Motor rotor position determination method and apparatus, related devices, and vehicle

Abstract

The application relates to a motor rotor position determination method and device, related equipment and a vehicle. A first angle value corresponding to a wiper output shaft is acquired, and a motor rotating speed of a wiper motor is acquired; and an angle value of a motor rotor is determined according to the first angle value and the motor rotating speed. In this way, the angle value of the wiper output shaft is acquired, the angle value of the wiper output shaft and the motor rotating speed are analyzed, and the angle value of the electronic rotor is obtained. The accuracy of motor control is improved, and the experience of users is improved while the hardware cost is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, related equipment and vehicle for determining the position of a motor rotor. Background Technology

[0002] Vehicles are equipped with windshield wipers, which consist of a wiper motor and a wiper mechanism. The wiper motor drives the wiper mechanism to clean the vehicle's windshield. Currently, wiper motors can be implemented using synchronous motors. However, when it is necessary to reduce hardware costs, using synchronous motors can lead to problems with low motor control precision, affecting the user experience. Summary of the Invention

[0003] This application provides a method, device, electronic device, storage medium, computer program product, and vehicle for determining the position of a motor rotor. By obtaining the angle value of the wiper output shaft and analyzing it in conjunction with the wiper output shaft angle value and the motor speed, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing the user experience.

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

[0005] Obtain the first angle value corresponding to the wiper output shaft, and obtain the motor speed of the wiper motor;

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

[0007] Accordingly, this application provides a motor rotor position determination device, applied to a wiper motor, the wiper motor including a wiper output shaft and a motor rotor, the device comprising:

[0008] The data acquisition unit is used to acquire the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor.

[0009] Angle value determination unit is used to determine the angle value of the motor rotor based on the first angle value and the motor speed.

[0010] Furthermore, this 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 this application.

[0011] Furthermore, this application embodiment also provides a storage medium storing a computer program. When the computer program is run on an electronic device, the computer program is used to cause the electronic device to execute any of the motor rotor position determination methods provided in this application embodiment.

[0012] Furthermore, this application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement any of the motor rotor position determination methods provided in this application.

[0013] In addition, embodiments of this application also provide a vehicle, including the above-mentioned motor rotor position determining device, or the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0014] In this embodiment, the method is applied to a wiper motor, which includes a wiper output shaft and a motor rotor. A first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor are obtained. Based on the first angle value and the motor speed, the angle value of the motor rotor is determined. Thus, by obtaining the angle value of the wiper output shaft and analyzing it in conjunction with the motor speed, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing the user experience. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0017] Figure 2 This is a flowchart illustrating a method for determining the rotor position of a motor according to an embodiment of this application;

[0018] Figure 3 This is a flowchart illustrating the construction process of a wiper shaft angle correction model provided in one embodiment of this application;

[0019] Figure 4 This is a flowchart illustrating the construction process of a modified transmission mechanism model provided in one embodiment of this application;

[0020] Figure 5 This is a flowchart illustrating a specific embodiment provided in one embodiment of this application;

[0021] Figure 6 This is a schematic diagram of the structure of a motor rotor position determination device provided in one embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] Furthermore, in the embodiments of this application, "multiple" refers to two or more. The terms "first" and "second," etc., in the embodiments of this application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0025] This application provides a method, apparatus, electronic device, storage medium, computer program product, and vehicle for determining the position of a motor rotor. The motor rotor position determining apparatus can be integrated into an electronic device, which can be a server, a terminal, or other similar device.

[0026] The server can be a standalone 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 communication, 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 can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and the server can be connected directly or indirectly through wired or wireless communication, which is not limited herein.

[0028] Please see Figure 1 Taking the integration of a motor rotor position determination device into electronic equipment as an example, Figure 1 This is a schematic diagram of an implementation scenario of the motor rotor position determination method provided in this application embodiment. The electronic device can be a terminal device, which 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 based on the first angle value and the motor speed.

[0029] It should be noted that, Figure 1 The schematic diagram illustrating the implementation environment of the motor rotor position determination method is merely an example. The implementation environment of the motor rotor position determination method described in this application is intended to more clearly illustrate the technical solutions of this application and does not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will recognize that, with the evolution of data processing and the emergence of new business scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0030] The solutions provided in this application are specifically illustrated through the following embodiments. It should be noted that the order of description 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, which can be integrated into an electronic device, such as a terminal and / or a server, without limitation herein.

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

[0033] It should be noted that a windshield 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 a worm and a worm shaft. Subsequently, the output arm connected to the wiper linkage is controlled by the wiper output shaft. When the wiper motor rotates, the output arm and linkage move in the back-and-forth direction, driving the wiper to work.

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

[0035] It should be noted that brushless DC motors use permanent magnet rotors and brushless motor controllers to generate a magnetic field on the rotor. By reversing the polarity of the magnetic poles through a commutator, rotational torque is generated on the rotor. Permanent magnet synchronous motors, on the other hand, require an AC power supply. Their rotors are also composed of permanent magnets. The controller adjusts the frequency of the current to synchronize the rotor with the magnetic field of the power supply, thus achieving rotational motion.

[0036] However, since wiper motors lack a physical commutator, the real-time position of the motor rotor needs to be obtained through a controller. Furthermore, to ensure precise control of both the wiper's operating position and the motor itself, position sensors need to be installed at both the location of the motor rotor and the wiper output shaft. These sensors determine the positions of the rotor and output shaft, and the voltage input is then determined based on the rotor's position. However, the high cost of position sensors and the need for dedicated ports on the controller for data acquisition make it difficult to simultaneously reduce hardware costs and improve motor control accuracy.

[0037] To address the aforementioned problems, this application provides a method for determining the rotor position of a motor. Please refer to... Figure 2 , Figure 2 This is a flowchart illustrating a method for determining the position of a motor rotor according to an embodiment of this application. The electronic rotor position determination method may include the following steps S101 to S102:

[0038] S101. Obtain the first angle value corresponding to the wiper output shaft, and obtain the motor speed of the wiper motor.

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

[0040] There are various ways to obtain the first angle value, and the specific method can be adjusted according to the actual situation. This application does not impose any limitations on the embodiments. For example, a position sensor can be installed at the location of the wiper output shaft. The position sensor can sense the rotation angle or position of the wiper output shaft and convert it into an electrical signal output to obtain the first angle value. Another example is to place a magnetic sensor at the location of the wiper output shaft. The magnetic sensor can detect changes in the magnetic field and convert the detected data into the rotation angle or position of the wiper output shaft.

[0041] Among them, motor speed refers to the number of revolutions the wiper motor makes per unit time.

[0042] There are various ways to obtain the motor speed of a wiper motor, and the specific method can be adjusted according to the actual situation. This application does not impose any limitations. For example, the motor speed can be determined by measuring the change in the current of the wiper motor and combining the mapping relationship between the current and the motor speed. Another example is to determine the motor speed by measuring the change in the magnetic field of the wiper motor and combining the mapping relationship between the magnetic field change and the motor speed.

[0043] S102. Determine the angle value of the motor rotor based on 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 on an iron core and a permanent magnet. When the power is turned on, the coils inside the rotor generate a rotating magnetic field, which, under the action of the permanent magnet, creates a rotational torque, causing the rotor to start rotating.

[0046] The motor rotor position determination method provided in this application embodiment is applied to a wiper motor, which includes a wiper output shaft and a motor rotor. By acquiring a first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor, the angle value of the motor rotor is determined based on the first angle value and the motor speed. Thus, by acquiring the angle value of the wiper output shaft and combining it with the motor speed for analysis, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing 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] Wiper shaft angle correction processing refers to the process of correcting the angle value of the wiper output shaft. There are various methods for wiper shaft angle correction processing, and the specific method can be adjusted according to the actual situation. This application embodiment does not impose any limitations.

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

[0051] The sliding angle value indicates the angle that the wiper output shaft slides from motion to stop when the wiper motor stops running, at the given motor speed.

[0052] It should be noted that when the wiper motor stops running, the drive current of the wiper motor stops momentarily. However, due to factors such as inertia, resistance, and the gravity of the mechanical structure, the wiper output shaft may continue to run or stop prematurely. For example, when the wiper output shaft indicates upward movement, the resistance and weight of the wiper mechanism will hinder its movement. Conversely, when the wiper output shaft indicates downward movement, the gravity of the wiper mechanism will promote its movement. Therefore, the angle through which the wiper output shaft slides from movement to stop differs depending on whether the wiper output shaft indicates upward or downward movement; that is, the sliding distance of the wiper output shaft from movement to stop differs.

[0053] Based on this, the sliding range of the wiper output shaft after the wiper motor stops can be measured in advance at different motor speeds. The sliding range is the range of the sliding distance. Furthermore, a mapping relationship between motor speed and the sliding range of the wiper output shaft can be established. This allows us to determine the corresponding sliding range of the wiper output shaft at a given motor speed using the mapping relationship, and then determine the sliding angle value based on the sliding range and the attribute information of the wiper output shaft.

[0054] There are multiple ways to obtain the second angle value corresponding to the wiper output axis, and the specific method can be adjusted according to the actual situation. This application does not impose any limitations on this method. For example, the first angle value and the sliding angle value can be input into a Gaussian model for calculation, and the output of the Gaussian model can be used as the second angle value corresponding to the wiper output axis. A Gaussian model refers to a model constructed based on the Gaussian algorithm. Another example is that the first angle value and the sliding angle value can be input into a discrete distribution model for calculation, and the output of the discrete distribution model can be used as the second angle value corresponding to the wiper output axis. A discrete distribution model refers to a model constructed based on a discrete distribution algorithm.

[0055] In some embodiments, the process of performing wiper shaft angle correction processing based on the first angle value and the sliding angle value to obtain the second angle value corresponding to the wiper output shaft may include: determining the 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; and 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] Among them, the wiper axis angle correction model refers to the model built based on the Gaussian algorithm for performing wiper axis angle correction processing.

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

[0058] The correction factor refers to the coefficient used to correct the angle value of the wiper output axis, calculated by the exponential function of the wiper axis angle correction model.

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

[0060] The process of correcting the wiper axis angle in the wiper axis angle correction model based on the error coefficient and correction coefficient to obtain the second angle value corresponding to the wiper output axis includes: correcting the wiper axis angle in the wiper axis angle correction model based on each correction coefficient and error coefficient to obtain multiple corrected angle values; and determining the second angle value corresponding to the wiper output axis based on the multiple corrected angle values.

[0061] For example, assign an integer value between (0, 10) to the independent variable parameter to obtain 10 correction angle values. Take the average of the 10 correction angle values ​​after removing the maximum and minimum values, and use the result as the second angle value corresponding to the wiper output axis.

[0062] In some embodiments, the correction coefficients include an upward correction coefficient and a downward correction coefficient. Determining the correction coefficients 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 includes: if the wiper output shaft indicates upward movement, determining the upward correction coefficient based on the first angle value, the sliding angle value, and the error coefficient of the wiper shaft angle correction model; and if the wiper output shaft indicates downward movement, determining the downward correction coefficient based on 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 motion phase. 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 motion phase.

[0064] Please see Figure 3 , Figure 3 This is a flowchart illustrating the construction process of the wiper shaft angle correction model provided in this application embodiment. For example... Figure 3 As shown, the construction process of the wiper shaft angle correction model includes the following steps S201 to S204:

[0065] S201. Based on the angle sensor chip manual, establish a preliminary Gaussian model.

[0066] The angle sensor chip datasheet is used to indicate the datasheet provided by the sensor manufacturer.

[0067] Specifically, based on the angle sensor chip datasheet, the theoretical angle measurement value and measurement error of the angle sensor are obtained. Based on the theoretical measurement error of the angle sensor, a preliminary Gaussian model is established.

[0068] For example, the preliminary Gaussian model is established using the following formula (1):

[0069]

[0070] in, This refers to the preliminary Gaussian model. This refers to the angle measurement value from the angle sensor. This 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 datasheet, 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 measurements using an angle sensor to obtain the error range of the given angle.

[0072] Specifically, at a given angle, measurements are taken using an angle sensor to obtain multiple angle measurements under actual conditions. Based on these actual measurements, the error range for the given angle is determined, representing the actual measurement error of the angle sensor. The actual measurement error and the theoretical measurement error are then fused together, and the preliminary Gaussian model is optimized based on this fused measurement error.

[0073] For example, the preliminary Gaussian model is further optimized using the following formula (2):

[0074]

[0075]

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

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

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

[0079] For example, the Gaussian model is obtained by formula (3) as follows:

[0080]

[0081] Where, ω m "Up" refers to the upward movement of the wiper output shaft, "down" refers to the downward movement of the wiper output shaft, and "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 datasheet of the angle sensor chip used. 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 based on the actual test results to obtain a new Gaussian model, which improves the accuracy of the recognition of the wiper output shaft angle value. This reduces hardware costs while improving the accuracy of motor control and enhancing the 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 of the wiper output shaft to zero, the angle of the motor rotor can be used as a priori value after the wiper motor has reset and stopped. This value can be compared with the estimated angle of the motor rotor calculated from 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 the result of multiplying the angle value of the wiper output shaft by 60 and dividing by 360, taking the remainder.

[0087] It should be noted that before determining the estimated angle value of the motor rotor based on the second angle value, the process also includes: obtaining the theoretical machining error coefficient and multiple measured machining error coefficients; training based on the theoretical machining error coefficient and multiple measured machining error coefficients to obtain the transmission mechanism correction model, which includes the machining error coefficient determined based on the theoretical machining error coefficient and the measured machining 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 detecting the machining error of the actual measured transmission mechanism when constructing the transmission mechanism correction model.

[0089] Among them, the transmission mechanism correction model refers to the model that corrects the angle value of the motor rotor estimated based on the angle value of the wiper output shaft according to the processing error of the transmission mechanism.

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

[0091] Specifically, please refer to Figure 4 , Figure 4 This is a flowchart illustrating the construction process of the modified transmission mechanism model provided in the embodiments of this application. Figure 4 As shown, the construction process of the transmission mechanism modification model includes the following steps S301 to S303:

[0092] S301. Based on theoretical design, establish the operating model of the transmission mechanism.

[0093] The operation model of the transmission mechanism refers to the distance model constructed based on the distance the worm needs to travel before the worm and the reduction gear in the transmission mechanism make contact and drive.

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

[0095] S302. Based on the machining error and transmission mechanism operation model provided by the workpiece supplier, construct a preliminary transmission mechanism correction model.

[0096] Specifically, the theoretical machining error coefficient is determined based on the machining error provided by the workpiece supplier. Based on the theoretical machining error coefficient and the operating model of the transmission mechanism, a preliminary modified model of the transmission mechanism is constructed.

[0097] For example, 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, This refers to the preliminary transmission mechanism modification model, D d This refers to the operating model. This refers to the theoretical machining error coefficient of the transmission mechanism correction model, where x is the independent variable parameter, e is the natural constant, and p represents the machining error.

[0100] S303. The machining error of the actual workpiece is measured, the machining error of the transmission mechanism is corrected, and the preliminary transmission mechanism correction model is optimized to obtain the transmission mechanism correction model.

[0101] Specifically, based on the actual measured machining error of the workpiece, the measurement machining error coefficient of the transmission mechanism correction model is determined. Based on the theoretical machining error coefficient and the measured machining error coefficient, the machining error coefficient of the transmission mechanism correction model is determined. The preliminary transmission mechanism correction model is then optimized based on these machining error coefficients to obtain the corrected transmission mechanism model.

[0102] For example, the transmission mechanism correction model can be further optimized according to the following formula (5):

[0103]

[0104]

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

[0106] Based on this, the process of determining the estimated angle value of the motor rotor according to the second angle value can include: assigning values ​​to the independent variable parameters to obtain multiple assigned parameters; determining multiple error angle values ​​according to the assigned parameters, the second angle value, and the machining 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, assign integer values ​​between (0, 10) to the independent variable parameter to obtain 10 error angle values. Then, average the 10 error angle values ​​after removing the maximum and minimum values, and use the result as the estimated angle value of the motor rotor.

[0108] Please see Figure 5 , combined Figure 5 The specific implementation details the above steps as follows: First, the wiper motor is started. After the wiper motor starts, the first angle value corresponding to the wiper output shaft and the motor speed are acquired every 2ms. The first angle value and motor speed are input 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). The actual angle value of the wiper output shaft and the motor speed are input into the transmission mechanism correction model for estimation to obtain the estimated angle value of the motor rotor. Combining the calibrated angle value and the estimated angle value of the motor rotor, the actual angle value of the motor rotor is determined. The actual angle value of the motor rotor is substituted into the motor control algorithm for motor control. The motor control process refers to determining the position of the motor rotor based on the actual angle value, inputting voltage to that 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 to reduce hardware costs while maintaining a certain level of motor control accuracy.

[0110] To facilitate better implementation of the motor rotor position determination method provided in this application, this application also provides an apparatus based on the above-described motor rotor position determination method. The meanings of the terms used are the same as in the above-described motor rotor position determination method, and specific implementation details can be found in the descriptions in the method embodiments.

[0111] For example, such as 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. The motor rotor position determination device may include a data acquisition unit 401 and an angle value determination unit 402, as detailed below:

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

[0113] Angle value determination unit 402 is used to determine the angle value of the motor rotor based on the first angle value and the motor speed.

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

[0115] The second angle value determination subunit is used to perform wiper shaft angle correction processing based on the first angle value and motor speed to obtain the 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 based on the second angle value.

[0117] In one embodiment of this application, the aforementioned second angle value determining subunit specifically includes:

[0118] Obtain the sliding angle value of the wiper output shaft at the motor speed;

[0119] Based on the first angle value and the sliding angle value, the wiper shaft angle is corrected to obtain the second angle value corresponding to the wiper output shaft.

[0120] In one embodiment of this application, the above-mentioned wiper shaft angle correction processing based on the first angle value and the sliding angle value to obtain the second angle value corresponding to the wiper output shaft specifically includes:

[0121] Based on the first angle value, the sliding angle value, and the error coefficient of the wiper axis angle correction model, the correction coefficient of the wiper axis angle correction model is determined.

[0122] Based on the error coefficient and correction coefficient, the wiper shaft angle is corrected in the wiper shaft angle correction model to obtain the second angle value corresponding to the wiper output shaft.

[0123] In one embodiment of this application, determining the 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 includes:

[0124] By assigning values ​​to the independent variable parameters, multiple parameters with assigned values ​​are obtained;

[0125] Based on the assigned parameters, the first angle value, the sliding angle value, and the error coefficient of the wiper axis angle correction model, determine multiple correction coefficients in the wiper axis angle correction model.

[0126] In one embodiment of this application, the above-mentioned wiper shaft angle correction processing in the wiper shaft angle correction model based on the error coefficient and correction coefficient to obtain the second angle value corresponding to the wiper output shaft includes:

[0127] Based on each correction coefficient and error coefficient, wiper axis angle correction processing is performed in the wiper axis angle correction model to obtain multiple correction angle values;

[0128] Based on multiple correction angle values, determine the second angle value corresponding to the wiper output shaft.

[0129] In one embodiment of this application, the correction factor includes an upward correction factor and a downward correction factor.

[0130] The correction coefficients for the wiper axis angle correction model are determined based on the first angle value, the sliding angle value, and the error coefficients of the wiper axis angle correction model. Specifically, these include:

[0131] If the wiper output shaft indicator moves upward, the upward correction coefficient is determined based on 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 indicator moves downward, the descent correction coefficient is determined based on the first angle value, the sliding angle value, and the error coefficient of the wiper shaft angle correction model.

[0133] In one embodiment of this application, the aforementioned angle value determining subunit specifically includes:

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

[0135] Based on the second angle value, determine the estimated angle value of the motor rotor;

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

[0137] In one embodiment of this application, before determining the estimated angle value of the motor rotor based on the second angle value, the method further includes:

[0138] Obtain the theoretical machining error coefficient and multiple measured machining error coefficients;

[0139] The transmission mechanism correction model is obtained by training based on theoretical machining error coefficients and multiple measured machining error coefficients. The transmission mechanism correction model includes machining error coefficients determined based on theoretical machining error coefficients and measured machining error coefficients.

[0140] In one embodiment of this application, determining the estimated angle value of the motor rotor based on the second angle value specifically includes:

[0141] By assigning values ​​to the independent variable parameters, multiple parameters with assigned values ​​are obtained;

[0142] Based on the assigned parameters, the second angle value, and the machining error coefficient of the transmission mechanism correction model, multiple error angle values ​​are determined.

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

[0144] In the motor rotor position determination device provided in this application embodiment, it is applied to a wiper motor. The wiper motor includes a wiper output shaft and a motor rotor. The data acquisition unit 401 acquires a first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor. The angle value determination unit 402 determines the angle value of the motor rotor based on the first angle value and the motor speed. In this way, by acquiring the angle value of the wiper output shaft and combining it with the motor speed for analysis, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing the user experience.

[0145] In practice, each of the above modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation methods and corresponding beneficial effects of each of the above modules, please refer to the previous method embodiments, which will not be repeated here.

[0146] This application also provides an electronic device, the operating system of which includes a first operating system and a second operating system, such as... Figure 7 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this 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 understand that... Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0148] The processor 501 is the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes computer programs and / or modules stored in the memory 502, and calls data stored in the memory 502, to perform various functions and process data. 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 handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the 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 rotor position of the motor by running the computer programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 502 may 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 that supplies power to various components. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 503 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

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

[0152] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 501 in the electronic device loads 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 runs the computer programs stored in the memory 502 to realize various functions, such as:

[0153] Obtain the first angle value corresponding to the wiper output shaft, and obtain the motor speed of the wiper motor;

[0154] The angle value of the motor rotor is determined based on the first angle value and the motor speed.

[0155] Therefore, the electronic device provided in this application embodiment obtains the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor; based on the first angle value and the motor speed, it determines the angle value of the motor rotor. Thus, by obtaining the angle value of the wiper output shaft and analyzing it in conjunction with the motor speed, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing the user experience.

[0156] For details on the specific implementation methods and corresponding beneficial effects of each of the above operations, please refer to the detailed description of the method for determining the position of the motor rotor above, which will not be repeated here.

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

[0158] Therefore, embodiments of this application provide a storage medium storing a computer program that can be loaded by a processor to execute the steps in any of the motor rotor position determination methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0159] Obtain the first angle value corresponding to the wiper output shaft, and obtain the motor speed of the wiper motor;

[0160] The angle value of the motor rotor is determined based on the first angle value and the motor speed.

[0161] Therefore, the storage medium provided in this application embodiment obtains the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor; based on the first angle value and the motor speed, the angle value of the motor rotor is determined. Thus, by obtaining the angle value of the wiper output shaft and analyzing it in conjunction with the motor speed, the angle value of the electronic rotor is obtained. This reduces hardware costs while improving the accuracy of motor control and enhancing the user experience.

[0162] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

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

[0164] Since the computer program stored in the storage medium can execute the steps in any of the motor rotor position determination methods provided in the embodiments of this application, the beneficial effects that any of the motor rotor position determination methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0165] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium and executes the computer instructions, causing the computer device to perform the aforementioned motor rotor position determination method.

[0166] This application also provides a vehicle that includes the aforementioned motor rotor position determining device, or the aforementioned electronic device, or the aforementioned 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 various operations of the electronic device described above are also applicable to this vehicle; please refer to the detailed description of the motor rotor position determining method above, which will not be repeated here.

[0167] The present application provides a detailed description of a method, apparatus, electronic device, storage medium, and vehicle for determining the position of a motor rotor. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present application. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present application. Therefore, the content of this specification should not be construed as a limitation of the present application.

Claims

1. A method for determining the position of a motor rotor, characterized in that, Applied to a windshield wiper motor, the windshield wiper motor including a wiper output shaft and a motor rotor, the method includes: Obtain the first angle value corresponding to the wiper output shaft, and obtain the motor speed of the wiper motor; Obtain the sliding angle value of the wiper output shaft at the motor speed, and the calibrated angle value of the wiper output shaft; The correction coefficient of the wiper shaft angle correction model is determined based on the first angle value, the sliding angle value, and the error coefficient of the wiper shaft angle correction model. Based on the error coefficient and the correction coefficient, the wiper shaft angle correction process is performed in the wiper shaft angle correction model to obtain the second angle value corresponding to the wiper output shaft. Based on the second angle value, the estimated angle value of the motor rotor is determined; The angle value of the motor rotor is determined based on the estimated angle value and the calibrated angle value.

2. The method for determining the position of a motor rotor according to claim 1, characterized in that, The step of determining the correction coefficient of the wiper axis angle correction model based on the first angle value, the sliding angle value, and the error coefficient of the wiper axis angle correction model includes: By assigning values ​​to the independent variable parameters, multiple parameters with assigned values ​​are obtained; Based on the assigned parameters, the first angle value, the sliding angle value, and the error coefficient of the wiper shaft angle correction model, multiple correction coefficients in the wiper shaft angle correction model are determined.

3. The method for determining the position of a motor rotor according to claim 1, characterized in that, The step of 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 includes: Based on each of the correction coefficients and the error coefficients, wiper shaft angle correction processing is performed in the wiper shaft angle correction model to obtain multiple correction angle values; Based on the multiple correction angle values, a second angle value corresponding to the wiper output shaft is determined.

4. The method for determining the position of a motor rotor according to claim 1, characterized in that, The correction coefficients include an upward correction coefficient and a downward correction coefficient; determining the correction coefficients 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 includes: If the wiper output shaft indicates upward movement, the upward correction coefficient is determined based on 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 downward correction coefficient is determined based on the first angle value, the sliding angle value, and the error coefficient of the wiper shaft angle correction model.

5. The method for determining the position of a motor rotor according to claim 1, characterized in that, Before determining the estimated angle value of the motor rotor based on the second angle value, the method further includes: Obtain the theoretical machining error coefficient and multiple measured machining error coefficients; A transmission mechanism correction model is obtained by training based on the theoretical machining error coefficient and multiple measured machining error coefficients. The transmission mechanism correction model includes machining error coefficients determined based on the theoretical machining error coefficient and the measured machining error coefficient.

6. The method for determining the position of a motor rotor according to claim 5, characterized in that, Determining the estimated angle value of the motor rotor based on the second angle value includes: By assigning values ​​to the independent variable parameters, multiple parameters with assigned values ​​are obtained; Based on the assigned parameters, the second angle value, and the machining error coefficient of the transmission mechanism correction model, multiple error angle values ​​are determined. Based on the multiple error angle values, the estimated angle value of the motor rotor is determined.

7. A device for determining the position of a motor rotor, characterized in that, Applied to a windshield wiper motor, the windshield wiper motor including a wiper output shaft and a motor rotor, the device includes: The data acquisition unit is used to acquire the first angle value corresponding to the wiper output shaft and the motor speed of the wiper motor. An angle value determination unit is used to obtain the sliding angle value of the wiper output shaft corresponding to the motor speed and the calibrated angle value of the wiper output shaft; determine the 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; perform 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; determine the estimated angle value of the motor rotor based on the second angle value; and determine the angle value of the motor rotor based on the estimated angle value and the calibrated angle value.

8. An electronic device, characterized in that, It includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the motor rotor position determination method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, Includes a computer program, which, when run on an electronic device, causes the electronic device to perform the steps of the motor rotor position determination method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, implement the steps of the motor rotor position determination method according to any one of claims 1 to 6.

11. A vehicle, characterized in that, The vehicle includes the motor rotor position determination device as described in claim 7, or the electronic device as described in claim 8, or the storage medium as described in claim 9, or the computer program product as described in claim 10.

Images