Information detection method and device, vehicle, storage medium and program product

Abstract

The invention relates to an information detection method and device, a vehicle, a storage medium and a program product. The information detection method comprises the steps that under the condition that a target voltage signal is injected into a motor, current response information and target operation parameters of the motor are acquired, and the target operation parameters are operation parameters related to the current of the motor; and determining rotor operation information of the motor according to the current response information, the amplitude of the target voltage signal and the target operation parameter. According to the technical scheme, more accurate rotor operation information can be determined, and the accuracy of motor rotor operation information detection is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motors, and in particular, to an information detection method, apparatus, vehicle, storage medium, and program product. Background Art

[0002] With the development of motor technology, motor control technology has also developed. In the motor control scenario, in order to improve the safety of the motor drive system, the operating conditions of the rotor of the motor can be detected, and corresponding control can be performed on the motor based on the detected rotor operating conditions.

[0003] Taking a new energy vehicle as an example, the flux linkage orientation control of the permanent magnet synchronous motor rotor of a new energy vehicle depends on the rotor position of the motor, so the rotor position needs to be obtained for corresponding control. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides an information detection method, apparatus, vehicle, storage medium, and program product.

[0005] According to a first aspect of an embodiment of the present disclosure, an information detection method is provided, including: obtaining current response information and target operating parameters of the motor when a target voltage signal is injected into the motor, where the target operating parameters are operating parameters related to the current of the motor; determining rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters.

[0006] Optionally, the determining the rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters includes: obtaining first rotor operating information of the motor at a first moment; determining a target coefficient according to the amplitude of the target voltage signal and the target operating parameters; determining a rotor angle error according to the target coefficient, the current response information, and the first rotor operating information, where the rotor angle error is used to characterize the rotor angle difference between two adjacent moments; determining second rotor operating information of the motor at a second moment according to the rotor angle error and the first rotor operating information, where the second moment is the next moment of the first moment.

[0007] Optionally, the target operating parameters include: armature inductance and torque, and the determining a target coefficient according to the amplitude of the target voltage signal and the target operating parameters includes: multiplying the armature inductance by the torque to obtain a first product; dividing the first product by the amplitude of the target voltage signal to obtain the target coefficient.

[0008] Optionally, the current response information includes a first phase current difference and a second phase current difference between the first moment and the second moment, and the first rotor operation information includes a rotor angle. Determining the rotor angle error according to the target coefficient, the current response information, and the first rotor operation information includes: multiplying a cosine value of the first rotor angle by the first phase current difference to obtain a second product; multiplying a sine value of the first rotor angle by the second phase current difference to obtain a third product; subtracting the second product from the third product to obtain a target difference; multiplying the target difference by the target coefficient to obtain the rotor angle error.

[0009] Optionally, determining the second rotor operation information of the motor at the second moment according to the rotor angle error and the first rotor operation information includes: determining the second rotor operation information through a phase-locked loop according to a proportional integral algorithm, the rotor angle error, and the first rotor operation information.

[0010] Optionally, the method further includes: before injecting the target voltage signal into the motor, obtaining historical current response information of the motor to a historically injected voltage signal and a historical amplitude of the historically injected voltage signal; determining a current response amplitude of the motor according to the historical current response information; determining the amplitude of the target voltage signal according to the current response amplitude and the historical amplitude.

[0011] Optionally, the number of the current response amplitudes is multiple. Determining the amplitude of the target voltage signal according to the current response amplitude and the historical amplitude includes: obtaining a preset upper limit of the current response value and a preset lower limit of the current response value; if the number of current response amplitudes greater than the upper limit of the current response value among the multiple current response amplitudes reaches a preset number, obtaining the amplitude of the target voltage signal by reducing the historical amplitude; if the number of current response amplitudes less than the lower limit of the current response value among the multiple current response amplitudes reaches the preset number, obtaining the amplitude of the target voltage signal by increasing the historical amplitude.

[0012] Optionally, the historical current response information includes current response information corresponding to multiple historical moments respectively. The current response information corresponding to each historical moment includes: a first-phase historical current difference and a second-phase historical current difference between this historical moment and the previous historical moment of this historical moment. Determining the current response amplitude of the motor according to the historical current response information includes: determining a first-phase maximum current response amplitude and a first-phase minimum current response amplitude from the first-phase historical current differences corresponding to multiple historical moments respectively; determining a second-phase maximum current response amplitude and a second-phase minimum current response amplitude from the second-phase historical current differences corresponding to multiple historical moments respectively; and determining the first-phase maximum current response amplitude, the first-phase minimum current response amplitude, the second-phase maximum current response amplitude, and the second-phase minimum current response amplitude as the current response amplitude of the motor.

[0013] According to a second aspect of the embodiments of the present disclosure, there is provided an information detection device, including: an acquisition module configured to acquire current response information and target operating parameters of the motor when a target voltage signal is injected into the motor, where the target operating parameters are operating parameters related to the current of the motor; and a determination module configured to determine rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters.

[0014] According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle, including: a processor; and a memory for storing processor-executable instructions, where the processor is configured to: execute the executable instructions to implement the information detection method as described in the first aspect of the present disclosure.

[0015] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the information detection method as described in the first aspect of the present disclosure is implemented.

[0016] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the information detection method as described in the first aspect of the present disclosure is implemented.

[0017] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0018] When a target voltage signal is injected into the motor, obtain the current response information of the motor and the target operating parameters related to the current of the motor, and determine the rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters. Among them, the current response information of the motor can be used to determine the operating condition of the rotor of the motor, and the target operating parameters related to the current and the amplitude of the target voltage signal can affect the current response information. Therefore, by combining the current response information, the amplitude of the target voltage signal, and the target operating parameters, compared with determining the rotor operating information only based on the current response information, the influencing factors of the current response information are also considered, and more accurate rotor operating information can be determined, improving the accuracy of detecting the rotor operating information of the motor.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure. Brief Description of the Drawings

[0020] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0021] Figure 1 It is a flowchart of an information detection method shown according to an exemplary embodiment.

[0022] Figure 2A It is a block diagram of a motor control circuit shown according to an exemplary embodiment.

[0023] Figure 2B It is a schematic diagram of a motor control circuit shown according to an exemplary embodiment.

[0024] Figure 3 It is a schematic flow diagram of detecting rotor operating information shown according to an exemplary embodiment.

[0025] Figure 4 It is a block diagram of an information detection device shown according to an exemplary embodiment.

[0026] Figure 5 It is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed Description of the Embodiments

[0027] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0028] It should be noted that all actions of obtaining signals, information or data in this disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining authorization from the owner of the corresponding device.

[0029] With the development of motor technology, motor control technology has also developed. In the motor control scenario, in order to improve the safety of the motor drive system, the operating conditions of the rotor of the motor can be detected, and corresponding control can be performed on the motor based on the detected rotor operating conditions.

[0030] Taking the permanent magnet synchronous motor as an example, the permanent magnet synchronous motor has a compact structure, high power density, good speed regulation performance, and high reliability, and is widely used in the field of electric (new energy) vehicles. Among them, the permanent magnet synchronous motor involves rotor flux orientation control, and this control depends on rotor position information.

[0031] Regarding the detection of rotor position information, position detection technologies based on position sensors and position detection technologies without position sensors can be used.

[0032] Regarding the position detection technology based on position sensors, a position sensor can be installed at the end of the rotor shaft to obtain rotor position information. Commonly used position sensors include resolvers, optical encoders, and Hall sensors, etc. Using this position detection technology, the position sensor will cause many problems such as an increase in the hardware cost of system design, redundant architecture design, and additional mechanical structure design, increasing the system risk of vehicle safety.

[0033] Therefore, the position detection technology without position sensors has been developed. This detection technology can utilize observable physical quantities such as voltage and current to realize the observation of rotor position information, greatly improving the stability and reliability during vehicle driving.

[0034] The position detection technology without position sensors can be used not only for the real-time observation of rotor position information, but also for fault detection of position sensors in the position detection technology based on position sensors. For example, the two position detection technologies are used to detect the rotor position respectively, and by comparing the two detection results, it is determined whether there is a fault in the position sensor, etc.

[0035] Or, it can also be used in the position detection technology based on position sensors. In the case of a fault in the position sensor, as an alternative position detection scheme, it can realize rotor position detection to ensure the operation stability of new energy vehicles. For example, in the low-speed working condition of new energy vehicles, the position sensor is more likely to fail. At this time, the position detection technology without position sensors can be used to assist in realizing rotor position detection.

[0036] Therefore, the position detection technology without a position sensor can be correspondingly applied in both scenarios with a position sensor and those without a position sensor.

[0037] In related technologies, the position detection technology without a position sensor can be implemented based on a high-frequency injection scheme. Regarding the high-frequency injection scheme, it can be summarized as follows: injecting a square-wave voltage signal into the direct axis of the motor, then extracting the current response information of the motor, and based on the extracted current response information, observing the rotor position and rotor speed.

[0038] Among them, pulse vibration square-wave voltage injection method can be adopted for high-frequency injection. This method can estimate the true position and speed of the motor rotor when the motor is stationary and rotating at a low speed. At the same time, it has a wide injection frequency range, high bandwidth, and high signal-to-noise ratio.

[0039] In related technologies, directly observing the rotor position and rotor speed based on the extracted current response information. This observation method does not consider the complex working conditions of the motor and only observes information based on the current response, resulting in low accuracy of the observation results. Furthermore, if motor control is based on the observation results with low accuracy, it may cause faults such as overcurrent in the controller.

[0040] Based on this, the embodiments of the present disclosure provide a technical solution. In the case of injecting a voltage signal into the motor, this technical solution acquires the current response information of the motor and the target operating parameters related to the current of the motor, and determines the rotor operating information of the motor according to the current response information, the amplitude of the injected voltage signal, and the target operating parameters.

[0041] Among them, the current response information of the motor can be used to determine the operating condition of the motor rotor. In addition, the target operating parameters related to the current and the amplitude of the injected voltage signal can affect the current response information. Therefore, by combining the current response information, the amplitude of the injected voltage signal, and the target operating parameters, compared with determining the rotor operating information only based on the current response information, the influencing factors of the current response information (i.e., the operating conditions of the motor) are also considered, and more accurate rotor operating information can be determined, improving the accuracy of detecting the rotor operating information of the motor.

[0042] Thus, on the basis of improving the accuracy of detecting the rotor operating information of the motor, the accuracy of motor control can be improved, the possibility of the controller malfunctioning can be reduced, the stability and reliability of motor control can be enhanced, and furthermore, the safety of motor drive can be enhanced. In the scenario of new energy vehicles, the driving safety of the vehicle can be improved.

[0043] It can be understood that this technical solution can be applied to the control scenarios of permanent magnet synchronous motors, such as: the drive control of permanent magnet synchronous motors in new energy vehicles, the drive control of permanent magnet synchronous motors in industrial servo scenarios, and the drive control of permanent magnet synchronous motors in new energy power generation, etc., which will not be limited herein.

[0044] Moreover, this technical solution can be applied to scenarios with position sensors and can also be applied to scenarios without position sensors.

[0045] And, this technical solution can be used in the controller of the motor. Taking new energy vehicles as an example, it can be used in the motor controller of the drive system.

[0046] Figure 1 is a flowchart of an information detection method shown according to an exemplary embodiment. As Figure 1 shown, this information detection method includes the following steps:

[0047] Step S11, when a target voltage signal is injected into the motor, obtain the current response information and target operating parameters of the motor, where the target operating parameters are operating parameters related to the current of the motor.

[0048] Step S12, determine the rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters.

[0049] In step S11, the target voltage signal can be a pulsating square wave signal, which belongs to a high-frequency square wave signal, or other types of signals. Specifically, it can refer to the mature high-frequency injection scheme in the art.

[0050] In some embodiments, the target voltage signal is injected into the direct axis of the motor. In the field of motor control, the d-axis and q-axis are two important coordinate axes used to describe the internal magnetic field and current distribution of the motor, and are usually used in the vector control of synchronous motors. Among them, the d-axis (direct axis): the axis parallel to the rotor magnetic flux direction. The q-axis (quadrature axis): the axis perpendicular to the d-axis.

[0051] By applying current on the q-axis, the torque of the motor can be controlled. By applying a voltage signal on the d-axis, the operating condition of the rotor can be detected.

[0052] In some embodiments, when current is applied on the q-axis, a voltage signal can be continuously injected into the direct axis of the motor, so as to continuously detect the rotor operating information of the motor.

[0053] Therefore, the target voltage signal can be the voltage signal injected into the direct axis of the motor at time k, the target operating parameters can be the motor operating parameters at time k, and the rotor operating information determined in step S12 can be the rotor operating information at time k. And for any moment, the determination method of the rotor operating information can be the same.

[0054] To facilitate the understanding of the technical solutions of the embodiments of the present disclosure, the principle of the high-frequency injection scheme will be introduced first.

[0055] In motor control based on the high-frequency injection scheme, on the one hand, a current can be applied to the q-axis of the motor to control the torque of the motor, thereby driving the motor. On the other hand, a voltage signal can be injected into the d-axis of the motor to detect the rotor operation information.

[0056] This motor control method can be called the MTPA (Maximum Torque Per Ampere) control method, and its purpose is to achieve the maximum torque output of the motor under current and voltage conditions.

[0057] Moreover, in this motor control method, adaptive feedback control in different dimensions can be involved to improve the robustness of motor control.

[0058] Figure 2A FIG. is a block diagram of a motor control circuit shown according to an exemplary embodiment. In this motor control circuit, it includes: a current regulator 201, a first converter 202, a signal injector 203, a pulse width modulation module 204, a permanent magnet synchronous motor 205, a second converter 206, a third converter 207, a filter 208, a signal processing module 209, an adaptive adjustment module 210, and an observer 211.

[0059] Regarding the current regulator 201, it can be an ACR. The full English name of ACR is Advanced Current Regulator, representing an advanced current regulator. The input of this current regulator 201 is the current signal applied to the motor, and the output of this current regulator 201 is the adjusted current signal.

[0060] Regarding the first converter 202, its input end is connected to the output end of the current regulator 201 and also to the signal injector 203, and is used to input the adjusted current signal and the voltage signal injected by the signal injector 203.

[0061] Moreover, this first converter 202 can convert the input signals in the dq-axis system into signals in the two-phase stationary coordinate system. Therefore, the first converter 202 can realize the transformation of signals from the dq-axis system to the αβ-axis system.

[0062] Regarding the pulse width modulation module 204, it can be SVPWM, whose full English name is Space Vector Pulse Width Modulation, representing Space Vector Pulse Width Modulation. The input of this module is the transformed signal output by the first converter 202, and the modulated signal output by this module is used to be input to the permanent magnet synchronous motor 205.

[0063] Furthermore, for the permanent magnet synchronous motor 205, it can be configured with a current sensor (not shown in the figure). This current sensor can detect the three-phase current of the permanent magnet synchronous motor 205, and the detected three-phase current can be transmitted to the second converter 206.

[0064] Regarding the second converter 206, it can realize transforming the three-phase current to the αβ axis system. And, the output end of the second converter 206 is connected to the input end of the third converter 207, and also to the input end of the signal processing module 209.

[0065] Regarding the third converter 207, it can transform the current in the αβ axis system to the dq axis system. The current in the dq axis system output by the third converter 207 can be input to the filter 208. The filter 208 filters the current, and the filtered current can be used as a feedback signal to adjust the current signal applied to the motor.

[0066] Among them, the filter 208 can adopt BPF, whose full English name is Band - Pass Filter, representing a band - pass filter.

[0067] Thus, the link via the current regulator 201, the first converter 202, the signal injector 203, the pulse width modulation module 204, the permanent magnet synchronous motor 205, the second converter 206, the third converter 207, and the filter 208 can be part of the motor feedback control link.

[0068] Regarding the signal processing module 209, it can analyze the current signal output by the second converter 206, obtain the current response signal corresponding to the injected voltage signal, and output the current response information.

[0069] Furthermore, the adaptive adjustment module 210 can, according to the current response information and other relevant information, obtain the information for observing the rotor information, and this information can be used by the observer 211 to determine the rotor information.

[0070] In the part of observing the rotor information, corresponding feedback control logic is also involved. Specifically, the rotor information output by the observer 211 can be used as the input of the adaptive adjustment module 210.

[0071] In addition, the rotor information observed by the observer 211 can be input into the first converter 202 and the third converter 207 respectively.

[0072] Moreover, the current response information determined by the signal processing module 209 can be used by the signal injection module to adjust the amplitude of the injected voltage signal.

[0073] The above-mentioned first converter 202, second converter 206, and third converter 207 can adopt implementation manners such as inverters.

[0074] Figure 2B is a schematic diagram of a motor control circuit shown according to an exemplary embodiment. Compared with Figure 2A , Figure 2B shows the specific current and voltage flow directions or relationships, and shows the voltage or current transformation conditions of each converter.

[0075] Among them, IPMSM represents an interior permanent magnet synchronous motor, i * dq represents the motor drive current signal in the dq axis system, i dqLPF represents the filtered feedback current in the dq axis system, u * dq represents the injected voltage signal in the dq axis system, u * αβ represents the voltage signal in the αβ axis system, u injm represents the M-axis voltage, u injt represents the T-axis voltage, U inj represents the amplitude of the injected voltage signal, f(k) represents the sequence of the injected voltage signal, which is related to the moment k, i abc represents the three-phase current sampled by the current sensor, i αβ represents the current in the αβ axis system, i dq represents the current in the dq axis system, θ err represents the rotor angle error, θ e represents the observed rotor angle, ω e represents the observed rotor speed, Δi αβhmax represents the current response amplitude, Δi αβh represents the current response information. For the specific meanings of each parameter, refer to the introduction in the subsequent embodiments and will not be introduced here first.

[0076] Therefore, in combination with Figure 2A and Figure 2BFor the shown motor control circuit, in step S11, the target voltage signal can be injected into the input terminal of the first converter 202, and through subsequent conversion and modulation, the direct axis injected into the motor can be achieved. Moreover, the three-phase current detected by the current sensor is converted by the second converter 206, and then processed by the signal processing module 209 to obtain the current response information.

[0077] Regarding the target operating parameters, they can include: armature inductance and torque. The armature inductance refers to the inductance generated by the armature winding of the motor in the magnetic field, which reflects the self-inductance and mutual-inductance effects generated when the current in the armature winding changes, and is related to the current of the motor. The torque is the mechanical torque output by the motor, indicating the rotational torque that the motor can provide. Since the torque is regulated by the current, the torque is also related to the current of the motor.

[0078] Regarding the torque and armature inductance, they can be calculated and determined by obtaining the corresponding motor information. Specifically, reference can be made to the mature technologies in this field, and no detailed introduction will be given here.

[0079] In step S12, the rotor operating information can be determined according to the current response information, the amplitude of the target voltage signal, and the target operating parameters. The determined rotor operating information can include: rotor angle and rotor speed.

[0080] As an optional implementation manner, step S12 includes: obtaining the first rotor operating information of the motor at the first moment; determining the target coefficient according to the amplitude of the target voltage signal and the target operating parameters; determining the rotor angle error according to the target coefficient, the current response information, and the first rotor operating information, where the rotor angle error is used to characterize the rotor angle difference between two adjacent moments; determining the second rotor operating information of the motor at the second moment according to the rotor angle error and the first rotor operating information, and the second moment is the next moment of the first moment.

[0081] In this implementation manner, assuming that the first moment is the (k - 1)th moment and the second moment is the kth moment, the determination logic of the rotor operating information at the kth moment is: determining the target coefficient at the kth moment based on the amplitude of the voltage signal injected at the kth moment and the target operating parameters; determining the rotor angle error between the kth moment and the (k - 1)th moment based on the current response information at the kth moment, the target coefficient at the kth moment, and the rotor operating information at the (k - 1)th moment; determining the rotor operating information at the kth moment based on the rotor angle error and the rotor operating information at the (k - 1)th moment.

[0082] Among them, the target coefficient at the kth moment can characterize the influence of the target operating parameters at the kth moment and the amplitude of the injected voltage signal on the current response. Based on the current response, adding this target coefficient can improve the accuracy of the rotor angle error.

[0083] In the related art, the rotor angle error is determined only based on the current response information, without involving the target coefficient, resulting in low accuracy of the rotor angle error and thus low accuracy of the finally observed rotor information.

[0084] It can be understood that after injecting the target voltage signal, in addition to the current response component, a voltage response component will also be generated. The current response component can be determined through analysis and calculation, and the voltage response component can be related to the amplitude of the target voltage signal. Therefore, the amplitude of the target voltage signal can characterize the voltage response component.

[0085] In some embodiments, since the rotor operation information of the motor is continuously observed, the rotor operation information at the k - 1 moment can be directly obtained. Among them, the first rotor operation information for determining the rotor angle error can be the rotor angle at the first moment.

[0086] In some embodiments, when the target operating parameters include armature inductance and torque, determining the target coefficient according to the amplitude of the target voltage signal and the target operating parameters may include: multiplying the armature inductance by the torque to obtain a first product; dividing the first product by the amplitude of the target voltage signal to obtain the target coefficient.

[0087] In some embodiments, assuming that the voltage response component of the injected target voltage signal is a high - frequency voltage signal component in the MT axis system, this high - frequency voltage signal component can be the same as the amplitude of the target voltage signal.

[0088] Regarding the MT axis system, the MT axis system is a special coordinate system in the field of motor control and is a special case of the dq axis system. Through the MT axis system, the response situation of the voltage can be analyzed. The specific analysis method is described in the subsequent embodiments.

[0089] Exemplarily, the target coefficient K can be expressed as: where u mh represents the high - frequency voltage signal component of the M axis in the M axis system, T s represents the torque, L m represents the armature inductance of the M axis, U inj represents the amplitude of the target voltage signal, f(i) represents that K is a function of current, that is, K is related to the current of the motor, and Δ(i) represents the determination (regulation) function of the amplitude of the target voltage signal, which will be introduced in the subsequent embodiments.

[0090] Therefore, when calculating the target coefficient, the armature inductance can be multiplied by the torque to obtain a first product, and then the first product can be divided by the amplitude of the target voltage signal, and the resulting result is the target coefficient.

[0091] Further, based on the target coefficient, the current response information, and the first rotor operation information, the rotor angle error can be determined, and the rotor angle error can characterize the rotor angle difference between two adjacent moments.

[0092] Exemplarily, the rotor angle error can be expressed as: where θ err represents the rotor angle error, represents the rotor angle at the k-th moment, represents the rotor angle at the (k - 1)-th moment.

[0093] In some embodiments, the current response information may include: the first-phase current difference and the second-phase current difference between the first moment and the second moment. Therefore, the current response information can characterize the current response difference between adjacent moments.

[0094] Regarding the first-phase current difference, it may be the α-phase current difference in the αβ-axis system (which can also be referred to as the α-axis current difference), and regarding the second-phase current difference, it may be the β-phase current difference in the αβ-axis system (which can also be referred to as the β-axis current).

[0095] Exemplarily, the current response information may include: the first-phase current difference: i βh (k) - i βh (k - 1); the second-phase current difference: i αh (k) - i αh (k - 1). Wherein, i βh (k) represents the β-phase current response component at the k-th moment, i αh (k) represents the α-phase current response component at the k-th moment, i βh (k - 1) represents the phase current response component at the (k - 1)-th moment, i αh (k - 1) represents the α-phase current response component at the (k - 1)-th moment.

[0096] Combined with the foregoing Figure 2A , the signal processing module 209 can record the current response components at each moment. Through the current response components at the k-th moment and the current response components at the (k - 1)-th moment, the current response information at the k-th moment can be determined.

[0097] Exemplarily, the first rotor operation information can be expressed as: That is, the rotor angle at the (k - 1)-th moment.

[0098] Thus, as an alternative embodiment, determining the rotor angle error according to the target coefficient, the current response information, and the first rotor operation information includes: multiplying the cosine value of the first rotor angle by the difference between the first-phase currents to obtain a second product; multiplying the sine value of the first rotor angle by the difference between the second-phase currents to obtain a third product; subtracting the third product from the second product to obtain a target difference; and multiplying the target difference by the target coefficient to obtain the rotor angle error.

[0099] The rotor angle error can be expressed as:

[0100] Among them, the meanings of the parameters can be referred to the foregoing embodiments.

[0101] Therefore, the cosine value of the first rotor angle can be multiplied by the difference between the first-phase currents to obtain a second product, and the sine value of the first rotor angle can be multiplied by the difference between the second-phase currents to obtain a third product.

[0102] By subtracting the third product from the second product, a target difference can be obtained, and then multiplying the target difference by the target coefficient, the rotor angle error is obtained.

[0103] Regarding the relationship between the rotor angle error, the target coefficient, the current response information, and the first rotor operation information, it can be determined through corresponding derivations. Next, the derivation process of this relationship will be introduced.

[0104] First, taking the interior permanent magnet synchronous motor 205 as an example, the voltage of this motor in the two-phase rotating MT axis system can be expressed as: Among them, u m and u t respectively represent the two-phase voltages in the MT axis system, R s represents the stator resistance of the motor, i m and i t respectively represent the two-phase currents in the MT axis system, L m and L t respectively represent the two-phase armature inductances (which can also be called high-frequency inductances) in the MT axis system, represents the amplitude of the permanent magnet flux linkage on the M axis, ω e represents the rotor speed, and p represents the number of pole pairs of the motor.

[0105] Since the frequency of the injected voltage signal is usually half of the carrier frequency, the influence of the stator resistance voltage drop and the fundamental frequency back electromotive force can be ignored. Thus, it can be further obtained that:

[0106] Among them, u mh and u th respectively represent the two-phase voltage components in the MT axis system, imh and i th respectively represent the two-phase current components under the MT axis system.

[0107] Based on the relationship between the high-frequency voltage component and the injected voltage signal, it can also be obtained that: where f(k) is the sequence of the injected voltage signal, and Δ(i) represents the amplitude adjustment (determination) function of the injected voltage signal.

[0108] Next, the current response components under the MT axis system are converted to the two-phase stationary αβ axis system, and the current response under the αβ axis system is obtained as: where represents the rotor angle obtained through observation (detection), θ e represents the true rotor angle, pi αh and pi βh respectively represent the two-phase current response components with polarities under the αβ axis system, and j represents the imaginary number.

[0109] Substituting the Park transformation matrix into the current response expression under the αβ axis system, the current response can be further obtained as: where the representative meanings of the parameters can refer to the foregoing embodiments.

[0110] Therefore, in the high-frequency current response, it includes the true information characterizing the rotor angle. When the determined through observation converges to θ e , it can be further obtained that:

[0111]

[0112] By discretizing this expression, it can be obtained that: By simplifying this expression, it can be obtained that:

[0113] From this simplified expression, it can be seen that the rotor position can be obtained by using the arctangent function. The arctangent function is relatively sensitive to noise and interference, and the extracted signal can be processed.

[0114] Thus, the three-phase current sampled from the current sensor is transformed to the αβ axis system to obtain i αh (k) and i αh (k - 1), i βh (k) and i βh (k - 1). i αh (k) and i αh (k - 1) and i βh (k) and i βhThe current response information can be obtained by taking the differences of (k - 1) respectively.

[0115] Next, combining the position information at the previous moment According to the difference theorem, it can be obtained that:

[0116]

[0117] Thus, the rotor angle error can be obtained as:

[0118] In some embodiments, determining the second rotor operating information of the motor at the second moment according to the rotor angle error and the first rotor operating information may include: determining the second rotor operating information through a phase-locked loop according to the proportional-integral algorithm, the rotor angle error, and the first rotor operating information.

[0119] Regarding the phase-locked loop, it can be used as an observer, which can estimate the rotor speed and rotor angle by combining the rotor angle error and the first rotor operating information through the proportional-integral algorithm.

[0120] Regarding the specific implementation manner of the phase-locked loop, reference can be made to the mature technologies in the art, and details will not be described here.

[0121] In the embodiments of the present disclosure, since a target coefficient is introduced, and the target coefficient is related to torque. Under large torque conditions, the target coefficient will be relatively large, and the relatively large target coefficient will cause large fluctuations in the rotor angle error, and further cause large fluctuations in the rotor operating information (such as speed) observed by the observer 211, thus resulting in unstable motor control.

[0122] Taking the phase-locked loop as an example, under large torque conditions, large fluctuations in the rotor angle error will occur, affecting the bandwidth of the phase-locked loop and further affecting the performance of the phase-locked loop.

[0123] Therefore, in order to avoid the above situation, the amplitude of the voltage signal injected into the motor can be adaptively adjusted. Thus, for the target voltage signal, its amplitude can be the amplitude obtained through adaptive adjustment.

[0124] In addition, if a fixed voltage signal injection is adopted, in some weak operating conditions, the harmonic content of the motor will increase, resulting in a decrease in motor efficiency and an increase in temperature. Therefore, the adaptive adjustment of the amplitude can also play a role in reducing the harmonic content of the motor, ensuring the signal-to-noise ratio of the high-frequency components, and improving the stability of motor control.

[0125] Moreover, in the case of introducing a target coefficient, through adaptive amplitude adjustment, the variability of the target coefficient can be achieved, which can further play a role in changing the proportional-integral parameters of the phase-locked loop in advance, so that the phase of the phase-locked loop has sufficient margin and will not cause angle divergence, thereby improving the robustness.

[0126] It can be understood that when continuously injecting a voltage signal into the motor, the amplitude of the injected voltage signal may change due to amplitude adaptive adjustment. Therefore, the amplitudes of the voltage signals injected at different times may be different. Correspondingly, the amplitude of the target voltage signal can be understood as the amplitude of the voltage signal injected at time k.

[0127] Therefore, as an optional implementation manner, the determination of the amplitude of the target voltage signal includes: before injecting the target voltage signal into the motor, obtaining the historical current response information of the motor to the historically injected voltage signal and the historical amplitude of the historically injected voltage signal; determining the current response amplitude of the motor according to the historical current response information; and determining the amplitude of the target voltage signal according to the current response amplitude and the historical amplitude.

[0128] In some embodiments, the process of determining this amplitude can also be understood as an adaptive adjustment process of the amplitude.

[0129] In some embodiments, the adaptive adjustment of the amplitude can be periodic. For example, every time the motor passes through an electrical cycle, an amplitude adaptive adjustment is performed. Regarding the electrical cycle, it can be understood as the time for the motor to rotate one week.

[0130] In some embodiments, the adaptive adjustment of the amplitude can also be triggered based on corresponding conditions. For example, when it is detected that the current response value reaches a preset current response value, the amplitude adaptive adjustment is triggered, where the preset current response value can correspond to the current response value in the case of large current fluctuations and can be determined by actual measurement or simulation, etc. Or, when it is detected that the motor is operating under a large torque condition, the amplitude adaptive adjustment is triggered.

[0131] In some embodiments, the historically injected voltage signal can include the voltage signals injected into the motor within one electrical cycle. Correspondingly, the historical current response information can include the current response information corresponding to each moment within one electrical cycle.

[0132] For example, assume that the current is time k and the last time the amplitude adaptive adjustment was performed was time k - 5. Then, the historically injected voltage signal can include: the voltage signals injected between time k - 5 and time k. Correspondingly, the historical current response information can include: the current response information detected between time k - 5 and time k.

[0133] In some embodiments, the historical current response information may include current response information corresponding to multiple historical moments respectively, and the current response information corresponding to each historical moment includes: a first-phase historical current difference and a second-phase historical current difference between the historical moment and the previous historical moment of the historical moment.

[0134] In some embodiments, determining the current response amplitude of the motor according to the historical current response information includes: determining a first-phase maximum current response amplitude and a first-phase minimum current response amplitude from the first-phase historical current differences corresponding to multiple historical moments respectively; determining a second-phase maximum current response amplitude and a second-phase minimum current response amplitude from the second-phase historical current differences corresponding to multiple historical moments respectively; and determining the first-phase maximum current response amplitude, the first-phase minimum current response amplitude, the second-phase maximum current response amplitude, and the second-phase minimum current response amplitude as the current response amplitude of the motor.

[0135] Taking the αβ axis system as an example, an α-phase current difference and a β-phase current difference respectively correspond to each historical moment. The maximum difference among multiple α-phase current differences can be determined as the α-phase maximum current response amplitude, and the minimum difference among multiple α-phase current differences can be determined as the α-phase minimum current response amplitude. Also, the maximum difference among multiple β-phase current differences can be determined as the β-phase maximum current response amplitude, and the minimum difference among multiple β-phase current differences can be determined as the β-phase minimum current response amplitude.

[0136] Exemplarily, the finally determined current response amplitude may include: the first-phase maximum current response amplitude: max(i αh (k)-i αh (k - 1)); the first-phase minimum current response amplitude: min(i αh (k)-i αh (k - 1)); the second-phase maximum current response amplitude: max(i βh (k)-i βh (k - 1)); the second-phase minimum current response amplitude: min(i αh (k)-i αh (k - 1)). Wherein, k and k - 1 may represent two adjacent moments.

[0137] In some embodiments, the historical amplitude may represent the amplitude of the voltage signal injected historically, and this historical amplitude may be used as the amplitude to be adjusted to determine the amplitude of the target voltage signal. The historical amplitude may be the amplitude of the voltage signal injected at the moment closest to the current moment, or may also be the average value of the amplitudes of the voltage signals injected at multiple historical moments, etc., which is not limited herein.

[0138] In some embodiments, determining the amplitude of the target voltage signal according to the current response amplitude and the historical amplitude may include: obtaining a preset upper limit and a preset lower limit of the current response value; if the number of current response amplitudes greater than the upper limit of the current response value among multiple current response amplitudes reaches a preset number, obtaining the amplitude of the target voltage signal by reducing the historical amplitude; if the number of current response amplitudes less than the lower limit of the current response value among multiple current response amplitudes reaches a preset number, obtaining the amplitude of the target voltage signal by increasing the historical amplitude.

[0139] In this embodiment, the preset upper limit and lower limit of the current response value can be the upper and lower limits determined through actual measurement or simulation test. If the current response amplitude is between the upper and lower limits, it indicates that the current response is relatively good.

[0140] Therefore, multiple current response amplitudes can be compared with the upper limit of the current response value respectively, and with the lower limit of the current response value respectively, to determine whether each current response amplitude is between the upper limit and the lower limit of the current response value.

[0141] In some embodiments, if multiple current response amplitudes are all between the upper limit and the lower limit of the current response value, it indicates that there is no need to adjust the historical amplitude, and the historical amplitude can be determined as the amplitude of the target voltage signal.

[0142] In some embodiments, if the number of current response amplitudes greater than the upper limit of the current response value among multiple current response amplitudes reaches a preset number, at this time, it indicates that the current response is large, and the historical amplitude can be reduced to obtain the amplitude of the target voltage signal, so as to play a role in adjusting the target coefficient.

[0143] In some embodiments, if the number of current response amplitudes less than the lower limit of the current response value among multiple current response amplitudes reaches a preset number, at this time, it indicates that the current response is small, and the historical amplitude can be increased to obtain the amplitude of the target voltage signal, so as to play a role in adjusting the target coefficient.

[0144] Among them, the preset number can be set according to different application scenarios. By way of example, the preset number can be 3.

[0145] In some embodiments, the increase or decrease of the amplitude can be based on the amplitude limit of the voltage signal.

[0146] In some embodiments, the amplitude limit of the voltage signal may include an upper amplitude limit and a lower amplitude limit. When it is necessary to increase the amplitude, the amplitude can be increased based on the upper amplitude limit. When it is necessary to decrease the amplitude, the amplitude can be decreased based on the lower amplitude limit.

[0147] Exemplarily, when it is necessary to increase the amplitude, the upper amplitude limit is used as the standard to ensure that the increased amplitude does not exceed the upper amplitude limit. When it is necessary to decrease the amplitude, the lower amplitude limit is used as the standard, including that the decreased amplitude is not lower than the lower amplitude limit.

[0148] In some embodiments, the amount of amplitude increase or amplitude decrease each time can be pre-configured, and according to this pre-configuration, the amplitude is increased or decreased.

[0149] In some embodiments, the amplitude limit can also be used to determine whether it is necessary to trigger amplitude adaptive adjustment. Exemplarily, when other amplitude adaptive trigger conditions are met, it is judged whether the historical amplitude has fallen below the lower amplitude limit or risen above the upper amplitude limit. If so, it is determined not to trigger amplitude adaptive adjustment.

[0150] Through the amplitude adaptive adjustment method adopted in the embodiments of the present disclosure, it is decoupled from the motor parameters, does not depend on the motor parameters, and moreover, the amplitude adjustment method is relatively simple and does not involve complex operations.

[0151] In the embodiments of the present disclosure, after obtaining the rotor operation information, there can be different application methods, which can specifically refer to the introduction of the foregoing application scenarios.

[0152] Figure 3 It is a schematic flow diagram of detecting rotor operation information shown according to an exemplary embodiment. As Figure 3 shown, the rotor operation information involves the rotor angle and the rotor speed.

[0153] First, when the motor is running normally, a pulsating square wave signal is injected into the direct axis of the motor. The injected signal will cause the motor to generate a high-frequency response component. Through current sampling and current transformation, the current response component can be obtained.

[0154] Combined with Figure 2A and Figure 2B the motor control circuit shown, the injection of the pulsating square wave signal can be realized by Figure 2A the signal injector 203 shown, the current sampling can be realized by a current sensor, and the current transformation can be realized by the second converter 206.

[0155] Next, based on the current response component, through signal processing and adjustment, current response information can be obtained, that is, information characterizing the difference in current response at adjacent moments.

[0156] Combined with Figure 2A and Figure 2B the motor control circuit shown, the signal processing and adjustment can be realized by the signal processing module 209.

[0157] Then, based on the armature inductance, torque, and the amplitude of the injected signal, the coefficient of the rotor angle error can be determined.

[0158] Next, based on the coefficient of the rotor angle error, the rotor angle at the previous moment, and the current response information, the rotor angle error is determined.

[0159] Combined with Figure 2A and Figure 2B the motor control circuit shown, the coefficient of the rotor angle error and the rotor angle error can be achieved through the adaptive adjustment module 210.

[0160] Furthermore, based on the observation of the rotor angle error, the rotor angle at the previous moment, and the rotor speed at the previous moment, the rotor speed and rotor angle at the current moment can be determined.

[0161] Combined with Figure 2A and Figure 2B the motor control circuit shown, the determination of the rotor speed and rotor angle can be achieved through the observer 211.

[0162] In this process, the amplitude adaptive adjustment of the injected signal is also involved. The current response information determined at each moment can be used as the data basis for the amplitude adaptive adjustment.

[0163] Combined with Figure 2A and Figure 2B the motor control circuit shown, the amplitude adaptive adjustment can be achieved through the signal injector 203 or the adaptive adjustment module 210.

[0164] In the above information detection process, no complex operations are involved. The processes of calculation and adaptive adjustment are relatively simple, which can reduce the load required for motor control. Moreover, the adaptive adjustment does not rely on motor parameters, so that the adaptive adjustment will not be affected by changes in motor parameters and has strong anti-interference ability. Thus, the effect of the adaptive adjustment can be guaranteed.

[0165] Also, by adaptively adjusting the amplitude of the injected signal through the current response information, the minimization of motor harmonics can be achieved, and accurate estimation of the angle and speed can be realized without affecting the signal-to-noise ratio.

[0166] In some scenarios, adopting this technical solution to replace the information detection solution based on a position sensor can reduce the cost and volume of the motor control system.

[0167] In some scenarios, applying this detection solution to decouple the position sensor can also achieve the functional safety monitoring of the position sensor.

[0168] In some scenarios, by self-adjusting the injection voltage amplitude, the gain adjustment of the rotor angle error can be achieved, enabling better anti-interference ability, improving the motor efficiency, and reducing the temperature rise and losses compared to other solutions. In the scenario of large torque loading of the motor, the stability of motor control can also be ensured.

[0169] In some scenarios, through this technical solution, high-precision estimation of the rotor angle and speed can be provided for other module structures.

[0170] Figure 4 It is a block diagram of an information detection device shown according to an exemplary embodiment. Refer to Figure 4 , the device includes:

[0171] An acquisition module 401, configured to acquire the current response information and target operating parameters of the motor when a target voltage signal is injected into the motor, where the target operating parameters are operating parameters related to the current of the motor.

[0172] A determination module 402, configured to determine the rotor operating information of the motor according to the current response information, the amplitude of the target voltage signal, and the target operating parameters.

[0173] Optionally, the determination module 402 is further configured to: acquire the first rotor operating information of the motor at a first moment; determine a target coefficient according to the amplitude of the target voltage signal and the target operating parameters; determine a rotor angle error according to the target coefficient, the current response information, and the first rotor operating information, where the rotor angle error is used to characterize the rotor angle difference between two adjacent moments; and determine the second rotor operating information of the motor at a second moment according to the rotor angle error and the first rotor operating information, where the second moment is the next moment of the first moment.

[0174] Optionally, the determination module 402 is further configured to: multiply the armature inductance by the torque to obtain a first product; divide the first product by the amplitude of the target voltage signal to obtain the target coefficient.

[0175] Optionally, the determination module 402 is further configured to: multiply the cosine value of the first rotor angle by the first phase current difference to obtain a second product; multiply the sine value of the first rotor angle by the second phase current difference to obtain a third product; subtract the third product from the second product to obtain a target difference; and multiply the target difference by the target coefficient to obtain the rotor angle error.

[0176] Optionally, the determining module 402 is further configured to: determine the second rotor operating information by a phase-locked loop according to a proportional-integral algorithm, the rotor angle error, and the first rotor operating information.

[0177] Optionally, the determining module 402 is further configured to: before the motor injects the target voltage signal, obtain historical current response information of the motor to a historically injected voltage signal and the historical amplitude of the historically injected voltage signal; determine the current response amplitude of the motor according to the historical current response information; and determine the amplitude of the target voltage signal according to the current response amplitude and the historical amplitude.

[0178] Optionally, the determining module 402 is further configured to: obtain a preset upper limit of the current response value and a preset lower limit of the current response value; if the number of current response amplitudes greater than the upper limit of the current response value among multiple current response amplitudes reaches a preset number, obtain the amplitude of the target voltage signal by reducing the historical amplitude; and if the number of current response amplitudes less than the lower limit of the current response value among multiple current response amplitudes reaches the preset number, obtain the amplitude of the target voltage signal by increasing the historical amplitude.

[0179] Optionally, the determining module 402 is further configured to: determine a first-phase maximum current response amplitude and a first-phase minimum current response amplitude from first-phase historical current differences corresponding to multiple historical moments; determine a second-phase maximum current response amplitude and a second-phase minimum current response amplitude from second-phase historical current differences corresponding to multiple historical moments; and determine the first-phase maximum current response amplitude, the first-phase minimum current response amplitude, the second-phase maximum current response amplitude, and the second-phase minimum current response amplitude as the current response amplitude of the motor.

[0180] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0181] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps provided by the present disclosure are implemented.

[0182] Figure 5 FIG. is a block diagram of a vehicle 500 shown according to an exemplary embodiment. For example, the vehicle 500 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0183] Refer to Figure 5, vehicle 500 may include various subsystems. For example, the infotainment system 510, the perception system 520, the decision control system 530, the drive system 540, and the computing platform 550. Among them, vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of vehicle 500 may be interconnected by wired or wireless means.

[0184] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, a navigation system, and the like.

[0185] The perception system 520 may include several sensors for sensing information about the environment around vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0186] The decision control system 530 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0187] The drive system 540 may include components that provide motive power for vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0188] Some or all functions of vehicle 500 are controlled by the computing platform 550. The computing platform 550 may include at least one processor 551 and a memory 552. The processor 551 may execute instructions 553 stored in the memory 552.

[0189] The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0190] The memory 552 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.

[0191] In addition to the instructions 553, the memory 552 can also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 552 can be used by the computing platform 550.

[0192] In an embodiment of the present disclosure, the processor 551 can execute the instructions 553 to complete all or part of the steps of the above information detection method.

[0193] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above information detection method when executed by the programmable device.

[0194] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. For each specific application, those skilled in the art can use various methods to implement the described function, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present application.

[0195] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a specific manner. As used herein, the term "or" is intended to mean 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 mean any permutation in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context indicating a singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0196] Similarly, 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 upon reading and understanding the specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, to the extent that the terms "comprises," "has," "includes," "contains," or any variation thereof are used in the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising."

[0197] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

[0198] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An information detection method, characterized in that: include: When a target voltage signal is injected into the motor, current response information and target operating parameters of the motor are obtained, where the target operating parameters are operating parameters related to the current of the motor; The rotor operation information of the motor is determined according to the current response information, the amplitude of the target voltage signal and the target operation parameter.

2. The method according to claim 1, characterized in that Determining the rotor operation information of the motor according to the current response information, the amplitude of the target voltage signal and the target operation parameter includes: Acquire first rotor operation information of the motor at a first moment; Determining a target coefficient according to the amplitude of the target voltage signal and the target operating parameter; Determine a rotor angle error according to the target coefficient, the current response information and the first rotor operation information, wherein the rotor angle error is used to characterize a rotor angle difference between two adjacent moments; Second rotor operation information of the motor at a second moment is determined according to the rotor angle error and the first rotor operation information, where the second moment is a moment next to the first moment.

3. The method according to claim 2, characterized in that The target operating parameters include: armature inductance and torque, and the target coefficient is determined according to the amplitude of the target voltage signal and the target operating parameters, including: multiplying the armature inductance by the torque to obtain a first product; The first product is divided by the amplitude of the target voltage signal to obtain the target coefficient.

4. The method according to claim 2, characterized in that: The current response information includes a first phase current difference and a second phase current difference between the first moment and the second moment, the first rotor operation information includes a rotor angle, and determining a rotor angle error according to the target coefficient, the current response information, and the first rotor operation information includes: multiplying the cosine value of the first rotor angle by the first phase current difference to obtain a second product; multiplying the sine value of the first rotor angle by the second phase current difference to obtain a third product; Subtract the second product from the third product to obtain a target difference; The target difference is multiplied by the target coefficient to obtain the rotor angle error.

5. The method according to claim 2, characterized in that: The determining, according to the rotor angle error and the first rotor operation information, second rotor operation information of the motor at a second moment comprises: The second rotor operation information is determined by a phase-locked loop according to a proportional-integral algorithm, the rotor angle error and the first rotor operation information.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Before the motor injects the target voltage signal, acquiring historical current response information of the motor to the historically injected voltage signal and historical amplitude of the historically injected voltage signal; Determining a current response amplitude of the motor according to the historical current response information; The amplitude of the target voltage signal is determined according to the current response amplitude and the historical amplitude.

7. The method according to claim 6, characterized in that The number of the current response amplitudes is multiple, and determining the amplitude of the target voltage signal according to the current response amplitudes and the historical amplitudes includes: Obtaining a preset current response value upper limit and a current response value lower limit; If the number of current response amplitudes greater than the current response value upper limit among the multiple current response amplitudes reaches a preset number, the amplitude of the target voltage signal is obtained by reducing the historical amplitude; If the number of current response amplitudes smaller than the current response value lower limit among the multiple current response amplitudes reaches the preset number, the amplitude of the target voltage signal is obtained by adding the historical amplitude.

8. The method according to claim 7, characterized in that The historical current response information includes current response information corresponding to a plurality of historical moments, and the current response information corresponding to each historical moment includes: a first-phase historical current difference and a second-phase historical current difference between the historical moment and a previous historical moment of the historical moment. Determining the current response amplitude of the motor according to the historical current response information includes: Determining a first-phase maximum current response amplitude and a first-phase minimum current response amplitude from first-phase historical current differences corresponding to a plurality of historical moments; Determining a second-phase maximum current response amplitude and a second-phase minimum current response amplitude from second-phase historical current differences corresponding to a plurality of historical moments; The first phase maximum current response amplitude, the first phase minimum current response amplitude, the second phase maximum current response amplitude, and the second phase minimum current response amplitude are determined as the current response amplitudes of the motor.

9. An information detection device, characterized in that: include: an acquisition module, configured to acquire current response information and target operating parameters of the motor when a target voltage signal is injected into the motor, wherein the target operating parameters are operating parameters related to the current of the motor; The determination module is configured to determine the rotor operation information of the motor according to the current response information, the amplitude of the target voltage signal and the target operation parameter.

10. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the executable instructions to implement the information detection method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the information detection method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the information detection method according to any one of claims 1 to 8.

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