Electric rotor parameter determination method and device, electronic equipment, medium and product

Abstract

The invention relates to an electric drive rotor parameter determination method and device, electronic equipment, a medium and a product, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining an original rotor parameter detected by at least one detector and an original signal confidence state corresponding to the at least one detector, the original rotor parameters comprise an original rotor rotating speed and an original rotor angle; obtaining a target rotor rotating speed and a rotating speed confidence state according to at least one of the original rotor rotating speed and the original signal confidence state; and obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the rotating speed confidence state and the target rotor rotating speed and the original signal confidence state. And more accurate parameters of the electric drive rotor can be obtained, so that accurate control on an electric drive system is realized.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a method, device, electronic equipment, medium and product for determining electric drive rotor parameters. Background Art

[0002] The electric drive system is the power source of new energy vehicles and may include at least a motor, a motor controller, a reduction mechanism and other components. The integration of the components can be an integrated mechanical integration or independent of each other. The parameters of the electric drive rotor in the electric drive system, such as the rotor speed and the rotor angle, can be obtained to further control the electric drive system. In the related art, it is impossible to obtain more accurate parameters of the electric drive rotor, resulting in inaccurate control of the electric drive system. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides an electric drive rotor parameter determination method, device, electronic device, medium and product, which can obtain a more accurate target rotor speed and speed confidence state that conforms to the current rotor speed based on at least one of the original rotor speed and the original signal confidence state corresponding to each detector, and can further obtain a more accurate target rotor angle and angle confidence state that conforms to the current rotor speed based on at least one of the original rotor angle, speed confidence state and target rotor speed, and the original signal confidence state. Thereby, more accurate electric drive rotor parameters are obtained, so as to realize accurate control of the electric drive system.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for determining parameters of an electric drive rotor is provided, comprising:

[0005] Acquire original rotor parameters detected by at least one detector and an original signal confidence state corresponding to the at least one detector, wherein the original rotor parameters include an original rotor speed and an original rotor angle;

[0006] Obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state;

[0007] A target rotor angle and an angle confidence state are obtained according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

[0008] Optionally, the detector includes a rotor position sensor, the original signal confidence state includes a rotor position sensor confidence state, and the original rotor speed includes a rotor position sensor speed;

[0009] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0010] When the rotor position sensor confidence state is a credible state and the rotor position sensor rotational speed is less than a first rotational speed threshold, the rotor position sensor rotational speed is determined as the target rotor rotational speed, and the rotational speed confidence state is determined to be a credible state.

[0011] Optionally, the original rotor angle includes a rotor position sensor angle;

[0012] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0013] When the rotor position sensor confidence state is a credible state and the target rotor speed is less than the first speed threshold, the rotor position sensor angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0014] Optionally, the detector includes a rotor position sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state and a first observer confidence state, and the original rotor speed includes a rotor position sensor speed and a first observer speed;

[0015] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0016] When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed meet a first target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state;

[0017] When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed do not meet the first target condition, the rotor position sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0018] Optionally, the original rotor angle includes a rotor position sensor angle and a first observer angle;

[0019] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0020] When the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle, and the rotor position sensor angle meet a second target condition, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state;

[0021] When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle and the rotor position sensor angle do not meet the second target condition, the rotor position sensor angle is determined to be the target rotor angle, and the angle confidence state is determined to be a credible state.

[0022] Optionally, the detector includes a rotor position sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes a rotor position sensor speed, a first observer speed and a second observer speed;

[0023] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0024] When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the rotor position sensor speed meet a third target condition, weighted summing the first observer speed and the second observer speed is performed to obtain the target rotor speed, and determining that the speed confidence state is a credible state;

[0025] When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the rotor position sensor speed do not meet a third target condition, one of the rotor position sensor speed, the first observer speed, and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0026] Optionally, the original rotor angle includes a rotor position sensor angle, a first observer angle, and a second observer angle;

[0027] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0028] When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle meet a fourth target condition, weighted summing the first observer angle and the second observer angle is performed to obtain the target rotor angle, and determining that the angle confidence state is a credible state;

[0029] When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle do not meet a fourth target condition, one of the rotor position sensor angle, the first observer angle, and the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0030] Optionally, the detector includes a rotor position sensor, an external sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a first observer confidence state, and the original rotor speed includes an external sensor speed and a first observer speed;

[0031] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0032] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed meet a fifth target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state;

[0033] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed do not meet a fifth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0034] Optionally, the original rotor angle comprises a first observer angle;

[0035] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0036] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the first observer confidence state are both trusted states, and the target rotor speed is greater than the third speed threshold, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state;

[0037] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is greater than a third speed threshold, and the first observer confidence state is an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

[0038] Optionally, the detector includes a rotor position sensor, an external sensor and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed and a second observer speed;

[0039] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0040] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed meet a sixth target condition, the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state;

[0041] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed do not meet a sixth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0042] Optionally, the original rotor angle includes a second observer angle;

[0043] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0044] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the second observer confidence state are both trusted states, and the target rotor speed is less than the fourth speed threshold, the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state;

[0045] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is less than a fourth speed threshold, and the second observer confidence state is an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

[0046] Optionally, the detector includes a rotor position sensor, an external sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed, a first observer speed and a second observer speed;

[0047] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0048] When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed meet a seventh target condition, weighted summing the first observer speed and the second observer speed to obtain the target rotor speed, and determining that the speed confidence state is a trusted state;

[0049] When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed do not satisfy a seventh target condition, one of the external sensor speed, the first observer speed, and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0050] Optionally, the original rotor angle includes a first observer angle and a second observer angle;

[0051] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0052] When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, and the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state satisfy an eighth target condition, weighted summing the first observer angle and the second observer angle is performed to obtain the target rotor angle, and determining that the angle confidence state is a trusted state;

[0053] When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state do not meet the eighth target condition, one of a preset safety angle, the first observer angle and the second observer angle is determined as the target rotor angle, wherein the angle confidence state corresponding to the preset safety angle is an untrusted state, and the angle confidence state corresponding to the first observer angle and the second observer angle is a trusted state.

[0054] Optionally, the detector includes a rotor position sensor and an external sensor, and the original signal confidence state includes a rotor position sensor confidence state and an external sensor confidence state;

[0055] The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises:

[0056] In a case where both the rotor position sensor confidence state and the external sensor confidence state are in an untrustworthy state, a preset safe rotational speed is determined as the target rotor rotational speed, and the rotational speed confidence state is determined to be in an untrustworthy state.

[0057] Optionally, the original rotor angle includes a rotor position sensor angle and an external sensor angle;

[0058] The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises:

[0059] In a case where both the rotor position sensor confidence state and the external sensor confidence state are in an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be in an untrusted state.

[0060] According to a second aspect of an embodiment of the present disclosure, a device for determining parameters of an electric drive rotor is provided, comprising:

[0061] an acquisition module, configured to acquire original rotor parameters detected by at least one detector and an original signal confidence state corresponding to the at least one detector, wherein the original rotor parameters include an original rotor speed and an original rotor angle;

[0062] A first obtaining module is configured to obtain a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state;

[0063] The second acquisition module is configured to obtain a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

[0064] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0065] processor;

[0066] a memory for storing processor-executable instructions;

[0067] Wherein, the processor is configured to implement the steps of the electric drive rotor parameter determination method provided in the first aspect of the present disclosure when executing.

[0068] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the method for determining electric drive rotor parameters provided in the first aspect of the present disclosure are implemented.

[0069] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the method for determining electric drive rotor parameters provided in the first aspect of the present disclosure.

[0070] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0071] Obtain original rotor parameters detected by at least one detector and original signal confidence states corresponding to at least one detector, the original rotor parameters including original rotor speed and original rotor angle; obtain target rotor speed and speed confidence states according to at least one of the original rotor speed and original signal confidence states; obtain target rotor angle and angle confidence states according to at least one of the original rotor angle, speed confidence states and target rotor speed, and the original signal confidence states.

[0072] Based on at least one of the original rotor speed and the original signal confidence state corresponding to each detector, a more accurate target rotor speed and speed confidence state that conforms to the current rotor speed can be obtained, and further based on at least one of the original rotor angle, speed confidence state and target rotor speed, and the original signal confidence state, a more accurate target rotor angle and angle confidence state that conforms to the current rotor speed can be obtained. Thus, more accurate parameters of the electric drive rotor can be obtained, so as to achieve accurate control of the electric drive system.

[0073] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0075] Figure 1 It is a schematic diagram of an application scenario of a method for determining electric drive rotor parameters according to an exemplary embodiment.

[0076] Figure 2It is a flow chart of a method for determining electric drive rotor parameters according to an exemplary embodiment.

[0077] Figure 3 The invention is a flow chart showing a method for determining a target rotor speed and a speed confidence state according to an exemplary embodiment.

[0078] Figure 4 The present invention is a flow chart showing a method for determining a target rotor angle and an angle confidence state according to an exemplary embodiment.

[0079] Figure 5 It is a block diagram of a device for determining parameters of an electric drive rotor according to an exemplary embodiment.

[0080] Figure 6 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0081] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements.

[0082] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0083] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0084] The electric drive system is the power source of new energy vehicles and may include at least a motor, a motor controller, a reduction mechanism and other components. The integration of the components can be an integrated mechanical integration or independent of each other. The parameters of the electric drive rotor in the electric drive system, such as the rotor speed and the rotor angle, can be obtained to further control the electric drive system. In the related art, it is impossible to obtain more accurate parameters of the electric drive rotor, resulting in inaccurate control of the electric drive system.

[0085] In view of the above technical problems, the embodiments of the present disclosure provide a method, device, electronic device, medium and product for determining electric drive rotor parameters, which can obtain a more accurate target rotor speed and speed confidence state that conforms to the current rotor speed based on at least one of the original rotor speed and the original signal confidence state corresponding to each detector, and can further obtain a more accurate target rotor angle and angle confidence state that conforms to the current rotor speed based on at least one of the original rotor angle, speed confidence state and target rotor speed, as well as the original signal confidence state. Thereby, more accurate parameters of the electric drive rotor are obtained, so as to realize accurate control of the electric drive system.

[0086] Figure 1 is a schematic diagram of an application scenario of a method for determining electric drive rotor parameters according to an exemplary embodiment. Figure 1 As shown, the method can be applied to a multi-signal source position analysis system, which may include a rotor position sensor analysis module, a first observer analysis module, a second observer analysis module, an external sensor analysis module, a speed signal fusion module and an angle signal fusion module. Among them, the rotor position sensor analysis module is used to obtain the speed and angle of the rotor detected by the rotor position sensor and the original signal confidence state corresponding to the rotor position sensor; the first observer analysis module is used to obtain the speed and angle of the rotor detected by the first observer and the original signal confidence state corresponding to the first observer; the second observer analysis module is used to obtain the speed and angle of the rotor detected by the second observer and the original signal confidence state corresponding to the second observer; the external sensor analysis module is used to obtain the speed and angle of the rotor detected by the external sensor and the original signal confidence state corresponding to the external sensor; the speed signal fusion module can process the speed, angle and confidence state obtained by each analysis module to obtain the target rotor speed and the speed confidence state corresponding to the target rotor speed; the angle signal fusion module can uniformly process the speed, angle, confidence state, target rotor speed and the speed confidence state corresponding to the target rotor speed obtained by each analysis module to obtain the target rotor angle and angle confidence state. In order to further control the electric drive system more accurately based on the target rotor speed, speed confidence state, target rotor angle and angle confidence state.

[0087] Figure 2 is a flow chart of a method for determining electric drive rotor parameters according to an exemplary embodiment. Figure 2 As shown, the following steps may be included.

[0088] In step S201, original rotor parameters detected by at least one detector and an original signal confidence state corresponding to at least one detector are acquired, wherein the original rotor parameters include an original rotor speed and an original rotor angle.

[0089] In this embodiment, at least one of the rotor position sensor analysis module, the first observer analysis module, the second observer analysis module and the external sensor analysis module can be used to obtain the original rotor parameters detected by at least one detector and the original signal confidence state corresponding to at least one detector, wherein the original rotor parameters may include the original rotor speed and the original rotor angle. The detector may include at least one of the rotor position sensor, the first observer, the second observer and the external sensor. The original signal confidence state represents the credibility of the original rotor parameters detected by the detector.

[0090] The rotor position sensor may include at least one of a rotary transformer, an eddy current sensor, and a Hall position sensor. The rotor position sensor analysis module may be used to diagnose and analyze the rotor position sensor so as to obtain the rotor position sensor speed, the rotor position sensor angle, and the rotor position sensor confidence state detected by the rotor position sensor. The rotor position sensor confidence state may be a credible state and an untrustworthy state. When the rotor position sensor is diagnosed to be in a normal state, the rotor position sensor confidence state is a credible state. When the rotor position sensor is diagnosed to be in an abnormal state, such as an electrical fault or an angle error, the rotor position sensor confidence state is an untrustworthy state.

[0091] The first observer may be a software observer, which may include at least one of a synovial observer method and a Romberg observer method. The first observer analysis module may estimate the speed and angle of the rotor by means of a software observer, may be observed based on the motor back electromotive force, may be directly observed through three-phase voltage and current signals, and does not need to generate additional signals. The first observer may be applicable to medium and high speed areas, and the first observer speed, the first observer angle, and the first observer confidence state detected by the first observer may be obtained. The first observer confidence state may be a credible state and an untrustworthy state. When it is determined that the first observer is operating normally and the speed and angle are credible, the first observer confidence state is determined to be a credible state. When it is determined that the first observer is not turned on or the first observer is still in the convergence process, the first observer confidence state may be determined to be an untrustworthy state.

[0092] Among them, the second observer can be a software observer, which can include a high-frequency pulse signal injection method. The second observer analysis module can estimate the speed and angle of the rotor by means of a software observer. Based on the principle of inconsistency between the AC and DC axis inductance of the motor, it is necessary to actively generate an excitation wave to the rotor and read back the current signal to identify the rotor position, and obtain the second observer speed, second observer angle and second observer confidence state detected by the second observer. This method will affect the operating state of the system, so it can be applied to the rotor position sensor in an untrusted state and low-speed scenarios. Among them, the second observer confidence state can be a trusted state and an untrusted state. When it is determined that the second observer is operating normally and the speed and angle are credible, the second observer confidence state is determined to be a trusted state. When it is determined that the second observer is not turned on or the second observer is still in the convergence process, the second observer confidence state can be determined to be an untrusted state.

[0093] The external sensor may be a sensor outside the electric drive system that can obtain an associated speed signal. The associated speed signal may be a wheel speed signal, a vehicle speed signal, a speed sampling signal of a disengaging device, etc. The external sensor analysis module can analyze the acquired associated speed signal to obtain the corresponding external sensor speed and the corresponding external sensor confidence state. The external sensor confidence state may include a trusted state and an untrusted state. When it is determined that the external sensor is operating normally and the speed and angle are credible, the external sensor confidence state is determined to be a trusted state. When it is determined that the external sensor is faulty, the electrical connection is wrong, the communication is interfered or not enabled, the external sensor confidence state may be determined to be an untrusted state.

[0094] In step S202, a target rotor speed and a speed confidence state are obtained according to at least one of the original rotor speed and the original signal confidence state.

[0095] In this embodiment, the target rotor speed and speed confidence state can be obtained based on the original signal confidence state corresponding to at least one detector, and the target rotor speed and speed confidence state can also be obtained based on the original rotor speed and original signal confidence state corresponding to at least one detector. The speed confidence state represents the credibility of the target rotor speed.

[0096] In step S203, the target rotor angle and the angle confidence state are obtained according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

[0097] In this embodiment, the target rotor angle and the angle confidence state can be obtained based on the original signal confidence state and the speed confidence state. The target rotor angle and the angle confidence state can also be obtained based on the original signal confidence state and the original rotor angle. The target rotor angle and the angle confidence state can also be obtained based on the original signal confidence state, the speed confidence state and the target rotor speed. Among them, the angle confidence state represents the credibility of the target rotor angle.

[0098] In this embodiment, based on at least one of the original rotor speed and the original signal confidence state corresponding to each detector, a more accurate target rotor speed and speed confidence state that conform to the current rotor speed are obtained, and further based on at least one of the original rotor angle, speed confidence state and target rotor speed, and the original signal confidence state, a more accurate target rotor angle and angle confidence state that conform to the current rotor speed can be obtained. Thus, more accurate parameters of the electric drive rotor are obtained, so as to achieve accurate control of the electric drive system.

[0099] Figure 3 is a flow chart showing a method for determining a target rotor speed and a speed confidence state according to an exemplary embodiment. Figure 3 As shown, in a possible implementation manner, the detector includes a rotor position sensor, the raw signal confidence state includes a rotor position sensor confidence state, and the raw rotor speed includes a rotor position sensor speed.

[0100] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0101] When the rotor position sensor confidence state is a credible state and the rotor position sensor rotational speed is less than a first rotational speed threshold, the rotor position sensor rotational speed is determined as a target rotor rotational speed, and the rotational speed confidence state is determined to be a credible state.

[0102] In this embodiment, the detector may include a rotor position sensor, and its detection result is relatively accurate and relatively reliable. The confidence state of the rotor position sensor may be determined first. When the confidence state of the rotor position sensor is a credible state, the magnitude of the rotor position sensor speed and the first speed threshold may be determined. If the rotor position sensor speed is less than the first speed threshold, it may be determined that it is in a low speed range. It may be determined that the rotor position sensor speed detected by the rotor position sensor is relatively accurate. The rotor position sensor speed may be directly determined as the target rotor speed, and the speed confidence state corresponding to the rotor position sensor speed may be determined as a credible state.

[0103] Figure 4 is a flow chart showing a method for determining a target rotor angle and an angle confidence state according to an exemplary embodiment. Figure 4 As shown, in one possible implementation, the raw rotor angle may include a rotor position sensor angle.

[0104] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0105] When the rotor position sensor confidence state is a credible state and the target rotor speed is less than a first speed threshold, the rotor position sensor angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0106] In this embodiment, for determining the target rotor angle, the confidence state of the rotor position sensor can be judged first. When the confidence state of the rotor position sensor is a credible state, the relationship between the target rotor speed and the first speed threshold can be further judged. If the target rotor speed is less than the first speed threshold, it can be determined that it is in a low speed range. It can be determined that the rotor position sensor angle detected by the rotor position sensor is relatively accurate. The rotor position sensor angle can be directly determined as the target rotor angle, and the angle confidence state corresponding to the rotor position sensor angle is determined to be a credible state.

[0107] In a possible implementation, the detector may include a rotor position sensor and a first observer, the raw signal confidence state may include a rotor position sensor confidence state and a first observer confidence state, and the raw rotor speed may include a rotor position sensor speed and a first observer speed.

[0108] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0109] When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed meet a first target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0110] When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than the second speed threshold, and the first observer confidence state, the first observer speed and the rotor position sensor speed do not meet the first target condition, the rotor position sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0111] In this embodiment, the first observer is suitable for the high speed range, that is, the detection result in the high speed range is relatively accurate, and the second speed threshold is greater than or equal to the first speed threshold. When the rotor position sensor is normal, the parameters detected by the first observer can also be obtained, so as to obtain a more accurate target rotor speed in combination with the parameters detected by the rotor position sensor. Specifically, the confidence state of the rotor position sensor can be judged first. When the confidence state of the rotor position sensor is a credible state, that is, when the rotor position sensor is normal, the magnitude of the rotor position sensor speed and the second speed threshold can be further judged. When the rotor position sensor speed is greater than the second speed threshold, it is determined to be in the high speed range, and the confidence state of the first observer, the first observer speed and the rotor position sensor speed can be further judged whether they meet the first target condition. Among them, the first target condition can be that the confidence state of the first observer is a credible state and the deviation between the first observer speed and the rotor position sensor speed is less than the first deviation.

[0112] If the first observer confidence state, the first observer speed, and the rotor position sensor speed meet the first target condition, the first observer speed is considered to be accurate and more accurate than the rotor position sensor speed, the first observer speed can be determined as the target rotor speed, and the speed confidence state is determined to be a credible state. If the first observer confidence state, the first observer speed, and the rotor position sensor speed do not meet the first target condition, the first observer speed is considered to be inaccurate, the rotor position sensor speed is more accurate, the rotor position sensor speed can be determined as the target rotor speed, and the speed confidence state is determined to be a credible state. By combining the parameters detected by the rotor position sensor with the parameters detected by the first observer, the target rotor speed can be obtained more accurately.

[0113] In a possible implementation manner, the original rotor angle includes a rotor position sensor angle and a first observer angle.

[0114] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0115] When the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle and the rotor position sensor angle meet the second target condition, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0116] When the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle and the rotor position sensor angle do not meet the second target condition, the rotor position sensor angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0117] In this embodiment, after obtaining the target rotor speed and speed confidence state, the target rotor angle and angle confidence state can be further determined. Specifically, the rotor position sensor confidence state can be first determined. When the rotor position sensor confidence state is a credible state, that is, the rotor position sensor is normal, the target rotor speed and the second speed threshold value can be further determined. When the target rotor speed is greater than the second speed threshold value, it is determined to be in a high speed range, and the first observer confidence state, the first observer angle, and the rotor position sensor angle can be further determined to meet the second target condition. Among them, the second target condition can be that the first observer confidence state is a credible state and the deviation between the first observer angle and the rotor position sensor angle is less than the second deviation.

[0118] If the first observer confidence state, the first observer angle, and the rotor position sensor angle meet the second target condition, the first observer angle is considered to be accurate and more accurate than the rotor position sensor angle, the first observer angle can be determined as the target rotor angle, and the angle confidence state is determined to be a credible state. If the first observer confidence state, the first observer angle, and the rotor position sensor angle do not meet the second target condition, the first observer angle is considered to be inaccurate, the rotor position sensor angle is more accurate, the rotor position sensor angle can be determined as the target rotor angle, and the angle confidence state is determined to be a credible state. By combining the parameters detected by the rotor position sensor with the parameters detected by the first observer, the target rotor angle can be obtained more accurately.

[0119] In one possible implementation, the detector includes a rotor position sensor, a first observer, and a second observer, the original signal confidence state includes a rotor position sensor confidence state, a first observer confidence state, and a second observer confidence state, and the original rotor speed includes a rotor position sensor speed, a first observer speed, and a second observer speed.

[0120] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0121] When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed meet a third target condition, a weighted sum is performed on the first observer speed and the second observer speed to obtain a target rotor speed, and it is determined that the speed confidence state is a credible state.

[0122] When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed do not meet the third target condition, one of the rotor position sensor speed, the first observer speed and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0123] In this embodiment, the second observer is suitable for the low speed range, that is, the detection result is more accurate in the low speed range. The second speed threshold is greater than the first speed threshold, and the detector includes a rotor position sensor, a first observer and a second observer. The parameters detected by the rotor position sensor, the first observer and the second observer can be combined to obtain a more accurate target rotor speed. Specifically, the rotor position sensor confidence state can be judged first. When the rotor position sensor confidence state is a credible state, that is, the rotor position sensor is normal, the rotor position sensor speed and the first speed threshold and the second speed threshold are further judged. If the rotor position sensor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, it is determined to be in the transition speed range, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed can be further judged whether they meet the third target condition. Among them, the third target condition can be that the first observer confidence state is a credible state and the deviation between the first observer speed and the rotor position sensor speed is less than the first deviation, and the second observer confidence state is a credible state and the deviation between the second observer speed and the rotor position sensor speed is less than the first deviation.

[0124] If the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed meet the third target condition, it is considered that the first observer speed and the second observer speed are both relatively accurate and more accurate than the rotor position sensor speed, and the first observer speed and the second observer speed can be weighted and summed to obtain the target rotor speed, and the speed confidence state is determined to be a credible state. Specifically, based on the values ​​of the first observer speed and the second observer speed, the first weight corresponding to the first observer speed and the second weight corresponding to the second observer speed can be determined, wherein the first weight is positively correlated with the first observer speed, the second weight is negatively correlated with the second observer speed, and the sum of the first weight and the second weight is 1.

[0125] If the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed do not meet the third target condition, then according to the specific judgment situation, one of the rotor position sensor speed, the first observer speed and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state. Specifically, if only the first observer confidence state is a credible state and the deviation between the first observer speed and the rotor position sensor speed is less than the first deviation, the first observer speed is determined as the target rotor speed. If only the second observer confidence state is a credible state and the deviation between the second observer speed and the rotor position sensor speed is less than the first deviation, the second observer speed is determined as the target rotor speed. If it is not satisfied that: the first observer confidence state is a credible state and the deviation between the first observer speed and the rotor position sensor speed is less than the first deviation, and it is not satisfied that: the second observer confidence state is a credible state and the deviation between the second observer speed and the rotor position sensor speed is less than the first deviation, then the rotor position sensor speed is determined as the target rotor speed.

[0126] In a possible implementation manner, the original rotor angle includes a rotor position sensor angle, a first observer angle, and a second observer angle.

[0127] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0128] When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle and the rotor position sensor angle meet the fourth target condition, the first observer angle and the second observer angle are weightedly summed to obtain the target rotor angle, and the angle confidence state is determined to be a credible state.

[0129] When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle and the rotor position sensor angle do not meet the fourth target condition, one of the rotor position sensor angle, the first observer angle and the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

[0130] In this embodiment, the parameters detected by the rotor position sensor, the first observer, and the second observer can be combined to obtain a more accurate target rotor angle. Specifically, the rotor position sensor confidence state can be determined first. When the rotor position sensor confidence state is a credible state, that is, the rotor position sensor is normal, the target rotor speed and the first speed threshold and the second speed threshold are further determined. If the target rotor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, it is determined to be in the transition speed range, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle can be further determined to meet the fourth target condition. Among them, the fourth target condition can be that the first observer confidence state is a credible state and the deviation between the first observer angle and the rotor position sensor angle is less than the second deviation, and the second observer confidence state is a credible state and the deviation between the second observer angle and the rotor position sensor angle is less than the second deviation.

[0131] If the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle and the rotor position sensor angle meet the fourth target condition, it is considered that the first observer angle and the second observer angle are both relatively accurate and more accurate than the rotor position sensor angle, and the first observer angle and the second observer angle can be weighted and summed to obtain the target rotor angle, and the angle confidence state is determined to be a credible state. Specifically, based on the values ​​of the first observer speed and the second observer speed, the third weight corresponding to the first observer angle and the fourth weight corresponding to the second observer angle can be determined, wherein the third weight is positively correlated with the first observer speed, the second weight is negatively correlated with the second observer angle, and the sum of the third weight and the fourth weight is 1.

[0132] If the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle and the rotor position sensor angle do not meet the third target condition, then according to the specific judgment situation, one of the rotor position sensor angle, the first observer angle and the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state. Specifically, if only the first observer confidence state is a credible state and the deviation between the first observer angle and the rotor position sensor angle is less than the second deviation, the first observer angle is determined as the target rotor angle. If only the second observer confidence state is a credible state and the deviation between the second observer angle and the rotor position sensor angle is less than the second deviation, the second observer angle is determined as the target rotor speed. If it is not satisfied that: the first observer confidence state is a credible state and the deviation between the first observer angle and the rotor position sensor angle is less than the second deviation, and it is not satisfied that: the second observer confidence state is a credible state and the deviation between the second observer angle and the rotor position sensor angle is less than the second deviation, the rotor position sensor angle is determined as the target rotor angle.

[0133] In one possible implementation, the detector includes a rotor position sensor, an external sensor, and a first observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state, and a first observer confidence state, and the original rotor speed includes an external sensor speed and a first observer speed;

[0134] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0135] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed meet a fifth target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0136] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed do not meet the fifth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0137] In this embodiment, the detector includes a rotor position sensor, an external sensor and a first observer, so that in the case of a rotor position sensor failure, a more accurate target rotor speed can be determined by combining the data corresponding to the external sensor and the first observer. Specifically, the rotor position sensor confidence state can be judged first. When the rotor position sensor confidence state is an untrustworthy state, that is, when the rotor position sensor fails, the external sensor confidence state is continued to be judged. When the external sensor confidence state is a credible state, the magnitude relationship between the external sensor speed and the third speed threshold is continued to be judged, and the third speed threshold can be the same as the second speed threshold. When the external sensor speed is greater than the third speed threshold, it is determined to be in a high speed range, and the first observer confidence state, the first observer speed and the external sensor speed are continued to be judged whether they meet the fifth target condition. Among them, the fifth target condition can be that the first observer confidence state is a credible state and the deviation between the first observer speed and the external sensor speed is less than the third deviation.

[0138] If the first observer confidence state, the first observer speed and the external sensor speed meet the fifth target condition, the first observer speed is considered to be more accurate, the first observer speed can be determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0139] If the first observer confidence state, the first observer speed and the external sensor speed do not satisfy the fifth target condition, the external sensor speed is considered to be more accurate, the external sensor speed may be determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0140] In one possible implementation, the original rotor angle includes a first observer angle.

[0141] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0142] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the first observer confidence state are both trusted states, and the target rotor speed is greater than a third speed threshold, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state.

[0143] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is greater than a third speed threshold, and the first observer confidence state is an untrusted state, the preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

[0144] In this embodiment, the confidence state of the rotor position sensor can be determined first. When the confidence state of the rotor position sensor is an untrustworthy state, that is, when the rotor position sensor fails, the speed confidence state is continued to be determined. When the speed confidence state is a trustworthy state, the magnitude relationship between the target rotor speed and the third speed threshold is continued to be determined. The third speed threshold can be the same as the second speed threshold. When the target rotor speed is greater than the third speed threshold, it is determined to be in a high speed range, and the confidence state of the first observer is continued to be determined.

[0145] If the first observer confidence state is a credible state, it is considered that the first observer angle is relatively accurate, and the first observer angle can be determined as the target rotor angle, and the angle confidence state is determined to be a credible state. If the first observer confidence state is an untrustworthy state, it is determined that the first observer angle is also inaccurate, and the preset safety angle can be determined as the target rotor angle, and the angle confidence state is determined to be an untrustworthy state. Among them, the preset safety angle is a relatively safe angle set in advance to avoid control errors of the electric drive rotor due to the lack of angle data.

[0146] In one possible implementation, the detector includes a rotor position sensor, an external sensor and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed and a second observer speed.

[0147] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0148] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed meet a sixth target condition, the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0149] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed do not meet the sixth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0150] In this embodiment, the detector may include a rotor position sensor, an external sensor, and a second observer, so that in the case of a rotor position sensor failure, a more accurate target rotor speed can be determined by combining the data corresponding to the external sensor and the second observer. Specifically, the rotor position sensor confidence state can be judged first. When the rotor position sensor confidence state is an untrustworthy state, that is, when the rotor position sensor fails, the external sensor confidence state can be judged. When the external sensor confidence state is a credible state, the magnitude relationship between the external sensor speed and the fourth speed threshold can be judged. The fourth speed threshold can be the same as the first speed threshold. When the external sensor speed is less than the fourth speed threshold, it is determined to be in a low speed range, and the second observer confidence state, the second observer speed, and the external sensor speed can be judged whether they meet the sixth target condition. Among them, the sixth target condition can be that the second observer confidence state is a credible state and the deviation between the second observer speed and the external sensor speed is less than the fourth deviation.

[0151] If the second observer confidence state, the second observer speed and the external sensor speed meet the sixth target condition, the second observer speed is considered to be more accurate, the second observer speed can be determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0152] If the second observer confidence state, the second observer speed and the external sensor speed do not satisfy the sixth target condition, the external sensor speed is considered to be more accurate, the external sensor speed may be determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

[0153] In one possible implementation, the original rotor angle includes a second observer angle.

[0154] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0155] When the rotor position sensor confidence state is in an untrusted state, the external sensor confidence state and the second observer confidence state are both in a trusted state, and the target rotor speed is less than a fourth speed threshold, the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state.

[0156] When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is less than a fourth speed threshold, and the second observer confidence state is an untrusted state, the preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

[0157] In this embodiment, the confidence state of the rotor position sensor can be determined first. When the confidence state of the rotor position sensor is an untrustworthy state, that is, when the rotor position sensor fails, the speed confidence state is continued to be determined. When the speed confidence state is a trustworthy state, the magnitude relationship between the target rotor speed and the fourth speed threshold is continued to be determined. The fourth speed threshold can be the same as the first speed threshold. When the target rotor speed is greater than the fourth speed threshold, it is determined to be in a low speed range, and the confidence state of the second observer is continued to be determined.

[0158] If the second observer confidence state is a credible state, the second observer angle is considered to be relatively accurate, and the second observer angle can be determined as the target rotor angle, and the angle confidence state is determined to be a credible state. If the second observer confidence state is an untrustworthy state, the second observer angle is also determined to be inaccurate, and the preset safety angle can be determined as the target rotor angle, and the angle confidence state is determined to be an untrustworthy state. The preset safety angle is a relatively safe angle set in advance to avoid control errors of the electric drive rotor due to the lack of angle data.

[0159] In one possible implementation, the detector includes a rotor position sensor, an external sensor, a first observer, and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state, a first observer confidence state, and a second observer confidence state, and the original rotor speed includes an external sensor speed, a first observer speed, and a second observer speed.

[0160] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0161] When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed meet a seventh target condition, a weighted sum is performed on the first observer speed and the second observer speed to obtain a target rotor speed, and it is determined that the speed confidence state is a trusted state.

[0162] When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to the fourth speed threshold and less than or equal to the third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the external sensor speed do not meet the seventh target condition, one of the external sensor speed, the first observer speed and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

[0163] In this embodiment, the detector includes a rotor position sensor, an external sensor, a first observer, and a second observer, so that in the case of a rotor position sensor failure, a more accurate target rotor speed can be obtained through the data corresponding to the external sensor, the first observer, and the second observer. Specifically, the rotor position sensor confidence state can be judged first, and when the rotor position sensor confidence state is an untrustworthy state, that is, when the rotor position sensor fails, the external sensor confidence state is continued to be judged, and when the external sensor confidence state is a credible state, the magnitude relationship between the external sensor speed and the third speed threshold and the fourth speed threshold is continued to be judged. When it is greater than or equal to the fourth speed threshold and less than or equal to the third speed threshold, it is determined to be in the transition speed interval, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed are further judged whether they meet the seventh target condition. Among them, the seventh target condition can be that the first observer confidence state is a credible state and the deviation between the first observer speed and the external sensor speed is less than the third deviation, and the second observer confidence state is a credible state and the deviation between the second observer speed and the external sensor speed is less than the fourth deviation.

[0164] If the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the external sensor speed meet the seventh target condition, it is considered that the first observer angle and the second observer angle are both relatively accurate and more accurate than the rotor position sensor angle, and the first observer angle and the second observer angle can be weighted and summed to obtain the target rotor angle, and the angle confidence state is determined to be a credible state. Specifically, based on the values ​​of the first observer speed and the second observer speed, the third weight corresponding to the first observer angle and the fourth weight corresponding to the second observer angle can be determined, wherein the third weight is positively correlated with the first observer speed, the second weight is negatively correlated with the second observer angle, and the sum of the third weight and the fourth weight is 1.

[0165] If the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the external sensor speed do not meet the seventh target condition, then according to the specific judgment situation, one of the rotor position sensor angle, the first observer angle and the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state. Specifically, if only the first observer confidence state is a credible state and the deviation between the first observer angle and the external sensor angle is less than the third deviation, the first observer angle is determined as the target rotor angle. If only the second observer confidence state is a credible state and the deviation between the second observer angle and the external sensor angle is less than the fourth deviation, the second observer angle is determined as the target rotor speed. If it is not satisfied that the first observer confidence state is a credible state and the deviation between the first observer angle and the external sensor angle is less than the third deviation, and it is not satisfied that the second observer confidence state is a credible state and the deviation between the second observer angle and the external sensor angle is less than the fourth deviation, the rotor position sensor angle is determined as the target rotor angle.

[0166] In a possible implementation manner, the original rotor angle includes a first observer angle and a second observer angle.

[0167] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0168] When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, and the target rotor speed is greater than or equal to the fourth speed threshold and less than or equal to the third speed threshold, and the first observer confidence state and the second observer confidence state meet the eighth target condition, a weighted sum is performed on the first observer angle and the second observer angle to obtain the target rotor angle, and the angle confidence state is determined to be a trusted state.

[0169] When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, the target rotor speed is greater than or equal to the fourth speed threshold and less than or equal to the third speed threshold, and the first observer confidence state and the second observer confidence state do not meet the eighth target condition, one of the preset safety angle, the first observer angle and the second observer angle is determined as the target rotor angle, wherein the angle confidence state corresponding to the preset safety angle is an untrusted state, and the angle confidence state corresponding to the first observer angle and the second observer angle is a trusted state.

[0170] In this embodiment, the rotor position sensor confidence state can be judged first. When the rotor position sensor confidence state is an untrustworthy state, that is, when the rotor position sensor fails, the speed confidence state is further judged. When the speed confidence state is a trustworthy state, the magnitude relationship between the target rotor speed and the third speed threshold and the fourth speed threshold is further judged. When the target rotor speed is greater than or equal to the fourth speed threshold and less than or equal to the third speed threshold, it is determined to be in the transition speed interval, and whether the first observer confidence state and the second observer confidence state meet the eighth target condition is further judged. Among them, the eighth target condition can be that the first observer confidence state is a trustworthy state, and the second observer confidence state is a trustworthy state.

[0171] If the first observer confidence state and the second observer confidence state meet the eighth target condition, it is considered that the first observer angle and the second observer angle are both relatively accurate and more accurate than the rotor position sensor angle, and the first observer angle and the second observer angle can be weighted and summed to obtain the target rotor angle, and the angle confidence state is determined to be a credible state. Specifically, based on the values ​​of the first observer speed and the second observer speed, the fifth weight corresponding to the first observer angle and the sixth weight corresponding to the second observer angle can be determined, wherein the fifth weight is positively correlated with the first observer speed, the sixth weight is negatively correlated with the second observer angle, and the sum of the fifth weight and the sixth weight is 1.

[0172] If the first observer confidence state and the second observer confidence state do not meet the eighth target condition, then according to the specific judgment situation, one of the preset safety angle, the first observer angle and the second observer angle is determined as the target rotor angle, wherein the angle confidence state corresponding to the preset safety angle is an untrustworthy state, and the angle confidence states corresponding to the first observer angle and the second observer angle are both credible states. Specifically, if only the first observer confidence state is a credible state, the first observer angle is determined as the target rotor angle. If only the second observer confidence state is a credible state, the second observer angle is determined as the target rotor speed. If it is not satisfied that the first observer confidence state is a credible state, and it is not satisfied that the second observer confidence state is a credible state, the preset safety angle is determined as the target rotor angle.

[0173] In a possible implementation manner, the detector includes a rotor position sensor and an external sensor, and the original signal confidence state includes a rotor position sensor confidence state and an external sensor confidence state.

[0174] According to at least one of the original rotor speed and the original signal confidence state, a target rotor speed and a speed confidence state are obtained, including:

[0175] When the rotor position sensor confidence state and the external sensor confidence state are both in an untrustworthy state, a preset safe rotational speed is determined as the target rotor rotational speed, and the rotational speed confidence state is determined to be in an untrustworthy state.

[0176] In this embodiment, the detector includes a rotor position sensor and an external sensor. When the rotor position sensor confidence state and the external sensor confidence state are both in an untrusted state, it is determined that there is no accurate rotation speed. The preset safety rotation speed can be determined as the target rotor rotation speed, and the rotation speed confidence state is determined to be an untrusted state.

[0177] In a possible implementation manner, the original rotor angle includes a rotor position sensor angle and an external sensor angle.

[0178] According to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, the target rotor angle and the angle confidence state are obtained, including:

[0179] When the rotor position sensor confidence state and the external sensor confidence state are both in an untrusted state, a preset safety angle is determined as a target rotor angle, and the angle confidence state is determined to be in an untrusted state.

[0180] In this embodiment, when the rotor position sensor confidence state and the external sensor confidence state are both in untrusted states, it is determined that there is no accurate angle, the preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be in an untrusted state.

[0181] Figure 5 is a block diagram of a device for determining electric drive rotor parameters according to an exemplary embodiment. Figure 5 The electric drive rotor parameter determination device 500 includes an acquisition module 501, a first acquisition module 502 and a second acquisition module 503.

[0182] An acquisition module 501 is configured to acquire original rotor parameters detected by at least one detector and an original signal confidence state corresponding to the at least one detector, wherein the original rotor parameters include an original rotor speed and an original rotor angle;

[0183] A first obtaining module 502 is configured to obtain a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state;

[0184] The second obtaining module 503 is configured to obtain a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

[0185] Optionally, the detector includes a rotor position sensor, the original signal confidence state includes a rotor position sensor confidence state, and the original rotor speed includes a rotor position sensor speed;

[0186] The first obtaining module 502 includes:

[0187] The first obtaining submodule is configured to determine the rotor position sensor speed as the target rotor speed and determine that the speed confidence state is a credible state when the rotor position sensor confidence state is a credible state and the rotor position sensor speed is less than a first speed threshold.

[0188] Optionally, the original rotor angle includes a rotor position sensor angle;

[0189] The second obtaining module 503 includes:

[0190] The second obtaining submodule is configured to determine the rotor position sensor angle as the target rotor angle and determine that the angle confidence state is a credible state when the rotor position sensor confidence state is a credible state and the target rotor speed is less than the first speed threshold.

[0191] Optionally, the detector includes a rotor position sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state and a first observer confidence state, and the original rotor speed includes a rotor position sensor speed and a first observer speed;

[0192] The first obtaining module 502 includes:

[0193] a third obtaining submodule, configured to, when the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed meet a first target condition, determine the first observer speed as the target rotor speed, and determine that the speed confidence state is a credible state;

[0194] The fourth acquisition submodule is configured to determine the rotor position sensor speed as the target rotor speed and determine that the speed confidence state is a credible state when the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed and the rotor position sensor speed do not meet the first target condition.

[0195] Optionally, the original rotor angle includes a rotor position sensor angle and a first observer angle;

[0196] The second obtaining module 503 includes:

[0197] a fifth obtaining submodule, configured to, when the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle, and the rotor position sensor angle meet a second target condition, determine the first observer angle as the target rotor angle, and determine that the angle confidence state is a credible state;

[0198] The sixth acquisition submodule is configured to determine the rotor position sensor angle as the target rotor angle and determine the angle confidence state as a credible state when the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle and the rotor position sensor angle do not meet the second target condition.

[0199] Optionally, the detector includes a rotor position sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes a rotor position sensor speed, a first observer speed and a second observer speed;

[0200] The first obtaining module 502 includes:

[0201] a seventh obtaining submodule, configured to, when the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the rotor position sensor speed meet a third target condition, perform weighted summation on the first observer speed and the second observer speed to obtain the target rotor speed, and determine that the speed confidence state is a credible state;

[0202] an eighth obtaining submodule, configured to, when the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the rotor position sensor speed do not meet a third target condition, determine one of the rotor position sensor speed, the first observer speed and the second observer speed as the target rotor speed, and determine that the speed confidence state is a credible state.

[0203] Optionally, the original rotor angle includes a rotor position sensor angle, a first observer angle, and a second observer angle;

[0204] The second obtaining module 503 includes:

[0205] a ninth obtaining submodule, configured to, when the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle meet a fourth target condition, perform weighted summation on the first observer angle and the second observer angle to obtain the target rotor angle, and determine that the angle confidence state is a credible state;

[0206] a tenth obtaining submodule, configured to determine one of the rotor position sensor angle, the first observer angle, and the second observer angle as the target rotor angle, and determine that the angle confidence state is a credible state when the rotor position sensor confidence state is a credible state, the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle do not satisfy a fourth target condition.

[0207] Optionally, the detector includes a rotor position sensor, an external sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a first observer confidence state, and the original rotor speed includes an external sensor speed and a first observer speed;

[0208] The first obtaining module 502 includes:

[0209] an eleventh obtaining submodule, configured to, when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed meet a fifth target condition, determine the first observer speed as the target rotor speed, and determine that the speed confidence state is a trusted state;

[0210] The twelfth obtaining submodule is configured to determine the external sensor speed as the target rotor speed and determine the speed confidence state as a credible state when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a credible state, the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed and the external sensor speed do not meet a fifth target condition.

[0211] Optionally, the original rotor angle comprises a first observer angle;

[0212] The second obtaining module 503 includes:

[0213] A thirteenth obtaining submodule is configured to, when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the first observer confidence state are both in a trusted state, and the target rotor speed is greater than the third speed threshold, determine the first observer angle as the target rotor angle, and determine that the angle confidence state is a trusted state;

[0214] The fourteenth acquisition submodule is configured to determine a preset safety angle as the target rotor angle and determine that the angle confidence state is an untrustworthy state when the rotor position sensor confidence state is an untrustworthy state, the external sensor confidence state is a trusted state, the target rotor speed is greater than a third speed threshold, and the first observer confidence state is an untrustworthy state.

[0215] Optionally, the detector includes a rotor position sensor, an external sensor and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed and a second observer speed;

[0216] The first obtaining module 502 includes:

[0217] a fifteenth obtaining submodule, configured to, when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed meet a sixth target condition, determine the second observer speed as the target rotor speed, and determine that the speed confidence state is a trusted state;

[0218] The sixteenth acquisition submodule is configured to determine the external sensor speed as the target rotor speed and determine the speed confidence state as a credible state when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a credible state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed and the external sensor speed do not meet a sixth target condition.

[0219] Optionally, the original rotor angle includes a second observer angle;

[0220] The second obtaining module 503 includes:

[0221] A seventeenth obtaining submodule is configured to, when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the second observer confidence state are both in a trusted state, and the target rotor speed is less than the fourth speed threshold, determine the second observer angle as the target rotor angle, and determine that the angle confidence state is a trusted state;

[0222] The eighteenth acquisition submodule is configured to determine a preset safety angle as the target rotor angle and determine that the angle confidence state is an untrustworthy state when the rotor position sensor confidence state is an untrustworthy state, the external sensor confidence state is a trusted state, the target rotor speed is less than a fourth speed threshold, and the second observer confidence state is an untrustworthy state.

[0223] Optionally, the detector includes a rotor position sensor, an external sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed, a first observer speed and a second observer speed;

[0224] The first obtaining module 502 includes:

[0225] a nineteenth obtaining submodule configured to, when the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed meet a seventh target condition, perform weighted summation on the first observer speed and the second observer speed to obtain the target rotor speed, and determine that the speed confidence state is a trusted state;

[0226] The twentieth obtaining submodule is configured to determine one of the external sensor speed, the first observer speed and the second observer speed as the target rotor speed, and determine that the speed confidence state is a credible state when the rotor position sensor confidence state is an untrustworthy state, the external sensor confidence state is a credible state, the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed and the external sensor speed do not meet a seventh target condition.

[0227] Optionally, the original rotor angle includes a first observer angle and a second observer angle;

[0228] The second obtaining module 503 includes:

[0229] a twenty-first obtaining submodule, configured to, when the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state satisfy an eighth target condition, perform weighted summation on the first observer angle and the second observer angle to obtain the target rotor angle, and determine that the angle confidence state is a trusted state;

[0230] The twenty-second acquisition submodule is configured to determine one of a preset safety angle, the first observer angle, and the second observer angle as the target rotor angle when the rotor position sensor confidence state is an untrustworthy state, the speed confidence state is a credible state, the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state do not meet the eighth target condition, wherein the angle confidence state corresponding to the preset safety angle is an untrustworthy state, and the angle confidence state corresponding to the first observer angle and the second observer angle is a credible state.

[0231] Optionally, the detector includes a rotor position sensor and an external sensor, and the original signal confidence state includes a rotor position sensor confidence state and an external sensor confidence state;

[0232] The first obtaining module 502 includes:

[0233] The twenty-third acquisition submodule is configured to determine the preset safety speed as the target rotor speed and determine that the speed confidence state is an untrustworthy state when both the rotor position sensor confidence state and the external sensor confidence state are in an untrustworthy state.

[0234] Optionally, the original rotor angle includes a rotor position sensor angle and an external sensor angle;

[0235] The second obtaining module 503 includes:

[0236] The twenty-fourth obtaining submodule is configured to determine a preset safety angle as the target rotor angle and determine that the angle confidence state is an untrustworthy state when both the rotor position sensor confidence state and the external sensor confidence state are in an untrustworthy state.

[0237] Regarding the electric drive rotor parameter determination device 500 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.

[0238] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the method for determining parameters of an electric drive rotor provided in the present disclosure are implemented.

[0239] Figure 6 6 is a block diagram of an electronic device according to an exemplary embodiment. For example, the electronic device 600 may be an electric drive control system, a controller or a multi-signal source position analysis system.

[0240] Reference Figure 6 , the electronic device 600 may include one or more of the following components: a first processing component 602 , a first memory 604 , a first power component 606 , a multimedia component 608 , an audio component 610 , a first input / output interface 612 , a sensor component 614 , and a communication component 616 .

[0241] The first processing component 602 generally controls the overall operation of the electronic device 600, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The first processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the above-mentioned electric drive rotor parameter determination method. In addition, the first processing component 602 may include one or more modules to facilitate the interaction between the first processing component 602 and other components. For example, the first processing component 602 may include a multimedia module to facilitate the interaction between the multimedia component 608 and the first processing component 602.

[0242] The first memory 604 is configured to store various types of data to support operations on the electronic device 600. Examples of such data include instructions for any application or method operating on the electronic device 600, contact data, phone book data, messages, pictures, videos, etc. The first memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0243] The first power source component 606 provides power to various components of the electronic device 600. The first power source component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 600.

[0244] The multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0245] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC), and when the electronic device 600 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the first memory 604 or sent via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0246] The first input / output interface 612 provides an interface between the first processing component 602 and a peripheral interface module, which may be a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0247] The sensor assembly 614 includes one or more sensors for providing various aspects of status assessment for the electronic device 600. For example, the sensor assembly 614 can detect the open / closed state of the electronic device 600, the relative positioning of the components, such as the display and keypad of the electronic device 600, and the sensor assembly 614 can also detect the position change of the electronic device 600 or a component of the electronic device 600, the presence or absence of contact between the user and the electronic device 600, the orientation or acceleration / deceleration of the electronic device 600, and the temperature change of the electronic device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 614 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0248] The communication component 616 is configured to facilitate wired or wireless communication between the electronic device 600 and other devices. The electronic device 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0249] In an exemplary embodiment, the electronic device 600 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned electric drive rotor parameter determination method.

[0250] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a first memory 604 including instructions, and the instructions can be executed by a processor 620 of an electronic device 600 to complete the above-mentioned electric drive rotor parameter determination method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0251] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned electric drive rotor parameter determination method when executed by the programmable device.

[0252] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0253] In the above detailed description, terms such as "center", "upper", "lower", "left", "right", etc. indicate directions or represent positional relationships. Since the components of the described device can be positioned in a plurality of different orientations, the directional terms can be used for illustrative purposes rather than limiting. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be viewed in a limiting sense.

[0254] It should be understood that the features of some embodiments of the various present disclosures described herein may be combined with each other, unless specifically stated otherwise.

[0255] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0256] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0257] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although the specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0258] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0259] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining electric drive rotor parameters, characterized in that: include: Acquire original rotor parameters detected by at least one detector and an original signal confidence state corresponding to the at least one detector, wherein the original rotor parameters include an original rotor speed and an original rotor angle; Obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state; A target rotor angle and an angle confidence state are obtained according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

2. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor, the raw signal confidence state includes a rotor position sensor confidence state, and the raw rotor speed includes a rotor position sensor speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is a credible state and the rotor position sensor rotational speed is less than a first rotational speed threshold, the rotor position sensor rotational speed is determined as the target rotor rotational speed, and the rotational speed confidence state is determined to be a credible state.

3. The method for determining electric drive rotor parameters according to claim 2, characterized in that: The original rotor angle includes a rotor position sensor angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is a credible state and the target rotor speed is less than the first speed threshold, the rotor position sensor angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

4. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state and a first observer confidence state, and the original rotor speed includes a rotor position sensor speed and a first observer speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed meet a first target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state; When the rotor position sensor confidence state is a credible state, the rotor position sensor speed is greater than a second speed threshold, and the first observer confidence state, the first observer speed, and the rotor position sensor speed do not meet the first target condition, the rotor position sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

5. The method for determining electric drive rotor parameters according to claim 4, characterized in that: The original rotor angle includes a rotor position sensor angle and a first observer angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is a credible state, the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle, and the rotor position sensor angle meet a second target condition, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state; When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than the second speed threshold, and the first observer confidence state, the first observer angle and the rotor position sensor angle do not meet the second target condition, the rotor position sensor angle is determined to be the target rotor angle, and the angle confidence state is determined to be a credible state.

6. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes a rotor position sensor speed, a first observer speed and a second observer speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the rotor position sensor speed meet a third target condition, weighted summing the first observer speed and the second observer speed is performed to obtain the target rotor speed, and determining that the speed confidence state is a credible state; When the rotor position sensor confidence state is a credible state, and the rotor position sensor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the rotor position sensor speed do not meet a third target condition, one of the rotor position sensor speed, the first observer speed, and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a credible state.

7. The method for determining electric drive rotor parameters according to claim 6, characterized in that: The original rotor angle includes a rotor position sensor angle, a first observer angle and a second observer angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle meet a fourth target condition, weighted summing the first observer angle and the second observer angle is performed to obtain the target rotor angle, and determining that the angle confidence state is a credible state; When the rotor position sensor confidence state is a credible state, and the target rotor speed is greater than or equal to a first speed threshold and less than or equal to a second speed threshold, and the first observer confidence state, the second observer confidence state, the first observer angle, the second observer angle, and the rotor position sensor angle do not meet a fourth target condition, one of the rotor position sensor angle, the first observer angle, and the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a credible state.

8. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor, an external sensor and a first observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a first observer confidence state, and the original rotor speed includes an external sensor speed and a first observer speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed meet a fifth target condition, the first observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state; When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is greater than a third speed threshold, and the first observer confidence state, the first observer speed, and the external sensor speed do not meet a fifth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

9. The method for determining electric drive rotor parameters according to claim 8, characterized in that: The raw rotor angle includes a first observer angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the first observer confidence state are both trusted states, and the target rotor speed is greater than the third speed threshold, the first observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state; When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is greater than a third speed threshold, and the first observer confidence state is an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

10. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor, an external sensor and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed and a second observer speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed meet a sixth target condition, the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state; When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, and the external sensor speed is less than a fourth speed threshold, and the second observer confidence state, the second observer speed, and the external sensor speed do not meet a sixth target condition, the external sensor speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

11. The method for determining electric drive rotor parameters according to claim 10, characterized in that: The raw rotor angle includes a second observer angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state and the second observer confidence state are both trusted states, and the target rotor speed is less than the fourth speed threshold, the second observer angle is determined as the target rotor angle, and the angle confidence state is determined to be a trusted state; When the rotor position sensor confidence state is an untrusted state, the external sensor confidence state is a trusted state, the target rotor speed is less than a fourth speed threshold, and the second observer confidence state is an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be an untrusted state.

12. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor, an external sensor, a first observer and a second observer, the original signal confidence state includes a rotor position sensor confidence state, an external sensor confidence state, a first observer confidence state and a second observer confidence state, and the original rotor speed includes an external sensor speed, a first observer speed and a second observer speed; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed meet a seventh target condition, weighted summing the first observer speed and the second observer speed to obtain the target rotor speed, and determining that the speed confidence state is a trusted state; When the rotor position sensor confidence state is an untrusted state, and the external sensor confidence state is a trusted state, and the external sensor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state, the second observer confidence state, the first observer speed, the second observer speed, and the external sensor speed do not satisfy a seventh target condition, one of the external sensor speed, the first observer speed, and the second observer speed is determined as the target rotor speed, and the speed confidence state is determined to be a trusted state.

13. The method for determining electric drive rotor parameters according to claim 12, characterized in that: The original rotor angle includes a first observer angle and a second observer angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, and the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state satisfy an eighth target condition, weighted summing the first observer angle and the second observer angle is performed to obtain the target rotor angle, and determining that the angle confidence state is a trusted state; When the rotor position sensor confidence state is an untrusted state, the speed confidence state is a trusted state, the target rotor speed is greater than or equal to a fourth speed threshold and less than or equal to a third speed threshold, and the first observer confidence state and the second observer confidence state do not meet the eighth target condition, one of a preset safety angle, the first observer angle and the second observer angle is determined as the target rotor angle, wherein the angle confidence state corresponding to the preset safety angle is an untrusted state, and the angle confidence state corresponding to the first observer angle and the second observer angle is a trusted state.

14. The method for determining electric drive rotor parameters according to claim 1, characterized in that: The detector includes a rotor position sensor and an external sensor, and the original signal confidence state includes a rotor position sensor confidence state and an external sensor confidence state; The step of obtaining a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state comprises: In a case where both the rotor position sensor confidence state and the external sensor confidence state are in an untrustworthy state, a preset safe rotational speed is determined as the target rotor rotational speed, and the rotational speed confidence state is determined to be in an untrustworthy state.

15. The method for determining electric drive rotor parameters according to claim 14, characterized in that: The original rotor angle includes a rotor position sensor angle and an external sensor angle; The step of obtaining a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state, comprises: In a case where both the rotor position sensor confidence state and the external sensor confidence state are in an untrusted state, a preset safety angle is determined as the target rotor angle, and the angle confidence state is determined to be in an untrusted state.

16. An electric drive rotor parameter determination device, characterized in that: include: an acquisition module, configured to acquire original rotor parameters detected by at least one detector and an original signal confidence state corresponding to the at least one detector, wherein the original rotor parameters include an original rotor speed and an original rotor angle; A first obtaining module is configured to obtain a target rotor speed and a speed confidence state according to at least one of the original rotor speed and the original signal confidence state; The second acquisition module is configured to obtain a target rotor angle and an angle confidence state according to at least one of the original rotor angle, the speed confidence state and the target rotor speed, and the original signal confidence state.

17. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the method for determining electric drive rotor parameters as described in any one of claims 1 to 15 when executed.

18. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the method for determining electric drive rotor parameters described in any one of claims 1 to 15 are implemented.

19. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the steps of the method for determining electric drive rotor parameters as described in any one of claims 1 to 15.

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