Motor harmonic noise control method and device, storage medium and equipment

Abstract

The invention provides a motor harmonic noise control method and device, a storage medium and equipment, and the method comprises the steps: capturing a current sound field signal of a permanent magnet synchronous motor in a vehicle, extracting noise information of a specified frequency or a specified order from the sound field signal through Fourier analysis, determining a harmonic injection parameter according to the extracted noise information, and carrying out the harmonic noise control of the motor. And generating a harmonic signal corresponding to the harmonic injection parameter, injecting the harmonic signal, analyzing the sound field after harmonic injection adjustment, adjusting the harmonic injection parameter, and completing closed-loop control. Therefore, through real-time Fourier analysis, targeted injection can be dynamically carried out according to the current noise of the specific frequency or the specific order of the sound field, so that the harmonic noise is effectively reduced, moreover, harmonic injection is carried out by adopting a closed-loop control strategy, the harmonic injection is not easily influenced by fluctuation, and the harmonic noise control effect of the motor can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of noise processing, and in particular to a method, device, storage medium and equipment for controlling harmonic noise of a motor. Background Art

[0002] The vehicle noise of electric vehicles in driving state mainly includes harmonic noise, motor controller switching noise, etc. Among them, harmonic noise is mainly 6 times and 12 times the motor electrical frequency, which changes with the speed; the inverter switching noise frequency is PWM frequency, and its higher frequency is more harsh. These noises seriously reduce the comfort of passengers. Harmonic noise can be improved by actively injecting a sine wave with a certain amplitude and phase. At present, the motor harmonic injection in related technologies is generally a constant harmonic amplitude and phase under different working conditions. When the vehicle body ages or the motor parameters change due to manufacturing reasons, this method cannot effectively reduce the harmonic noise. Summary of the invention

[0003] The purpose of the present application is to provide a motor harmonic noise control method, device, storage medium and equipment, aiming to solve the problem that the motor harmonic injection method in the related art cannot effectively reduce the harmonic noise when the vehicle body ages or the motor parameters differ due to manufacturing reasons.

[0004] In a first aspect, the present application provides a method for controlling motor harmonic noise, comprising: capturing the sound field signal of the permanent magnet synchronous motor currently in the vehicle, and extracting noise information of a specified frequency or a specified order from the sound field signal through Fourier analysis; determining harmonic injection parameters based on the noise information, generating and injecting harmonic signals corresponding to the harmonic injection parameters; analyzing the sound field after harmonic injection adjustment, and adjusting the harmonic injection parameters based on the analysis results.

[0005] In the above implementation process, the sound field signal of the permanent magnet synchronous motor in the current vehicle is captured, and the noise information of the specified frequency or specified order is extracted from the sound field signal through Fourier analysis. Then, based on the extracted noise information, the harmonic injection parameters are determined, and the harmonic signal corresponding to the harmonic injection parameters is generated and injected. Then, the sound field after the harmonic injection adjustment is analyzed, so as to adjust the harmonic injection parameters and complete the closed-loop control. In this way, through real-time Fourier analysis, targeted injection can be performed dynamically according to the specific frequency or specific order of the sound field at the moment, thereby effectively reducing the harmonic noise. Moreover, the closed-loop control strategy is used for harmonic injection, which is not easily affected by fluctuations and can effectively improve the motor harmonic noise control effect.

[0006] Furthermore, in some examples, the noise information of the specified frequency or specified order includes: the noise amplitude and phase of 6 times and 12 times the electrical frequency, or the amplitude and phase of non-integer order noise.

[0007] In the above implementation process, targeted injection of a certain order frequency noise that is currently the main frequency in the sound field can effectively avoid the limitation that traditional harmonic injection can only inject frequencies that are integer multiples of the conversion frequency.

[0008] Further, in some examples, the harmonic injection parameter includes a target injection value of the q-axis of the rotating coordinate system of the order of the noise; the target injection value is expressed as in, is the noise amplitude; ψ is the noise phase; x is the deviation value.

[0009] In the above implementation process, harmonic injection is performed according to the mathematical form of noise. The target injection value of the q-axis of the n-fold rotation coordinate system is used to generate the harmonic current to be injected.

[0010] Further, in some examples, the generating of the harmonic signal corresponding to the harmonic injection parameter includes: determining the target injection value as a reference value of the PI controller, and calculating a feedback value of the PI controller; inputting the reference value and the feedback value into the PI controller, and determining the q-axis input current on the 1st rotating coordinate axis according to the output voltage of the PI controller.

[0011] In the above implementation process, a PI controller is used to implement harmonic injection. As the reference value of the PI controller, and calculating the feedback value of the PI controller, the q-axis input current on the first rotation axis can be obtained after PI control. In this way, the stability and reliability of the harmonic injection process are ensured.

[0012] Further, in some examples, the calculating of the feedback value of the PI controller includes: obtaining a target difference based on a 1st q-axis current feedback signal and a 1st q-axis current reference signal; calculating the q-axis current on the rotating coordinate axis decomposed to the order of the noise based on the target difference, and determining the calculation result as the feedback value of the PI controller.

[0013] In the above implementation process, a specific method for calculating the feedback value of the PI controller is provided.

[0014] Furthermore, in some examples, adjusting the harmonic injection parameters according to the analysis results includes: if the noise amplitude of the order of the analyzed noise exceeds a target threshold, finding a deviation value that minimizes the noise amplitude through an optimization algorithm.

[0015] In the above implementation process, when the noise amplitude of the order where the noise is located exceeds the target threshold, the deviation value is adjusted. Specifically, the deviation value is optimized, and then the parameter that minimizes the noise amplitude of the order is fixed. In this way, the motor harmonic noise is effectively improved.

[0016] Furthermore, in some examples, the optimization algorithm is used to find the deviation value that minimizes the noise amplitude, including: taking the deviation value at intervals of 15° within the range of 0 to 360°, and taking 5 upper and lower current amplitudes according to the feedback noise amplitude; combining the deviation value and the current amplitude to form 240 injection parameters; obtaining the q-axis input current on the 1st rotation coordinate axis corresponding to each injection parameter, and determining the deviation value corresponding to the minimum value of the q-axis input current as the target deviation value.

[0017] In the above implementation process, a brute force optimization algorithm for adjusting the deviation value is provided.

[0018] In the second aspect, the present application provides a motor harmonic noise control device, including: an analysis module, used to capture the sound field signal of the permanent magnet synchronous motor currently in the vehicle, and extract noise information of a specified frequency or a specified order from the sound field signal through Fourier analysis; an injection module, used to determine the harmonic injection parameters according to the noise information, generate a harmonic signal corresponding to the harmonic injection parameters and inject it; an adjustment module, used to analyze the sound field after the harmonic injection adjustment, and adjust the harmonic injection parameters according to the analysis results.

[0019] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0021] In a fifth aspect, the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0022] Other features and advantages disclosed in the present application will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology disclosed in the present application.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A flow chart of a motor harmonic noise control method provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a harmonic injection method in the related art;

[0027] Figure 3 A schematic diagram of the limitations of the harmonic injection method in the related art;

[0028] Figure 4 A schematic diagram of the harmonic injection principle of a permanent magnet synchronous motor harmonic noise automatic extraction and control solution provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a synchronous rotating coordinate system of a motor and a synchronous rotating coordinate system of noise provided in an embodiment of the present application;

[0030] Figure 6 A block diagram of a motor harmonic noise control device provided in an embodiment of the present application;

[0031] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0033] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0034] As described in the background technology, the motor harmonic injection method in the related art has the problem that it cannot effectively reduce the harmonic noise when the vehicle body ages or the motor parameters vary due to manufacturing reasons. Based on this, the embodiment of the present application provides a motor harmonic noise control solution to solve the above problem.

[0035] Next, the embodiments of the present application are introduced:

[0036] like Figure 1 As shown, Figure 1 1 is a flow chart of a motor harmonic noise control method provided in an embodiment of the present application. The method can be applied to a motor controller of a vehicle.

[0037] The method comprises:

[0038] Step 101: Capture the sound field signal of the permanent magnet synchronous motor in the current vehicle, and extract the noise information of the specified frequency or specified order from the sound field signal through Fourier analysis;

[0039] The permanent magnet synchronous motor mentioned in this step is an important part of the electric drive system of the car. It uses the interaction between the magnetic field generated by the permanent magnet and the magnetic field generated by the stator current to generate torque, thereby driving the vehicle forward. The sound field signal of the permanent magnet synchronous motor can be captured by components such as a microphone or a pickup in the car. In this embodiment, by performing real-time Fourier analysis on the sound field signal in the car, it is possible to dynamically inject targeted noise according to a certain order frequency noise of the current main sound field, thereby effectively reducing harmonic noise.

[0040] In some embodiments, the noise information of the specified frequency or specified order mentioned in this step may include: the noise amplitude and phase of 6 times and 12 times the electrical frequency, or the amplitude and phase of non-integer order noise. The non-integer order noise here can be the noise of the gear bearing order of 13.33 order. By targeted injection of a certain order frequency noise that is currently the main one in the sound field, the limitation that traditional harmonic injection can only inject integer multiple frequencies of the rotation frequency can be effectively avoided.

[0041] Step 102: determining harmonic injection parameters according to the noise information, generating and injecting harmonic signals corresponding to the harmonic injection parameters;

[0042] In this embodiment, the motor harmonic injection does not use a constant harmonic amplitude and phase, but dynamically calculates the harmonic injection parameters based on the information of a certain order of frequency noise that is currently the main factor in the sound field, thereby generating a harmonic signal with the required harmonic injection parameters, and injecting the generated harmonic signal into the channel where the original noise signal is located, thereby effectively reducing the harmonic noise.

[0043] In some embodiments, the harmonic injection parameter mentioned in this step may include a target injection value of the q-axis of the rotating coordinate system of the order of the noise; the target injection value is expressed as in, is the noise amplitude; ψ is the noise phase; x is the deviation value. In other words, through Fourier analysis, we can get the noise amplitude as The noise phase is ψ, the frequency is f2, then the noise frequency n = f2 / f1, f1 is the wheel rotation frequency, then the mathematical form of the noise can be obtained as Where ω is the wheel end speed, t is the time, and x is the deviation value. Then, harmonic injection can be performed according to the mathematical form of the obtained noise. Specifically, As the target injection value of the q axis of the n-fold rotation coordinate system, the harmonic current to be injected is generated. The initial value of the deviation value x can be 0, and then adjusted according to the harmonic injection effect.

[0044] In some embodiments, the generation of the harmonic signal corresponding to the harmonic injection parameter mentioned in this step may include: determining the target injection value as a reference value of a PI controller, and calculating a feedback value of the PI controller; inputting the reference value and the feedback value into the PI controller, and determining the q-axis input current on the 1st rotation coordinate axis according to the output voltage of the PI controller. That is, using a PI controller to implement harmonic injection, As the reference value of the PI controller, and calculate the feedback value of the PI controller, the PI controller calculates the error by comparing the input reference value and feedback value, and adjusts the control output accordingly. After PI control, the q-axis input voltage U on the n-times rotating coordinate system can be obtained. q , and then the q-axis input current I on the first rotation coordinate axis can be obtained qH , the q-axis input current I qH This is the generated harmonic signal. In this way, the stability and reliability of the harmonic injection process are ensured.

[0045] Further, in some embodiments, the aforementioned calculation of the feedback value of the PI controller may include: obtaining a target difference according to the first q-axis current feedback signal and the first q-axis current reference signal; calculating the q-axis current on the rotating coordinate axis decomposed to the order of the noise according to the target difference, and determining the calculation result as the feedback value of the PI controller. That is, when calculating the feedback value of the PI control, the first q-axis current feedback signal I qF , minus the original 1st q-axis current reference signal I qR , and obtain the target difference ΔI q , and then the q-axis current on the rotating coordinate axis of the noise order can be calculated as cos(nθ)ΔI q, θ is the rotation angle of the motor, cos(nθ)ΔI q As the feedback value of the PI controller, the PI controller can accurately adjust the error.

[0046] Step 103: Analyze the sound field after the harmonic injection adjustment, and adjust the harmonic injection parameters according to the analysis result.

[0047] The traditional harmonic injection algorithm is an open-loop control strategy, which is easily affected by fluctuations and has poor control effect. However, after harmonic injection, the present embodiment analyzes the sound field after harmonic injection adjustment, adjusts the harmonic injection parameters cyclically, and completes closed-loop control. In this way, it is not easily affected by fluctuations, thereby effectively reducing harmonic noise and improving the control effect of motor harmonic noise.

[0048] In some embodiments, the step of adjusting the harmonic injection parameters according to the analysis results mentioned in this step may include: if the noise amplitude of the order where the noise is located exceeds the target threshold, searching for a deviation value that minimizes the noise amplitude through an optimization algorithm. That is, when the noise amplitude of the order where the noise is located exceeds the target threshold, the deviation value x is adjusted. Specifically, the deviation value x is optimized, and then the parameter x that minimizes the noise amplitude of the order is fixed. In this way, the motor harmonic noise is effectively improved.

[0049] Furthermore, in some embodiments, the aforementioned method of finding the deviation value that minimizes the noise amplitude through the optimization algorithm may include: taking values ​​of the deviation value within the range of 0 to 360° at intervals of 15°, and taking 5 current amplitudes above and below according to the feedback noise amplitude; combining the value of the deviation value and the current amplitude to form 240 injection parameters; obtaining the q-axis input current on the 1st rotation coordinate axis corresponding to each injection parameter, and determining the deviation value corresponding to the minimum value of the q-axis input current as the target deviation value. In other words, for the deviation value x, a brute force optimization algorithm can be used, that is, the deviation value x is optimized from 0 to 360° at intervals of 15°, and there are 24 values, according to the feedback order noise amplitude. Take 5 current amplitudes at the top and bottom, a total of 10, so there are 240 combinations, each injection parameter can get the feedback I qH , take I qH The deviation value corresponding to the minimum injection parameter is the optimal deviation value, ie, the target deviation value. Of course, in other embodiments, the target deviation value can also be obtained by optimizing using other optimization algorithms.

[0050] In the embodiment of the present application, the sound field signal of the permanent magnet synchronous motor in the current vehicle is captured, and the noise information of the specified frequency or specified order is extracted from the sound field signal through Fourier analysis. Then, the harmonic injection parameter is determined according to the extracted noise information, and a harmonic signal corresponding to the harmonic injection parameter is generated and injected, and then the sound field after the harmonic injection adjustment is analyzed to adjust the harmonic injection parameter and complete the closed-loop control. In this way, through real-time Fourier analysis, targeted injection can be performed dynamically according to the specific frequency or specific order of noise in the sound field at the moment, thereby effectively reducing harmonic noise. Moreover, due to the closed-loop control, it is not easily affected by fluctuations, and the motor harmonic noise control effect can be effectively improved.

[0051] In order to explain the solution of this application in more detail, a specific embodiment is introduced below:

[0052] Harmonic injection methods in related technologies include Figure 2 As shown, I a ,I b ,I c is the three-phase current; I d5 ,I q5 is the fifth harmonic of the dq axis current; I d7 ,I q7 is the seventh harmonic of the dq axis current; U d5 , U q5 is the fifth voltage harmonic of the dq axis system; U d7 , U q7 is the 7th voltage harmonic of the dq axis system; U aH , U bH , U cH Inject harmonic voltage into three phases; U a , U b , U c is the reference three-phase voltage; U a* , U b* , U c* The algorithm process is to extract the three-phase harmonic current through the feedback of the three-phase current and convert it into the 5 / 7th voltage of the dq axis system, and then convert it into the three-phase voltage harmonic through the coordinates, and then add it to the reference three-phase voltage calculated by the current loop to get the final three-phase reference voltage. Figure 2 It can be seen that the traditional harmonic injection method is an open-loop control strategy, which is easily affected by fluctuations and has poor control effect. Moreover, the traditional harmonic injection can only inject harmonics with frequencies that are integer multiples of the electrical frequency. Its limitations are as follows: Figure 3As shown, there are two harmonic amplitudes at the same rotation angle θ, such as points a and b. When the harmonic frequency is a non-integer multiple, such as the gear bearing order of 13.33, there are more harmonic amplitudes at the same rotation angle θ. Therefore, this limitation of traditional harmonic injection limits the application scenarios. Based on this, this embodiment provides a permanent magnet synchronous motor harmonic noise automatic extraction and control solution to solve the above problem.

[0053] The harmonic injection principle of this embodiment is as follows Figure 4 As shown, the workflow of the scheme includes:

[0054] S401, when the vehicle is in motion, the wheel end speed is ω, in revolutions per minute, and the wheel rotation frequency is f1, then f1 = 60 / ω. At this time, the motor synchronous rotation coordinate system is as follows Figure 5 The solid line in the figure is a 1-order rotation coordinate system. The system captures the current in-car sound field through components such as microphones or pickups in the car, and uses Fourier analysis to obtain noise information of 6 times or 12 times the current electrical frequency, or noise of a certain order, such as gear noise. Specifically, the noise amplitude obtained through Fourier analysis is The phase is ψ, the frequency is f2, then the noise frequency is n = f2 / f1, and the mathematical form of the noise is: Where t is time and x is the deviation value. The synchronous rotating coordinate system of the noise is as follows: Figure 5 The dotted line in is the n-times-rotated coordinate system;

[0055] S402. According to the mathematical form of the noise obtained To perform harmonic injection, specifically, As the target injection value of the q-axis of the n-times rotating coordinate system, the deviation value x=0, that is, Will As a reference value for the PI controller;

[0056] S403, obtaining a q-axis current feedback signal I according to the three-phase current qF , use I qF Subtract the original 1st q-axis reference signal I qR Get the difference ΔI q , and then calculate the q-axis current on the rotating coordinate axis decomposed to the order of the noise as cos(nθ)ΔI q , which is used as the feedback value of the PI controller;

[0057] S404: Input the reference value and the feedback value into the PI controller, and obtain the q-axis input voltage U on the rotating coordinate system n times after PI control. q , and calculated by formula I qH =cos(nθ)U q, and obtain the q-axis input voltage I of the 1-rotation coordinate axis qH ;

[0058] S405, analyzing the sound field after harmonic injection adjustment, cyclically adjusting the harmonic injection parameters, and completing closed-loop control; specifically, when the noise amplitude of the order where the noise is located exceeds a certain threshold, adjusting the deviation value x, for example, optimizing from 0 to 360° at intervals of 15°, and then fixing the parameter x that minimizes the noise amplitude of the order. Optionally, the optimization method can be the following brute force optimization algorithm: optimizing from 0 to 360° at intervals of 15°, with 24 values, according to the feedback order noise amplitude Take 5 current amplitudes at the top and bottom, a total of 10, so there are 240 combinations, each injection parameter can get the feedback I qH , take I qH The smallest parameters are sufficient.

[0059] This embodiment scheme utilizes sound pickup tools such as microphones in the car, and combines the rotation speed to perform intelligent analysis to inject harmonics and adjust the switching frequency, thereby effectively improving the motor harmonic noise and the switching noise of the controller, and effectively improving the driving experience. In addition, through real-time Fourier analysis, it is possible to dynamically perform targeted injection based on a certain order frequency noise that is currently the main frequency in the sound field, avoiding the limitation of traditional harmonic injection that can only inject frequencies that are integer multiples of the rotation frequency.

[0060] Corresponding to the embodiments of the aforementioned method, the present application also provides embodiments of a motor harmonic noise control device and a terminal using the same:

[0061] like Figure 6 As shown, Figure 6 : is a block diagram of a motor harmonic noise control device provided in an embodiment of the present application, the device comprising:

[0062] An analysis module 31 is used to capture the sound field signal of the permanent magnet synchronous motor in the current vehicle, and extract noise information of a specified frequency or a specified order from the sound field signal through Fourier analysis;

[0063] An injection module 32, configured to determine harmonic injection parameters according to the noise information, generate a harmonic signal corresponding to the harmonic injection parameters, and inject the harmonic signal;

[0064] The adjustment module 33 is used to analyze the sound field after the harmonic injection adjustment, and adjust the harmonic injection parameters according to the analysis result.

[0065] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0066] This application also provides an electronic device, see Figure 7 , Figure 7 A block diagram of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 710, a communication interface 720, a memory 730, and at least one communication bus 740. The communication bus 740 is used to realize direct connection and communication between these components. The communication interface 720 of the electronic device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 710 may be an integrated circuit chip with signal processing capabilities.

[0067] The processor 710 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor 710 can also be any conventional processor, etc.

[0068] The memory 730 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 730 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 710, the electronic device can execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0069] Optionally, the electronic device may further include a storage controller and an input / output unit.

[0070] The memory 730, storage controller, processor 710, peripheral interface, input and output unit components are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses 740. The processor 710 is used to execute executable modules stored in the memory 730, such as software function modules or computer programs included in the electronic device.

[0071] The input and output unit is used to provide users with the task creation and to create a start optional time period or preset execution time for the task to realize the interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0072] Understandably, Figure 7 The structure shown is for illustration only, and the electronic device may also include Figure 7 More or fewer components as shown, or with Figure 7 Different configurations shown. Figure 7 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0073] An embodiment of the present application further provides a storage medium having instructions stored thereon. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described here.

[0074] The present application also provides a computer program product, which, when executed on a computer, enables the computer to execute the method described in the method embodiment.

[0075] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0076] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0077] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0078] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0080] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for controlling motor harmonic noise, characterized in that: include: Capturing the sound field signal of the permanent magnet synchronous motor in the current vehicle, and extracting the noise information of the specified frequency or specified order from the sound field signal through Fourier analysis; Determine harmonic injection parameters according to the noise information, generate and inject harmonic signals corresponding to the harmonic injection parameters; The sound field after the harmonic injection adjustment is analyzed, and the harmonic injection parameters are adjusted according to the analysis results.

2. The method according to claim 1, characterized in that The noise information of the specified frequency or specified order includes: The amplitude and phase of noise at 6 and 12 times the electrical frequency, or the amplitude and phase of non-integer order noise.

3. The method according to claim 2, characterized in that The harmonic injection parameters include the target injection value of the q-axis of the rotating coordinate system of the order where the noise is located; the target injection value is expressed as φcos(ψ+x); wherein φ is the noise amplitude; ψ is the noise phase; and x is the deviation value.

4. The method according to claim 3, characterized in that The generating of the harmonic signal corresponding to the harmonic injection parameter comprises: Determining the target injection value as a reference value of a PI controller, and calculating a feedback value of the PI controller; The reference value and the feedback value are input into the PI controller, and the q-axis input current on the first rotation coordinate axis is determined according to the output voltage of the PI controller.

5. The method according to claim 4, characterized in that The calculating the feedback value of the PI controller comprises: According to the first q-axis current feedback signal and the first q-axis current reference signal, a target difference is obtained; The q-axis current on the rotating coordinate axis of the order where the noise is located is calculated according to the target difference, and the calculation result is determined as the feedback value of the PI controller.

6. The method according to claim 3, characterized in that The adjusting the harmonic injection parameters according to the analysis results includes: If the noise amplitude of the order of the analyzed noise exceeds the target threshold, an optimization algorithm is used to find a deviation value that minimizes the noise amplitude.

7. The method according to claim 6, characterized in that The step of searching for the deviation value that minimizes the noise amplitude by using an optimization algorithm includes: The deviation value is selected in the range of 0 to 360° at intervals of 15°, and 5 upper and lower current amplitudes are selected according to the feedback noise amplitude; Combining the deviation value and the current amplitude to form 240 injection parameters; The q-axis input current on the first rotation coordinate axis corresponding to each injection parameter is obtained, and the deviation value corresponding to the minimum value of the q-axis input current is determined as the target deviation value.

8. A motor harmonic noise control device, characterized in that: include: An analysis module, used to capture the sound field signal of the permanent magnet synchronous motor in the current vehicle, and extract noise information of a specified frequency or a specified order from the sound field signal through Fourier analysis; An injection module, used to determine harmonic injection parameters according to the noise information, generate a harmonic signal corresponding to the harmonic injection parameters, and inject the harmonic signal; The adjustment module is used to analyze the sound field after the harmonic injection adjustment and adjust the harmonic injection parameters according to the analysis result.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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