corrected angle values; according to the multiple corrected angle values, the second angle value corresponding to the wiper output shaft is determined.

[0061] For example, the independent variable parameter is assigned an integer between (0, 10), 10 corrected angle values ​​are obtained, and the average of the 10 corrected angle values ​​is calculated after removing the maximum and minimum values, and the obtained result is used as the second angle value corresponding to the wiper output shaft.

[0062] In some embodiments, the correction coefficient includes a rising correction coefficient and a falling correction coefficient. The correction coefficient of the wiper shaft angle correction model is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model, including: if the wiper output shaft indicates upward movement, the rising correction coefficient is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model; if the wiper output shaft indicates downward movement, the falling correction coefficient is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model.

[0063] The rising correction coefficient refers to the coefficient used to correct the angle value of the wiper output shaft calculated based on the exponential function of the wiper shaft angle correction model during the rising movement stage. The falling correction coefficient refers to the coefficient used to correct the angle value of the wiper output shaft calculated based on the exponential function of the wiper shaft angle correction model during the falling movement stage.

[0064] See also Figure 3 , Figure 3 1 is a flow chart of constructing a wiper shaft angle correction model provided by an embodiment of the present application. Figure 3 As shown, the construction process of the wiper shaft angle correction model includes the following steps S201 to S204:

[0065] S201. Establish a preliminary Gaussian model according to the angle sensor chip manual.

[0066] Among them, the angle sensor chip manual is used to indicate the data manual provided by the sensor manufacturer.

[0067] Specifically, according to the manual of the angle sensor chip, the angle measurement value and the measurement error of the angle sensor under theoretical conditions are obtained. According to the measurement error of the angle sensor under theoretical conditions, a preliminary Gaussian model is established.

[0068] Exemplarily, the following formula (1) establishes a preliminary Gaussian model:

[0069]

[0070] in, refers to the preliminary Gaussian model, Refers to the angle measurement value of the angle sensor, It refers to the measurement error of the angle sensor, x is the independent variable parameter, Th represents the theoretical value in the angle sensor chip manual, a represents the error value, the superscript m1 represents the angle measurement value measured by the angle sensor under theoretical conditions, the subscript m represents the angle measurement value measured by the angle sensor under actual conditions, and e refers to the natural constant.

[0071] S202: At a given angle, perform actual measurement according to the angle sensor to obtain an error range of the given angle.

[0072] Specifically, at a given angle, the angle sensor is used for measurement to obtain a plurality of angle measurement values ​​measured by the angle sensor in actual situations. According to the plurality of angle measurement values ​​measured by the angle sensor in actual situations, an error range of the given angle is obtained, that is, a measurement error of the angle sensor in actual situations. According to the measurement error of the angle sensor in actual situations and the measurement error of the angle sensor in theoretical situations, fusion is performed, and based on the fused measurement error, the preliminary Gaussian model is optimized.

[0073] Exemplarily, the following formula (2) further optimizes the preliminary Gaussian model:

[0074]

[0075]

[0076] in, It refers to the measurement error of the angle sensor under theoretical conditions. It refers to the measurement error of the angle sensor in actual situations. It refers to the measurement error obtained by the fusion of angle sensors in actual situations.

[0077] S203, measuring the sliding range of the wiper output shaft after the wiper motor stops at different motor speeds, and establishing a mapping relationship between the motor speed and the sliding range of the wiper output shaft.

[0078] S204, optimizing the preliminary Gaussian model according to the mapping relationship between the error range of the given angle, the motor speed and the sliding range of the wiper output shaft to obtain a Gaussian model, wherein the Gaussian model is a wiper shaft angle correction model.

[0079] Exemplarily, the Gaussian model is obtained by the following formula (3):

[0080]

[0081] Among them, ω m refers to the motor speed, up refers to the upward movement stage of the wiper output shaft, down refers to the downward movement stage of the wiper output shaft, s refers to the sliding range of the wiper output shaft, It refers to the Gaussian model.

[0082] In this specific embodiment, a preliminary Gaussian model for the wiper output shaft is constructed based on the angle measurement error in the manual of the angle sensor chip used, and then the wiper motor is measured under actual conditions to obtain the measurement error of the angle sensor and the sliding range of the wiper output shaft in the stopped state. The preliminary Gaussian model is optimized according to the results of actual tests to obtain a Gaussian model in order to improve the recognition accuracy of the wiper output shaft angle value, thereby reducing hardware costs while improving the accuracy of motor control and improving user experience.

[0083] In some embodiments, the process of determining the angle value of the motor rotor based on the second angle value may include: obtaining the calibrated angle value of the wiper output shaft; determining the estimated angle value of the motor rotor based on the second angle value; and determining the angle value of the motor rotor based on the estimated angle value and the calibrated angle value.

[0084] The calibrated angle value refers to the angle value of the motor rotor when the angle value of the wiper output shaft is 0.

[0085] It should be noted that by calibrating the angle value of the motor rotor when the angle value of the wiper output shaft is zero, after the wiper motor is reset and stopped, the calibrated angle value of the motor rotor can be used as a priori value to compare with the estimated angle value of the motor rotor calculated by the second angle value corrected by the wiper shaft angle correction model, and the estimated angle value can be corrected accordingly.

[0086] The estimated angle value refers to the angle value of the electronic rotor estimated based on the angle value of the wiper output shaft. For example, the estimated angle value is obtained by multiplying the angle value of the wiper output shaft by 60 and dividing it by 360 to obtain the remainder.

[0087] It should be noted that before determining the estimated angle value of the motor rotor according to the second angle value, it also includes: obtaining a theoretical processing error coefficient and multiple measured processing error coefficients; training according to the theoretical processing error coefficient and multiple measured processing error coefficients to obtain a transmission mechanism correction model, and the transmission mechanism correction model includes a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

[0088] The theoretical machining error coefficient refers to the coefficient determined based on the machining error of the transmission mechanism provided by the workpiece supplier when constructing the transmission mechanism correction model. The measured machining error coefficient refers to the coefficient determined by the machining error detection of the actual measured transmission mechanism when constructing the transmission mechanism correction model.

[0089] The transmission mechanism correction model refers to a model for correcting the angle value of the motor rotor estimated according to the angle value of the wiper output shaft according to the processing error of the transmission mechanism.

[0090] There are many ways to implement the transmission mechanism correction model. For example, the transmission mechanism correction model is constructed based on the Gaussian algorithm. Another example is the transmission mechanism correction model is constructed based on the discrete distribution algorithm.

[0091] Specifically, see Figure 4 , Figure 4 1 is a flow chart of constructing a transmission mechanism correction model provided in an embodiment of the present application. Figure 4 As shown, the construction process of the transmission mechanism correction model includes the following steps S301 to S303:

[0092] S301. Establish an operation model of the transmission mechanism based on theoretical design.

[0093] The operation model of the transmission mechanism refers to a distance model constructed based on the distance that the worm needs to run before the worm and the reduction gear in the transmission mechanism come into contact and drive.

[0094] It should be noted that, in the theoretical design stage, it is assumed that the distance between the worm and the reduction gear in the transmission mechanism is D d , then the worm in the transmission mechanism needs to run D before the worm and the reduction gear come into contact and drive. d During this movement, the wiper motor is running, but the wiper output shaft is not running. Therefore, the angle value of the motor rotor directly calculated from the angle value of the wiper output shaft will have a certain error with the actual angle value of the motor rotor.

[0095] S302: Construct a preliminary transmission mechanism correction model based on the processing error and the transmission mechanism operation model provided by the workpiece supplier.

[0096] Specifically, a theoretical machining error coefficient is determined according to the machining error provided by the workpiece supplier, and a preliminary transmission mechanism correction model is constructed according to the theoretical machining error coefficient and the operation model of the transmission mechanism.

[0097] Exemplarily, the preliminary transmission mechanism correction model is a Gaussian model, and the preliminary transmission mechanism correction model is established according to the following formula (4):

[0098]

[0099] in, Refers to the preliminary transmission mechanism correction model, D d It means running the model. It refers to the theoretical processing error coefficient of the transmission mechanism correction model, x is the independent variable parameter, e is the natural constant, and p represents the processing error.

[0100] S303, actually measuring the machining error of the workpiece, correcting the machining error of the transmission mechanism, optimizing the preliminary transmission mechanism correction model, and obtaining the transmission mechanism correction model.

[0101] Specifically, the measured machining error coefficient of the transmission mechanism correction model is determined according to the actual machining error of the workpiece. The machining error coefficient of the transmission mechanism correction model is determined according to the theoretical machining error coefficient and the measured machining error coefficient, and the preliminary transmission mechanism correction model is optimized according to the machining error coefficient to obtain the transmission mechanism correction model.

[0102] Exemplarily, the transmission mechanism correction model is further optimized according to the following formula (5):

[0103]

[0104]

[0105] in, Refers to the measurement and processing error coefficient of the transmission mechanism correction model. It refers to the machining error coefficient of the transmission mechanism correction model.

[0106] Based on this, the above process of determining the estimated angle value of the motor rotor according to the second angle value may include: assigning values ​​to independent variable parameters to obtain multiple assigned parameters; determining multiple error angle values ​​according to the assigned parameters, the second angle value and the processing error coefficient of the transmission mechanism correction model; and determining the estimated angle value of the motor rotor according to the multiple error angle values.

[0107] For example, an integer between (0, 10) is assigned to the independent variable parameter, 10 error angle values ​​are obtained, and the average of the 10 error angle values ​​is calculated after removing the maximum and minimum values, and the obtained result is used as the estimated angle value of the motor rotor.

[0108] See also Figure 5 , combined with Figure 5 The above steps are explained with a specific embodiment: First, start the wiper motor. After the wiper motor is started, obtain the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor every 2ms. Input the first angle value and the motor speed into the wiper shaft angle correction model for correction to obtain the actual angle value of the wiper output shaft (i.e., the second angle value). Input the actual angle value of the wiper output shaft and the motor speed into the transmission mechanism correction model for estimation to obtain the estimated angle value of the motor rotor. Determine the actual angle value of the motor rotor by combining the calibrated angle value and the estimated angle value of the motor rotor. Substitute the actual angle value of the motor rotor into the motor control algorithm to control the motor. Among them, the process of motor control refers to determining the position of the motor rotor according to the actual angle value of the motor rotor, inputting voltage to the position, and controlling the motor to run.

[0109] Based on the above steps, only one sensor needs to be installed at the location of the wiper output shaft, so as to reduce the hardware cost while maintaining a certain motor control accuracy.

[0110] In order to facilitate better implementation of the motor rotor position determination method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above motor rotor position determination method. The meanings of the terms are the same as those in the above motor rotor position determination method, and the specific implementation details can refer to the description in the method embodiment.

[0111] For example, Figure 6 As shown, the motor rotor position determination device is applied to a wiper motor, the wiper motor includes a wiper output shaft and a motor rotor, and the motor rotor position determination device may include a data acquisition unit 401 and an angle value determination unit 402, as follows:

[0112] The data acquisition unit 401 is used to acquire a first angle value corresponding to the wiper output shaft and to acquire a motor speed of the wiper motor;

[0113] The angle value determining unit 402 is used to determine the angle value of the motor rotor according to the first angle value and the motor speed.

[0114] In one embodiment of the present application, the angle value determining unit 402 includes:

[0115] A second angle value determination subunit, configured to perform wiper shaft angle correction processing according to the first angle value and the motor speed, to obtain a second angle value corresponding to the wiper output shaft;

[0116] The angle value determination subunit is used to determine the angle value of the motor rotor according to the second angle value.

[0117] In an embodiment of the present application, the second angle value determining subunit specifically includes:

[0118] Get the sliding angle value of the wiper output shaft corresponding to the motor speed;

[0119] According to the first angle value and the sliding angle value, a wiper shaft angle correction process is performed to obtain a second angle value corresponding to the wiper output shaft.

[0120] In an embodiment of the present application, the wiper shaft angle correction process is performed according to the first angle value and the sliding angle value to obtain the second angle value corresponding to the wiper output shaft, specifically including:

[0121] Determining a correction coefficient of the wiper shaft angle correction model according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model;

[0122] According to the error coefficient and the correction coefficient, a wiper shaft angle correction process is performed in the wiper shaft angle correction model to obtain a second angle value corresponding to the wiper output shaft.

[0123] In an embodiment of the present application, the correction coefficient of the wiper shaft angle correction model is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model, including:

[0124] Assign values ​​to the independent variable parameters to obtain multiple assigned parameters;

[0125] According to the assigned parameters, the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model, a plurality of correction coefficients in the wiper shaft angle correction model are determined.

[0126] In an embodiment of the present application, the wiper shaft angle correction processing is performed in the wiper shaft angle correction model according to the error coefficient and the correction coefficient to obtain the second angle value corresponding to the wiper output shaft, including:

[0127] According to each correction coefficient and error coefficient, a wiper shaft angle correction process is performed in a wiper shaft angle correction model to obtain a plurality of correction angle values;

[0128] According to the multiple corrected angle values, a second angle value corresponding to the wiper output shaft is determined.

[0129] In one embodiment of the present application, the correction coefficient includes an ascending correction coefficient and a descending correction coefficient.

[0130] The correction coefficient of the wiper shaft angle correction model is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model, specifically including:

[0131] If the wiper output shaft indicates upward movement, determining an upward correction coefficient according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model;

[0132] If the wiper output shaft indicates downward movement, a descent correction coefficient is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model.

[0133] In one embodiment of the present application, the above-mentioned angle value determination subunit specifically includes:

[0134] Get the calibrated angle value of the wiper output shaft;

[0135] Determining an estimated angle value of the motor rotor according to the second angle value;

[0136] The angle value of the motor rotor is determined based on the estimated angle value and the calibrated angle value.

[0137] In an embodiment of the present application, before determining the estimated angle value of the motor rotor according to the second angle value, the method further includes:

[0138] Obtaining a theoretical machining error coefficient and a plurality of measured machining error coefficients;

[0139] Training is performed based on a theoretical processing error coefficient and a plurality of measured processing error coefficients to obtain a transmission mechanism correction model, wherein the transmission mechanism correction model includes a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

[0140] In an embodiment of the present application, determining the estimated angle value of the motor rotor according to the second angle value specifically includes:

[0141] Assign values ​​to the independent variable parameters to obtain multiple assigned parameters;

[0142] Determine a plurality of error angle values ​​according to the assigned parameters, the second angle value, and a machining error coefficient of a transmission mechanism correction model;

[0143] An estimated angle value of the motor rotor is determined based on the multiple error angle values.

[0144] In the motor rotor position determination device provided in the embodiment of the present application, it is applied to a wiper motor, and the wiper motor includes a wiper output shaft and a motor rotor. The first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor are obtained through the data acquisition unit 401; the angle value determination unit 402 determines the angle value of the motor rotor according to the first angle value and the motor speed. In this way, by obtaining the angle value of the wiper output shaft, combining the angle value of the wiper output shaft and the motor speed for analysis, the angle value of the electronic rotor is obtained, which reduces the hardware cost while improving the accuracy of motor control and improving the user experience.

[0145] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0146] The embodiment of the present application also provides an electronic device, wherein the operating system of the electronic device includes a first operating system and a second operating system. Figure 7 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0147] The electronic device may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more storage media, a power supply 503, and an input unit 504. Those skilled in the art will appreciate that Figure 7 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0148] The processor 501 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 502, and calling data stored in the memory 502. Optionally, the processor 501 may include one or more processing cores; preferably, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0149] The memory 502 can be used to store computer programs and modules. The processor 501 executes various functional applications and determines the position of the motor rotor by running the computer programs and modules stored in the memory 502. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 502 can also include a memory controller to provide the processor 501 with access to the memory 502.

[0150] The electronic device also includes a power supply 503 for supplying power to each component. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, so as to manage charging, discharging, power consumption and other functions through the power management system. The power supply 503 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0151] The electronic device may further include an input unit 504, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0152] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 501 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 502 according to the following instructions, and the processor 501 will run the computer programs stored in the memory 502, thereby realizing various functions, such as:

[0153] Obtaining a first angle value corresponding to the wiper output shaft, and obtaining a motor speed of the wiper motor;

[0154] An angle value of the motor rotor is determined according to the first angle value and the motor speed.

[0155] It can be seen that the electronic device provided in the embodiment of the present application obtains the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor; and determines the angle value of the motor rotor according to the first angle value and the motor speed. In this way, by obtaining the angle value of the wiper output shaft and analyzing it in combination with the angle value of the wiper output shaft and the motor speed, the angle value of the electronic rotor is obtained, which reduces the hardware cost while improving the accuracy of the motor control and improving the user experience.

[0156] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the motor rotor position determination method above, which will not be elaborated here.

[0157] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0158] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any of the motor rotor position determination methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0159] Obtaining a first angle value corresponding to the wiper output shaft, and obtaining a motor speed of the wiper motor;

[0160] An angle value of the motor rotor is determined according to the first angle value and the motor speed.

[0161] It can be seen that the storage medium provided in the embodiment of the present application obtains the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor; and determines the angle value of the motor rotor according to the first angle value and the motor speed. In this way, by obtaining the angle value of the wiper output shaft and analyzing it in combination with the angle value of the wiper output shaft and the motor speed, the angle value of the electronic rotor is obtained, which reduces the hardware cost while improving the accuracy of the motor control and improving the user experience.

[0162] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0163] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0164] Since the computer program stored in the storage medium can execute the steps in any one of the motor rotor position determination methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the motor rotor position determination methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0165] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned method for determining the position of a motor rotor.

[0166] The embodiment of the present application also provides a vehicle, which includes the above-mentioned motor rotor position determination device, or the above-mentioned electronic device, or the above-mentioned computer program product. The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above-mentioned operations of the electronic device are also applicable to the vehicle. For details, please refer to the detailed description of the motor rotor position determination method above, which will not be repeated here.

[0167] The above is a detailed introduction to a method, device, electronic device, storage medium and vehicle for determining the motor rotor position provided in an embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining the position of a motor rotor, characterized in that: Applied to a wiper motor, the wiper motor comprises a wiper output shaft and a motor rotor, and the method comprises: Acquire a first angle value corresponding to the wiper output shaft, and acquire a motor speed of the wiper motor; The angle value of the motor rotor is determined according to the first angle value and the motor speed.

2. The method for determining the motor rotor position according to claim 1, characterized in that: Determining the angle value of the motor rotor according to the first angle value and the motor speed includes: Performing wiper shaft angle correction processing according to the first angle value and the motor speed to obtain a second angle value corresponding to the wiper output shaft; The angle value of the motor rotor is determined according to the second angle value.

3. The method for determining the motor rotor position according to claim 2, characterized in that: The performing wiper shaft angle correction processing according to the first angle value and the motor speed to obtain a second angle value corresponding to the wiper output shaft includes: Obtaining a sliding angle value of the wiper output shaft corresponding to the motor speed; A wiper shaft angle correction process is performed according to the first angle value and the sliding angle value to obtain a second angle value corresponding to the wiper output shaft.

4. The method for determining the motor rotor position according to claim 3, characterized in that: The performing wiper shaft angle correction processing according to the first angle value and the sliding angle value to obtain a second angle value corresponding to the wiper output shaft includes: Determining a correction coefficient of the wiper shaft angle correction model according to the first angle value, the sliding angle value and an error coefficient of the wiper shaft angle correction model; According to the error coefficient and the correction coefficient, a wiper shaft angle correction process is performed in the wiper shaft angle correction model to obtain a second angle value corresponding to the wiper output shaft.

5. The method for determining the motor rotor position according to claim 4, characterized in that: The step of determining a correction coefficient of the wiper shaft angle correction model according to the first angle value, the sliding angle value and an error coefficient of the wiper shaft angle correction model comprises: Assign values ​​to the independent variable parameters to obtain multiple assigned parameters; A plurality of correction coefficients in the wiper shaft angle correction model are determined according to the assigned parameters, the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model.

6. The method for determining the motor rotor position according to claim 5, characterized in that: The performing of wiper shaft angle correction processing in the wiper shaft angle correction model according to the error coefficient and the correction coefficient to obtain a second angle value corresponding to the wiper output shaft includes: According to each of the correction coefficients and the error coefficient, a wiper shaft angle correction process is performed in the wiper shaft angle correction model to obtain a plurality of correction angle values; According to the multiple corrected angle values, a second angle value corresponding to the wiper output shaft is determined.

7. The method for determining the motor rotor position according to claim 4, characterized in that: The correction coefficient includes an ascending correction coefficient and a descending correction coefficient; the correction coefficient of the wiper shaft angle correction model is determined according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model, including: If the wiper output shaft indicates upward movement, determining the rising correction coefficient according to the first angle value, the sliding angle value and the error coefficient of the wiper shaft angle correction model; If the wiper output shaft indicates downward movement, the descent correction coefficient is determined according to the first angle value, the sliding angle value and an error coefficient of a wiper shaft angle correction model.

8. The method for determining the motor rotor position according to claim 2, characterized in that: Determining the angle value of the motor rotor according to the second angle value includes: Obtaining a calibrated angle value of the wiper output shaft; Determining an estimated angle value of the motor rotor according to the second angle value; The angle value of the motor rotor is determined according to the estimated angle value and the calibrated angle value.

9. The method for determining the motor rotor position according to claim 8, characterized in that: Before determining the estimated angle value of the motor rotor according to the second angle value, the method further includes: Obtaining a theoretical machining error coefficient and a plurality of measured machining error coefficients; Training is performed based on the theoretical processing error coefficient and a plurality of the measured processing error coefficients to obtain a transmission mechanism correction model, wherein the transmission mechanism correction model includes a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

10. The method for determining the motor rotor position according to claim 9, characterized in that: Determining the estimated angle value of the motor rotor according to the second angle value includes: Assign values ​​to the independent variable parameters to obtain multiple assigned parameters; Determining a plurality of error angle values ​​according to the assigned parameters, the second angle value, and a machining error coefficient of the transmission mechanism correction model; An estimated angle value of the motor rotor is determined based on the multiple error angle values.

11. A device for determining the position of a motor rotor, characterized in that: Applied to a wiper motor, the wiper motor comprises a wiper output shaft and a motor rotor, and the device comprises: A data acquisition unit, used to acquire a first angle value corresponding to the wiper output shaft, and to acquire a motor speed of the wiper motor; An angle value determination unit is used to determine the angle value of the motor rotor according to the first angle value and the motor speed.

12. An electronic device, characterized in that: The method comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method for determining the motor rotor position according to any one of claims 1 to 10.

13. A storage medium, characterized in that: The invention comprises a computer program. When the computer program is run on an electronic device, the computer program is used to make the electronic device execute the steps of the method for determining the motor rotor position according to any one of claims 1 to 10.

14. A computer program product, characterized in that The method comprises a computer program or an instruction, and when the computer program or the instruction is executed by a processor, the steps of the method for determining the motor rotor position according to any one of claims 1 to 10 are implemented.

15. A vehicle, characterized in that: The vehicle comprises the motor rotor position determination device according to claim 11, or the electronic device according to claim 12, or the storage medium according to claim 13, or the computer program product according to claim 14.

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