Rotary transformer signal processing method and device, vehicle and storage medium

Abstract

The invention relates to a rotary transformer signal processing method and device, a vehicle and a storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring a to-be-detected rotary transformer signal of a rotary transformer of a motor; the rotary transformer signal is used for representing the rotation angle of the motor rotor; performing signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; determining whether the resolver signal is abnormal or not based on the linearity, and adjusting parameters of the motor system based on the harmonic content under the condition that the resolver signal is abnormal; wherein the parameters of the motor system comprise one or more of the electrical parameters of the rotary transformer, the mechanical parameters of the rotary transformer and the mechanical parameters of the motor system. Therefore, the design and improvement of the rotary transformer of the motor can be assisted and guided based on the linearity and the harmonic content, and the quality of the rotary transformer signal is improved. The rotary transformer signal abnormity is identified in time during the initial design of the motor, and the repeated adaptive design of the rotary transformer in the motor is avoided.

Description

Technical Field

[0001] The present application relates to the field of computer technology, in particular to the field of rotary transformer technology, and specifically to a rotary transformer signal processing method, device, vehicle and storage medium. Background Art

[0002] A resolver is a signal element that changes the relative position between transformer windings by rotating, and the output voltage changes with the rotor angle. When the excitation winding in the resolver is excited with an AC voltage of a certain frequency, the voltage amplitude of the output winding is a sine and cosine function of the rotor angle, which can be used to measure the angle and speed of the motor rotor. With the rapid growth of the new energy vehicle market, the motors on vehicles are diversified, such as permanent magnet synchronous motors, AC asynchronous motors, and switched reluctance motors. As a device for detecting the angle and speed of the motor rotor, the resolver needs to be adaptively mounted with the motor. Therefore, the number of pole pairs, primary-secondary ratio, size selection, and layout position of the resolver need to be adaptively changed according to the motor selection.

[0003] The current mainstream selection method for resolvers is to confirm the electrical parameters of the stator and rotor and the resolver structural boundaries based on the electrical parameters and structural boundaries of the motor, and to collect the resolver signal of the resolver through the electronic control using a resolver decoder to verify the feasibility of the solution, so as to determine the model of the resolver. However, when decoding the resolver signal of the resolver, considering the error of the motor system, the resolver decoder or decoding algorithm of the electronic control usually relaxes the signal acquisition boundary to accommodate system problems. However, relaxing the signal acquisition boundary makes the quality of the resolver signal poor, resulting in the resolver signal deviation cannot be identified in time during the initial design of the motor, so that the resolver needs to be repeatedly adapted and designed, affecting the development progress and wasting resources. Therefore, how to improve the resolver signal quality of the resolver is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a resolver signal processing method, device, vehicle and storage medium to at least solve the technical problem in the related art that the quality of the resolver signal is poor, resulting in the resolver signal deviation cannot be timely identified during the initial design of the motor, so that the resolver needs to be repeatedly adapted and designed, affecting the development progress and wasting resources. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a resolver signal processing method is provided, the method comprising: obtaining a resolver signal to be detected of a resolver of a motor; the resolver signal is used to characterize the rotation angle of the motor rotor; processing the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; determining whether the resolver signal is abnormal based on the linearity, and if the resolver signal is abnormal, adjusting the parameters of the motor system based on the harmonic content; wherein the parameters of the motor system include one or more of the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system.

[0006] According to the above technical means, the quality of the resolver signal is evaluated by analyzing the linearity and harmonic content, and whether the resolver signal is abnormal is identified. In order to assist in guiding the design and improvement of the resolver of the motor and improve the quality of the resolver signal of the motor. In addition, the resolver signal abnormality is timely identified during the initial design of the motor, and the parameters of the motor system are adjusted to avoid repeated adaptation design of the resolver in the motor, improve the motor development progress and avoid waste of resources. In addition, by adjusting the electrical parameters of the resolver in the motor, the mechanical parameters of the resolver, and the mechanical parameters of the motor system, the magnetic circuit design of the motor can be optimized, harmonic distortion can be reduced, and the efficiency and performance of the motor can be improved.

[0007] In a possible implementation, the resolver signal includes waveform data of multiple periods; signal processing is performed on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal, including: signal processing is performed on the waveform data of any one period in the resolver signal to obtain the linearity and the harmonic content.

[0008] According to the above technical means, by processing the periodic waveform data of the resolver signal, the rotation angle of the motor rotor can be obtained, thereby determining the linearity of the rotation angle and the harmonic content of the resolver signal, thereby improving the accuracy of the linearity and harmonic content. And based on the linearity and harmonic content, the cause of the resolver signal abnormality can be identified to prevent the resolver signal abnormality.

[0009] In another possible implementation, the waveform data includes a sine signal and a cosine signal; signal processing is performed on the waveform data of any period in the resolver signal to obtain linearity and harmonic content, including: modulating the waveform data of any period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal; and determining the linearity and harmonic content based on the sine envelope signal and the cosine envelope signal.

[0010] According to the above technical means, by modulating the waveform data of any period, the transmission characteristics of the resolver signal can be improved, the influence of noise and interference can be reduced, and the readability and reliability of the sine envelope signal and the cosine envelope signal can be improved, thereby improving the accuracy of linearity and harmonic content. And by analyzing the linearity and harmonic content, the potential faults of the motor can be identified and the motor performance can be improved.

[0011] In another possible implementation, linearity and harmonic content are determined based on the sine envelope signal and the cosine envelope signal, including: determining the rotation angle based on the sine envelope signal and the cosine envelope signal; performing linearity analysis on the rotation angle to determine the linearity; and performing Fourier transform on the sine envelope signal and the cosine envelope signal to obtain the harmonic content.

[0012] According to the above technical means, by analyzing the sine envelope signal and the cosine envelope signal, the rotation angle of the motor rotor can be determined more accurately. The linearity analysis of the rotation angle can ensure that the motor maintains high accuracy and consistency within the operating range. And by obtaining the harmonic content through Fourier transform, the nonlinear factors and potential causes of failure in the operation of the motor can be identified.

[0013] In another possible implementation, determining the rotation angle based on the sine envelope signal and the cosine envelope signal includes: performing arc tangent processing on the ratio of a vector corresponding to the sine envelope signal to a vector corresponding to the cosine envelope signal to obtain the rotation angle.

[0014] According to the above technical means, the rotation angle is determined according to the sine envelope signal and the cosine envelope signal, so that the accuracy of the rotation angle can be guaranteed even in a noisy environment, thereby improving the efficiency and reliability of the motor.

[0015] In another possible implementation, the waveform data of any period is modulated to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal, including: performing a sign operation on the waveform data of any period to obtain a resolver excitation signal; and filtering the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0016] According to the above technical means, through symbolic operation, specific signal components in the sine signal and cosine signal are enhanced, unnecessary frequency components are suppressed, and selective signal enhancement is achieved to obtain the corresponding excitation signals, thereby improving the quality and reliability of the excitation signals. Filtering processing helps to resist external interference and improve the clarity and stability of the sine envelope signal and the cosine envelope signal, so as to more accurately determine the rotation angle.

[0017] In another possible implementation, the resolver excitation signal is filtered to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal, including: filtering the carrier signal in the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0018] According to the above technical means, by filtering the resolver excitation signal and filtering out the carrier signal, the interference of the carrier frequency can be reduced, making the sine envelope signal and the cosine envelope signal clearer. In addition, the envelope signal after filtering is smoother and more stable, which helps to improve the availability of the envelope signal.

[0019] In another possible implementation, when the resolver signal is abnormal, the parameters of the motor system are adjusted based on the harmonic content, including: when the resolver signal is abnormal, determining the cause of the resolver signal abnormality based on the harmonic content; and adjusting the parameters of the motor system according to the cause of the resolver signal abnormality.

[0020] According to the above technical means, in the case of abnormal resolver signal, by determining the cause of the abnormality, the corresponding parameters in the motor system are adjusted, so as to accurately adjust the parameters that cause the abnormal resolver signal. This improves the quality of the resolver signal generated by the resolver and improves the reliability of the motor system.

[0021] In another possible implementation, determining the cause of the abnormality of the resolver signal based on the harmonic content includes: comparing the harmonic content corresponding to each component of the motor with the harmonic content to determine the cause of the abnormality of the resolver signal; the cause of the abnormality of the resolver signal includes: electromagnetic interference from other components in the motor, and / or configuration deviation of the resolver.

[0022] According to the above technical means, by comparing the harmonic content corresponding to each component of the motor with the harmonic content, the specific cause of the abnormal resolver signal can be quickly and accurately determined, so as to assist in guiding the design and improvement of the resolver of the motor based on the abnormal cause, improve the quality of the resolver signal of the motor, and improve the reliability of the motor control system.

[0023] In another possible implementation, the parameters of the motor system are adjusted according to the cause of the abnormality of the resolver signal, including: when the cause of the abnormality of the resolver signal is electromagnetic interference of other components in the motor, adjusting the mechanical parameters of the resolver and / or the mechanical parameters of the motor system; when the cause of the abnormality of the resolver signal is a configuration deviation of the resolver, adjusting the electrical parameters of the resolver.

[0024] According to the above technical means, taking corresponding measures based on the cause of the resolver signal abnormality, adjusting the mechanical parameters of the resolver and the mechanical parameters of the motor system can reduce the electromagnetic interference or electrical parameter deviation of other components of the motor, thereby improving the reliability and stability of the motor. By adjusting the electrical parameters of the resolver, the dynamic response and operating efficiency of the motor can be optimized, thereby improving the working efficiency of the motor.

[0025] According to a second aspect provided by the present application, a resolver signal processing device is provided, the device comprising: an acquisition module, a processing module and a determination module; the acquisition module is used to acquire a resolver signal to be detected of a resolver of a motor; the resolver signal is used to characterize the rotation angle of the motor rotor; the processing module is used to perform signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; the adjustment module is used to determine whether the resolver signal is abnormal based on the linearity, and when the resolver signal is abnormal, adjust the parameters of the motor system based on the harmonic content; wherein the parameters of the motor system include one or more of the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system.

[0026] In a possible implementation, the resolver signal includes waveform data of multiple periods; the processing module is specifically configured to perform signal processing on the waveform data of any one period in the resolver signal to obtain linearity and harmonic content.

[0027] In another possible implementation, the waveform data includes a sine signal and a cosine signal; the processing module is specifically used to perform modulation processing on the waveform data of any period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal; based on the sine envelope signal and the cosine envelope signal, determine the linearity and harmonic content.

[0028] In another possible implementation, the processing module is specifically used to determine the rotation angle based on the sine envelope signal and the cosine envelope signal; perform linearity analysis on the rotation angle to determine the linearity; and perform Fourier transform on the sine envelope signal and the cosine envelope signal to obtain harmonic content.

[0029] In yet another possible implementation, the processing module is specifically configured to perform arctangent processing on a ratio of a vector corresponding to the sine envelope signal to a vector corresponding to the cosine envelope signal to obtain a rotation angle.

[0030] In another possible implementation, the processing module is specifically used to perform a sign operation on the waveform data of any period to obtain a resolver excitation signal; and filter the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0031] In yet another possible implementation, the processing module is specifically configured to filter the carrier signal in the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0032] In yet another possible implementation, the adjustment module is specifically configured to, when the resolver signal is abnormal, determine a cause of the resolver signal abnormality based on harmonic content; and adjust parameters of the motor system according to the cause of the resolver signal abnormality.

[0033] In another possible implementation, the adjustment module is specifically used to compare the harmonic content corresponding to each component of the motor with the harmonic content to determine the abnormal cause of the resolver signal; the abnormal cause of the resolver signal includes: electromagnetic interference from other components in the motor, and / or configuration deviation of the resolver.

[0034] In another possible implementation, the adjustment module is specifically used to adjust the mechanical parameters of the resolver and / or the mechanical parameters of the motor system when the abnormal cause of the resolver signal is electromagnetic interference from other components in the motor; and to adjust the electrical parameters of the resolver when the abnormal cause of the resolver signal is a configuration deviation of the resolver.

[0035] According to the third aspect provided by the present application, a vehicle is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0036] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0037] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on a vehicle, the vehicle executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0038] Therefore, the above technical features of the present application have the following beneficial effects:

[0039] (1) By analyzing the linearity and harmonic content, the quality of the resolver signal is evaluated and whether the resolver signal is abnormal is identified. This helps guide the design and improvement of the motor's resolver and improves the quality of the motor's resolver signal. In addition, during the initial design of the motor, resolver signal abnormalities are identified in a timely manner, and the parameters of the motor system are adjusted to avoid repeated adaptation design of the resolver in the motor, improve the motor development progress and avoid waste of resources. In addition, by adjusting the electrical parameters of the resolver in the motor, the mechanical parameters of the resolver, and the mechanical parameters of the motor system, the motor's magnetic circuit design can be optimized, harmonic distortion can be reduced, and the efficiency and performance of the motor can be improved.

[0040] (2) By processing the periodic waveform data of the resolver signal, the rotation angle of the motor rotor can be obtained, thereby determining the linearity of the rotation angle and the harmonic content of the resolver signal, thereby improving the accuracy of the linearity and harmonic content. Based on the linearity and harmonic content, the cause of the resolver signal abnormality can be identified to prevent the resolver signal abnormality.

[0041] (3) By modulating the waveform data of any cycle, the transmission characteristics of the resolver signal can be improved, the influence of noise and interference can be reduced, and the readability and reliability of the sine envelope signal and cosine envelope signal can be improved, thereby improving the accuracy of linearity and harmonic content. In addition, by analyzing the linearity and harmonic content, the potential faults of the motor can be identified and the motor performance can be improved.

[0042] (4) By analyzing the sine envelope signal and the cosine envelope signal, the rotation angle of the motor rotor can be determined more accurately. The linearity analysis of the rotation angle can ensure that the motor maintains high accuracy and consistency within the operating range. And by obtaining the harmonic content through Fourier transform, the nonlinear factors and potential causes of failure in the operation of the motor can be identified.

[0043] (5) The rotation angle is determined according to the sine envelope signal and the cosine envelope signal, so that the accuracy of the rotation angle can be guaranteed even in a noisy environment, thereby improving the efficiency and reliability of the motor.

[0044] (6) Through symbolic operations, specific signal components in the sine and cosine signals are enhanced, unnecessary frequency components are suppressed, and selective signal enhancement is achieved to obtain the corresponding excitation signals, thereby improving the quality and reliability of the excitation signals. Filtering processing helps to resist external interference and improve the clarity and stability of the sine envelope signal and the cosine envelope signal, so as to more accurately determine the rotation angle.

[0045] (7) By filtering the resolver excitation signal and removing the carrier signal, the interference of the carrier frequency can be reduced, making the sine envelope signal and the cosine envelope signal clearer. In addition, the envelope signal after filtering is smoother and more stable, which helps to improve the availability of the envelope signal.

[0046] (8) In the case of an abnormal resolver signal, the corresponding parameters in the motor system are adjusted by determining the cause of the abnormality. This allows accurate adjustment of the parameters that cause the resolver signal abnormality. This improves the quality of the resolver signal generated by the resolver and improves the reliability of the motor system.

[0047] (9) By comparing the harmonic content corresponding to each component of the motor with the harmonic content, the specific cause of the abnormal resolver signal can be quickly and accurately determined. This can assist in guiding the design and improvement of the motor's resolver based on the cause of the abnormality, improve the quality of the motor's resolver signal, and improve the reliability of the motor control system.

[0048] (10) Taking corresponding measures based on the cause of the resolver signal abnormality and adjusting the mechanical parameters of the resolver and the motor system can reduce the electromagnetic interference or electrical parameter deviation of other components of the motor, thereby improving the reliability and stability of the motor. By adjusting the electrical parameters of the resolver, the dynamic response and operating efficiency of the motor can be optimized, thereby improving the working efficiency of the motor.

[0049] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0050] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0052] Figure 1 is a structural schematic diagram of a resolver signal processing system according to an exemplary embodiment;

[0053] Figure 2 is a flow chart of a resolver signal processing method according to an exemplary embodiment;

[0054] Figure 3 is a schematic diagram of a sine signal and a cosine signal of a resolver signal according to an exemplary embodiment;

[0055] Figure 4 is a schematic diagram of a rotation angle linearity analysis according to an exemplary embodiment;

[0056] Figure 5 is a schematic diagram of Fourier transform of a sine envelope signal and a cosine envelope signal according to an exemplary embodiment;

[0057] Figure 6 is a schematic diagram of an excitation signal according to an exemplary embodiment;

[0058] Figure 7 is a schematic diagram of extracting a sine envelope signal and a cosine envelope signal according to an exemplary embodiment;

[0059] Figure 8 is a flow chart of another resolver signal processing method according to an exemplary embodiment;

[0060] Fig. 9 is a flow chart of another resolver signal processing method according to an exemplary embodiment;

[0061] Fig.10 is a block diagram of a resolver signal processing device according to an exemplary embodiment;

[0062] Fig.11 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0063] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0064] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0065] A resolver is a signal element that changes the relative position between transformer windings by rotating, and the output voltage changes with the rotor angle. When the excitation winding in the resolver is excited with an AC voltage of a certain frequency, the voltage amplitude of the output winding is a sine and cosine function of the rotor angle, which can be used to measure the angle and speed of the motor rotor. With the rapid growth of the new energy vehicle market, the motors on vehicles are diversified, such as permanent magnet synchronous motors, AC asynchronous motors, and switched reluctance motors. As a device for detecting the angle and speed of the motor rotor, the resolver needs to be adaptively mounted with the motor. Therefore, the number of pole pairs, primary-secondary ratio, size selection, and layout position of the resolver need to be adaptively changed according to the motor selection.

[0066] The current mainstream selection method for resolvers is to confirm the electrical parameters of the stator and rotor and the resolver structural boundaries based on the electrical parameters and structural boundaries of the motor, and to verify the feasibility of the solution by using a resolver decoder to collect the resolver signal of the resolver through electronic control, so as to determine the model of the resolver. However, when decoding the resolver signal of the resolver, considering the error of the motor system, the resolver decoder or decoding algorithm of the electronic control usually relaxes the signal acquisition boundary to accommodate system problems. However, relaxing the signal acquisition boundary makes the quality of the resolver signal poor, resulting in the inability to identify the resolver signal deviation in time during the initial design of the motor, which requires repeated adaptation design of the resolver, affecting the development progress and wasting resources.

[0067] In the related art, the host computer verifies the resolver soft decoding performance of the resolver signal generating device according to the target soft decoding angle and the target reference angle. This method verifies the performance of the resolver software decoding, mainly for the soft decoding system related to the electric control. Only the resolver signal results are compared to confirm whether they are qualified, which cannot effectively identify the robustness of the electrical angle signal after the resolver body is decoded, and there is a risk of distortion of the resolver signal. In addition, the resolver signal sending device cannot truly and effectively simulate the application environment of the resolver in the motor, the control variable is single, and it cannot effectively identify the real application risks of the resolver body, such as electromagnetic interference inside the electric drive.

[0068] In another related technology, the target mechanical angle interval that the rotary transformer falls into relative to the initial position after rotation is determined based on the mechanical angle of the rotary transformer accumulated rotation. The target zero drift value of the current recovery signal is determined based on the target mechanical angle interval, and the target zero drift value is determined for the recovery signal at different stages through different levels, so that the determined target zero drift value is consistent with the actual zero drift of the recovery signal. This method only ensures that the recovery signal can obtain the correct zero drift compensation, avoiding the error in the angle obtained after decoding the recovery signal, but it cannot parse the waveform of the electrical angle signal of the rotary transformer body, and fundamentally solve the zero drift problem.

[0069] Therefore, the relevant technologies all verify the performance of resolver soft decoding, and the main analysis objects are the feasibility of soft decoding systems, chips, encoders, etc. in electronic control equipment, but the feasibility and robustness analysis of the resolver body, which is the source of the resolver signal, is not carried out. Therefore, how to improve the quality of the resolver signal of the resolver is a technical problem that needs to be solved urgently.

[0070] In view of the above problems, the present application proposes a method for processing a resolver signal, in which the linearity and harmonic content are analyzed, the quality of the resolver signal is evaluated, and whether the resolver signal is abnormal is identified. In order to assist in guiding the design and improvement of the resolver of the motor and improve the quality of the resolver signal of the motor. In addition, the resolver signal abnormality is promptly identified during the initial design of the motor, and the parameters of the motor system are adjusted to avoid repeated adaptation design of the resolver in the motor, improve the motor development progress and avoid waste of resources. In addition, by adjusting the electrical parameters of the resolver in the motor, the mechanical parameters of the resolver, and the mechanical parameters of the motor system, the magnetic circuit design of the motor can be optimized, harmonic distortion can be reduced, and the efficiency and performance of the motor can be improved.

[0071] For ease of understanding, the resolver signal processing method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0072] Figure 1 is a schematic structural diagram of a resolver signal processing system according to an exemplary embodiment. Figure 1 As shown, the resolver signal processing system 100 includes: a device 101 equipped with a resolver structure to be verified, an electric control device 102, a data acquisition device 103, and a data analysis device 104. The device 101 equipped with the resolver structure to be verified is connected to the electric control device 102, and the data acquisition device 103 is connected to the device 101 equipped with the resolver structure to be verified. The data of the data acquisition device 103 can be entered into the data analysis device 104 through a mobile medium.

[0073] In some embodiments, the electric control device 102 inputs speed and torque instructions to the device 101 equipped with the resolver structure to be verified, so that the device 101 equipped with the resolver structure to be verified generates a resolver signal for data acquisition device 103 to collect.

[0074] In some embodiments, the device 101 equipped with the resolver structure to be verified may be a complete vehicle, an electric drive assembly, a motor test box, a motor, etc. The voltage and voltage boundary of the electric control device 102 must meet the requirements of the device 101 equipped with the resolver structure to be verified, and the device 101 equipped with the resolver structure to be verified must respond to the torque and speed instructions of the electric control device 102. The data acquisition device 103 must meet the sampling frequency of the device 101 equipped with the resolver structure to be verified and have a data export function.

[0075] In some embodiments, the device 101 equipped with the resolver structure to be verified is driven by the electronic control device 102, and then the data acquisition device 103 collects the original signal of the resolver when working under the corresponding working condition, and finally the resolver signal is analyzed and calculated by the computer instructions in the data analysis device 104, and the outer envelope signal is obtained by performing sine and cosine sign operations on the original waveform signal to determine the resolver position angle, and the outer envelope signal is further decomposed into: resolver output signal amplitude, transformation ratio or square sum and variance, harmonic content of a single output signal, etc. by performing Fourier transform analysis and resolver angle linear analysis on the outer envelope signal, so as to confirm the resolver signal quality.

[0076] In some embodiments, the electric control device 102 drives the device 101 equipped with the resolver structure to be verified by sending an excitation signal (Exc+, Exc-) to the device 101 equipped with the resolver structure to be verified. The device 101 equipped with the resolver structure to be verified feeds back an envelope signal (Sin+, Sin-, Cos+, Cos-) to the electric control device 102.

[0077] It should be noted that the system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0078] In some embodiments, the resolver signal processing method provided in the embodiments of the present application may be a motor, a vehicle controller, an electric drive device, or any device equipped with a resolver, and the embodiments themselves are not limited to this.

[0079] Figure 2 is a flow chart of a method for processing a resolver signal according to an exemplary embodiment. Figure 2 As shown, the resolver signal processing method includes the following steps:

[0080] S201, obtaining a resolver signal to be detected of a resolver of a motor.

[0081] The resolver signal is used to characterize the rotation angle of the motor rotor. The resolver signal is generated by the resolver in the motor. The resolver is used to measure the rotor position and speed of the motor to achieve precise position control and speed control.

[0082] For example, different acquisition conditions for the acquisition of resolver signals can be determined according to different operating conditions of the motor. According to the speed and torque under different acquisition conditions, the corresponding speed and torque instructions are input to the motor to collect the resolver signals of the motor's resolver under different acquisition conditions. Among them, the speed instruction and torque instruction can be determined based on the actual needs of the motor, and can be different speeds and different torques. For example: no-load, medium load, heavy load; low speed, medium speed, high speed; low voltage, rated voltage, high voltage and other combined conditions.

[0083] S202: Process the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal.

[0084] The linearity of the rotation angle refers to the degree of linear relationship between the electrical signal output by the motor's resolver and the actual rotation angle. In general, the output electrical signal should have a strict linear relationship with the rotation angle, and the output signal will also change evenly with the uniform change of the angle.

[0085] The harmonic content of the resolver signal refers to the content of other frequency components in the resolver output signal except the fundamental wave (sine signal or cosine signal corresponding to the rotation angle). This harmonic component is usually caused by factors such as the nonlinearity of the resolver, the non-uniformity of the magnetic field, and the asymmetry of the winding.

[0086] For example, the resolver signal may be modulated to determine the rotation angle, thereby determining the linearity of the rotation angle and the harmonic content of the resolver signal, so as to determine whether the resolver signal is abnormal.

[0087] S203: Determine whether the resolver signal is abnormal based on the linearity, and if the resolver signal is abnormal, adjust the parameters of the motor system based on the harmonic content.

[0088] The parameters of the motor system include one or more of electrical parameters of the rotary transformer and / or mechanical parameters of the rotary transformer and mechanical parameters of the motor system.

[0089] Exemplarily, after determining the linearity of the rotation angle and the harmonic content of the resolver signal, it is possible to determine whether the resolver signal is abnormal based on the linearity. If the linearity is higher than a preset threshold, it means that the degree of linear relationship between the electrical signal output by the resolver and the actual rotation angle is high, and the resolver signal is normal. If the linearity is lower than the preset threshold, it means that the degree of linear relationship between the electrical signal output by the resolver and the actual rotation angle is low, and the resolver signal is abnormal.

[0090] In the case where the linearity characterizes the abnormal resolver signal, the cause of the abnormal resolver signal can also be determined based on the harmonic content, thereby adjusting the parameters in the motor system that cause the abnormal resolver signal, such as: electrical parameters of the resolver and / or mechanical parameters of the resolver, and mechanical parameters of the motor system. The preset threshold is determined by relevant technicians based on actual conditions and needs, for example: 99%, and the embodiments of the present application do not limit this.

[0091] It should be understood that before inputting different speeds and torque qualities to the motor and obtaining the resolver signal, the linearity and harmonic content requirements corresponding to different acquisition conditions can also be determined based on the resolver design boundary (i.e., the boundary of different acquisition conditions). The fast Fourier transform (FFT) analysis order range, linearity, and resolver ratio corresponding to the harmonic content requirements are set based on the operating condition information and the basic information of the resolver. Among them, the resolver ratio is used to characterize the proportion of resolver impurities in the resolver signal, which can be calculated based on the amplitude of the resolver signal. Among them, the operating condition information includes: speed, torque, voltage, and the basic information of the resolver includes: resolver speed, resolver pole pair number, and the number of waveform selections. When the resolver signal is normal, the FFT analysis order range should be within the preset order range, the linearity should be greater than the preset threshold, and the resolver ratio should be within the preset ratio range.

[0092] Among them, the preset order range can be 1-4 orders, and the preset ratio range can be 0.286±10%, which is determined by relevant technical personnel according to actual conditions and needs, and the embodiments of the present application do not limit this.

[0093] In some embodiments, the resolver signal includes waveform data of multiple cycles. One cycle of waveform data can be arbitrarily selected from the multiple cycles of waveform data for signal processing to determine linearity and harmonic content. Therefore, the above steps perform signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal, which can be specifically implemented as the following steps: perform signal processing on the waveform data of any one cycle in the resolver signal to obtain linearity and harmonic content.

[0094] The period is the electrical angle period. The electrical angle period refers to the change in electrical angle corresponding to one rotation of the magnetic field. In one electrical angle period, the magnetic field of the motor completes a full rotation and returns to the same position from a specific starting position.

[0095] Exemplarily, multiple cycles of modulation signals in the resolver signal may be amplified and observed, and waveform data of an available original resolver signal may be selected for signal processing to determine the linearity of the rotation angle and the harmonic content of the resolver signal.

[0096] In some other embodiments, the waveform data includes a sine signal and a cosine signal. The sine signal and the cosine signal can be modulated and processed respectively to obtain their respective corresponding envelope signals. Thus, the linearity and the harmonic content are determined based on the sine envelope signal and the cosine envelope signal. Therefore, the above steps perform signal processing on the waveform data of any period in the resolver signal to obtain the linearity and the harmonic content, which can be specifically implemented as the following steps S2021-S2022:

[0097] S2021. Perform modulation processing on the waveform data of any period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0098] The envelope refers to the shape of a signal formed when a high-frequency signal is modulated by a low-frequency signal. For sine and cosine signals, their envelope signals refer to the low-frequency signals that describe their amplitude changes.

[0099] Exemplarily, the sine signal and cosine signal of any period of waveform data can be modulated to obtain respective corresponding excitation signals, and then the sine excitation signal and cosine excitation signal can be filtered to obtain respective corresponding envelope signals.

[0100] S2022. Determine linearity and harmonic content based on the sine envelope signal and the cosine envelope signal.

[0101] For example, the rotation angle of the motor rotor can be determined based on the sine envelope signal and the cosine envelope signal. Thus, the linearity analysis of the rotation angle is performed to determine the linearity of the rotation angle. The sine envelope signal and the cosine envelope signal are subjected to Fourier transform processing to determine the harmonic content of the resolver signal.

[0102] As an example, Figure 3 FIG. 1 is a schematic diagram of a sine signal and a cosine signal of a resolver signal according to an exemplary embodiment. Figure 3 As shown, the horizontal axis represents time in seconds, sin represents sine signal, cos represents cosine signal, and the specific change trends of sine signal and cosine signal are as follows Figure 3 shown.

[0103] In some other embodiments, the rotation angle may be determined based on the sine envelope signal and the cosine envelope signal. Thus, the linearity and harmonic content are determined according to the rotation angle. Therefore, the above steps are based on the sine envelope signal and the cosine envelope signal to determine the linearity and harmonic content, which can be specifically implemented as the following steps S2022a-S2022c:

[0104] S2022a. Determine a rotation angle based on the sine envelope signal and the cosine envelope signal.

[0105] Exemplarily, the vector corresponding to the sine envelope signal and the vector corresponding to the cosine envelope signal can be determined according to the sine envelope signal and the cosine envelope signal. The ratio of the vector corresponding to the sine envelope signal to the vector corresponding to the cosine envelope signal is processed by inverse tangent to obtain the rotation angle.

[0106] As an example, Figure 4 FIG. 1 is a schematic diagram showing a rotation angle linearity analysis according to an exemplary embodiment. Figure 4 As shown, the linearity of cycle 1-cycle 10 (Segment 1-Segment 10 in the figure) (R 2 ) are: 0.9853, 0.9995, 0.9995, 0.9996, 0.9996, 0.9996, 0.9995, 0.9995, 0.9996, and 0.9996 respectively.

[0107] S2022b. Perform linearity analysis on the rotation angle to determine the linearity.

[0108] Exemplarily, a plurality of periodic rotation angles and the electrical signal output by the rotary transformer may be subjected to linear fitting processing to determine the degree of linear correlation and obtain the linearity of the rotation angle.

[0109] S2022c. Perform Fourier transform on the sine envelope signal and the cosine envelope signal to obtain harmonic content.

[0110] Exemplarily, a fast Fourier transform analysis is performed on the sine envelope signal and the cosine envelope signal, and the time domain of the sine envelope signal and the cosine envelope signal is converted into the frequency domain to obtain the total harmonic content and characteristic order harmonic content of the resolver signal. In order to confirm the quality of the resolver signal based on the total harmonic content standard and the characteristic order harmonic content standard, and find out the corresponding components of the characteristic order harmonics, so as to avoid or optimize them during motor design. Among them, the harmonic content and linearity standards are formulated based on the actual application environment and specifications of each product. Through the characteristic order harmonic content, it can be further decomposed into the corresponding motor components to avoid or optimize them.

[0111] As an example, Figure 5 FIG. 1 is a schematic diagram of Fourier transform of a sine envelope signal and a cosine envelope signal according to an exemplary embodiment. The sine envelope signal (Sin_exc) and the cosine envelope signal (cos_exc) after Fourier transform are shown in FIG. Figure 5 As shown, the 2nd, 4th, and 8th harmonics are detected for the sine envelope signal. The 2nd, 4th, and 8th harmonics are detected for the cosine envelope signal.

[0112] In some other embodiments, the rotation angle can be determined by performing an inverse tangent process on the ratio of the vector corresponding to the sine envelope signal to the vector corresponding to the cosine envelope signal. Therefore, the above steps of determining the rotation angle based on the sine envelope signal and the cosine envelope signal can be specifically implemented as follows: performing an inverse tangent process on the ratio of the vector corresponding to the sine envelope signal to the vector corresponding to the cosine envelope signal to obtain the rotation angle.

[0113] Exemplarily, the real-time position of the motor, that is, the rotation angle, is obtained by performing four-quadrant inverse tangent on the vector value corresponding to the sine envelope signal and the vector value corresponding to the cosine envelope signal.

[0114] In some other embodiments, a symbol operation can be performed on the waveform data of any period to obtain a resolver excitation signal. Thus, based on the resolver excitation signal, a sine envelope signal and a cosine envelope signal are determined. Therefore, the above steps perform modulation processing on the waveform data of any period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal, which can be specifically implemented as the following steps S2021a-S2021b:

[0115] S2021a, performing symbol operation on the waveform data of any period to obtain a resolver excitation signal;

[0116] Exemplarily, the waveform data of any cycle can be operated on by symbols, the sine signal and cosine signal in any cycle can be low-pass filtered, the vector of the processed sine signal and the vector of the processed cosine signal can be multiplied by the positive and negative signs of the excitation signal, and an electrical angle cycle can be restored for analysis, and the rotation angle calculation process of the motor controller can be simulated to obtain the resolver excitation signal. Wherein, each element of the excitation signal takes a sign, and the result is a vector or array of the same size as exc, in which the element is 1 (i.e., the corresponding element in exc is a positive number), 0 (i.e., the corresponding element in exc is 0) or -1 (the corresponding element in exc is a negative number).

[0117] It should be understood that multiplying the vector of the processed sine signal and the vector of the processed cosine signal by the sign of the excitation signal is to flip the image of the sine signal and the cosine signal located in the fourth quadrant to the first quadrant.

[0118] As an example, Figure 6 FIG. 1 is a schematic diagram of an excitation signal according to an exemplary embodiment. Figure 6 As shown, the horizontal axis represents time in seconds, esc represents the excitation signal, and the change trend of the excitation signal is as follows Figure 6 shown.

[0119] S2021b. Filter the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0120] Exemplarily, the carrier signal in the resolver excitation signal may be filtered by a filter to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0121] In some other embodiments, the sine envelope signal and the cosine envelope signal can be obtained by filtering the carrier signal in the resolver excitation signal. Therefore, the above steps filter the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal, which can be specifically implemented as follows: filtering the carrier signal in the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0122] Exemplarily, a filter is used to perform low-pass filtering on the resolver excitation signal, and the carrier signal corresponding to the carrier frequency in the resolver excitation signal is filtered out to obtain a sine envelope signal sin_env and a cosine envelope signal cos_env. The filter filters out the carrier frequency at 3 times the switching frequency based on engineering experience.

[0123] As an example, Figure 7 FIG. 1 is a schematic diagram of extracting a sine envelope signal and a cosine envelope signal according to an exemplary embodiment. Figure 7 As shown, original sin represents the original sine signal, original cos represents the original cosine signal, sin_env represents the sine envelope signal, and cos_env represents the cosine envelope signal.

[0124] In some other embodiments, the abnormal cause of the resolver signal can be determined based on the harmonic content, so that the parameters of the motor system can be adjusted according to the abnormal cause of the resolver signal. Figure 8 As shown, in the above steps, when the resolver signal is abnormal, the parameters of the motor system are adjusted based on the harmonic content, which can be specifically implemented as the following steps S2031-S2032:

[0125] S2031. When the resolver signal is abnormal, determine the cause of the abnormality of the resolver signal based on the harmonic content.

[0126] For example, when the linearity characterizes that the resolver signal is abnormal, the components and causes of generating the harmonic content in the motor or resolver can be determined based on the harmonic content, thereby obtaining the cause of the resolver signal abnormality.

[0127] S2032. Adjust the parameters of the motor system according to the cause of the abnormal resolver signal.

[0128] Among them, the electrical parameters of the resolver include: transformation ratio, accuracy, resolution, frequency response, etc. The transformation ratio indicates the ratio of the input voltage to the output voltage of the resolver, reflecting the voltage conversion characteristics of the resolver. The accuracy indicates the degree of deviation between the actual output value and the theoretical output value of the resolver. The higher the accuracy, the better the accuracy of measurement and control. The resolution indicates the minimum angular change that can be distinguished. The frequency response refers to the output characteristics of the resolver under input signals of different frequencies. The mechanical parameters of the resolver indicate the assembly position and space requirements of the resolver in the motor. The mechanical parameters of the motor system include: motor stator and rotor structure, materials, electric drive assembly structure, etc.

[0129] Exemplarily, after determining the cause of the abnormal resolver signal, the quality of the resolver signal generated by the resolver can be improved by adjusting the position of the resolver in the motor, that is, the mechanical parameters, and / or the electrical parameters of the resolver itself, and / or the mechanical parameters of the motor system.

[0130] In some other embodiments, the cause of the abnormality of the resolver signal can be determined by comparing the harmonic content corresponding to each component of the motor with the harmonic content. Therefore, the above step of determining the cause of the abnormality of the resolver signal based on the harmonic content can be specifically implemented as follows: comparing the harmonic content corresponding to each component of the motor with the harmonic content to determine the cause of the abnormality of the resolver signal.

[0131] Among them, the abnormal causes of the resolver signal include: electromagnetic interference from other components in the motor, and / or configuration deviation of the resolver.

[0132] For example, when the resolver signal is abnormal, the harmonic content of the resolver signal can be compared with the harmonic content corresponding to each component of the motor to determine the source of the clutter signal in the resolver signal, that is, the electromagnetic interference of other components of the motor or the shaft system configuration of the resolver causes the resolver signal to be abnormal.

[0133] It should be understood that the harmonic content of the resolver signal may also be compared with the fundamental harmonic to determine whether the resolver signal is abnormal.

[0134] In some other embodiments, after determining the cause of the abnormality of the resolver signal, corresponding measures can be taken based on the cause of the abnormality of the resolver signal to adjust the parameters of the resolver. Therefore, the above steps adjust the parameters of the motor system according to the cause of the abnormality of the resolver signal, which can be specifically implemented as follows:

[0135] S2032a. When the abnormality of the resolver signal is caused by electromagnetic interference of other components in the motor, adjust the mechanical parameters of the resolver and / or the mechanical parameters of the motor system.

[0136] Exemplarily, when the abnormal cause of the resolver signal is electromagnetic interference from other components in the motor, the mechanical parameters of the resolver, i.e., the position of the resolver in the motor, and / or the mechanical parameters of the motor system, i.e., the motor stator and rotor structure, materials, and electric drive assembly structure, can be adjusted to avoid electromagnetic interference or electrical parameter deviations from other components in the motor on the resolver.

[0137] It should be understood that when the abnormal cause of the resolver signal is electromagnetic interference from other components in the motor, the electromagnetic interference from other components in the motor can also be avoided by electromagnetically isolating the resolver in the motor.

[0138] S2032b. When the abnormality of the resolver signal is caused by a configuration deviation of the resolver, adjust the electrical parameters of the resolver.

[0139] Exemplarily, when the abnormal cause of the resolver signal is the configuration deviation of the resolver, the configuration of the resolver can be matched with the motor by adjusting the pole pair number and electrical parameters of the resolver.

[0140] It should be understood that Figures 3 to 7 It can be seen that under this load condition, the sine output signal and cosine output signal of the resolver both have different degrees of waveform distortion (such as Figure 3 As shown in the figure, the sine degree is distorted and the waveform is concave). By using the decoding tool to simulate the decoding of the original resolver signal, it can be found that the angle phase signal of the resolver has sawtooth, which causes local distortion, such as Figure 7 As shown in Figure 1, the 2nd, 4th, and 8th order harmonic contents of the sine envelope signal and the cosine envelope signal are obviously abnormal, as shown in Figure 1. Figure 5 As shown. Based on the analysis data, it is concluded that the abnormal harmonic content is due to the interference of other motor components. Under this load condition, the abnormal cause of the resolver signal is the interference of the motor's low-frequency magnetic field. The interference of the motor's low-frequency magnetic field can be avoided by adjusting the position of the resolver in the motor.

[0141] The resolver signal processing method provided in the embodiment of the present application assists in the design and selection of the resolver by analyzing the quality of the resolver signal, such as: the pole pair matching selection of the resolver, the formulation of the electrical performance parameters of the resolver, and the layout position of the resolver. It can also guide the quality analysis of the resolver, such as: electromagnetic interference, assembly deviation, etc., to improve product design and risk identification capabilities. Avoid the inability to identify the resolver signal deviation in the early stage of motor design, resulting in repeated resolver design problems in the middle and late stages, affecting the development progress and wasting test resources.

[0142] Fig. 9 is a flow chart of another method for processing a resolver signal according to an exemplary embodiment. Fig. 9As shown, the process includes the following steps: S901, data acquisition: the device equipped with the resolver structure to be verified inputs different speeds and torque instructions, and collects resolver signals under different speeds and loads (equivalent to the above step S201). S902, data import: the data analysis device imports the resolver signal and defines the basic data based on the resolver design boundary, including the number of resolver pole pairs, the working speed, the number of waveforms selected for data, the upper limit order of harmonic analysis, etc. S903, data selection: select the waveform data of one cycle. S904, symbol operation: low-pass filter the resolver signal to simulate the electrical angle solution process of the motor controller. S905, angle solution: filter the symbol operation result, obtain the envelope signal, and determine the rotation angle (equivalent to the above step S202). S906, determine the linearity of the rotation angle, judge whether the resolver signal is abnormal, perform Fourier transform analysis on the envelope signal, obtain the total harmonic content and the characteristic order harmonic content, and determine the cause of the abnormality (equivalent to the above step S203). S907. Archive the resolver operating conditions, output waveform data, Fourier transform analysis results, and linearity for technical analysis.

[0143] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the rotary signal processing device or vehicle includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0144] The embodiments of the present application can exemplarily divide the functional modules of the resolver signal processing device or vehicle according to the above method. For example, the resolver signal processing device or vehicle can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0145] Fig.10 is a block diagram of a resolver signal processing device according to an exemplary embodiment. Fig.10 The resolver signal processing device 1000 includes: an acquisition module 1001, a processing module 1002 and an adjustment module 1003.

[0146] The acquisition module 1001 is used to acquire the resolver signal to be detected of the resolver of the motor; the resolver signal is used to characterize the rotation angle of the motor rotor; the processing module 1002 is used to perform signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; the adjustment module 1003 is used to determine whether the resolver signal is abnormal based on the linearity, and when the resolver signal is abnormal, adjust the parameters of the motor system based on the harmonic content; wherein the parameters of the motor system include one or more of the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system.

[0147] In a possible implementation, the resolver signal includes waveform data of multiple periods; the processing module 1002 is specifically configured to perform signal processing on the waveform data of any one period in the resolver signal to obtain linearity and harmonic content.

[0148] In another possible implementation, the waveform data includes a sine signal and a cosine signal; the processing module 1002 is specifically used to perform modulation processing on the waveform data of any period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal; based on the sine envelope signal and the cosine envelope signal, determine the linearity and harmonic content.

[0149] In another possible implementation, the processing module 1002 is specifically used to determine the rotation angle based on the sine envelope signal and the cosine envelope signal; perform linearity analysis on the rotation angle to determine the linearity; and perform Fourier transform on the sine envelope signal and the cosine envelope signal to obtain harmonic content.

[0150] In yet another possible implementation, the processing module 1002 is specifically configured to perform arc tangent processing on the ratio of a vector corresponding to the sine envelope signal to a vector corresponding to the cosine envelope signal to obtain a rotation angle.

[0151] In another possible implementation, the processing module 1002 is specifically used to perform a sign operation on the waveform data of any period to obtain a resolver excitation signal; and filter the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0152] In yet another possible implementation, the processing module 1002 is specifically configured to filter the carrier signal in the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0153] In yet another possible implementation, the adjustment module 1003 is specifically configured to, when the resolver signal is abnormal, determine a cause of the resolver signal abnormality based on harmonic content; and adjust parameters of the motor system according to the cause of the resolver signal abnormality.

[0154] In another possible implementation, the adjustment module 1003 is specifically used to compare the harmonic content corresponding to each component of the motor with the harmonic content to determine the abnormal cause of the resolver signal; the abnormal cause of the resolver signal includes: electromagnetic interference from other components in the motor, and / or configuration deviation of the resolver.

[0155] In another possible implementation, the adjustment module 1003 is specifically used to adjust the mechanical parameters of the resolver and / or the mechanical parameters of the motor system when the abnormal cause of the resolver signal is electromagnetic interference of other components in the motor; and to adjust the electrical parameters of the resolver when the abnormal cause of the resolver signal is a configuration deviation of the resolver.

[0156] According to the above technical means, the quality of the resolver signal is evaluated by analyzing the linearity and harmonic content, and whether the resolver signal is abnormal is identified. In order to assist in guiding the design and improvement of the resolver of the motor and improve the quality of the resolver signal of the motor. In addition, the resolver signal abnormality is timely identified during the initial design of the motor, and the parameters of the motor system are adjusted to avoid repeated adaptation design of the resolver in the motor, improve the motor development progress and avoid waste of resources. In addition, by adjusting the electrical parameters of the resolver in the motor, the mechanical parameters of the resolver, and the mechanical parameters of the motor system, the magnetic circuit design of the motor can be optimized, harmonic distortion can be reduced, and the efficiency and performance of the motor can be improved.

[0157] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0158] Fig.11 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Fig.11 As shown, vehicle 1100 includes, but is not limited to, a processor 1101 and a memory 1102 .

[0159] The memory 1102 is used to store executable instructions of the processor 1101. It can be understood that the processor 1101 is configured to execute instructions to implement the resolver signal processing method in the above embodiment.

[0160] It should be noted that those skilled in the art can understand that Fig.11 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and the vehicle may include Fig.11More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0161] The processor 1101 is the control center of the vehicle, which uses various interfaces and lines to connect various parts of the entire vehicle, and executes various functions of the vehicle and processes data by running or executing software programs and / or modules stored in the memory 1102, and calling data stored in the memory 1102, so as to monitor the vehicle as a whole. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1101.

[0162] The memory 1102 may be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0163] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions. The instructions can be executed by a processor 1101 of a vehicle 1100 to implement the resolver signal processing method in the above embodiment.

[0164] In actual implementation, Fig.10 The functions of the acquisition module 1001, the processing module 1002 and the adjustment module 1003 in Fig.11 The processor 1101 in the embodiment calls the computer program stored in the memory 1102 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0165] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0166] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 1101 of the vehicle to complete the resolver signal processing method in the above embodiment.

[0167] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the vehicle's processor, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0168] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0169] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0170] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0171] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0173] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application 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.

Claims

1. A resolver signal processing method, characterized in that: The method comprises: Acquire a resolver signal to be detected from a resolver of a motor; the resolver signal is used to characterize the rotation angle of the motor rotor; Performing signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; Based on the linearity, determine whether the resolver signal is abnormal, and when the resolver signal is abnormal, adjust the parameters of the motor system based on the harmonic content; wherein the parameters of the motor system include one or more of the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system.

2. The method according to claim 1, characterized in that The resolver signal includes waveform data of multiple cycles; The performing signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal includes: Signal processing is performed on waveform data of any one period of the resolver signal to obtain the linearity and the harmonic content.

3. The method according to claim 2, characterized in that The waveform data includes a sine signal and a cosine signal; the signal processing is performed on the waveform data of any period of the resolver signal to obtain the linearity and the harmonic content, including: Modulating the waveform data of any one period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal; Based on the sine envelope signal and the cosine envelope signal, the linearity and the harmonic content are determined.

4. The method according to claim 3, characterized in that: The determining the linearity and the harmonic content based on the sine envelope signal and the cosine envelope signal comprises: Determining the rotation angle based on the sine envelope signal and the cosine envelope signal; Performing linearity analysis on the rotation angle to determine the linearity; Performing Fourier transform on the sine envelope signal and the cosine envelope signal to obtain the harmonic content.

5. The method according to claim 4, characterized in that The determining the rotation angle based on the sine envelope signal and the cosine envelope signal comprises: Perform arc tangent processing on the ratio of the vector corresponding to the sine envelope signal and the vector corresponding to the cosine envelope signal to obtain the rotation angle.

6. The method according to claim 3, characterized in that: The modulating process is performed on the waveform data of any one period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal, including: Performing a symbol operation on the waveform data of any one period to obtain a resolver excitation signal; The resolver excitation signal is filtered to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

7. The method according to claim 6, characterized in that The filtering process of the resolver excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal includes: The carrier signal in the resolver excitation signal is filtered to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

8. The method according to any one of claims 1 to 7, characterized in that: When the resolver signal is abnormal, adjusting the parameters of the motor system based on the harmonic content includes: In the case where the resolver signal is abnormal, determining a cause of the resolver signal abnormality based on the harmonic content; According to the cause of the abnormality of the resolver signal, the parameters of the motor system are adjusted.

9. The method according to claim 8, characterized in that The determining the reason why the resolver signal is abnormal based on the harmonic content includes: The harmonic content corresponding to each component of the motor is compared with the harmonic content to determine the abnormal cause of the resolver signal; the abnormal cause of the resolver signal includes: electromagnetic interference of other components in the motor, and / or configuration deviation of the resolver.

10. The method according to claim 9, characterized in that The adjusting the parameters of the motor system according to the cause of the abnormality of the resolver signal includes: When the abnormality of the resolver signal is caused by electromagnetic interference of other components in the motor, adjusting the mechanical parameters of the resolver and / or the mechanical parameters of the motor system; When the abnormality of the resolver signal is caused by a configuration deviation of the resolver, the electrical parameters of the resolver are adjusted.

11. A resolver signal processing device, characterized in that: The device comprises: an acquisition module, a processing module and a determination module; The acquisition module is used to acquire a resolver signal to be detected of a resolver of the motor; the resolver signal is used to represent the rotation angle of the motor rotor; The processing module is used to perform signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal; The adjustment module is used to determine whether the resolver signal is abnormal based on the linearity, and when the resolver signal is abnormal, adjust the parameters of the motor system based on the harmonic content.

12. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a vehicle, the vehicle is capable of performing the method of any one of claims 1 to 10.

14. A computer program product, characterized in that The computer program product comprises computer instructions which, when executed on a vehicle, cause the vehicle to perform the method according to any one of claims 1 to 10 .

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