Harmonic injection automatic calibration device, algorithm and storage medium

Abstract

The invention belongs to the technical field of automation equipment, and particularly relates to a harmonic injection automatic calibration device and algorithm and a storage medium, and the device comprises a voltage conditioning circuit which is used for processing a voltage signal from a microphone; the bridge circuit is used for processing a strain voltage signal generated by the strain gauge; the main chip is integrated with a harmonic parameter optimization algorithm and is used for generating the amplitude and the phase of the compensation voltage; the CAN signal interface module is used for sending a torque request to the motor controller and receiving a motor rotating speed signal; and the device state display module is used for displaying the calibration state and the user interaction operation in real time. According to the invention, the calibration of the parameter can be automatically completed, and the calibration burden of calibration personnel is greatly saved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and particularly to a harmonic injection automatic calibration device, algorithm, and storage medium. Background Art

[0002] Since the current mainstream motor drive adopts the SVPWM algorithm, and manufacturing factors of the motor will cause harmonic components of different orders to be contained in the control voltage, these components generally have an obvious impact on noise and vibration. Generally, in motor control, the algorithm compensation requires canceling these harmonic components to improve the impact of the power system on the vehicle NVH.

[0003] The current mainstream harmonic injection algorithm is to adjust the phase and amplitude of the compensation voltage according to the calibration situation of the vehicle. Through the actual NVH equipment (generally using microphones or strain gauges to measure the vibration of the gearbox to measure the NVH of the motor at different speeds), the calibration personnel determine the optimal compensation voltage phase and amplitude according to the vibration results obtained from different permutations and combinations of the compensation voltages. In actual calibration, due to the large number of permutations and combinations of the phase and amplitude, currently, the calibration personnel need to repeatedly compare the values and adjust the parameters, and the process is cumbersome and time-consuming.

[0004] Therefore, the present invention proposes a harmonic injection automatic calibration device, algorithm, and storage medium. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention provides a harmonic injection automatic calibration device, algorithm, and storage medium.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A harmonic injection automatic calibration device includes:

[0008] A voltage conditioning circuit for processing the voltage signal from the microphone;

[0009] A bridge circuit for processing the strain voltage signal generated by the strain gauge;

[0010] A main chip integrated with a harmonic parameter optimization algorithm for generating the amplitude and phase of the compensation voltage;

[0011] A CAN signal interface module for sending torque requests to the motor controller and receiving motor speed signals;

[0012] A device status display module for real-time display of the calibration status and user interaction operations.

[0013] Preferably, the voltage conditioning circuit includes a signal amplification module and a filtering module, with a filtering cut-off frequency of 20 kHz - 100 kHz, for eliminating high-frequency noise interference.

[0014] Preferably, the bridge circuit adopts a full-bridge differential structure, with a strain gauge sensitivity coefficient ≥ 2.0 and an output signal linearity error ≤ 0.5%.

[0015] Preferably, the main chip adopts the ARM Cortex-M7 architecture, integrated with a real-time operating system, and the algorithm response time ≤ 50 ms.

[0016] Preferably, the device status display module adopts a touch screen, supporting parameter input, real-time waveform display, and visualization of the calibration progress.

[0017] A harmonic injection automatic calibration algorithm includes the following steps:

[0018] S1: Obtain the real-time motor speed signal through the CAN interface and set the target harmonic order;

[0019] S2: Generate the amplitude and phase combination of the initial compensation voltage according to the preset harmonic order;

[0020] S3: Inject the compensation voltage into the motor controller in sequence and synchronously collect vibration data;

[0021] S4: Calculate the vibration evaluation index P and the dispersion index S for each set of parameters, where:

[0022]

[0023] S k = D k+1 - D k ;

[0024] where n max is the maximum allowable speed of the motor, in r / min, and L is the sound pressure level, in dB;

[0025] S5: When the continuous S k is less than the preset threshold, determine that the parameters converge and output the optimal amplitude and phase combination.

[0026] Preferably, the overall calibration process of harmonic injection includes the following steps: installation of the vibration acquisition device is completed, device self-check is completed, rough / fine adjustment of the harmonic injection phase, and rough / fine adjustment of the harmonic injection amplitude.

[0027] Preferably, the harmonic injection phase coarse tuning process includes the following steps: Given a default amplitude, the compensation phase angle ranges from 0° to 360°, with a step size of 5°. Calibration values are sent to the controller to be calibrated respectively; The device sends a torque request through the CAN signal; Wait for the motor speed to increase, and record the vibration amplitude measured by the vibration acquisition device at each rotational speed in real time; Calculate the given indicators:

[0028] P1, P2, …, Pk;

[0029] S1, S2, …, Sk;

[0030] Sort Sk from small to large, and number each Sk. The label value is set as Index;

[0031] Search in sequence to find the index where Sk is greater than the threshold for the first time, that is, find the index data similar to when only considering NVH; Complete the optimal phase angle coarse tuning process;

[0032] The harmonic injection phase fine tuning process includes the following steps: The calibration personnel select K coarse tuning phase data for fine tuning according to the required accuracy and calibration time factors, where 2 ≤ K ≤ index; Given a default amplitude, the compensation angle range is determined by K coarse tuning phase data, with a step size of 0.5°. Calibration values are sent to the controller to be calibrated respectively; The device sends a torque request through the CAN signal; Wait for the motor speed to increase, and record the vibration amplitude measured by the vibration acquisition device at each rotational speed in real time; Calculate the given indicators;

[0033] P1, P2, …, Pk;

[0034] Find the phase angle corresponding to the minimum Pk as the finally calibrated phase angle;

[0035] The harmonic injection amplitude coarse tuning includes the following steps: Given the finally calibrated phase angle, given an amplitude range, with a step size of 10V, send calibration values to the controller to be calibrated respectively; The device sends a torque request through the CAN signal; Wait for the motor speed to increase, and record the vibration amplitude measured by the vibration acquisition device at each rotational speed in real time; Sort Sk from small to large, and number each Sk. The label value is set as Index; Search in sequence to find the index where Sk is greater than the threshold for the first time, that is, find the index data similar to when only considering NVH; Complete the optimal phase angle coarse tuning process;

[0036] The fine tuning of the harmonic injection amplitude includes the following steps: The calibration personnel select K coarse-tuning amplitude data for fine tuning according to the required accuracy and calibration time factor, where 2 ≤ K ≤ index; Given the final calibrated phase angle, the amplitude range is determined by K coarse-tuning amplitude data, with a step size of 10V, and the calibration values are sent to the controller to be calibrated respectively; Wait for the motor speed to rise, and record in real time the vibration amplitude measured by the vibration acquisition device at each rotational speed; Sort Sk from small to large, and number each Sk, with the label value set to Index; Search in sequence to find the index where Sk is greater than the threshold for the first time, that is, find the index data similar to when only considering NVH; Complete the optimal phase angle fine tuning process.

[0037] A computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the harmonic injection automatic calibration algorithm.

[0038] A computer program product, including a computer program, which is used to implement the harmonic injection automatic calibration algorithm when the computer program is executed.

[0039] The above technical solution of the present invention has the following beneficial technical effects:

[0040] The present invention can automatically complete the calibration of this parameter, greatly saving the calibration burden of the calibration personnel.

[0041] In the prior art, since the vibration graph is the amplitude graph at each rotational speed, when the graphs corresponding to certain phase and amplitude combinations are relatively close, there is a certain subjectivity and randomness in the determination of the optimal amplitude and phase by the calibration personnel, which is not conducive to standardization. The present invention can automatically calibrate through the harmonic injection automatic calibration algorithm, which is conducive to standardization. Brief Description of the Drawings

[0042] Figure 1 It is the principle block diagram of the present invention;

[0043] Figure 2 It is the overall calibration flow chart of harmonic injection of the present invention;

[0044] Figure 3 It is the flow chart of the harmonic injection phase coarse tuning process of the present invention;

[0045] Figure 4 It is the flow chart of the harmonic injection phase fine tuning process of the present invention;

[0046] Figure 5 It is the flow chart of the harmonic injection amplitude coarse tuning of the present invention;

[0047] Figure 6 It is the flow chart of the harmonic injection amplitude fine tuning of the present invention. Detailed Embodiments

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0049] As Figures 1 - 6 shown, the present invention provides a harmonic injection automatic calibration device, including:

[0050] A voltage conditioning circuit for processing the voltage signal from the microphone;

[0051] A bridge circuit for processing the strain voltage signal generated by the strain gauge;

[0052] A main chip integrating a harmonic parameter optimization algorithm for generating the amplitude and phase of the compensation voltage;

[0053] A CAN signal interface module for sending torque requests to the motor controller and receiving motor speed signals;

[0054] A device status display module for real-time display of the calibration status and user interaction operations.

[0055] In a specific embodiment of the present invention, the voltage conditioning circuit includes a signal amplification module and a filtering module, and the filtering cut-off frequency is 20 kHz - 100 kHz, which is used to eliminate high-frequency noise interference.

[0056] In a specific embodiment of the present invention, the bridge circuit adopts a full-bridge differential structure, the strain gauge sensitivity coefficient ≥ 2.0, and the output signal linearity error ≤ 0.5%.

[0057] In a specific embodiment of the present invention, the main chip adopts the ARM Cortex-M7 architecture, integrates a real-time operating system, and the algorithm response time ≤ 50 ms.

[0058] In a specific embodiment of the present invention, the device status display module adopts a touch screen, which supports parameter input, real-time waveform display, and visualization of the calibration progress.

[0059] A harmonic injection automatic calibration algorithm includes the following steps:

[0060] S1: Obtain the real-time motor speed signal through the CAN interface and set the target harmonic order;

[0061] S2: Generate the amplitude and phase combination of the initial compensation voltage according to the preset harmonic order;

[0062] S3: Inject the compensation voltage into the motor controller in sequence and synchronously collect the vibration data;

[0063] S4: Calculate the vibration evaluation index P and the dispersion index S for each group of parameters, where:

[0064]

[0065] S k = D k+1 - D k ;

[0066] where n max is the maximum allowable speed of the motor, with the unit of r / min, and L is the sound pressure level, with the unit of dB;

[0067] S5: When the continuous S k is less than the preset threshold, it is determined that the parameters converge, and the optimal amplitude and phase combination are output.

[0068] Specifically, as Figure 2 shown, the overall calibration process of harmonic injection includes the following steps: the vibration acquisition device is installed and the device self-check is completed, the harmonic injection phase is roughly adjusted / finely adjusted, and the harmonic injection amplitude is roughly adjusted / finely adjusted.

[0069] As Figure 3 shown, the process of roughly adjusting the harmonic injection phase includes the following steps: given the default amplitude, the compensation phase angle ranges from 0° to 360°, with a step size of 5° (which can be set as required), and the calibration values are sent to the controller to be calibrated respectively; the device sends a torque request through the CAN signal; wait for the motor speed to increase, and record the vibration amplitude measured by the vibration acquisition device at each speed in real time; calculate the given indicators:

[0070] P1, P2,..., P k ;

[0071] S1, S2,..., S k ;

[0072] Sort S k from small to large, and number each S k , and set the label value as Index;

[0073] Search in sequence to find the index where the first Sk is greater than the threshold, that is, find the index number of data similar to that when only considering NVH; complete the rough adjustment process of the optimal phase angle,

[0074] As Figure 4As shown, the harmonic injection phase fine-tuning process includes the following steps: The calibrator selects K coarse-tuning phase data for fine-tuning according to the required accuracy and calibration time factor, where 2 ≤ K ≤ index; Given the default amplitude, the compensation argument range is determined by K coarse-tuning phase data, and the step size is 0.5° (which can be set as required), and the calibration values are sent to the controller to be calibrated respectively; The device sends a torque request through the CAN signal; Wait for the motor speed to rise, and record the vibration amplitude measured by the vibration acquisition device at each speed in real time; Calculate the given index.

[0075] P1, P2,..., P k ;

[0076] Find the phase angle corresponding to the smallest Pk as the phase angle of the final calibration.

[0077] As Figure 5 shown, the harmonic injection amplitude coarse-tuning includes the following steps: Given the phase angle of the final calibration, given the amplitude range, the step size is 10V (which can be set as required), and the calibration values are sent to the controller to be calibrated respectively; The device sends a torque request through the CAN signal; Wait for the motor speed to rise, and record the vibration amplitude measured by the vibration acquisition device at each speed in real time; Sort Sk from small to large, and number each Sk, and set the label value as Index; Search in turn to find the index where Sk is greater than the threshold for the first time, that is, find the index data similar to when only considering NVH; Complete the optimal phase angle coarse-tuning process.

[0078] As Figure 6 shown, the harmonic injection amplitude fine-tuning includes the following steps: The calibrator selects K coarse-tuning amplitude data for fine-tuning according to the required accuracy and calibration time factor, where 2 ≤ K ≤ index; Given the phase angle of the final calibration, the given amplitude range is determined by K coarse-tuning amplitude data, and the step size is 10V (which can be set as required), and the calibration values are sent to the controller to be calibrated respectively; Wait for the motor speed to rise, and record the vibration amplitude measured by the vibration acquisition device at each speed in real time; Sort Sk from small to large, and number each Sk, and set the label value as Index; Search in turn to find the index where Sk is greater than the threshold for the first time, that is, find the index data similar to when only considering NVH; Complete the optimal phase angle fine-tuning process.

[0079] On the other hand, the present invention proposes a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the harmonic injection automatic calibration algorithm.

[0080] On yet another aspect, the present invention proposes a computer program product, including a computer program, and when the computer program is executed, it is used to implement the harmonic injection automatic calibration algorithm.

[0081] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A harmonic injection automatic calibration device, characterized in that: include: a voltage conditioning circuit for processing the voltage signal from the microphone; A bridge circuit is used to process the strain voltage signal generated by the strain gauge; The main chip integrates a harmonic parameter optimization algorithm to generate the amplitude and phase of the compensation voltage; CAN signal interface module, used to send torque request to the motor controller and receive motor speed signal; The device status display module is used to display the calibration status and user interaction operations in real time.

2. The harmonic injection automatic calibration device according to claim 1, characterized in that: The voltage conditioning circuit includes a signal amplification module and a filtering module, and the filtering cut-off frequency is 20kHz-100kHz, which is used to eliminate high-frequency noise interference.

3. The harmonic injection automatic calibration device according to claim 2, characterized in that: The bridge circuit adopts a full-bridge differential structure, the strain gauge sensitivity coefficient is ≥2.0, and the output signal linearity error is ≤0.5%.

4. The harmonic injection automatic calibration device according to claim 3, characterized in that: The main chip adopts ARMCortex-M7 architecture, integrates real-time operating system, and the algorithm response time is ≤50ms.

5. The harmonic injection automatic calibration device according to claim 4, characterized in that: The device status display module adopts a touch screen, supports parameter input, real-time waveform display and calibration progress visualization.

6. A harmonic injection automatic calibration algorithm, characterized in that: The following steps are involved: S1: Obtain the real-time speed signal of the motor through the CAN interface and set the target harmonic order; S2: Generate an amplitude and phase combination of an initial compensation voltage according to a preset harmonic order; S3: injecting compensation voltage into the motor controller in sequence and synchronously collecting vibration data; S4: Calculate the vibration evaluation index P and dispersion index S of each group of parameters, where: S k =D k+1 -D k ; where n max is the maximum permissible speed of the motor, in r / min, and L is the sound pressure level, in dB; S5: When continuous S k When it is less than the preset threshold, the parameters are judged to converge and the optimal amplitude and phase combination is output.

7. The harmonic injection automatic calibration algorithm according to claim 6, characterized in that: The overall calibration process of harmonic injection includes the following steps: installation of vibration collection equipment is completed, device self-test is completed, harmonic injection phase is coarsely adjusted / finely adjusted, and harmonic injection amplitude is coarsely adjusted / finely adjusted.

8. The harmonic injection automatic calibration algorithm according to claim 7, characterized in that: The harmonic injection phase coarse adjustment process includes the following steps: given a default amplitude, the compensation phase angle ranges from 0° to 360°, with a step size of 5°, and the calibration values ​​are sent to the controller to be calibrated; the device sends a torque request through a CAN signal; waits for the motor speed to increase, and records the vibration amplitude measured by the vibration acquisition device at each speed in real time; calculates the given index: P1,P2,…,P k ; S1,S2,…,S k ; S k Sort from small to large, and for each S k Number, the label value is set to Index; Search sequentially to find the index where Sk is greater than the threshold for the first time, that is, find the index data close to the one when only NVH is considered; complete the optimal phase angle rough adjustment process; The harmonic injection phase fine-tuning process includes the following steps: the calibrator selects K coarse-tuning phase data for fine-tuning according to the required accuracy and calibration time factors, where 2≤K≤index; given a default amplitude, the compensation angle range is determined by the K coarse-tuning phase data, with a step size of 0.5°, and the calibration values ​​are sent to the controller to be calibrated respectively; the device sends a torque request through a CAN signal; waits for the motor speed to increase, and records the vibration amplitude measured by the vibration acquisition device at each speed in real time; calculates the given index; P1,P2,…,P k ; Find the phase angle corresponding to the minimum Pk as the final calibrated phase angle; The coarse adjustment of harmonic injection amplitude includes the following steps: given the final calibrated phase angle, given amplitude range, step size of 10V, respectively send the calibration values ​​to the controller to be calibrated; the device sends a torque request through the CAN signal; wait for the motor speed to rise, and record the vibration amplitude measured by the vibration acquisition device at each speed in real time; sort the Sk from small to large, and number each Sk, and set the label value to Index; search in sequence to find the index where Sk is greater than the threshold for the first time, that is, find the index data close to the index when only NVH is considered; complete the coarse adjustment process of the optimal phase angle; The fine-tuning of the harmonic injection amplitude includes the following steps: the calibrator chooses to use K coarse-adjustment amplitude data for fine-tuning according to the required accuracy and calibration time factors, where 2≤K≤index; given the final calibrated phase angle, the given amplitude range is determined by the K coarse-adjustment amplitude data, with a step size of 10V, and the calibration values ​​are sent to the controller to be calibrated respectively; wait for the motor speed to increase, and record the vibration amplitude measured by the vibration acquisition equipment at each speed in real time; sort the Sk from small to large, and number each Sk, and set the label value to Index; search in sequence to find the index where Sk is greater than the threshold for the first time, that is, find the index data close to the case when only NVH is considered; complete the optimal phase angle fine-tuning process.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the harmonic injection automatic calibration algorithm as described in any one of claims 6 to 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, it is used to implement the harmonic injection automatic calibration algorithm as described in any one of claims 6-8.

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