A resolver signal processing method and device, a vehicle and a storage medium

Abstract

The application relates to a resolver 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: obtaining a resolver signal to be detected of a resolver of a motor; the resolver signal is used for representing a rotation angle of a rotor of the motor; performing signal processing on the resolver signal to obtain linearity of the rotation angle and harmonic content of the resolver signal; determining whether the resolver signal is abnormal based on the linearity, and adjusting parameters of a motor system based on the harmonic content in the case that the resolver signal is abnormal; wherein the parameters of the motor system comprise one or more of an electrical parameter of the resolver, a mechanical parameter of the resolver and a mechanical parameter of the motor system. Therefore, the linearity and the harmonic content can assist in guiding the design and improvement of the resolver of the motor, and the quality of the resolver signal is improved. The resolver signal abnormality is identified in time during initial design of the motor, and repeated adaptive design of the resolver in the motor is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computers, in particular to the technical field of resolver, and specifically relates to a resolver signal processing method and device, a vehicle and a storage medium. BACKGROUND

[0002] A resolver is a signal element that changes the relative position between the windings of the resolver by rotation, and the output voltage changes with the rotation angle. When the excitation winding in the resolver is excited by an alternating voltage at a certain frequency, the voltage amplitude of the output winding is a function of the sine and cosine 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 developing in a diversified manner, such as permanent magnet synchronous motors, alternating current 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 carried with the motor. Therefore, the number of pole pairs, the primary-secondary side ratio, the size selection and the arrangement position of the resolver need to be adaptively changed according to the motor selection.

[0003] The current mainstream selection method of the resolver is to confirm the electrical parameters of the rotor and the structure boundary of the resolver based on the electrical parameters and structure boundary of the motor, and to verify the feasibility of the resolver signal verification scheme by using the resolver decoder of the electronic control to collect the resolver signal of the resolver, so as to determine the type 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 collection boundary to be compatible with the system. However, relaxing the signal collection boundary makes the quality of the resolver signal poor, which leads to the resolver signal deviation being unable to be identified in time during the initial design of the motor, so that the resolver needs to be repeatedly designed to adapt, which affects the development progress and wastes resources. Therefore, how to improve the quality of the resolver signal of the resolver is a technical problem to be solved at present. SUMMARY

[0004] The present application provides a resolver signal processing method and device, a vehicle and a storage medium to at least solve the technical problem that the quality of the resolver signal is poor in the related art, which leads to the resolver signal deviation being unable to be identified in time during the initial design of the motor, so that the resolver needs to be repeatedly designed to adapt, which affects the development progress and wastes 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, which comprises: obtaining a resolver signal to be detected of a resolver of an electric machine; the resolver signal is used to represent a rotation angle of a rotor of the electric machine; performing signal processing on the resolver signal to obtain linearity of the rotation angle and harmonic content of the resolver signal; determining whether the resolver signal is abnormal based on the linearity, and adjusting a parameter of an electric machine system based on the harmonic content in the case that the resolver signal is abnormal; wherein the parameter of the electric machine system comprises one or more of an electrical parameter of the resolver, a mechanical parameter of the resolver, and a mechanical parameter of the electric machine system.

[0006] According to the above technical means, the quality of the resolver signal is evaluated by analyzing the linearity and the harmonic content, and whether the resolver signal is abnormal is identified. This can assist in guiding the design and improvement of the resolver of the electric machine, and improve the quality of the resolver signal of the electric machine. In addition, the resolver signal abnormality is identified in time during the initial design of the electric machine, and the parameter of the electric machine system is adjusted, which avoids repeated adaptive design of the resolver in the electric machine, improves the development progress of the electric machine, and avoids resource waste. In addition, adjusting the electrical parameter of the resolver, the mechanical parameter of the resolver, and the mechanical parameter of the electric machine system can also optimize the magnetic circuit design of the electric machine, reduce harmonic distortion, and improve the efficiency and performance of the electric machine.

[0007] In a possible implementation, the resolver signal comprises waveform data of multiple periods; the signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal comprises: performing signal processing 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, the rotation angle of the rotor of the electric machine can be obtained by performing signal processing on the periodic waveform data of the resolver signal, so as to determine the linearity of the rotation angle and the harmonic content of the resolver signal, and the accuracy of the linearity and the harmonic content is improved. In addition, the reason causing the resolver signal abnormality can be identified based on the linearity and the harmonic content, so as to prevent the resolver signal abnormality.

[0009] In another possible implementation, the waveform data comprises a sine signal and a cosine signal; the signal processing on the waveform data of any one period in the resolver signal to obtain the linearity and the harmonic content comprises: performing modulation processing 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; determining the linearity and the 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 one period, the transmission characteristics of the rotary variable 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, potential faults of the motor can be identified, and the performance of the motor can be improved.

[0011] In another possible implementation, determining the linearity and 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; 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 more accurately determined. By performing linearity analysis on the rotation angle, the motor can maintain high precision and consistency within the operating range. And by Fourier transform to obtain the harmonic content, non-linear factors and potential fault causes in the operation of the motor can be identified.

[0013] In another possible implementation, the rotation angle is determined based on the sine envelope signal and the cosine envelope signal, comprising: performing arctangent processing 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.

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

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

[0016] According to the above technical means, by sign operation, the specific signal components in the sine signal and the cosine signal are enhanced, and the unnecessary frequency components are suppressed, realizing selective enhancement of the signal, obtaining the respective corresponding excitation signal, and improving the quality and reliability of the excitation signal. 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 a further possible implementation, the filtering processing on the resolver excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal comprises: filtering the carrier signal in the resolver excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal.

[0018] According to the above technical means, by filtering processing on the resolver excitation signal to filter out the carrier signal, the interference of the carrier frequency can be reduced, and the sine envelope signal and the cosine envelope signal are more clear. Moreover, the envelope signal after filtering processing is smoother and more stable, which helps to improve the availability of the envelope signal.

[0019] In a further possible implementation, in the case of resolver signal abnormality, the parameter of the motor system is adjusted based on the harmonic content, comprising: in the case of resolver signal abnormality, determining the reason for the resolver signal abnormality based on the harmonic content; and adjusting the parameter of the motor system according to the reason for the resolver signal abnormality.

[0020] According to the above technical means, in the case of resolver signal abnormality, the corresponding parameter of the motor system is adjusted by determining the abnormal reason. So as to accurately adjust the parameter causing the resolver signal abnormality. Thus, the quality of the resolver signal generated by the resolver is improved, and the reliability of the motor system is improved.

[0021] In a further possible implementation, the reason for the resolver signal abnormality is determined based on the harmonic content, comprising: comparing the harmonic content corresponding to each component of the motor with the harmonic content to determine the reason for the resolver signal abnormality; and the reason for the resolver signal abnormality comprises electromagnetic interference of 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 reason for the resolver signal abnormality is quickly and accurately determined. So as to assist in guiding the design and improvement of the resolver of the motor based on the abnormal reason, improve the quality of the resolver signal of the motor, and improve the reliability of the motor control system.

[0023] In a further possible implementation, the parameter of the motor system is adjusted according to the reason for the resolver signal abnormality, comprising: in the case that the reason for the resolver signal abnormality is electromagnetic interference of other components in the motor, adjusting the mechanical parameter of the resolver and / or the mechanical parameter of the motor system; and in the case that the reason for the resolver signal abnormality is configuration deviation of the resolver, adjusting the electrical parameter of the resolver.

[0024] According to the above technical means, corresponding measures are taken based on the reason for the abnormality of the resolver signal, and the mechanical parameters of the resolver and the mechanical parameters of the motor system are adjusted, which 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 the second aspect provided in the present application, a resolver signal processing device is provided, which comprises an acquisition module, a processing module and an adjustment module. The acquisition module is configured to acquire a resolver signal to be detected of a resolver of a motor, wherein the resolver signal is used to represent a rotation angle of a rotor of the motor. The processing module is configured to perform signal processing on the resolver signal to obtain linearity of the rotation angle and harmonic content of the resolver signal. The adjustment module is configured to determine whether the resolver signal is abnormal based on the linearity, and adjust parameters of a motor system based on the harmonic content in the case that the resolver signal is abnormal, wherein the parameters of the motor system comprise one or more of electrical parameters of the resolver, mechanical parameters of the resolver and mechanical parameters of the motor system.

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

[0027] In another possible implementation, the waveform data comprises a sine signal and a cosine signal, and the processing module is specifically configured to perform modulation processing 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, and determine the linearity and the harmonic content based on the sine envelope signal and the cosine envelope signal.

[0028] In yet another possible implementation, the processing module is specifically configured 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 the 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 the rotation angle.

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

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

[0032] In a further possible implementation, the adjusting module is specifically configured to determine a reason for the abnormality of the rotary variable signal based on the harmonic content in a case where the rotary variable signal is abnormal; and adjust parameters of the motor system according to the reason for the abnormality of the rotary variable signal.

[0033] In a further possible implementation, the adjusting module is specifically configured to compare the harmonic content corresponding to each component of the motor with the harmonic content to determine a reason for the abnormality of the rotary variable signal; and the reason for the abnormality of the rotary variable signal includes electromagnetic interference of other components in the motor and / or configuration deviation of the rotary transformer.

[0034] In a further possible implementation, the adjusting module is specifically configured to adjust mechanical parameters of the rotary transformer and / or mechanical parameters of the motor system in a case where the reason for the abnormality of the rotary variable signal is electromagnetic interference of other components in the motor; and adjust electrical parameters of the rotary transformer in a case where the reason for the abnormality of the rotary variable signal is configuration deviation of the rotary transformer.

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

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

[0037] According to a fifth aspect provided in the present application, a computer program product is provided, the computer program product includes computer instructions, when the computer instructions are executed on a vehicle, the vehicle performs the method of the first aspect and any possible implementation 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 to identify whether the resolver signal is abnormal. This can 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 abnormality of the resolver signal can be identified in the initial design of the motor, and the parameters of the motor system can be adjusted to avoid repeated adaptive design of the resolver in the motor, improve the development progress of the motor, and avoid resource waste. In addition, adjusting the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system can also optimize the magnetic circuit design of the motor, reduce harmonic distortion, and improve the efficiency and performance of the motor.

[0040] (2) By signal processing the periodic waveform data of the resolver signal, the rotation angle of the motor rotor can be obtained, so as to determine the linearity of the rotation angle and the harmonic content of the resolver signal, and improve the accuracy of the linearity and the harmonic content. In addition, based on the linearity and the harmonic content, the cause of the abnormal resolver signal can be identified to prevent the abnormal resolver signal.

[0041] (3) By modulating the waveform data of any one 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, so as to improve the accuracy of the linearity and the harmonic content. In addition, by analyzing the linearity and the harmonic content, potential faults of the motor can be identified to improve the performance of the motor.

[0042] (4) By analyzing the sine envelope signal and the cosine envelope signal, the rotation angle of the motor rotor can be more accurately determined. By analyzing the linearity of the rotation angle, it can be ensured that the motor maintains high precision and consistency within the operating range. In addition, by Fourier transform to obtain the harmonic content, non-linear factors and potential fault causes in the operation of the motor can be identified.

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

[0044] (6) By sign operation, the specific signal components in the sine signal and the cosine signal are enhanced, and the unnecessary frequency components are suppressed, so as to realize selective enhancement of the signal, obtain the respective corresponding excitation signal, and improve the quality and reliability of the excitation signal. 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 variable excitation signal, the carrier signal can be filtered out, reducing the interference of the carrier frequency, making the sine envelope signal and cosine envelope signal clearer. Moreover, 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 abnormal resolver signal, by determining the abnormal reason, adjusting the corresponding parameters in the motor system. In order to accurately adjust the parameters that cause the resolver signal abnormal. Thus improve the quality of resolver signal generated by the resolver, improve the reliability of the motor system.

[0047] (9) By comparing the harmonic content of each component of the motor with the harmonic content, the specific reason of the resolver signal abnormal is quickly and accurately determined. In order to assist the design and improvement of the resolver of the motor based on the abnormal reason, improve the quality of the resolver signal of the motor, and improve the reliability of the motor control system.

[0048] (10) Based on the reason of resolver signal abnormal, corresponding measures are taken to adjust the mechanical parameters of the resolver and the mechanical parameters of the motor system, which 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 by any one of the implementation manners of the second aspect to the fifth aspect can refer to the technical effects brought by the corresponding implementation manners in the first aspect, which will not be repeated here.

[0050] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application, but are not intended to limit the 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 rotation angle linearity analysis diagram according to an exemplary embodiment;

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

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

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

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

[0060] Figure 9 is a flow chart of still another rotary variable signal processing method according to an exemplary embodiment;

[0061] Figure 10 is a block diagram of a rotary variable signal processing device according to an exemplary embodiment;

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

[0063] In order to make the skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the 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 do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] A resolver is a signal element that changes the relative position between the windings of the resolver by rotation, and the output voltage changes with the rotation angle. When the excitation winding in the resolver is excited by an alternating voltage at a certain frequency, the voltage amplitude of the output winding is a function of the sine and cosine 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 the vehicle are showing diversified development, such as permanent magnet synchronous motors, alternating current 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 carried with the motor. Therefore, the number of pole pairs, the primary-secondary edge ratio, the size selection, and the arrangement position of the resolver need to be adaptively changed according to the motor selection.

[0066] The current mainstream selection method of the resolver is to confirm the electrical parameters of the rotor and the structure boundary of the resolver based on the electrical parameters and structure boundary of the motor, to verify the feasibility of the resolver signal acquisition and verification scheme by using the resolver decoder of the electronic control to collect the resolver signal of the resolver, so as to determine the type 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 be compatible with the system. However, relaxing the signal acquisition boundary makes the quality of the resolver signal poor, which leads to the fact that the resolver signal deviation cannot be identified in time during the initial design of the motor, so that the resolver needs to be repeatedly designed to adapt, which affects the development progress and wastes resources.

[0067] In related technologies, 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 aiming at the soft decoding system related to the electronic control. Only the resolver signal results are compared to confirm whether they are qualified, and the robustness of the resolver body decoding angle signal cannot be effectively identified, and the resolver signal is at risk of distortion. Moreover, the resolver signal sending device cannot effectively simulate the application environment of the resolver in the motor, and the control variable is single, which cannot effectively identify the real application risk of the resolver body, such as electromagnetic interference in the electric drive.

[0068] In another related technology, the target mechanical angle interval into which the resolver falls after rotation relative to the initial position is determined according to the cumulative mechanical angle of rotation of the resolver. And the target zero drift value of the current recovery signal is determined according to the target mechanical angle interval, and the target zero drift value is determined for the recovery signal in 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 correct zero drift compensation, and avoids errors in the angle obtained after decoding the recovery signal, but cannot analyze the waveform of the resolver body electrical angle signal, and fundamentally solves the zero drift problem.

[0069] Therefore, in the related art, the performance of resolver soft decoding is verified, and the main analysis object is the feasibility of the soft decoding system, chip, encoder and the like in the electric control device, but the resolver body of the resolver signal source is not analyzed in terms of feasibility and robustness. Therefore, how to improve the quality of the resolver signal of the resolver is a technical problem to be solved at present.

[0070] To solve the above problems, the application provides a resolver signal processing method. In the method, the quality of the resolver signal is evaluated by analyzing the linearity and harmonic content to identify whether the resolver signal is abnormal. The method can 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 can be identified in time during the initial design of the motor, and the parameters of the motor system are adjusted, so that repeated adaptive design of the resolver in the motor is avoided, the development progress of the motor is improved, and resource waste is avoided. In addition, adjusting the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system can also optimize the magnetic circuit design of the motor, reduce harmonic distortion, and improve the efficiency and performance of the motor.

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

[0072] Figure 1 is a structural schematic diagram of a resolver signal processing system according to an example embodiment. As shown in Figure 1 The resolver signal processing system 100 includes a device 101 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 with the resolver structure to be verified and the electric control device 102 are connected, the data acquisition device 103 is connected with the device 101 with the resolver structure to be verified, and 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 the speed and torque instructions to the device 101 with the resolver structure to be verified, so that the device 101 with the resolver structure to be verified generates a resolver signal for the data acquisition device 103 to collect.

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

[0075] In some embodiments, the device 101 with the resolver structure to be verified is driven by the electric control device 102, and the resolver original signal under the corresponding working condition is collected by the data acquisition device 103. Finally, the resolver signal is analyzed and calculated by the computer instruction in the data analysis device 104. The original waveform signal is subjected to sine and cosine symbol operation to obtain the outer envelope signal, determine the resolver position angle, and further decompose the resolver output signal amplitude, the ratio or square sum and variance, the harmonic content of the single output signal, and confirm the resolver signal quality through Fourier transform analysis and resolver angle linear analysis of the outer envelope signal.

[0076] In some embodiments, the electric control device 102 drives the device 101 with the resolver structure to be verified by sending excitation signals (Exc+, Exc-) to the device 101 with the resolver structure to be verified. The device 101 with the resolver structure to be verified feeds back the 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 used 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 by the embodiments of the present application. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0078] In some embodiments, the resolver signal processing method provided by the embodiments of the present application can be a motor, a vehicle controller, an electric drive device, or any device with a resolver, and the embodiments of the present application do not limit the same.

[0079] Figure 2 is a flow chart of a resolver signal processing method according to an exemplary embodiment, as shown in Figure 2 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 represent 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] Exemplarily, different acquisition conditions of the resolver signal can be determined according to different operating conditions of the motor. According to the rotating speed and the torque in different acquisition conditions, corresponding rotating speed and torque instructions are input to the motor, and the resolver signal of the motor in different acquisition conditions is collected. The rotating speed instruction and the torque instruction can be determined based on the actual demand of the motor, and can be different rotating speeds, different torques, for example: no load, medium load, heavy load; low speed, medium speed, high speed; low voltage, rated voltage, high voltage, and the like.

[0083] S202, signal processing is performed on 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 resolver of the motor and the actual rotation angle. Generally, the output electrical signal should have a strict linear relationship with the rotation angle, and the output signal also changes uniformly 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 in addition to the fundamental wave (corresponding to the sine signal or cosine signal of the rotation angle). The harmonic component is usually caused by factors such as nonlinearity of the resolver, non-uniformity of the magnetic field, and asymmetry of the winding.

[0086] Exemplarily, the resolver signal can be subjected to signal modulation processing to determine the rotation angle. Thus, the linearity of the rotation angle and the harmonic content of the resolver signal are determined to determine whether the resolver signal is abnormal.

[0087] S203, determining whether the resolver signal is abnormal based on the linearity, and adjusting the parameters of the motor system based on the harmonic content in the case that the resolver signal is abnormal.

[0088] 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.

[0089] Exemplarily, after determining the linearity of the rotation angle and the harmonic content of the resolver signal, it can be determined whether the resolver signal is abnormal according to the linearity. If the linearity is higher than the preset threshold, it indicates 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 indicates 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 of representing the abnormality of the resolver signal in linearity, the reason for the abnormality of the resolver signal can also be determined based on the harmonic content, so as to adjust the parameters in the motor system that cause the abnormality of the resolver signal, for example, the electrical parameters of the resolver and / or the mechanical parameters of the resolver and the mechanical parameters of the motor system. The preset threshold is determined by the related technical personnel according to the actual situation and needs, for example, 99%, which is not limited in the embodiments of the present application.

[0091] It should be understood that before obtaining the resolver signal under different rotating speed and torque quality of the motor input, 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, resolver ratio corresponding to the harmonic content requirement are set based on the working condition information and the basic information of the resolver. The resolver ratio is used to represent the proportion of the resolver pole number in the resolver signal, which can be calculated based on the amplitude of the resolver signal. The working condition information includes rotating speed, torque, voltage, and the basic information of the resolver includes resolver rotating speed, resolver pole number, and waveform selection number. In the case of normal resolver signal, the FFT analysis order range should meet 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] The preset order range can be 1-4 orders, and the preset ratio range can be 0.286±10%. The above is determined by the related technical personnel according to the actual situation and needs, which is not limited in the embodiments of the present application.

[0093] In some embodiments, the resolver signal includes waveform data of multiple periods. One period of waveform data can be selected from the waveform data of multiple periods for signal processing to determine the linearity and the harmonic content. Therefore, the above steps of signal processing the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal can be implemented as follows: signal processing the waveform data of any one period in the resolver signal to obtain the linearity and the harmonic content.

[0094] The period is an electrical angle period. The electrical angle period refers to the amount of electrical angle change corresponding to one revolution of the magnetic field. In one electrical angle period, the magnetic field of the motor completes a complete rotation from a specific starting position back to the same position.

[0095] For example, the modulation signals of multiple periods in the resolver signal can be enlarged for observation, and one usable waveform data of the original resolver signal can be selected therefrom for signal processing to determine the linearity of the rotation angle and the harmonic content of the resolver signal.

[0096] In some embodiments, the waveform data comprises a sine signal and a cosine signal. The sine signal and the cosine signal can be modulated to obtain a respective envelope signal. The linearity and the harmonic content can be determined based on the sine envelope signal and the cosine envelope signal. Thus, the above steps of processing the waveform data of any one period of the rotary variable signal to obtain the linearity and the harmonic content can be implemented as follows:

[0097] S2021, 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.

[0098] wherein the envelope refers to the outline of a signal formed after a high frequency signal is modulated by a low frequency signal. For the sine signal and the cosine signal, the envelope signal refers to the low frequency signal describing the amplitude variation thereof.

[0099] For example, the sine signal and the cosine signal of the waveform data of any one period can be modulated to obtain a respective excitation signal. The sine excitation signal and the cosine excitation signal can be filtered to obtain a respective envelope signal.

[0100] S2022, determining the linearity and the 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. The linearity of the rotation angle can be analyzed to determine the linearity of the rotation angle. The sine envelope signal and the cosine envelope signal can be subjected to Fourier transform to determine the harmonic content of the rotary variable signal.

[0102] As an example, Figure 3 is a schematic diagram of a sine signal and a cosine signal of a rotary variable signal according to an example embodiment. As shown in Figure 3 , the horizontal axis represents time in seconds s, sin represents the sine signal, and cos represents the cosine signal. The specific variation trend of the sine signal and the cosine signal is shown in Figure 3 .

[0103] In some embodiments, the rotation angle can be determined based on the sine envelope signal and the cosine envelope signal. The linearity and the harmonic content can be determined based on the rotation angle. Thus, the above steps of determining the linearity and the harmonic content based on the sine envelope signal and the cosine envelope signal can be implemented as follows:

[0104] S2022a, determining the 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 subjected to arctangent processing to obtain the rotation angle.

[0106] As an example, Figure 4 is a rotation angle linearity analysis diagram according to an exemplary embodiment. As Figure 4 shown, the linearity (R2 in the figure) of periods 1-10 (Segment1-Segment10 in the figure) is respectively: 0.9853, 0.9995, 0.9995, 0.9996, 0.9996, 0.9996, 0.9995, 0.9995, 0.9996, 0.9996.

[0107] S2022b, linearity analysis is performed on the rotation angle to determine the linearity.

[0108] Exemplarily, the multiple period rotation angles and the electrical signal output by the rotary transformer can be subjected to linear fitting processing to determine the linear correlation degree, thereby obtaining the linearity of the rotation angle.

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

[0110] Exemplarily, fast Fourier transform analysis is performed on the sine envelope signal and the cosine envelope signal to convert the time domain of the sine envelope signal and the cosine envelope signal into the frequency domain, thereby obtaining the total harmonic content and the characteristic order harmonic content of the rotary transformer signal. The quality of the rotary transformer signal can be confirmed based on the total harmonic content standard and the characteristic order harmonic content standard, and the characteristic order harmonic corresponding component can be found out for avoidance or optimization in motor design. The harmonic content and the linearity standard are based on the actual application environment and the specification of each product, and the characteristic order harmonic content can be further decomposed to the corresponding motor component, thereby performing avoidance or optimization.

[0111] As an example, Figure 5 is a Fourier transform diagram 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 as Figure 5 shown, the sine envelope signal detects 2, 4, and 8 order harmonics. The cosine envelope signal detects 2, 4, and 8 order harmonics.

[0112] In yet some embodiments, the rotation angle can be determined by arctangent processing of a ratio of the vector corresponding to the sine envelope signal to the vector corresponding to the cosine envelope signal. Thus, the above step of determining the rotation angle based on the sine envelope signal and the cosine envelope signal can be implemented as follows: arctangent processing of a 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] For example, the real-time position of the motor, i.e., the rotation angle, can be obtained by four-quadrant arctangent of the vector value corresponding to the sine envelope signal to the vector value corresponding to the cosine envelope signal.

[0114] In yet some embodiments, the rotary variable excitation signal can be obtained by sign operation on the waveform data of any one period. Thus, the sine envelope signal and the cosine envelope signal can be determined based on the rotary variable excitation signal. Thus, the above step of modulating the waveform data of any one period to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal can be implemented as follows: S2021a-S2021b.

[0115] S2021a, sign operation on the waveform data of any one period to obtain the rotary variable excitation signal;

[0116] For example, the rotary variable excitation signal can be obtained by sign operation on the waveform data of any one period, low-pass filtering the sine signal and the cosine signal in any one period, multiplying the vector of the processed sine signal and the vector of the processed cosine signal by the sign of the excitation signal, and restoring an electrical angle period for analysis to simulate the rotation angle calculation process of the motor controller. Wherein, the sign of each element of the excitation signal is taken, and the result is a vector or array with the same size as exc, wherein the elements are 1 (i.e., corresponding to the elements of exc being positive), 0 (i.e., corresponding to the elements of exc being 0) or -1 (corresponding to the elements of exc being negative).

[0117] It should be understood that the above multiplication of 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 in the fourth quadrant to the first quadrant.

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

[0119] S2021b, filtering the spin variable excitation signal to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal.

[0120] As an example, the carrier signal in the spin variable excitation signal can be filtered by a filter to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal.

[0121] In yet other embodiments, the sine envelope signal and the cosine envelope signal can also be obtained by filtering the carrier signal in the spin variable excitation signal. Therefore, the above step of filtering the spin variable excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal can be implemented as follows: filtering the carrier signal in the spin variable excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal.

[0122] As an example, the spin variable excitation signal is low-pass filtered by a filter to filter out the carrier signal corresponding to the carrier frequency in the spin variable excitation signal, to obtain the sine envelope signal sin_env and the cosine envelope signal cos_env. The filter filters out the carrier frequency according to engineering experience at 3 times the switching frequency.

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

[0124] In yet other embodiments, the abnormal reason of the spin variable signal can also be determined based on the harmonic content, so that the parameters of the motor system are adjusted according to the abnormal reason of the spin variable signal. Therefore, as shown in Figure 8 , the above step of adjusting the parameters of the motor system based on the harmonic content in the case of spin variable signal abnormality can be implemented as follows: S2031-S2032.

[0125] S2031, in the case of spin variable signal abnormality, determining the reason of the spin variable signal abnormality based on the harmonic content.

[0126] As an example, in the case of linearity representing spin variable signal abnormality, the component and reason in the motor or the rotary transformer that generates the harmonic content can also be determined according to the harmonic content, so as to obtain the reason of the spin variable signal abnormality.

[0127] S2032, adjusting the parameters of the motor system according to the reason of the spin variable signal abnormality.

[0128] The electrical parameters of the resolver include a turns ratio, an accuracy, a resolution, a frequency response, etc. The turns ratio represents a ratio of input and output voltages of the resolver, and reflects a voltage conversion characteristic of the resolver. The accuracy represents a degree of deviation between an actual output value and a theoretical output value of the resolver, and the higher the accuracy, the better the accuracy of measurement and control. The resolution represents a minimum angle change amount that can be distinguished. The frequency response refers to an output characteristic of the resolver under input signals of different frequencies. The mechanical parameters of the resolver represent an assembly position and a space requirement of the resolver in the motor system. The mechanical parameters of the motor system include a motor stator-rotor structure, a material, an electric drive assembly structure, etc.

[0129] For example, 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 mechanical parameters of the resolver in the motor, and / or the electrical parameters of the resolver, and / or the mechanical parameters of the motor system.

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

[0131] The cause of the abnormal resolver signal includes electromagnetic interference of other components in the motor and / or configuration deviation of the resolver.

[0132] For example, in the case of an abnormal resolver signal, the harmonic content of the resolver signal can be compared with the harmonic content of each component of the motor. The source of the harmonic signal in the resolver signal, i.e., the electromagnetic interference of other components in the motor or the shaft configuration of the resolver, is determined.

[0133] It should be understood that the harmonic content of the resolver signal can 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 abnormal resolver signal, corresponding measures can be taken to adjust the parameters of the resolver based on the cause of the abnormal resolver signal. Therefore, the above step of adjusting the parameters of the motor system according to the cause of the abnormal resolver signal can be implemented as follows:

[0135] S2032a, in the case that the cause of the abnormal resolver signal is electromagnetic interference of other components in the motor, the mechanical parameters of the resolver and / or the mechanical parameters of the motor system are adjusted.

[0136] Exemplarily, in the case that the abnormality of the resolver signal is caused by electromagnetic interference of other components in the motor, the electromagnetic interference of other components in the motor on the resolver can be avoided by adjusting mechanical parameters of the resolver, i.e., the position of the resolver in the motor, and / or mechanical parameters of the motor system, i.e., the motor stator-rotor structure, material, and electric drive assembly structure.

[0137] It should be understood that, in the case that the abnormality of the resolver signal is caused by electromagnetic interference of other components in the motor, the electromagnetic interference of other components in the motor can also be avoided by electromagnetically isolating the resolver in the motor.

[0138] S2032b. In the case that the abnormality of the resolver signal is caused by configuration deviation of the resolver, the electrical parameters of the resolver are adjusted.

[0139] Exemplarily, in the case that the abnormality of the resolver signal is caused by configuration deviation of the resolver, the pole pair number and the electrical parameters of the resolver can be adjusted so that the configuration of the resolver matches the motor.

[0140] It should be understood that, in the case that the abnormality of the resolver signal is caused by configuration deviation of the resolver, Figures 3 to 7 It can be known that, in the load condition, the sine output signal and the cosine output signal of the resolver both have waveform distortion to different degrees (for example, sine degree distortion and waveform pits, as shown in FIG. 6). Figure 3 As shown in FIG. 7, the angle stage signal of the resolver obtained by simulating decoding of the original resolver signal by using a decoding tool has local distortion caused by sawtooth. Figure 7 As shown in FIG. 8, the harmonic content of the 2nd, 4th and 8th order of the sine envelope signal and the cosine envelope signal is obviously abnormal. Figure 5 Based on the analysis data, it is concluded that the abnormality of the harmonic content is caused by interference of other components in the motor. In the load condition, the abnormality of the resolver signal is caused by interference of the low-frequency magnetic field of the motor, and the interference of the low-frequency magnetic field of the motor can be avoided by adjusting the position of the resolver in the motor.

[0141] The resolver signal processing method provided in the embodiments of the present application can assist in design and selection of the resolver, for example, selection of the pole pair number of the resolver, determination of the electrical performance parameters of the resolver, and arrangement of the resolver, by analyzing the quality of the resolver signal. The resolver signal processing method can also guide quality analysis of the resolver, for example, electromagnetic interference and assembly deviation, to improve the product design and risk identification capability. The resolver signal processing method can avoid the problem of repeated design of the resolver in the middle and later stages of the motor design due to the inability to identify the deviation of the resolver signal in the early stage of the motor design, thereby affecting the development progress and wasting test resources.

[0142] Figure 9 FIG. 9 is a flowchart of still another resolver signal processing method according to an exemplary embodiment. Figure 9As shown, the process includes the following steps: S901, data acquisition: the equipment with the rotating variable structure to be verified inputs different rotating speeds and torque instructions, and collects rotating variable signals under different rotating speeds and loads (equivalent to the above step S201). S902, data import: the data analysis equipment imports the rotating variable signals and defines basic data based on the rotating variable design boundary, including the number of rotating variable pole pairs, the working rotating speed, the number of waveform data selected, the upper limit order of harmonic analysis, etc. S903, data selection: selecting a period of waveform data. S904, symbol operation: performing low-pass filtering processing on the rotating variable signals to simulate the electric angle calculation process of the motor controller. S905, angle calculation: filtering processing the symbol operation result, obtaining the envelope signal, and determining the rotation angle (equivalent to the above step S202). S906, determining the linearity of the rotation angle, judging whether the rotating variable signal is abnormal, performing Fourier transform analysis on the envelope signal to obtain the total harmonic content and the characteristic order harmonic content, and determining the abnormal reason (equivalent to the above step S203). S907, archiving the rotating variable operating conditions, output waveform data, Fourier transform analysis results, and linearity for technical analysis.

[0143] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of the method. In order to realize the above functions, the rotating variable signal processing device or the vehicle includes a hardware structure and / or a software module corresponding to 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 herein, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical scheme. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0144] The embodiments of the present application can divide the functional modules of the rotating variable signal processing device or the vehicle according to the above method. For example, the rotating variable signal processing device or the vehicle can include functional modules corresponding to each functional division, or two or more functions can be integrated in one processing module. The above integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the division of the modules in the embodiments of the present application is illustrative, and is only a logical functional division. Actual implementation can have another division method.

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

[0146] The acquisition module 1001 is configured to acquire a resolver signal to be detected of a resolver of a motor; the resolver signal is used to represent a rotation angle of a rotor of the motor; the processing module 1002 is configured to perform signal processing on the resolver signal to obtain linearity of the rotation angle and harmonic content of the resolver signal; the adjustment module 1003 is configured to determine whether the resolver signal is abnormal based on the linearity, and in the case that the resolver signal is abnormal, adjust a parameter of a motor system based on the harmonic content; wherein the parameter of the motor system includes one or more of an electrical parameter of the resolver, a mechanical parameter of the resolver, and a mechanical parameter of the motor system.

[0147] In a possible implementation, the resolver signal includes waveform data of a plurality of periods; and 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 the linearity and the harmonic content.

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

[0149] In yet another possible implementation, the processing module 1002 is specifically configured 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 the harmonic content.

[0150] In yet another possible implementation, the processing module 1002 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 the rotation angle.

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

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

[0153] In a further possible implementation, the adjusting module 1003 is specifically configured to determine a reason for the abnormality of the resolver signal based on the harmonic content in the case of the abnormality of the resolver signal; and adjust parameters of the motor system according to the reason for the abnormality of the resolver signal.

[0154] In a further possible implementation, the adjusting module 1003 is specifically configured to compare the harmonic content corresponding to each component of the motor with the harmonic content, and determine a reason for the abnormality of the resolver signal; the reason for the abnormality of the resolver signal includes electromagnetic interference of other components in the motor, and / or configuration deviation of the resolver.

[0155] In a further possible implementation, the adjusting module 1003 is specifically configured to adjust mechanical parameters of the resolver and / or mechanical parameters of the motor system in the case of the reason for the abnormality of the resolver signal being electromagnetic interference of other components in the motor; and adjust electrical parameters of the resolver in the case of the reason for the abnormality of the resolver signal being 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 the harmonic content, and whether the resolver signal is abnormal is identified. This is 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 abnormality of the resolver signal is identified in time when the motor is initially designed, and the parameters of the motor system are adjusted, which avoids repeated adaptive design of the resolver in the motor, improves the development progress of the motor and avoids resource waste. In addition, adjusting the electrical parameters of the resolver, the mechanical parameters of the resolver, and the mechanical parameters of the motor system can also optimize the magnetic circuit design of the motor, reduce harmonic distortion, and improve the efficiency and performance of the motor.

[0157] As to the apparatus in the above embodiments, specific manners in which various modules perform operations have been described in details in the embodiments of the method, and will not be described in details here.

[0158] Figure 11 is a block diagram of a vehicle according to an example embodiment. As shown in Figure 11 The vehicle 1100 includes, but is not limited to, a processor 1101 and a memory 1102.

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

[0160] It should be noted that those skilled in the art can understand Figure 11 that the vehicle structure shown in the above Figure 11More or fewer elements, or combinations of elements, or different arrangements of elements, can be shown.

[0161] The processor 1101 is a control center of the vehicle, which connects various parts of the vehicle through various interfaces and lines, performs 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, thereby monitoring the vehicle as a whole. The processor 1101 can include one or more processing units. Alternatively, the processor 1101 can integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems, user interfaces, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1101.

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

[0163] In the exemplary embodiments, a computer readable storage medium including instructions is also provided, for example, the memory 1102 including instructions, which can be executed by the processor 1101 of the vehicle 1100 to implement the rotating variable signal processing method in the above embodiments.

[0164] In actual implementation, Figure 10 The functions of the acquisition module 1001, the processing module 1002, and the adjustment module 1003 in the above embodiment can be implemented by Figure 11 The processor 1101 in the above embodiment can call 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, and will not be described here.

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

[0166] In the example embodiment, the embodiment of the present application also provides a computer program product including one or more instructions executable by the processor 1101 of the vehicle to complete the spin signal processing method in the above-described embodiments.

[0167] It should be noted that the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the vehicle to realize each process of the above method embodiments, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be described here.

[0168] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the full classification or part of the functions described above.

[0169] In 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 actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

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

[0171] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0172] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or say the part that contributes to the prior art or the whole classification part or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute the whole classification part or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0173] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of processing a rotary transducer signal, characterized by, The method comprises: acquiring a resolver signal to be detected of a resolver of a motor; the resolver signal is used to represent a rotation angle of a rotor of the motor; performing signal processing on the resolver signal to obtain linearity of the rotation angle and harmonic content of the resolver signal; determining whether the resolver signal is abnormal based on the linearity, and adjusting a parameter of a motor system based on the harmonic content in a case where the resolver signal is abnormal; wherein the parameter of the motor system comprises one or more of an electrical parameter of the resolver, a mechanical parameter of the resolver, and a mechanical parameter of the motor system.

2. The method of claim 1, wherein, The resolver signal comprises waveform data of multiple periods; The signal processing on the resolver signal to obtain the linearity of the rotation angle and the harmonic content of the resolver signal comprises: performing signal processing on the waveform data of any one period in the resolver signal to obtain the linearity and the harmonic content.

3. The method of claim 2, wherein, The waveform data comprises a sine signal and a cosine signal; the signal processing on the waveform data of any one period in the resolver signal to obtain the linearity and the harmonic content comprises: performing modulation processing on the waveform data of the any one period to obtain a sine envelope signal corresponding to the sine signal and a cosine envelope signal corresponding to the cosine signal; determining the linearity and the harmonic content based on the sine envelope signal and the cosine envelope signal.

4. The method of claim 3, wherein, The determination of 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 of claim 4, wherein, The determination of the rotation angle based on the sine envelope signal and the cosine envelope signal comprises: performing 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 the rotation angle.

6. The method of claim 3, wherein, The modulation processing on the waveform data of the any one period to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal comprises: performing sign operation on the waveform data of the any one period to obtain a resolver excitation signal; performing filtering processing on the resolver excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal.

7. The method of claim 6, wherein, The filtering processing on the resolver excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal comprises: filtering a carrier signal in the resolver excitation signal to obtain the sine envelope signal corresponding to the sine signal and the cosine envelope signal corresponding to the cosine signal.

8. The method according to any one of claims 1 to 7, characterized in that, The adjustment of the parameter of the motor system based on the harmonic content in a case where the resolver signal is abnormal comprises: determining a cause of the resolver signal being abnormal based on the harmonic content in the case where the resolver signal is abnormal; According to the reason for the abnormality of the resolver signal, parameters of the motor system are adjusted.

9. The method of claim 8, wherein, The determining the reason for the abnormality of the resolver signal based on the harmonic content comprises: The harmonic content corresponding to each component of the motor is compared with the harmonic content, and the reason for the abnormality of the resolver signal is determined; the reason for the abnormality of the resolver signal includes electromagnetic interference of other components in the motor and / or configuration deviation of the resolver.

10. The method of claim 9, wherein, The adjusting the parameters of the motor system according to the reason for the abnormality of the resolver signal comprises: In the case that the reason for the abnormality of the resolver signal is electromagnetic interference of other components in the motor, mechanical parameters of the resolver and / or mechanical parameters of the motor system are adjusted; In the case that the reason for the abnormality of the resolver signal is configuration deviation of the resolver, electrical parameters of the resolver are adjusted.

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

12. A vehicle characterized by comprising: comprise: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, When 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, characterised in that, The computer program product comprises computer instructions which, when run on a vehicle, cause the vehicle to perform the method of any one of claims 1 to 10.

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