Rotary transformer signal control method and device, equipment and storage medium

Abstract

The invention relates to a rotary transformer signal control method and device, equipment and a storage medium. The method comprises the following steps: acquiring a sine signal and a cosine signal of a rotary transformer signal; obtaining a sinusoidal signal null drift according to the sinusoidal signal; obtaining a cosine signal null drift according to the cosine signal; controlling the sinusoidal signal according to the sinusoidal signal null drift; and / or controlling the cosine signal according to the cosine signal null drift. According to the scheme, the large and small waves of the resolver signal can be effectively improved, the qualified rate of the large and small waves of the resolver signal is increased, and the abnormal NVH problem such as shaking when the whole vehicle is at a low speed can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a resolver signal control method, device, equipment and storage medium. Background Art

[0002] The resolver is a position and speed sensing element that has unparalleled reliability and sufficiently high accuracy in high temperature, severe cold, humidity, high speed, high vibration and other environments. Therefore, it has an irreplaceable position in many occasions.

[0003] The resolver is a component that converts the rotor angle position signal into an electrical signal that is in a sine and cosine function relationship with the rotor angle, and then calculates the rotor's angular displacement and angular velocity through the decoding circuit of the IPU (Integrated Power Unit, motor controller).

[0004] The resolver is divided into a rotor and a stator. The rotor is petal-shaped. The resolver stator has multiple slots and teeth separating each adjacent slot. The excitation winding and the sine-cosine output winding are wound on the teeth. When the resolver rotor rotates with the motor shaft, the sine-cosine winding on the resolver stator outputs a set of sine-cosine signal curves. The position and speed information of the rotor can be analyzed based on this set of sine-cosine signal curves.

[0005] The supplier's factory parameters or electric drive products define the set signal range (large and small wave thresholds) of the resolver signal. However, during the vehicle testing of related technologies, even if the resolver signal is controlled within the set signal range, abnormal jitter may still occur at low speeds, leading to abnormal failure of the vehicle. Summary of the invention

[0006] In order to solve or partially solve the problems existing in the related technology, the present application provides a resolver signal control method, device, equipment and storage medium, which can effectively improve the large and small waves of the resolver signal, improve the qualified rate of the large and small waves of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0007] A first aspect of the present application provides a resolver signal control method, the method comprising: Obtain the sine signal and cosine signal of the resolver signal; Acquire a sinusoidal signal zero drift according to the sinusoidal signal; Acquire a cosine signal zero drift according to the cosine signal; Controlling the sinusoidal signal according to the sinusoidal signal zero drift; and / or, The cosine signal is controlled according to the cosine signal zero drift.

[0008] Preferably, obtaining the sinusoidal signal zero drift according to the sinusoidal signal comprises: calculating the sinusoidal signal zero drift according to the positive maximum value and the negative maximum value of the sinusoidal signal; The acquiring the cosine signal zero drift according to the cosine signal includes: calculating the cosine signal zero drift according to a positive maximum value and a negative maximum value of the cosine signal.

[0009] Preferably, controlling the sinusoidal signal according to the sinusoidal signal zero drift includes: controlling the difference between the absolute value of the positive maximum value of the sinusoidal signal and the absolute value of the negative maximum value of the sinusoidal signal to be less than or equal to a set threshold value according to the sinusoidal signal zero drift; The controlling the cosine signal according to the cosine signal zero drift includes: according to the cosine signal zero drift, controlling the difference between the absolute value of the positive maximum value of the cosine signal and the absolute value of the negative maximum value of the cosine signal to be less than or equal to a set threshold.

[0010] Preferably, the step of acquiring the sine signal and the cosine signal of the resolver signal comprises: Continuously collect sine and cosine signals of N mechanical cycles; Selecting n maximum values ​​of sine signals, n minimum values ​​of sine signals, n maximum values ​​of cosine signals, and n minimum values ​​of cosine signals under M poles in each mechanical cycle of the N mechanical cycles; Calculate the maximum average value of the sine signal corresponding to the maximum values ​​of the n sine signals, the minimum average value of the sine signal corresponding to the minimum values ​​of the n sine signals, the maximum average value of the cosine signal corresponding to the maximum values ​​of the n cosine signals, and the minimum average value of the cosine signal corresponding to the minimum values ​​of the n cosine signals; A sine signal of the resolver signal is generated according to the maximum average value of the sine signal and the minimum average value of the sine signal; and a cosine signal of the resolver signal is generated according to the maximum average value of the cosine signal and the minimum average value of the cosine signal.

[0011] Preferably, the method further comprises: According to a set sinusoidal signal threshold of the sinusoidal signal, the sinusoidal signal after zero drift control according to the sinusoidal signal is controlled; and / or, According to the set cosine signal threshold of the cosine signal, the cosine signal after the cosine signal zero drift control is controlled.

[0012] A second aspect of the present application provides a resolver signal control device, the device comprising: A signal acquisition module, used to acquire the sine signal and cosine signal of the resolver signal; a zero drift calculation module, used for obtaining a sine signal zero drift according to the sine signal obtained by the signal acquisition module, and obtaining a cosine signal zero drift according to the cosine signal obtained by the signal acquisition module; The first control module is used to control the sine signal obtained by the signal acquisition module according to the sine signal zero drift obtained by the zero drift calculation module; and / or control the cosine signal obtained by the signal acquisition module according to the cosine signal zero drift obtained by the zero drift calculation module.

[0013] Preferably, the zero drift calculation module is further used to calculate the zero drift of the sine signal according to the positive maximum value and the negative maximum value of the sine signal; and to calculate the zero drift of the cosine signal according to the positive maximum value and the negative maximum value of the cosine signal.

[0014] Preferably, the device further comprises: A second control module is configured to control the sinusoidal signal after the sinusoidal signal zero drift control by the first control module according to a set sinusoidal signal threshold of the sinusoidal signal; and / or, According to the set cosine signal threshold of the cosine signal, the first control module controls the cosine signal after the cosine signal zero drift control.

[0015] A third aspect of the present application provides an electronic device, including: Processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0016] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0017] The technical solution provided by this application may have the following beneficial effects: The technical solution of the present application obtains a sine signal zero drift according to a sine signal; obtains a cosine signal zero drift according to a cosine signal; controls the sine signal by controlling the sine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the sine signal curve relative to the coordinate axis reaches a set symmetry degree; controls the cosine signal by controlling the cosine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree, and reduces the size wave of the resolver, which can effectively improve the size wave of the resolver signal, improve the qualified rate of the size wave of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0020] Figure 1 is a flow chart of a resolver signal control method shown in an embodiment of the present application; Figure 2 is a flow chart of a resolver signal control method according to another embodiment of the present application; Figure 3 is a schematic diagram of a mechanical period sinusoidal signal curve of a resolver signal control method shown in an embodiment of the present application; Figure 4 is a schematic diagram of a sinusoidal signal curve when the resolver signal control method shown in the embodiment of the present application is not used to control the sinusoidal signal zero drift; Figure 5 It is a schematic diagram of a sine signal curve and a cosine signal curve for controlling a sine signal zero drift and a cosine signal zero drift using a resolver signal control method shown in an embodiment of the present application; Figure 6 is a schematic structural diagram of a resolver signal control device shown in an embodiment of the present application; Figure 7 is another structural schematic diagram of a resolver signal control device shown in another embodiment of the present application; Figure 8 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0022] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0023] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0024] The embodiment of the present application provides a resolver signal control method, which can effectively improve the large and small waves of the resolver signal, improve the qualified rate of the large and small waves of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0025] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0026] Figure 1 It is a flow chart of the resolver signal control method shown in the embodiment of the present application.

[0027] See also Figure 1 , a resolver signal control method, comprising: Step 101, obtaining a sine signal and a cosine signal of a resolver signal.

[0028] In one embodiment, the resolver sensor is installed on the motor. When the motor rotates, a resolver signal of the resolver sensor can be obtained. The resolver signal includes a sine signal and a cosine signal.

[0029] Step 102, obtaining a sine signal zero drift according to the sine signal; obtaining a cosine signal zero drift according to the cosine signal.

[0030] In one embodiment, the sinusoidal signal can be plotted on a set coordinate axis to obtain a sinusoidal signal curve; and the sinusoidal signal zero drift of the sinusoidal signal can be obtained according to the asymmetry between the positive peak and the negative peak of the sinusoidal signal curve relative to the coordinate axis.

[0031] In one embodiment, the cosine signal can be plotted on a set coordinate axis to obtain a cosine signal curve; and the cosine signal zero drift of the cosine signal can be obtained according to the asymmetry between the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis.

[0032] Step 103, controlling the sine signal according to the zero drift of the sine signal; and / or controlling the cosine signal according to the zero drift of the cosine signal.

[0033] In one embodiment, the magnitude of the sinusoidal signal zero drift can be adjusted according to the sinusoidal signal zero drift, and the sinusoidal signal can be controlled so that the symmetry between the positive peak and the negative peak of the sinusoidal signal curve relative to the coordinate axis reaches a set symmetry degree.

[0034] In one embodiment, the magnitude of the cosine signal zero drift can be adjusted according to the cosine signal zero drift, and the cosine signal can be controlled so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree.

[0035] The resolver signal control method of the embodiment of the present application obtains a sine signal zero drift according to a sine signal; obtains a cosine signal zero drift according to a cosine signal; controls the sine signal by controlling the sine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the sine signal curve relative to the coordinate axis reaches a set symmetry degree; controls the cosine signal by controlling the cosine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree, and reduces the resolver size wave, which can effectively improve the size wave of the resolver signal, improve the qualified rate of the size wave of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0036] Figure 2 It is a flow chart of a resolver signal control method shown in another embodiment of the present application. Figure 2 Relative to Figure 1 The scheme of the present application is described in more detail.

[0037] See also Figure 2 , a resolver signal control method, comprising: Step 201, obtaining a sine signal and a cosine signal of a resolver signal.

[0038] In one embodiment, the stator of the resolver sensor is fixed on the motor housing and installed coaxially with the rotor. The resolver sensor includes an excitation coil, a cosine coil, and a sine coil. The excitation coil is wound at the bottom, the cosine coil is in the middle, and the sine coil is at the top. The number of windings of the excitation coil is equal for each tooth, and the windings are in a positive and negative staggered order. The number of windings of the cosine coil and the sine coil is wound in a positive and negative staggered order according to a set number (the number of each tooth is different).

[0039] In one embodiment, the resolver excitation signal refers to an AC signal generated by the motor controller and applied to the excitation coil of the resolver sensor (a position sensor commonly used in motor control), usually an AC current of a constant frequency. The function of the resolver is to accurately measure the position, speed and rotation direction of the motor rotor, and transmit the signal representing the position, speed and rotation direction of the motor rotor to the motor controller.

[0040] In one embodiment, the signal characterizing the position, speed and rotation direction of the motor rotor is the resolver signal of the resolver sensor, including a sine signal and a cosine signal. The sine signal and cosine signal of N mechanical cycles can be continuously collected; the n sine signal maximum values, n sine signal minimum values, n cosine signal maximum values, and n cosine signal minimum values ​​under M poles of each mechanical cycle in the N mechanical cycles are selected; the maximum average value of the sine signal corresponding to the n sine signal maximum values, the minimum average value of the sine signal corresponding to the n sine signal minimum values, the maximum average value of the cosine signal corresponding to the n cosine signal maximum values, and the minimum average value of the cosine signal corresponding to the n cosine signal minimum values ​​are calculated respectively; the sine signal of the resolver signal is generated according to the maximum average value of the sine signal and the minimum average value of the sine signal; the cosine signal of the resolver signal is generated according to the maximum average value of the cosine signal and the minimum average value of the cosine signal.

[0041] In one embodiment, in FOC (Field Oriented Control), the Sin signal (sine signal) and Cos signal (cosine signal) of N mechanical cycles of the motor are continuously collected, and the maximum value of the Sin signal, the minimum value of the Sin signal, the maximum value of the Cos signal, and the minimum value of the Cos signal under M poles in each mechanical cycle of the N mechanical cycles are selected to obtain n maximum values ​​of the Sin signal, n minimum values ​​of the Sin signal, n maximum values ​​of the Cos signal, and n minimum values ​​of the Cos signal; the maximum value among the n maximum values ​​of the Sin signal, the minimum value among the n minimum values ​​of the Sin signal, the maximum value among the n maximum values ​​of the Cos signal, and the minimum value among the n minimum values ​​of the Cos signal are removed; the maximum average value of the Sin signal corresponding to the n maximum values ​​of the Sin signal under each pole, the minimum average value of the Sin signal corresponding to the n minimum values ​​of the Sin signal, the maximum average value of the Cos signal corresponding to the n maximum values ​​of the Cos signal, and the n minimum values ​​of the Cos signal are calculated respectively. The minimum average value of the Cos signal corresponding to the minimum value of the Cos signal is obtained, and the Sin signal of the resolver signal is generated according to the maximum average value of the Sin signal and the minimum average value of the Sin signal; the Cos signal of the resolver signal is generated according to the maximum average value of the Cos signal and the minimum average value of the Cos signal.

[0042] Step 202, obtaining a sine signal zero drift according to a sine signal of the resolver signal; obtaining a cosine signal zero drift according to a cosine signal of the resolver signal.

[0043] In one embodiment, the zero drift of the sine signal may be calculated according to the positive maximum value and the negative maximum value of the sine signal; and the zero drift of the cosine signal may be calculated according to the positive maximum value and the negative maximum value of the cosine signal.

[0044] In one embodiment, the sine signal can be plotted on a set coordinate axis according to the sine signal to obtain a sine signal curve; and the sine signal zero drift of the sine signal can be obtained according to the positive maximum value of the positive peak and the negative maximum value of the negative peak of the sine signal curve. The sine signal zero drift indicates the degree of asymmetry between the positive peak and the negative peak of the sine signal relative to the coordinate axis (the absolute value of the positive maximum value is not equal to the absolute value of the negative maximum value), and the sine signal zero drift can be calculated according to the sum of the positive maximum value and the negative maximum value of the sine signal.

[0045] In one embodiment, the cosine signal can be plotted on a set coordinate axis according to the cosine signal to obtain a cosine signal curve; and the cosine signal zero drift of the cosine signal can be obtained according to the positive maximum value of the positive peak and the negative maximum value of the negative peak of the cosine signal curve. The cosine signal zero drift indicates the degree of asymmetry between the positive peak and the negative peak of the cosine signal relative to the coordinate axis (the absolute value of the positive maximum value is not equal to the absolute value of the negative maximum value), and the cosine signal zero drift can be calculated according to the sum of the positive maximum value and the negative maximum value of the cosine signal.

[0046] Figure 3 It is a schematic diagram of a mechanical periodic sinusoidal signal curve of the resolver signal control method shown in an embodiment of the present application.

[0047] like Figure 3 As shown, the Sin signal of one mechanical cycle can be normalized, and a normalized Sin signal of one mechanical cycle is plotted as a Sin signal curve 301 , where the curve 3011 in the upper half of the x-axis of the Sin signal curve 301 is a positive peak, and the curve 3012 in the lower half of the x-axis is a negative peak.

[0048] Assume that the curve 3011 in the upper half of the x-axis is asymmetrical with the curve 3012 in the lower half of the x-axis, the peak value (positive maximum value) of the curve 3011 is 1, and the peak value (negative maximum value) of the curve 3012 is -1.2, then the sinusoidal signal zero drift of the Sin signal is [1+(-1.2)]÷2=-0.1.

[0049] In one embodiment, the “-” of the sinusoidal signal zero drift indicates that the absolute value of the negative maximum value of the sinusoidal signal is greater than the absolute value of the positive maximum value; the “+” of the sinusoidal signal zero drift indicates that the absolute value of the positive maximum value of the sinusoidal signal is greater than the absolute value of the negative maximum value.

[0050] In one embodiment, the “-” of the cosine signal zero drift indicates that the absolute value of the negative maximum value of the cosine signal is greater than the absolute value of the positive maximum value; the “+” of the cosine signal zero drift indicates that the absolute value of the positive maximum value of the cosine signal is greater than the absolute value of the negative maximum value.

[0051] Step 203, controlling the sine signal of the resolver signal according to the zero drift of the sine signal; and controlling the cosine signal of the resolver signal according to the zero drift of the cosine signal.

[0052] In one embodiment, the difference between the absolute value of the positive maximum value of the sine signal and the absolute value of the negative maximum value of the sine signal can be controlled to be less than or equal to a set threshold value based on the zero drift of the sine signal; the difference between the absolute value of the positive maximum value of the cosine signal and the absolute value of the negative maximum value of the cosine signal can be controlled to be less than or equal to a set threshold value based on the zero drift of the cosine signal.

[0053] In one embodiment, the sinusoidal signal of the resolver signal can be controlled by controlling the zero drift of the sinusoidal signal, that is, the size of the zero drift of the sinusoidal signal can be adjusted, so that within a complete mechanical cycle of the sinusoidal signal, the absolute value of the positive maximum value of the sinusoidal signal is equal to or tends to be equal to the absolute value of the negative maximum value of the sinusoidal signal, so that the positive peak and the negative peak of the sinusoidal signal curve are symmetrical with respect to the coordinate axis, or the degree of symmetry between the positive peak and the negative peak of the sinusoidal signal curve with respect to the coordinate axis reaches a set degree of symmetry.

[0054] The present application may adopt relevant technologies to control the zero drift of the sinusoidal signal so as to effectively control the size of the sinusoidal signal of the resolver signal, and the present application is not limited to this.

[0055] In one embodiment, when the zero drift of the sinusoidal signal is "-" (negative number), the negative maximum value of the sinusoidal signal can be increased (the absolute value of the negative maximum value is reduced) so that the negative peak and the positive peak of the sinusoidal signal are symmetrical. When the zero drift of the sinusoidal signal is "+" (positive number), the positive maximum value of the sinusoidal signal can be reduced (the absolute value of the positive maximum value is reduced) so that the negative peak and the positive peak of the sinusoidal signal are symmetrical.

[0056] In one embodiment, the cosine signal of the resolver signal can be controlled by controlling the cosine signal zero drift, that is, the size of the cosine signal zero drift can be adjusted, so that within a complete mechanical cycle of the cosine signal, the absolute value of the positive maximum value of the cosine signal is equal to or tends to be equal to the absolute value of the negative maximum value of the cosine signal, so that the positive peak and the negative peak of the cosine signal curve are symmetrical with respect to the coordinate axis, or the degree of symmetry between the positive peak and the negative peak of the cosine signal curve with respect to the coordinate axis reaches a set degree of symmetry.

[0057] The present application may adopt relevant technologies to control the zero drift of the cosine signal so as to effectively control the size of the cosine signal of the resolver signal, and the present application is not limited to this.

[0058] In one embodiment, when the zero drift of the cosine signal is "-" (negative number), the negative maximum value of the cosine signal can be increased (the absolute value of the negative maximum value is reduced) to make the negative peak of the cosine signal symmetrical with the positive peak. When the zero drift of the cosine signal is "+" (positive number), the positive maximum value of the cosine signal can be reduced (the absolute value of the positive maximum value is reduced) to make the negative peak of the cosine signal symmetrical with the positive peak.

[0059] Figure 4 is a schematic diagram of a sinusoidal signal curve when the resolver signal control method shown in the embodiment of the present application is not used to control the sinusoidal signal zero drift; Figure 5 It is a schematic diagram of a sine signal curve and a cosine signal curve for controlling a sine signal zero drift and a cosine signal zero drift using the resolver signal control method shown in an embodiment of the present application.

[0060] like Figure 4 and Figure 5 As shown, Figure 4 The positive peak and negative peak of the sine signal curve 401 are asymmetric. After the sine signal is controlled by controlling the zero drift of the sine signal and the cosine signal is controlled by controlling the zero drift of the cosine signal, Figure 5 The positive peak and the negative peak of the sine signal curve 501 are symmetrical, and the positive peak and the negative peak of the cosine signal curve 502 are symmetrical. Figure 4 The threshold of the sine signal and cosine signal is 257. After controlling the sine signal zero drift to control the sine signal and controlling the cosine signal by controlling the cosine signal zero drift, Figure 5 The magnitude wave threshold of the sine signal and cosine signal is 27.

[0061] Step 204, according to the set sine signal threshold of the sine signal, the sine signal after the zero drift control of the sine signal is controlled; according to the set cosine signal threshold of the cosine signal, the cosine signal after the zero drift control of the cosine signal is controlled.

[0062] In one embodiment, the abnormal sinusoidal signal can be controlled according to the set sinusoidal signal threshold (large and small wave threshold) of the sinusoidal signal of the resolver signal, and the resolver of the sinusoidal signal greater than the set sinusoidal signal threshold (large and small wave threshold) can be intercepted.

[0063] In one embodiment, the abnormal cosine signal can be controlled according to the set cosine signal threshold (large and small wave threshold) of the cosine signal of the resolver signal, and the resolver of the cosine signal greater than the set cosine signal threshold (large and small wave threshold) can be intercepted.

[0064] The resolver signal control method of the embodiment of the present application obtains a sine signal zero drift according to a sine signal; obtains a cosine signal zero drift according to a cosine signal; controls the sine signal by controlling the sine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the sine signal curve relative to the coordinate axis reaches a set symmetry degree; controls the cosine signal by controlling the cosine signal zero drift, so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree, and reduces the resolver size wave, which can effectively improve the size wave of the resolver signal, improve the qualified rate of the size wave of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0065] Furthermore, the resolver signal control method of the embodiment of the present application controls the sinusoidal signal after the zero drift control of the sinusoidal signal according to the set sinusoidal signal threshold of the sinusoidal signal; controls the cosine signal after the zero drift control of the cosine signal according to the set cosine signal threshold of the cosine signal; intercepts the sinusoidal signal that does not meet the set sinusoidal signal threshold, and intercepts the cosine signal that does not meet the set cosine signal threshold, thereby further improving the qualified rate of the large and small waves of the resolver signal, and can effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0066] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a resolver signal control device, an electronic device and corresponding embodiments.

[0067] Figure 6 It is a schematic diagram of the structure of a resolver signal control device shown in an embodiment of the present application.

[0068] See also Figure 6 , a resolver signal control device includes a signal acquisition module 601, a zero drift calculation module 602, and a first control module 603.

[0069] The signal acquisition module 601 is used to acquire the sine signal and the cosine signal of the resolver signal.

[0070] In one embodiment, the resolver sensor is installed on the motor. When the motor rotates, the signal acquisition module 601 can acquire the resolver signal of the resolver sensor. The resolver signal includes a sine signal and a cosine signal.

[0071] The zero drift calculation module 602 is used to obtain the sine signal zero drift according to the sine signal obtained by the signal acquisition module 601 , and to obtain the cosine signal zero drift according to the cosine signal obtained by the signal acquisition module 601 .

[0072] In one embodiment, the zero drift calculation module 602 can plot the sinusoidal signal on a set coordinate axis based on the sinusoidal signal obtained by the signal acquisition module 601 to obtain a sinusoidal signal curve; and obtain the sinusoidal signal zero drift of the sinusoidal signal based on the degree of asymmetry between the positive peak and the negative peak of the sinusoidal signal curve relative to the coordinate axis.

[0073] In one embodiment, the zero drift calculation module 602 can plot the cosine signal on a set coordinate axis based on the cosine signal obtained by the signal acquisition module 601 to obtain a cosine signal curve; and obtain the cosine signal zero drift of the cosine signal based on the degree of asymmetry between the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis.

[0074] The first control module 603 is used to control the sine signal obtained by the signal acquisition module 601 according to the sine signal zero drift obtained by the zero drift calculation module 602; and / or control the cosine signal obtained by the signal acquisition module 601 according to the cosine signal zero drift obtained by the zero drift calculation module 602.

[0075] In one embodiment, the first control module 603 can adjust the size of the sinusoidal signal zero drift according to the sinusoidal signal zero drift obtained by the zero drift calculation module 602, and control the sinusoidal signal obtained by the signal acquisition module 601 so that the symmetry degree of the positive peak and the negative peak of the sinusoidal signal curve relative to the coordinate axis reaches a set symmetry degree.

[0076] In one embodiment, the first control module 603 can adjust the size of the cosine signal zero drift according to the cosine signal zero drift obtained by the zero drift calculation module 602, and control the cosine signal obtained by the signal acquisition module 601 so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree.

[0077] The technical solution of the embodiment of the present application obtains the zero drift of the sine signal according to the sine signal; obtains the zero drift of the cosine signal according to the cosine signal; controls the sine signal by controlling the zero drift of the sine signal, so that the symmetry degree of the positive peak and the negative peak of the sine signal curve relative to the coordinate axis reaches a set symmetry degree; controls the cosine signal by controlling the zero drift of the cosine signal, so that the symmetry degree of the positive peak and the negative peak of the cosine signal curve relative to the coordinate axis reaches a set symmetry degree, and reduces the size wave of the resolver, which can effectively improve the size wave of the resolver signal, improve the qualified rate of the size wave of the resolver signal, and effectively avoid abnormal NVH problems such as jitter when the whole vehicle is at low speed.

[0078] Figure 7 It is a structural schematic diagram of a resolver signal control device shown in another embodiment of the present application.

[0079] See also Figure 7, a resolver signal control device includes a signal acquisition module 601, a zero drift calculation module 602, a first control module 603, and a second control module 701.

[0080] The signal acquisition module 601 can continuously collect the sine signal and cosine signal of N mechanical cycles; select the n sine signal maximum values, n sine signal minimum values, n cosine signal maximum values, and n cosine signal minimum values ​​under M poles of each mechanical cycle in the N mechanical cycles; respectively calculate the maximum average value of the sine signal corresponding to the n sine signal maximum values, the minimum average value of the sine signal corresponding to the n sine signal minimum values, the maximum average value of the cosine signal corresponding to the n cosine signal maximum values, and the minimum average value of the cosine signal corresponding to the n cosine signal minimum values; generate the sine signal of the resolver signal according to the maximum average value of the sine signal and the minimum average value of the sine signal; generate the cosine signal of the resolver signal according to the maximum average value of the cosine signal and the minimum average value of the cosine signal.

[0081] The zero drift calculation module 602 is used to calculate the zero drift of the sine signal according to the positive maximum value and negative maximum value of the sine signal obtained by the signal acquisition module 601; and calculate the zero drift of the cosine signal according to the positive maximum value and negative maximum value of the cosine signal obtained by the signal acquisition module 601.

[0082] The first control module 603 is used to control the difference between the absolute value of the positive maximum value of the sine signal and the absolute value of the negative maximum value of the sine signal to be less than or equal to a set threshold value according to the sine signal zero drift calculated by the zero drift calculation module 602; and to control the difference between the absolute value of the positive maximum value of the cosine signal and the absolute value of the negative maximum value of the cosine signal to be less than or equal to a set threshold value according to the cosine signal zero drift calculated by the zero drift calculation module 602.

[0083] The second control module 701 is used to control the sine signal after the sine signal zero drift control of the first control module 603 according to the set sine signal threshold of the sine signal; and / or, to control the cosine signal after the cosine signal zero drift control of the first control module 603 according to the set cosine signal threshold of the cosine signal.

[0084] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0085] Figure 8 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0086] See also Figure 8 , the electronic device 1000 includes a memory 1010 and a processor 1020 .

[0087] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0088] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0089] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0090] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0091] Alternatively, the present application can also be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) on which an executable code (or a computer program or a computer instruction code) is stored. When the executable code (or a computer program or a computer instruction code) is executed by a processor of an electronic device (or a server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0092] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A resolver signal control method, characterized in that: include: Obtain the sine signal and cosine signal of the resolver signal; Acquire a sinusoidal signal zero drift according to the sinusoidal signal; Acquire a cosine signal zero drift according to the cosine signal; Controlling the sinusoidal signal according to the sinusoidal signal zero drift; and / or, The cosine signal is controlled according to the cosine signal zero drift.

2. The method according to claim 1, characterized in that The obtaining of the sinusoidal signal zero drift according to the sinusoidal signal comprises: calculating the sinusoidal signal zero drift according to the positive maximum value and the negative maximum value of the sinusoidal signal; The acquiring the cosine signal zero drift according to the cosine signal includes: calculating the cosine signal zero drift according to a positive maximum value and a negative maximum value of the cosine signal.

3. The method according to claim 2, characterized in that The controlling the sinusoidal signal according to the sinusoidal signal zero drift comprises: according to the sinusoidal signal zero drift, controlling the difference between the absolute value of the positive maximum value of the sinusoidal signal and the absolute value of the negative maximum value of the sinusoidal signal to be less than or equal to a set threshold; The controlling the cosine signal according to the cosine signal zero drift includes: according to the cosine signal zero drift, controlling the difference between the absolute value of the positive maximum value of the cosine signal and the absolute value of the negative maximum value of the cosine signal to be less than or equal to a set threshold.

4. The method according to claim 1, characterized in that: The step of obtaining a sine signal and a cosine signal of a resolver signal comprises: Continuously collect sine and cosine signals of N mechanical cycles; Selecting n maximum values ​​of sine signals, n minimum values ​​of sine signals, n maximum values ​​of cosine signals, and n minimum values ​​of cosine signals under M poles in each mechanical cycle of the N mechanical cycles; Calculate the maximum average value of the sine signal corresponding to the maximum values ​​of the n sine signals, the minimum average value of the sine signal corresponding to the minimum values ​​of the n sine signals, the maximum average value of the cosine signal corresponding to the maximum values ​​of the n cosine signals, and the minimum average value of the cosine signal corresponding to the minimum values ​​of the n cosine signals; A sine signal of the resolver signal is generated according to the maximum average value of the sine signal and the minimum average value of the sine signal; and a cosine signal of the resolver signal is generated according to the maximum average value of the cosine signal and the minimum average value of the cosine signal.

5. The method according to claim 1, characterized in that The method further comprises: According to a set sinusoidal signal threshold of the sinusoidal signal, the sinusoidal signal after zero drift control according to the sinusoidal signal is controlled; and / or, According to the set cosine signal threshold of the cosine signal, the cosine signal after the cosine signal zero drift control is controlled.

6. A resolver signal control device, characterized in that: include: A signal acquisition module, used to acquire the sine signal and cosine signal of the resolver signal; a zero drift calculation module, used for obtaining a sine signal zero drift according to the sine signal obtained by the signal acquisition module, and obtaining a cosine signal zero drift according to the cosine signal obtained by the signal acquisition module; A first control module, configured to control the sinusoidal signal acquired by the signal acquisition module according to the sinusoidal signal zero drift acquired by the zero drift calculation module; And / or, the cosine signal acquired by the signal acquisition module is controlled according to the cosine signal zero drift acquired by the zero drift calculation module.

7. The device according to claim 6, characterized in that: The zero drift calculation module is further used to calculate the zero drift of the sine signal according to the positive maximum value and the negative maximum value of the sine signal; and to calculate the zero drift of the cosine signal according to the positive maximum value and the negative maximum value of the cosine signal.

8. The device according to claim 6, characterized in that The device also includes: A second control module is configured to control the sinusoidal signal after the sinusoidal signal zero drift control by the first control module according to a set sinusoidal signal threshold of the sinusoidal signal; and / or, According to the set cosine signal threshold of the cosine signal, the first control module controls the cosine signal after the cosine signal zero drift control.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 5.

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