Rotary transformer signal processing method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses a resolver signal processing method and device, a vehicle and a storage medium, and belongs to the technical field of motor driving control, and the method comprises the steps: obtaining the working state of an actual resolver signal according to the actual resolver signal of the vehicle and a preset signal amplitude, the actual resolver signal is a resolver signal output by a position sensor of the vehicle through a communication wire harness of the vehicle, the preset signal amplitude is used for indicating the signal amplitude of the resolver signal of the vehicle when the resolver signal is not attenuated, and the working state of the actual resolver signal comprises a non-attenuated state or an attenuated state; under the condition that the working state of the actual resolver signal is the attenuation state, performing signal compensation on the actual resolver signal to obtain a target resolver signal; and controlling a motor of the vehicle according to the target resolver signal. According to the scheme, the problem that the motor is mistakenly controlled by the controller due to attenuation of the rotary transformer signal received by the controller can be avoided as far as possible.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of motor drive control, including but not limited to a method and device for processing resolver signals, a vehicle, and a storage medium. Background Art

[0002] With the rapid development of automotive technology, more and more vehicles are equipped with motors to provide driving force for the vehicles. In this case, it is necessary to accurately detect the operating parameters of the motor, and then control the working state of the motor based on the operating parameters of the motor.

[0003] In the related art, an electrical signal for indicating operating parameters such as the rotational speed of the motor and the rotational angle of the rotor can be obtained through a position sensor (such as a resolver) provided in the vehicle, and the electrical signal detected by the position sensor is output to the controller in the vehicle through a communication harness, and the controller analyzes the electrical signal to obtain the operating parameter. In this way, the motor can be accurately controlled based on the operating parameter.

[0004] However, due to long-term operation, the communication harness in the vehicle may have abnormal impedance due to contact with impurities, aging, or other reasons, which may cause attenuation of the electrical signal received by the controller. Therefore, the solution in the related art may have a problem that the controller may mis-control the motor due to attenuation of the electrical signal received by the controller in the vehicle. Summary of the Invention

[0005] In view of this, the method and device for processing resolver signals, the vehicle, and the storage medium provided by the embodiments of the present application are used to at least partially solve the above technical problems. The method and device for processing resolver signals, the vehicle, and the storage medium provided by the embodiments of the present application are implemented as follows:

[0006] In a first aspect of the embodiments of the present application, a method for processing resolver signals is provided, which is applied to a vehicle; the method includes:

[0007] According to the actual resolver signal of the vehicle and a preset signal amplitude, the working state of the actual resolver signal is obtained, the actual resolver signal is a resolver signal output by a position sensor of the vehicle through a communication harness of the vehicle, the preset signal amplitude is used to indicate the signal amplitude of the resolver signal of the vehicle when it is not attenuated, and the working state includes an unattenuated state or an attenuated state;

[0008] When the working state of the actual resolver signal is the attenuated state, signal compensation is performed on the actual resolver signal to obtain a target resolver signal;

[0009] Control the motor of the vehicle according to the target resolver signal.

[0010] Optionally, obtaining the working state of the actual resolver signal according to the actual resolver signal of the vehicle and a preset signal amplitude includes:

[0011] Determining the ratio of the resolver amplitude of the actual resolver signal to the preset signal amplitude;

[0012] Obtaining the working state of the actual resolver signal according to the ratio and a preset threshold.

[0013] Optionally, the actual resolver signal includes a sine resolver signal and a cosine resolver signal;

[0014] The determining the ratio of the resolver amplitude of the actual resolver signal to the preset signal amplitude includes:

[0015] Calculating a first ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and calculating a second ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude;

[0016] The obtaining the working state of the actual resolver signal according to the ratio and a preset threshold includes:

[0017] Obtaining the working state of the actual resolver signal based on the first ratio, the second ratio, and the preset threshold.

[0018] Optionally, the obtaining the working state of the actual resolver signal based on the first ratio, the second ratio, and the preset threshold includes:

[0019] When the first ratio meets a preset condition corresponding to the preset threshold, and / or when the second ratio meets a preset condition corresponding to the preset threshold, determining the working state of the actual resolver signal as the attenuation state.

[0020] Optionally, when the working state of the actual resolver signal is the attenuation state, performing signal compensation on the actual resolver signal to obtain a target resolver signal includes:

[0021] When the working state of the actual resolver signal is the attenuation state, compensating the actual resolver signal according to the ratio to obtain the target resolver signal.

[0022] Optionally, the actual resolver signal includes a sine resolver signal and a cosine resolver signal, the ratio includes a first ratio and a second ratio, the first ratio is the ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and the second ratio is the ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude;

[0023] Compensating the actual resolver signal according to the ratio to obtain the target resolver signal includes:

[0024] When the first ratio meets a preset condition corresponding to the preset threshold, obtaining a target sine resolver signal according to the sine resolver signal and the first ratio; and / or,

[0025] When the second ratio meets a preset condition corresponding to the preset threshold, obtaining a target cosine resolver signal according to the cosine resolver signal and the second ratio.

[0026] Optionally, the actual resolver signal includes a sine resolver signal and a cosine resolver signal, the ratio includes a first ratio and a second ratio, the first ratio is the ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and the second ratio is the ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude;

[0027] Compensating the actual resolver signal according to the ratio to obtain the target resolver signal includes:

[0028] Obtaining a target sine resolver signal according to the sine resolver signal and the first ratio;

[0029] Obtaining a target cosine resolver signal according to the cosine resolver signal and the second ratio.

[0030] In a second aspect of the embodiments of the present application, a resolver signal processing device applied to a vehicle is further provided; the device includes:

[0031] An operation module, configured to obtain the working state of the actual resolver signal according to the actual resolver signal of the vehicle and the preset signal amplitude, where the actual resolver signal is the resolver signal output by the position sensor of the vehicle through the communication harness of the vehicle, the preset signal amplitude is used to indicate the signal amplitude of the resolver signal of the vehicle when it is not attenuated, and the working state of the actual resolver signal includes an unattenuated state and an attenuated state;

[0032] A compensation module, configured to perform signal compensation on the actual resolver signal when the working state of the actual resolver signal is the attenuated state to obtain a target resolver signal;

[0033] A control module, configured to control a motor of the vehicle according to the target resolver signal.

[0034] The vehicle provided by an embodiment of the present application includes a memory and a processor. The memory stores a computer program that can run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0035] The computer-readable storage medium provided by an embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided by the embodiment of the present application is implemented.

[0036] The resolver signal processing method, device, vehicle, and computer-readable storage medium provided by the embodiments of the present application obtain the working state of the actual resolver signal according to the actual resolver signal of the vehicle and a preset signal amplitude; when the working state is a decay state, perform signal compensation on the actual resolver signal to obtain a target resolver signal; and control the motor of the vehicle according to the target resolver signal.

[0037] Among them, since the preset signal amplitude can indicate the signal amplitude of the resolver signal of the vehicle when it is not decayed, then according to the actual resolver signal and the preset signal amplitude, it can be determined the difference between the resolver signal actually received by the controller and the resolver signal that the controller should receive when it is not decayed, and further, it can be accurately determined whether the working state is a decay state or a non-decay state. When it is determined that the working state is a decay state, the actual resolver signal is compensated to obtain the target resolver signal. In this way, the attenuation of the actual resolver signal caused by the impedance change of the communication harness can be compensated, and further, the difference between the actual resolver signal and the resolver signal output by the position sensor can be eliminated. Therefore, the difference between the target resolver signal used by the controller when controlling the motor and the resolver signal output by the position sensor can be minimized as much as possible. That is to say, the resolver signal used by the controller when controlling the motor is the same as the resolver signal output by the position sensor (or, the resolver signal used by the controller when controlling the motor approaches the resolver signal output by the position sensor as much as possible). In this way, the accuracy and stability of controlling the motor of the vehicle can be improved.

[0038] In this way, it is possible to avoid as much as possible the problem that the controller mis-controls the motor due to the attenuation of the resolver signal received by the controller, so as to at least partially solve the technical problems proposed in the background art. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0040] Figure 1 Schematic diagram of an application scenario provided by an embodiment of the present application;

[0041] Figure 2 Flowchart of the first method for processing resolver signals provided by an embodiment of the present application;

[0042] Figure 3 Flowchart of the second method for processing resolver signals provided by an embodiment of the present application;

[0043] Figure 4 Flowchart of the third method for processing resolver signals provided by an embodiment of the present application;

[0044] Figure 5 Waveform schematic diagram of the first resolver signal provided by an embodiment of the present application;

[0045] Figure 6 Flowchart of the fourth method for processing resolver signals provided by an embodiment of the present application;

[0046] Figure 7 Flowchart of the fifth method for processing resolver signals provided by an embodiment of the present application;

[0047] Figure 8 Flowchart of the sixth method for processing resolver signals provided by an embodiment of the present application;

[0048] Figure 9 Waveform schematic diagram of the second resolver signal provided by an embodiment of the present application;

[0049] Figure 10 Schematic diagram of the structure of a resolver signal processing device provided by an embodiment of the present application. Detailed implementation manners

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail in combination with the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0052] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0053] It should be noted that the terms "first / second / third" related to the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged in a specific order or sequence when permitted, so that the embodiments of this application described here can be implemented in an order other than that illustrated or described here.

[0054] In the related art, corresponding position sensors (such as resolvers) can be set in a vehicle to obtain electrical signals for indicating operating parameters such as the rotational speed of a motor and the rotational angle of a rotor. The electrical signals detected by the position sensors are output to a controller in the vehicle through a communication harness, and the controller analyzes the electrical signals to obtain the operating parameters. In this way, the motor can be accurately controlled based on the operating parameters.

[0055] However, in the case of long-term operation, the communication harness in the vehicle may have abnormal impedance due to contact with impurities, aging, or other reasons, which may cause attenuation of the electrical signals received by the controller. Therefore, the solution in the related art has the problem that the controller in the vehicle may miscontrol the motor due to the attenuation of the electrical signals received by the controller.

[0056] For this reason, the embodiments of this application provide a method for processing resolver signals. By obtaining the working state of the actual resolver signal according to the actual resolver signal of the vehicle and a preset signal amplitude. When the working state is an attenuation state, signal compensation is performed on the actual resolver signal to obtain a target resolver signal. The motor of the vehicle is controlled according to the target resolver signal. In this way, the problem that the controller in the vehicle miscontrols the motor can be avoided as much as possible.

[0057] The embodiments of this application are described by taking the method for processing resolver signals applied in a vehicle as an example. However, it does not mean that the embodiments of this application can only be applied to the processing of resolver signals in a vehicle.

[0058] Optionally, the vehicle may include, but is not limited to, a battery electric vehicle, a range-extended electric vehicle, or a hybrid electric vehicle. Specifically, the vehicle may be a vehicle that provides driving force through an electric motor, that is, the vehicle may include at least one electric motor.

[0059] Figure 1 A schematic diagram of an application scenario is provided. Refer to Figure 1 , in this scenario, vehicle A is provided. Vehicle A may include a plurality of drive wheels Q, and vehicle A also includes at least one electric motor, that is, vehicle A may be a vehicle that provides driving force by electric motor M.

[0060] Specifically, as Figure 1 shown, a position sensor C may be provided in the electric motor M, and the position sensor C outputs a corresponding resolver signal.

[0061] Optionally, the resolver signal is used to indicate parameters such as the rotational speed of the electric motor M, the rotational angle of the rotor, and the position of the rotor. The position sensor C may be a resolver.

[0062] Moreover, a controller B and a communication harness L may also be provided in vehicle A. One end of the communication harness L is connected to the input end of the controller B, and the other end of the communication harness L is connected to the output end of the position sensor C. That is, the communication harness L is used to transmit the resolver signal output by the position sensor C to the controller B.

[0063] The controller B is used to analyze the resolver signal, perform any possible processing operations on the resolver signal, and control the electric motor M based on the resolver signal.

[0064] In addition, vehicle A may also include any other possible components. For example, vehicle A may also include a control harness disposed between the controller B and the electric motor M, so that the controller B can control the operating parameters of the electric motor M. The embodiments of the present application do not limit this.

[0065] It should be noted that Figure 1 the vehicle A shown is only an example of an application scenario provided by the embodiments of the present application, and does not mean that the method for processing the resolver signal provided by the embodiments of the present application can only be applied to the vehicle A as Figure 1 shown.

[0066] In actual application, the method may be applied to vehicles with any number of drive wheels and electric motors. For example, the method may also be applied to a vehicle with 4 drive wheels and 4 electric motors, or to a vehicle with 4 drive wheels and 1 electric motor, or to any other possible vehicle. The embodiments of the present application do not limit this.

[0067] The method for processing the resolver signal provided by the embodiments of the present application will be explained in detail below.

[0068] Figure 2 The flowchart shows a method for processing resolver signals provided for this application. This method can be applied to the above vehicle, which may also include any controller with functions such as processing, control, recognition, and operation. Specifically, this method can be executed by this controller.

[0069] See Figure 2 , an embodiment of this application provides a method for processing resolver signals, which includes:

[0070] Step 101: Obtain the working state of the actual resolver signal based on the actual resolver signal of the vehicle and the preset signal amplitude.

[0071] Among them, the actual resolver signal can be the resolver signal output by the position sensor of the vehicle through the communication harness of the vehicle. Specifically, the process of obtaining and transmitting the actual resolver signal is as follows: The position sensor of the vehicle detects the motor of the vehicle to obtain a resolver signal for indicating the motor parameters of the vehicle (such as the speed, rotor position, and rotor rotation angle of the motor), and then the position sensor of the vehicle outputs the detected resolver signal to the communication harness of the vehicle to transmit the resolver signal to the controller through the communication harness of the vehicle.

[0072] In other words, the actual resolver signal can refer to the resolver signal received by the controller of the vehicle. That is, the actual resolver signal received by the controller is the resolver signal finally output by the communication harness of the vehicle.

[0073] That is to say, the actual resolver signal is related to the impedance of the communication harness. Generally, the greater the impedance of the communication harness, the smaller the signal strength of the actual resolver signal; the smaller the impedance of the communication harness, the greater the signal strength of the actual resolver signal. Therefore, the actual resolver signal can be used to characterize the impedance of the communication harness and can also be used to characterize the attenuation of the resolver signal output by the position sensor during transmission through the communication harness to the controller.

[0074] In this embodiment, the actual resolver signal includes a sine resolver signal and a cosine resolver signal. Exemplarily, the actual resolver signal can be a voltage signal.

[0075] Among them, during the process of the position sensor rotating with the motor, the phase of the resolver signal output by the position sensor will change with the angle of the rotor of the motor in the vehicle. Generally, the phase difference between the sine resolver signal and the cosine resolver signal is 90 degrees. In addition, the resolver signal output by the position sensor can be used to indicate parameters such as the real-time speed of the motor, the real-time position of the rotor, and the real-time rotation angle of the rotor at the current moment.

[0076] In this embodiment, the preset signal amplitude is used to indicate the signal amplitude of the resolver signal of the vehicle when it is not attenuated. That is, the preset signal amplitude can indicate the signal amplitude of the resolver signal directly output by the position sensor.

[0077] Optionally, the preset signal amplitude can be obtained by actual testing by relevant technicians. For example, relevant technicians can measure the signal strength of the resolver signal output by the position sensor to the controller through the communication harness when the communication harness between the position sensor and the controller is not aged and not contaminated with impurities (that is, when the impedance of the communication harness is normal or at the rated impedance), and then determine the preset signal amplitude based on the measured signal strength.

[0078] In this embodiment, the working state of the actual resolver signal includes the non-attenuated state or the attenuated state. Exemplarily, the attenuated state can refer to the state where the signal strength of the resolver signal weakens during transmission, or the amplitude of the signal strength weakening is greater than or equal to a threshold (denoted as threshold 1). Correspondingly, the non-attenuated state can refer to the state where the signal strength of the resolver signal does not weaken during transmission, or the amplitude of the signal strength weakening is less than threshold 1. Among them, threshold 1 can be set by relevant technicians according to actual needs, and the embodiments of the present application do not limit this.

[0079] Exemplarily, generally, the working state can be determined by comparing the actual resolver signal with the preset signal amplitude. For example, if the signal amplitude of the actual resolver signal is greater than or equal to the preset signal amplitude, it can indicate that the working state is the non-attenuated state; if the signal amplitude of the actual resolver signal is less than the preset signal amplitude, it can indicate that the working state is the attenuated state. For another example, if the difference between the signal amplitude of the actual resolver signal and the preset signal amplitude is less than or equal to a threshold (denoted as threshold 2), it can indicate that the working state is the non-attenuated state; if the difference between the signal amplitude of the actual resolver signal and the preset signal amplitude is greater than threshold 2, it can indicate that the working state is the attenuated state. In actual application, the working state can also be determined by any other possible means, and the embodiments of the present application do not limit this.

[0080] Exemplarily, in this embodiment, the actual resolver signal can also be obtained intermittently. The specific operation is as follows: Obtain the actual resolver signal based on a preset time interval.

[0081] Optionally, the preset time interval may be in the form of a sliding window. For example, if the sliding window is 25 ms, then the purpose of obtaining the actual resolver signal every 25 ms can be achieved. Specifically, when obtaining the actual resolver signal, the resolver amplitude of the actual resolver signal can be specifically obtained.

[0082] It should be understood that the actual resolver signal includes a sine resolver signal and a cosine resolver signal. Then specifically, the sine resolver amplitude of the sine resolver signal and the cosine resolver amplitude of the cosine resolver signal can be obtained. In this way, by flexibly adjusting the preset time interval, the frequency of obtaining the actual resolver signal can be adjusted.

[0083] It is worth noting that generally, the controller needs to perform corresponding control on the motor in the vehicle according to the received resolver signal, such as controlling the speed of the motor, controlling the motor to stop or start, etc. And since the actual resolver signal can refer to the resolver signal actually received by the controller, if the actual resolver signal decays (i.e., the working state is the decay state), it will affect the accuracy and stability of the controller to control the motor.

[0084] It is worth noting that since the preset signal amplitude can indicate the signal amplitude of the resolver signal of the vehicle when it is not decayed, then based on the actual resolver signal and the preset signal amplitude, the difference between the resolver signal actually received by the controller and the resolver signal that the controller should receive when there is no decay can be determined, and further, it can be accurately determined whether the working state is the decay state or the non-decay state. In this way, it is convenient to perform corresponding adjustment on the actual resolver signal subsequently.

[0085] Step 102: When the working state of the actual resolver signal is the decay state, perform signal compensation on the actual resolver signal to obtain a target resolver signal.

[0086] In this embodiment, if the working state of the actual resolver signal is the decay state, it indicates that the resolver signal output by the position sensor decays during the transmission through the communication harness, resulting in a decrease in the signal strength of the actual resolver signal. That is to say, the signal strength of the actual resolver signal actually received by the controller is less than the signal strength of the resolver signal output by the position sensor. Therefore, corresponding compensation needs to be performed on the actual resolver signal.

[0087] Optionally, the operation of performing signal compensation on the actual resolver signal may refer to: enhancing the signal strength of the actual resolver signal. Specifically, it can be achieved by increasing the signal value of the actual resolver signal in a software manner, or by adjusting the output power of the position sensor, or by any other possible means. The embodiments of the present application do not limit this.

[0088] Optionally, the target resolver signal refers to the actual resolver signal after the signal strength is enhanced. Generally, the signal amplitude of the target resolver signal is the same as or close to the preset signal amplitude.

[0089] That is to say, the target resolver signal can be the same as the resolver signal output by the position sensor, or the target resolver signal can approach as closely as possible the resolver signal output by the position sensor. In this case, the target resolver signal can accurately indicate parameters such as the real-time speed of the motor, the real-time position of the rotor, and the real-time rotation angle of the rotor at the current moment.

[0090] It should be noted that in the case where it is determined that the working state is the attenuation state (that is, it is determined that the actual resolver signal decays), the actual resolver signal is compensated by enhancing the signal strength of the actual resolver signal to obtain the target resolver signal. In this way, the target resolver signal can be the same as the resolver signal output by the position sensor or approach as closely as possible the resolver signal output by the position sensor.

[0091] It can be seen that after compensating the actual resolver signal, the attenuation of the actual resolver signal caused by the impedance change of the communication harness can be compensated, and further the difference between the actual resolver signal and the resolver signal output by the position sensor can be eliminated.

[0092] Step 103: Control the motor of the vehicle according to the target resolver signal.

[0093] In step 103, controlling the motor of the vehicle according to the target resolver signal can also be understood as controlling the operating parameters of the motor of the vehicle according to the target resolver signal.

[0094] Optionally, the motor may refer to a motor that can provide driving force for the vehicle. The operating parameters may refer to parameters such as the speed of the motor, the position of the rotor, the rotation angle of the rotor, the rotation direction of the rotor, and / or the start / stop state of the motor. The embodiments of the present application do not make limitations in this regard.

[0095] Exemplarily, when the controller controls the operating parameters according to the target resolver signal, specifically, the target resolver signal can be first analyzed to obtain the real-time parameters of the motor at the current moment; then the controller can compare the preset parameters (or the parameters expected by the user) with the real-time parameters to determine the difference between the real-time parameters and the preset parameters; and then control the operating parameters of the motor according to the difference so that the actual parameters of the motor approach the preset parameters (or the actual parameters of the motor are the same as the preset parameters). The embodiments of the present application do not make limitations in this regard.

[0096] In addition, when controlling the operating parameters according to the target resolver signal, it can be achieved in any possible way. For example, the target resolver signal can be first analyzed to obtain parameters such as the motor speed and the rotor position of the motor indicated by the target resolver signal; then, based on parameters such as the motor speed and the rotor position of the motor, any possible closed-loop control and / or open-loop control can be performed to achieve the purpose of accurately controlling the operating parameters of the motor.

[0097] It should be noted that since the target resolver signal is the same as the resolver signal output by the position sensor, or the target resolver signal approaches as closely as possible the resolver signal output by the position sensor. Therefore, the difference between the target resolver signal used by the controller when controlling the motor and the resolver signal output by the position sensor can be minimized as much as possible. And since the resolver signal output by the position sensor can indicate parameters such as the real-time speed of the motor, the real-time position of the rotor, and the real-time rotation angle of the rotor. That is to say, by controlling the operating parameters according to the target resolver signal, the controller can control the motor according to the real operating parameters of the motor as much as possible. In this way, the accuracy and stability of controlling the motor of the vehicle can be improved.

[0098] In the embodiment of the present application, the working state of the actual resolver signal is obtained according to the actual resolver signal of the vehicle and the preset signal amplitude; in the case where the working state is the attenuation state, signal compensation is performed on the actual resolver signal to obtain a target resolver signal; and the motor of the vehicle is controlled according to the target resolver signal.

[0099] Among them, since the preset signal amplitude can indicate the signal amplitude of the resolver signal of the vehicle when it is not attenuated, then according to the actual resolver signal and the preset signal amplitude, the difference between the resolver signal actually received by the controller and the resolver signal that the controller should receive when it is not attenuated can be determined, and further, it can be accurately determined whether the working state is the attenuation state or the non-attenuation state. In the case where the working state is determined to be the attenuation state, the actual resolver signal is compensated to obtain the target resolver signal. In this way, the attenuation of the actual resolver signal caused by the impedance change of the communication harness can be compensated, and further, the difference between the actual resolver signal and the resolver signal output by the position sensor can be eliminated. Therefore, the difference between the target resolver signal used by the controller when controlling the motor and the resolver signal output by the position sensor can be minimized as much as possible. That is to say, the resolver signal used by the controller when controlling the motor is the same as the resolver signal output by the position sensor (or, the resolver signal used by the controller when controlling the motor approaches as closely as possible the resolver signal output by the position sensor). In this way, the accuracy and stability of controlling the motor of the vehicle can be improved.

[0100] In this way, it is possible to avoid, as much as possible, the problem that the controller mis-controls the motor due to the attenuation of the resolver signal received by the controller.

[0101] Furthermore, since the method provided by the embodiments of the present application can avoid, as much as possible, the controller from mis-controlling the motor, it is possible to avoid, to a large extent, the problems that the motor controller stops working and the vehicle loses power due to the attenuation of the resolver signal. Therefore, the robustness and safety of the vehicle can also be improved to a certain extent.

[0102] In a possible implementation, referring to Figure 3 , obtaining the working state of the actual resolver signal according to the actual resolver signal of the vehicle and the preset signal amplitude includes:

[0103] Step 1011: Determine the ratio of the resolver amplitude of the actual resolver signal to the preset signal amplitude.

[0104] Optionally, the resolver amplitude of the actual resolver signal may include the sine resolver amplitude of the above sine resolver signal and the cosine resolver amplitude of the above cosine resolver signal.

[0105] Optionally, the ratio may be the ratio obtained by dividing the resolver amplitude of the actual resolver signal by the preset signal amplitude, or the ratio obtained by dividing the preset signal amplitude by the resolver amplitude of the actual resolver signal. It can be specifically set according to actual needs, and the embodiments of the present application do not limit this.

[0106] It should be noted that since the preset signal amplitude refers to the signal amplitude of the resolver signal of the vehicle when it is not attenuated, that is, the preset signal amplitude may refer to the amplitude of the resolver signal output by the above position sensor. Then, this ratio can be used to indicate the difference between the actual resolver signal received by the controller and the resolver signal (non-attenuated resolver signal) output by the position sensor.

[0107] For example, assuming that the ratio is obtained by dividing the resolver amplitude of the actual resolver signal by the preset signal amplitude, then the smaller the ratio, the greater the attenuation degree of the actual resolver signal (that is, the greater the difference between the actual resolver signal and the resolver signal output by the position sensor); the greater the ratio, the smaller the attenuation degree of the actual resolver signal (that is, the smaller the difference between the actual resolver signal and the resolver signal output by the position sensor).

[0108] For another example, assuming that the ratio is obtained by dividing the preset signal amplitude by the resolver amplitude of the actual resolver signal, then the greater the ratio, the greater the attenuation degree of the actual resolver signal; the smaller the ratio, the smaller the attenuation degree of the actual resolver signal.

[0109] Generally, if the actual resolver signal does not attenuate, then this ratio is 1.

[0110] In this way, the attenuation degree of the actual resolver signal relative to the non-attenuated resolver signal can be simply and accurately indicated by this ratio.

[0111] Step 1012: Obtain the working state of the actual resolver signal according to this ratio and a preset threshold.

[0112] Optionally, the preset threshold can be a value used to determine whether the actual resolver signal attenuates. Moreover, the preset threshold can be set by relevant technicians according to actual needs.

[0113] Generally, the preset threshold can be a value indicating that the attenuation degree of the actual resolver signal will not affect the accuracy of the controller's control of the motor (or the influence degree on the accuracy of the controller's control of the motor is relatively small).

[0114] It should be noted that in some possible cases, the attenuation degree of the actual resolver signal may be small, and when the controller controls the motor based on the actual resolver signal, it may have no impact on the control accuracy or the impact degree is very small. At this time, the controller can also directly use the actual resolver signal to control the motor. Then, the preset threshold can be adjusted so that the actual resolver signal with a small attenuation will not be determined to be in an attenuated state. In this way, the processing pressure of the controller can be reduced to a certain extent, and thus the processing efficiency of the actual resolver signal can be improved.

[0115] In other possible cases, it may occur that even if the attenuation degree of the actual resolver signal is very small, it will still affect the accuracy of the controller's control of the motor based on the actual resolver signal, and even cause problems such as the controller stopping working and the vehicle losing power. At this time, the controller cannot directly use the actual resolver signal to control the motor. Then, the preset threshold can be adjusted to determine the actual resolver signal with any degree of attenuation as an attenuated state. In this way, any actual resolver signal with attenuation can be compensated, and thus the reliability of the controller's control of the motor can be improved.

[0116] It should be noted that since this ratio can be used to indicate the attenuation degree of the actual resolver signal relative to the non-attenuated resolver signal, the attenuation state of the actual resolver signal can be flexibly and accurately determined by comparing this ratio and the preset threshold. In this way, the flexibility and practicality of the working state of the actual resolver signal can be improved.

[0117] Since the actual resolver signals provided in the embodiments of the present application may include sine resolver signals and cosine resolver signals, correspondingly, the preset signal amplitudes may also include sine signal amplitudes and cosine signal amplitudes. Therefore, the embodiments of the present application also provide a possible implementation manner. Refer to Figure 4 , determining the ratio of the resolver amplitude of the actual resolver signal to the preset signal amplitude includes:

[0118] Step 1013: Calculate a first ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and calculate a second ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude.

[0119] Optionally, the sine resolver amplitude refers to the maximum value of the sine resolver signal actually received by the controller. The cosine resolver amplitude refers to the maximum value of the cosine resolver signal actually received by the controller.

[0120] Among them, the sine signal amplitude can be used to indicate the signal amplitude of the sine resolver signal of the vehicle when it is not attenuated, that is, the preset signal amplitude can indicate the signal amplitude of the sine resolver signal directly output by the position sensor. In addition, the cosine signal amplitude can be used to indicate the signal amplitude of the cosine resolver signal of the vehicle when it is not attenuated, that is, the preset signal amplitude can indicate the signal amplitude of the cosine resolver signal directly output by the position sensor.

[0121] Exemplarily, refer to Figure 5 , Figure 5 In (a) of

[0122] Figure 5 shows a possible waveform of a sine resolver signal. Moreover, in the coordinate system shown in the figure, the X-axis is the signal value (that is, the signal strength), and the Y-axis is the time value. It can be seen that in stage J1, the sine resolver signal is not attenuated, and at this time, the sine resolver amplitude of the sine resolver signal is X1; in stage J2, the sine resolver signal may be attenuated due to the impedance change of the above communication harness, and at this time, the sine resolver amplitude of the sine resolver signal is X2. Among them, X2 is less than X1.

[0123] In addition, X4 may be the same as or different from X2, and X3 may be the same as or different from X1. The embodiments of the present application do not limit this.

[0124] In this embodiment, the first ratio can be obtained by dividing the sine resolver amplitude of the sine resolver signal by the sine signal amplitude of the preset signal amplitude, or by dividing the sine signal amplitude of the preset signal amplitude by the sine resolver amplitude of the sine resolver signal. Correspondingly, the second ratio can be obtained by dividing the cosine resolver amplitude of the cosine resolver signal by the cosine signal amplitude of the preset signal amplitude, or by dividing the cosine signal amplitude of the preset signal amplitude by the cosine resolver amplitude of the cosine resolver signal.

[0125] Generally, the first ratio and the second ratio can be obtained in the same way as much as possible. For example, if the first ratio is obtained by dividing the sine resolver amplitude of the sine resolver signal by the sine signal amplitude of the preset signal amplitude, then the second ratio can be obtained by dividing the cosine resolver amplitude of the cosine resolver signal by the cosine signal amplitude of the preset signal amplitude. The first ratio and the second ratio can specifically select the corresponding calculation method according to actual needs, and the embodiments of the present application do not limit this.

[0126] It should be noted that since when the communication harness ages or comes into contact with impurities, resulting in an increase in the impedance of the communication harness, the signal transmitted through the communication harness will attenuate at each moment. Therefore, by comparing the sine signal amplitude of the sine resolver signal actually received by the controller with the sine signal amplitude in the preset resolver amplitude, it is possible to conveniently and accurately determine whether the sine resolver signal has attenuated; by comparing the cosine signal amplitude of the cosine resolver signal actually received by the controller with the cosine signal amplitude in the preset resolver amplitude, it is possible to conveniently and accurately determine whether the cosine resolver signal has attenuated.

[0127] That is, when determining whether the sine resolver signal and / or the cosine resolver signal has attenuated, it is not necessary to detect the signal values of the sine resolver signal and / or the cosine resolver signal at each moment. In this way, the processing pressure of the controller can be reduced and the processing efficiency can be improved.

[0128] Further, continue to refer to Figure 4 , according to the ratio and the preset threshold, obtain the working state of the actual resolver signal, including:

[0129] Step 1014: Based on the first ratio, the second ratio, and the preset threshold, obtain the working state of the actual resolver signal.

[0130] Generally, the first ratio can be compared with the preset threshold to obtain the working state of the sine resolver signal in the actual resolver signal; or the second ratio can be compared with the preset threshold to obtain the working state of the cosine resolver signal in the actual resolver signal.

[0131] Further, based on Figure 4 , continue to refer to Figure 6 , and based on the first ratio, the second ratio, and the preset threshold, obtain the working state of the actual resolver signal, including:

[0132] Step 1015: When the first ratio satisfies the preset condition corresponding to the preset threshold, and / or the second ratio satisfies the preset condition corresponding to the preset threshold, determine that the working state of the actual resolver signal is the attenuation state.

[0133] Optionally, the preset condition corresponding to the preset threshold can be set by relevant technical personnel according to actual needs, and can be specifically set according to the calculation methods of the first ratio and the second ratio.

[0134] For example, assume that the first ratio is obtained by dividing the sine resolver amplitude of the sine resolver signal by the sine signal amplitude of the preset signal amplitude. Then, the preset condition corresponding to the preset threshold can be: less than the preset threshold. In this case, the preset threshold can be any positive value less than or equal to 1.

[0135] Specifically, denote the sine resolver amplitude of the sine resolver signal as sinmax, denote the sine signal amplitude of the preset signal amplitude as a, and set the preset threshold to 0.9. Then, the first ratio can be denoted as sinmax / a. When sinmax / a is less than 0.9, it can be determined that the first ratio satisfies the preset condition corresponding to the preset threshold.

[0136] Another example, assume that the first ratio is obtained by dividing the sine signal amplitude of the preset signal amplitude by the sine resolver amplitude of the sine resolver signal. Then, the preset condition corresponding to the preset threshold can be: greater than the preset threshold. In this case, the preset threshold can be any value greater than or equal to 1.

[0137] Another example, assume that the second ratio is obtained by dividing the cosine resolver amplitude of the cosine resolver signal by the cosine signal amplitude of the preset signal amplitude. Then, the preset condition corresponding to the preset threshold can be: less than the preset threshold. In this case, the preset threshold can be any positive value less than or equal to 1.

[0138] Specifically, denote the cosine resolver amplitude of the cosine resolver signal as cosmax, denote the cosine signal amplitude of the preset signal amplitude as a2, and set the preset threshold to 0.9. Then, the second ratio can be denoted as cosmax / a2. When cosmax / a2 is less than 0.9, it can be determined that the second ratio satisfies the preset condition corresponding to the preset threshold.

[0139] For another example, assuming that the second ratio is obtained by dividing the cosine signal amplitude of the preset signal amplitude by the cosine resolver amplitude of the cosine resolver signal, then the preset condition corresponding to the preset threshold may be: greater than the preset threshold. In this case, the preset threshold may be any value greater than or equal to 1.

[0140] It is worth noting that, because the actual resolver signal received by the controller generally includes a sine resolver signal and a cosine resolver signal, and both the sine resolver signal and the cosine resolver signal are transmitted through a communication harness, if at least one of the sine resolver signal and the cosine resolver signal is attenuated, the actual resolver signal can be considered to be in an attenuated state.

[0141] In this way, the phenomenon of misjudging the actual resolver signal as being in an unattenuated state due to attenuation of the sine resolver signal or the cosine resolver signal can be avoided as much as possible, thereby improving the accuracy and reliability of subsequent compensation of the actual resolver signal.

[0142] For a possible implementation, see Figure 7 , when the working state of the actual resolver signal is an attenuation state, performing signal compensation on the actual resolver signal to obtain a target resolver signal, including:

[0143] Step 1021: when the working state of the actual resolver signal is an attenuation state, the actual resolver signal is compensated according to the ratio to obtain the target resolver signal.

[0144] In this embodiment, the operation of compensating the actual resolver signal according to the ratio may refer to compensating each point in the actual resolver signal according to the ratio, or may refer to compensating the actual resolver signal as a whole according to the ratio. This embodiment of the application does not limit this.

[0145] Generally, the actual resolver signal can be multiplied or divided by the ratio to achieve compensation of the actual resolver signal. Specifically, the ratio can be adjusted according to the calculation method of the ratio, which is not limited in the embodiment of the present application.

[0146] It is worth noting that, since the ratio can be used to indicate the difference (or attenuation degree) between the actual resolver signal received by the controller and the resolver signal (unattenuated resolver signal) output by the position sensor, when the actual resolver signal is compensated according to the ratio, the target resolver signal obtained after compensation can be the same as the unattenuated resolver signal, or as close to the unattenuated resolver signal as possible. In this way, the compensation effect of the method on the actual resolver signal can be improved, thereby improving the accuracy of the target resolver signal.

[0147] When the ratio includes a first ratio and a second ratio, where the first ratio is the ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and the second ratio is the ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude. Accordingly, an embodiment of the present application further provides a possible implementation manner, which compensates the actual resolver signal according to the ratio to obtain the target resolver signal, including:

[0148] When the first ratio satisfies a preset condition corresponding to the preset threshold, a target sine resolver signal is obtained according to the sine resolver signal in the actual resolver signal and the first ratio. And / or,

[0149] When the second ratio satisfies a preset condition corresponding to the preset threshold, a target cosine resolver signal is obtained according to the cosine resolver signal in the actual resolver signal and the second ratio.

[0150] Optionally, the target sine resolver signal refers to the sine resolver signal in the actual resolver signal after compensation. That is, the target sine resolver signal refers to the sine resolver signal of the actual resolver signal after the signal strength is enhanced.

[0151] Optionally, the target cosine resolver signal refers to the cosine resolver signal in the actual resolver signal after compensation. That is, the target cosine resolver signal refers to the cosine resolver signal of the actual resolver signal after the signal strength is enhanced.

[0152] It should be noted that if the first ratio satisfies the preset condition corresponding to the preset threshold, it can be determined that the sine resolver signal in the actual resolver signal is in an attenuated state. At this time, the sine resolver signal in the actual resolver signal can be compensated based on the first ratio. If the second ratio satisfies the preset condition corresponding to the preset threshold, it can be determined that the cosine resolver signal in the actual resolver signal is in an attenuated state. At this time, the cosine resolver signal in the actual resolver signal can be compensated based on the second ratio.

[0153] That is to say, in this embodiment, the attenuated signal in the actual resolver signal can be accurately compensated, while the signal in the non-attenuated state is not compensated.

[0154] Exemplarily, if the preset threshold is 0.9, then the preset condition corresponding to the preset threshold may be less than 0.9. Assume that the first ratio is 0.91 and the second ratio is 0.89. This indicates that the attenuation degree of the sine resolver signal in the actual resolver signal will not affect the accuracy of the controller in controlling the motor, or has a relatively small impact on the accuracy of controlling the motor, while the attenuation degree of the cosine resolver signal in the actual resolver signal will affect the accuracy of the controller in controlling the motor, or has a relatively large impact on the accuracy of controlling the motor. At this time, only the cosine resolver signal in the actual resolver signal can be compensated according to the second ratio to obtain the target cosine resolver signal.

[0155] In this way, the processing pressure of the controller during compensation can be reduced, thereby improving the efficiency of signal compensation.

[0156] In a possible implementation manner, refer to Figure 8 , compensating the actual resolver signal according to the ratio to obtain the target resolver signal, including:

[0157] Step 1022: Obtain a target sine resolver signal according to the sine resolver signal and the first ratio.

[0158] Step 1023: Obtain a target cosine resolver signal according to the cosine resolver signal and the second ratio.

[0159] It should be noted that in this embodiment, when it is determined that the sine resolver signal and / or the cosine resolver signal in the actual resolver signal is in an attenuated state, the sine resolver signal and / or the cosine resolver signal of the actual resolver signal can be compensated.

[0160] In this way, when one of the sine resolver signal and the cosine resolver signal in the actual resolver signal is in an attenuated state, but the other of the sine resolver signal and the cosine resolver signal in the actual resolver signal is in an unattenuated state, but the signal strength of the other of the sine resolver signal and the cosine resolver signal in the actual resolver signal actually decays, the other of the sine resolver signal and the cosine resolver signal in the actual resolver signal can also be compensated.

[0161] Exemplarily, if the preset threshold is 0.8, then the preset condition corresponding to the preset threshold can be less than 0.8. Assume that the first ratio is 0.77 and the second ratio is 0.9. At this time, it can be determined that the sine resolver signal in the actual resolver signal is in an attenuation state, and further it can be determined that the actual resolver signal is in an attenuation state. Then, in this embodiment, the sine resolver signal in the actual resolver signal can be compensated according to the first ratio to obtain a target sine resolver signal, and the cosine resolver signal in the actual resolver signal can be compensated according to the second ratio to obtain a target cosine resolver signal.

[0162] For another example, if the preset threshold is 0.98, then the preset condition corresponding to the preset threshold can be less than 0.98. Assume that the first ratio is 0.97 and the second ratio is 1. At this time, it can be determined that the sine resolver signal in the actual resolver signal is in an attenuation state, and further it can be determined that the actual resolver signal is in a non-attenuation state. Then, in this embodiment, the sine resolver signal in the actual resolver signal can be compensated according to the first ratio to obtain a target sine resolver signal, and the cosine resolver signal in the actual resolver signal can be compensated according to the second ratio to obtain a target cosine resolver signal.

[0163] In this case, since the second ratio is 1, it indicates that the cosine resolver signal in the actual resolver signal actually does not undergo attenuation. When compensating based on the second ratio, it is equivalent to multiplying the signal intensity of the cosine resolver signal in the actual resolver signal by 1 at each moment. Therefore, after compensating the cosine resolver signal in the actual resolver signal, it will not affect the actual performance of the cosine resolver signal in the actual resolver signal.

[0164] It can be seen that in this embodiment, when it is determined that the sine resolver signal or the cosine resolver signal in the actual resolver signal is in an attenuation state, both the sine resolver signal and the cosine resolver signal in the actual resolver signal can be compensated to improve the compensation effect of the actual resolver signal. In this way, when the controller controls the motor, the target resolver signal used has higher accuracy, and further the problem that the controller mis-controls the motor can be avoided as much as possible.

[0165] To better illustrate the method of compensating the actual resolver signal according to the ratio in the embodiment of the present application, several possible embodiments are provided below.

[0166] Exemplarily, denote the target sine resolver signal as Sinval1, and denote the sine resolver signal in the actual resolver signal as Sinval2. Assume that the first ratio is obtained by dividing the sine resolver amplitude of the sine resolver signal by the sine signal amplitude of the preset signal amplitude. Then the first ratio is sinmax / a. Then, the target sine resolver signal Sinval1 can be obtained by compensating in the way of dividing the sine resolver signal Sinval2 in the actual resolver signal by the first ratio sinmax / a. The specific formula is: Sinval1 = Sinval2 / (sinmax / a).

[0167] Also, for example, assume that the first ratio is obtained by dividing the sine signal amplitude of the preset signal amplitude by the sine resolver amplitude of the sine resolver signal. Then the first ratio is a / sinmax. Then, the target sine resolver signal Sinval1 can be obtained by compensating in the way of multiplying the sine resolver signal Sinval2 in the actual resolver signal by the first ratio a / sinmax. The specific formula is: Sinval1 = Sinval2*(a / sinmax).

[0168] Denote the target cosine resolver signal as Cosval1, and denote the cosine resolver signal in the actual resolver signal as Cosval2. Assume that the second ratio is obtained by dividing the cosine resolver amplitude of the cosine resolver signal by the cosine signal amplitude of the preset signal amplitude. Then the second ratio is cosmax / a. Then, the target cosine resolver signal Cosval1 can be obtained by compensating in the way of dividing the cosine resolver signal Cosval2 in the actual resolver signal by the second ratio cosmax / a. The specific formula is: Cosval1 = Cosval2 / (cosmax / a).

[0169] Also, for example, assume that the second ratio is obtained by dividing the cosine signal amplitude of the preset signal amplitude by the cosine resolver amplitude of the cosine resolver signal. Then the second ratio is a / cosmax. Then, the target cosine resolver signal Cosval1 can be obtained by compensating in the way of multiplying the cosine resolver signal Cosval2 in the actual resolver signal by the second ratio a / cosmax. The specific formula is: Cosval1 = Cosval2*(a / cosmax).

[0170] Exemplarily, on the basis of Figure 5 , continue to refer to Figure 9 , Figure 9(a) in it shows the waveform of a possible target sine resolver signal. Moreover, in the coordinate system shown in the figure, the X-axis is the signal value (i.e., signal strength), and the Y-axis is the time value. It can be seen that in stage J1, the sine resolver signal does not decay, and at this time the sine resolver amplitude of the sine resolver signal is X1; in stage J2, the sine resolver signal may decay due to the impedance change of the above communication harness, and at this time the sine resolver amplitude of the sine resolver signal is X2.

[0171] In stage J5, after compensating the sine resolver signal in the actual resolver signal, the target sine resolver signal is obtained. At this time, the sine resolver amplitude of the target sine resolver signal is X1. Among them, X2 is less than X1.

[0172] Figure 9 (b) in it shows the waveform of a possible target cosine resolver signal. It can be seen that in stage J3, the cosine resolver signal does not decay, and at this time the cosine resolver amplitude of the cosine resolver signal is X3; in stage J4, the cosine resolver signal may decay due to the impedance change of the above communication harness, and at this time the cosine resolver amplitude of the cosine resolver signal is X4.

[0173] In stage J6, after compensating the cosine resolver signal in the actual resolver signal, the target cosine resolver signal is obtained. At this time, the cosine resolver amplitude of the target cosine resolver signal is X3. Among them, X4 is less than X3.

[0174] It can be seen that after compensating the sine resolver signal and the cosine resolver signal in the actual resolver signal based on the first ratio and the second ratio respectively, the compensated target resolver signal can be made the same as the undecayed resolver signal, or as close as possible to the undecayed resolver signal.

[0175] In this way, the accuracy and stability of controlling the motor of the vehicle can be improved.

[0176] It should be understood that although the steps in the above flowcharts are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0177] Based on the foregoing embodiments, an embodiment of the present application provides a resolver signal processing device, which includes each module included and each unit included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits; during implementation, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0178] Figure 10 is a schematic structural diagram of a resolver signal processing device provided by an embodiment of the present application. Refer to Figure 10 , the device includes:

[0179] An operation module 201, configured to obtain the working state of the actual resolver signal according to the actual resolver signal of the vehicle and a preset signal amplitude, where the preset signal amplitude is used to indicate the signal amplitude of the resolver signal of the vehicle when it is not attenuated, and the working state of the actual resolver signal includes an unattenuated state and an attenuated state;

[0180] A compensation module 202, configured to perform signal compensation on the actual resolver signal to obtain a target resolver signal when the working state of the actual resolver signal is the attenuated state;

[0181] A control module 203, configured to control the motor of the vehicle according to the target resolver signal.

[0182] The description of the above device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects to the method embodiments. For the technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0183] It should be noted that in the embodiments of the present application Figure 10 The division of the resolver signal processing device shown is schematic, and is only a logical function division. In actual implementation, there may be other division methods. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware, or in the form of a software functional unit. It can also be implemented in the form of a combination of software and hardware.

[0184] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0185] The embodiments of the present application provide a vehicle, which may further include a processor and a memory connected through a system bus. Among them, the processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle is used to store data. When the computer program is executed by the processor, the above method is implemented.

[0186] Optionally, the vehicle may further include multiple driven drive wheels, motors for respectively driving the drive wheels, and any other possible devices or components for enabling the vehicle to achieve its corresponding functions in the above embodiments. The embodiments of the present application do not limit this.

[0187] Optionally, the vehicle may further include a network interface, which is used to communicate with an external terminal through a network connection.

[0188] The embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiments are implemented.

[0189] The embodiments of the present application provide a computer program product containing instructions. When it runs on a computer, it causes the computer to execute the steps in the method provided in the above method embodiments.

[0190] Those skilled in the art can understand that the structure of the vehicle provided in the embodiments of the present application is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the vehicle to which the solution of the present application is applied. A specific vehicle may include more or fewer components than those mentioned in the above embodiments, or combine certain components, or have different component arrangements.

[0191] In one embodiment, the vehicle control device provided by the present application can be implemented in the form of a computer program that can run on the above-mentioned vehicle. Each program module that makes up the above-mentioned device can be stored in the memory of the vehicle. The computer program composed of each program module enables the processor to execute the steps in the methods of various embodiments of the present application described in this specification.

[0192] It should be noted here that the descriptions of the above storage medium and device embodiments are similar to those of the above method embodiments and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the storage medium, storage medium and device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0193] It should be understood that the phrase "in one embodiment" or "in an embodiment" or "in some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" or "in some embodiments" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitudes of the sequence numbers of the above processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The sequence numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments. The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, they will not be repeated herein.

[0194] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0195] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0196] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0197] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules; they can be located in one place or distributed to multiple network units; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0198] In addition, each functional module in the embodiments of the present application can be all integrated in a processing unit, or each module can be separately used as a unit, or two or more modules can be integrated in a unit; the above integrated modules can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0199] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM), magnetic disks, or optical disks and other various media that can store program codes.

[0200] Alternatively, if the above integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application essentially or the part that contributes to the related technology can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable an electronic device to execute all or part of the methods described in the various embodiments of the present application. And the foregoing storage medium includes: removable storage devices, ROM, magnetic disks, or optical disks and other various media that can store program codes.

[0201] The methods disclosed in the several method embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments.

[0202] The features disclosed in several product embodiments provided by this application can be combined arbitrarily without conflict to obtain new product embodiments.

[0203] The features disclosed in several method or device embodiments provided by this application can be combined arbitrarily without conflict to obtain new method embodiments or device embodiments.

[0204] As mentioned above, it is only the implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claimed rights.

[0205] The above is only the preferred embodiment of this application and is not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A method for processing a resolver signal, characterized in that: The method comprises: According to an actual resolver signal of the vehicle and a preset signal amplitude, a working state of the actual resolver signal is obtained, wherein the actual resolver signal is a resolver signal output by a position sensor of the vehicle through a communication harness of the vehicle, and the preset signal amplitude is used to indicate a signal amplitude of the resolver signal of the vehicle when it is not attenuated, and the working state of the actual resolver signal includes an unattenuated state or an attenuated state; When the working state of the actual resolver signal is the attenuation state, performing signal compensation on the actual resolver signal to obtain a target resolver signal; A motor of the vehicle is controlled according to the target resolver signal.

2. The method for processing a resolver signal according to claim 1, wherein: The step of obtaining the working state of the actual resolver signal according to the actual resolver signal of the vehicle and the preset signal amplitude includes: Determine a ratio of a resolver amplitude of the actual resolver signal to a preset signal amplitude; The working state of the actual resolver signal is obtained according to the ratio and the preset threshold.

3. The method for processing a resolver signal according to claim 2, wherein: The actual resolver signal includes a sine resolver signal and a cosine resolver signal; The determining a ratio of the resolver amplitude of the actual resolver signal to the preset signal amplitude includes: Calculating a first ratio of a sine resolver amplitude of the sine resolver signal to a sine signal amplitude of the preset signal amplitude, and calculating a second ratio of a cosine resolver amplitude of the cosine resolver signal to a cosine signal amplitude of the preset signal amplitude; The step of obtaining the working state of the actual resolver signal according to the ratio and the preset threshold value includes: Based on the first ratio, the second ratio and the preset threshold, a working state of the actual resolver signal is obtained.

4. The method for processing a resolver signal according to claim 3, wherein: The obtaining the working state of the actual resolver signal based on the first ratio, the second ratio and the preset threshold value includes: When the first ratio satisfies a preset condition corresponding to the preset threshold, and / or when the second ratio satisfies a preset condition corresponding to the preset threshold, it is determined that the working state of the actual resolver signal is the attenuation state.

5. The method for processing a resolver signal according to any one of claims 2 to 4, characterized in that: When the working state of the actual resolver signal is the attenuation state, performing signal compensation on the actual resolver signal to obtain a target resolver signal includes: When the working state of the actual resolver signal is the attenuation state, the actual resolver signal is compensated according to the ratio to obtain the target resolver signal.

6. The method for processing a resolver signal according to claim 5, wherein: The actual resolver signal includes a sine resolver signal and a cosine resolver signal, and the ratio includes a first ratio and a second ratio, the first ratio being the ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and the second ratio being the ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude; The compensating the actual resolver signal according to the ratio to obtain the target resolver signal includes: When the first ratio satisfies a preset condition corresponding to the preset threshold, a target sinusoidal resolver signal is obtained according to the sinusoidal resolver signal and the first ratio; and / or, When the second ratio satisfies a preset condition corresponding to the preset threshold, a target cosine resolver signal is obtained according to the cosine resolver signal and the second ratio.

7. The method for processing a resolver signal according to claim 5, wherein: The actual resolver signal includes a sine resolver signal and a cosine resolver signal, and the ratio includes a first ratio and a second ratio, the first ratio being the ratio of the sine resolver amplitude of the sine resolver signal to the sine signal amplitude of the preset signal amplitude, and the second ratio being the ratio of the cosine resolver amplitude of the cosine resolver signal to the cosine signal amplitude of the preset signal amplitude; The compensating the actual resolver signal according to the ratio to obtain the target resolver signal includes: Obtaining a target sinusoidal resolver signal according to the sinusoidal resolver signal and the first ratio; A target cosine resolver signal is obtained according to the cosine resolver signal and the second ratio.

8. A resolver signal processing device, characterized in that: The device comprises: A calculation module, used for obtaining a working state of the actual resolver signal according to an actual resolver signal of the vehicle and a preset signal amplitude, wherein the actual resolver signal is a resolver signal output by a position sensor of the vehicle through a communication harness of the vehicle, the preset signal amplitude is used to indicate a signal amplitude of the resolver signal of the vehicle when not attenuated, and the working state of the actual resolver signal includes an unattenuated state and an attenuated state; A compensation module, used for performing signal compensation on the actual resolver signal to obtain a target resolver signal when the working state of the actual resolver signal is the attenuation state; A control module is used to control the motor of the vehicle according to the target resolver signal.

9. A vehicle, characterized in that: The vehicle comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and when the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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