Vehicle motor parameter determination method and device and related equipment

Abstract

The invention discloses a vehicle motor parameter determination method and device and related equipment, and the method comprises the steps: obtaining a running speed and a signal outputted by a rotary transformer, generating a recovery signal through employing the running speed and a non-failure signal under the condition that a single-side failure recovery condition is satisfied, and determining a motor angle and a motor rotation speed through employing the recovery signal. Therefore, recovery of the single-side failure signal can be realized, the motor angle and the motor rotating speed are determined by using the recovered signal, the motor angle and the motor rotating speed are determined under the condition of single-side failure, and then the motor is controlled.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and specifically relates to a method and device for determining vehicle motor parameters and related equipment. Background Art

[0002] In the process of high-performance control of the motor of a new energy vehicle, it is necessary to obtain relatively accurate motor angle and motor speed. Usually, a resolver and an optical encoder are used to calculate the motor angle and motor speed. A resolver is an electromagnetic induction type position sensor. The differential signals of sine and cosine including position information are extracted from the signals returned by the resolver, and then the motor angle and motor speed are obtained through the arctangent or phase-locked loop algorithm.

[0003] However, the stator wiring and windings of the resolver are vulnerable to vibrations and corrosion during vehicle operation, and there is a risk of damage during long-term operation, resulting in only one side of the sine and cosine channels of the resolver being able to work, that is, unilateral failure, which can also be called single-phase failure. In the case of unilateral failure, it is impossible to normally analyze and obtain the motor angle and motor speed based on the signals returned by the resolver. Summary of the Invention

[0004] In view of this, the present application provides a method and device for determining vehicle motor parameters and related equipment, which can determine the motor angle and motor speed in the case of unilateral failure.

[0005] To solve the above problems, the technical solutions provided by the present application are as follows:

[0006] In a first aspect, the present application provides a method for determining vehicle motor parameters, the method including:

[0007] Obtain the running speed and the signals output by the resolver, where the running speed is the vehicle speed or the motor speed, and the signals include a sine signal and a cosine signal;

[0008] If the restoration condition for unilateral failure is satisfied, generate a restoration signal using the running speed and the non-failed signals, where the non-failed signals are determined by the failed channels of the unilateral failure of the resolver, and the non-failed signals include a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal;

[0009] Determine the motor angle and motor speed using the restoration signal.

[0010] In a possible implementation manner, the generating a restoration signal using the running speed and the non-failed signals includes:

[0011] Determine positive and negative half-cycle identifiers using the operating speed and the non-failed signal, where the positive and negative half-cycle identifiers are used to indicate the half-cycle in which the angle is located;

[0012] Perform an arccosine operation on the non-failed signal to obtain the original angle value;

[0013] If the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle, perform a half-cycle compensation on the original angle value to obtain the restored angle value;

[0014] Generate a restored signal using the restored angle value.

[0015] In a possible implementation, the non-failed signal is a cosine signal. Before generating the restored signal using the restored angle value, the method further includes:

[0016] Add 90 degrees to the restored angle value to obtain an updated restored angle value.

[0017] In a possible implementation, the step of determining positive and negative half-cycle identifiers using the operating speed and the non-failed signal includes:

[0018] Determine a speed direction identifier using the operating speed, where the speed direction identifier is used to indicate the direction of angle change;

[0019] Determine the positive and negative half-cycle identifiers according to the speed direction identifier, the change direction and slope of the non-failed signal.

[0020] In a possible implementation, the step of determining a speed direction identifier using the operating speed includes:

[0021] If determining the speed direction identifier for the first time, determine the speed direction identifier using the vehicle speed;

[0022] If not determining the speed direction identifier for the first time, determine the speed direction identifier using the motor speed.

[0023] In a possible implementation, the failed channel of the resolver single-sided failure is the cosine channel, and the non-failed signal is a sine signal;

[0024] Alternatively, the failed channel of the resolver single-sided failure is the sine channel, and the non-failed signal is a cosine signal.

[0025] In a possible implementation, the restoration condition for the single-sided failure is that the resolver has a single-sided failure and the absolute value of the vehicle speed is greater than or equal to a threshold.

[0026] In a second aspect, the present application provides a device for determining vehicle motor parameters, the device includes:

[0027] An acquisition unit, configured to acquire the operating speed and the signals output by the resolver, where the operating speed is the vehicle speed or the motor speed, and the signals include a sine signal and a cosine signal;

[0028] A restoration unit, configured to generate a restoration signal by using the operating speed and the non-failed signals if the restoration condition for single-sided failure is met, where the non-failed signals are determined by the failed channels of the single-sided failure of the resolver, and the non-failed signals include a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal;

[0029] A determination unit, configured to determine the motor angle and the motor speed by using the restoration signal.

[0030] In a possible implementation manner, the restoration unit is configured to use the operating speed and the non-failed signals to determine a positive and negative half-cycle identifier, where the positive and negative half-cycle identifier is used to indicate the half-cycle in which the angle is located; perform an inverse cosine process on the non-failed signals to obtain an original angle value; if the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle, perform a half-cycle compensation on the original angle value to obtain a restored angle value; generate a restoration signal by using the restored angle value.

[0031] In a possible implementation manner, when the non-failed signal is a cosine signal, the restoration unit is further configured to increase the restored angle value by 90 degrees to obtain an updated restored angle value.

[0032] In a possible implementation manner, the restoration unit is configured to use the operating speed and the non-failed signals to determine a positive and negative half-cycle identifier, including:

[0033] The restoration unit is configured to use the operating speed to determine a speed direction identifier, where the speed direction identifier is used to indicate the change direction of the angle; determine the positive and negative half-cycle identifier according to the speed direction identifier, the change direction, and the slope of the non-failed signals.

[0034] In a possible implementation manner, the restoration unit is configured to use the operating speed to determine a speed direction identifier, including:

[0035] The restoration unit is configured to use the vehicle speed to determine the speed direction identifier if it is the first time to determine the speed direction identifier; use the motor speed to determine the speed direction identifier if it is not the first time to determine the speed direction identifier.

[0036] In a possible implementation manner, the failed channel of the single-sided failure of the resolver is the cosine channel, and the non-failed signal is a sine signal;

[0037] Or, the failed channel of the single-sided failure of the resolver is the sine channel, and the non-failed signal is a cosine signal.

[0038] In a possible implementation, the restoration condition for unilateral failure is that the resolver has unilateral failure and the absolute value of the vehicle speed is greater than or equal to a threshold.

[0039] In a third aspect, the present application provides a device, which includes a processor and a memory:

[0040] The memory is used to store a computer program and transmit the computer program to the processor;

[0041] The processor is used to execute the method for determining the vehicle motor parameters according to any one of the instructions in the computer program in the first aspect.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the method for determining the vehicle motor parameters according to any one of the first aspect.

[0043] Thus, the present application has the following beneficial effects:

[0044] The present application provides a method, a device and related equipment for determining vehicle motor parameters. In this method, the running speed and the signal output by the resolver are obtained. When the restoration condition for unilateral failure is satisfied, a restoration signal is generated by using the running speed and the non-failed signal, and then the motor angle and the motor speed are determined by using the restoration signal. In this way, the restoration of the signal with unilateral failure can be realized, and then the motor angle and the motor speed can be determined by using the restoration signal, so as to determine the motor angle and the motor speed in the case of unilateral failure, and further control the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 FIG. is a schematic structural diagram of a motor control unit provided by an embodiment of the present application;

[0046] Figure 2 FIG. is a method for determining vehicle motor parameters provided by an embodiment of the present application;

[0047] Figure 3 FIG. is a schematic structural diagram of a resolver signal restoration module provided by an embodiment of the present application;

[0048] Figure 4 FIG. is a schematic flow chart of a method for determining vehicle motor parameters provided by an embodiment of the present application;

[0049] Figure 5 FIG. is a schematic structural diagram of a device for determining vehicle motor parameters provided by an embodiment of the present application;

[0050] Figure 6Schematic structural diagram of a device for determining vehicle motor parameters provided by an embodiment of the present application. Detailed implementation manners

[0051] To facilitate the understanding and explanation of the technical solution provided by the embodiment of the present application, the background technology of the present application will be described first.

[0052] As an electromagnetic induction type position sensor, the resolver has advantages such as simple structure and strong anti-interference ability. The decoding methods of the resolver include two types: hardware decoding and software decoding. Hardware decoding requires a decoding chip for cooperation, with a relatively high production cost and less application. Software decoding uses a software method to directly extract the differential signals of sine and cosine including position information from the return signal of the resolver, and then obtains the motor angle and motor speed through the arctangent or phase-locked loop algorithm. Software decoding does not require additional costs and has a wide range of application scenarios. When the problem of single-sided failure occurs, both the hardware decoding and software decoding methods cannot work properly and cannot generate the motor angle and motor speed.

[0053] Based on this, the embodiment of the present application provides a method, device and related equipment for determining vehicle motor parameters. In this method, when the restoration condition of single-sided failure is met, the running speed and the non-failed signal are used to generate a restoration signal. In this way, the restoration of the single-sided failure signal can be realized, and then the motor angle and motor speed are determined by using the restoration signal, so as to determine the motor angle and motor speed in the case of single-sided failure, and further control the motor.

[0054] To facilitate the understanding of the technical solution provided by the embodiment of the present application, the method for determining vehicle motor parameters provided by the embodiment of the present application will be described below with reference to the accompanying drawings.

[0055] As an example, the method for determining vehicle motor parameters provided by the embodiment of the present application is applied to a motor control unit. The motor control unit is, for example, a Microcontroller Unit (MCU).

[0056] See Figure 1 As shown, the motor control unit is respectively connected to a resolver, a vehicle controller and a diagnostic system. Among them, the resolver is used to output signals. For example, the resolver outputs 2 pairs of differential sine analog signals, namely SIN_P and SIN_N, and cosine analog signals, namely COS_P and COS_N, according to the position of the rotor. The vehicle controller is used to output the vehicle speed (VehSpd). The diagnostic system is used to diagnose whether the resolver has a single-sided failure problem and outputs a signal (SinCosFailFlag) for indicating whether there is a single-sided failure.

[0057] In a possible implementation, the motor control unit includes an analog-to-digital converter, a resolver signal restoration module, and an angle tracking observer. The analog-to-digital converter is used to convert the analog signal output by the resolver into a digital signal. As an example, the analog-to-digital converter is used to convert SIN_P, SIN_N, COS_P, and COS_N into 2 pairs of differential sine digital signals and cosine digital signals, and perform per-unit normalization to output a standard sine signal with an amplitude of 1, that is, V SIN and cosine signals, that is, V COS .

[0058] The resolver signal restoration module is used to generate a restoration signal based on the obtained vehicle speed, motor speed, and the signal output by the resolver. When the diagnostic system diagnoses that the resolver is operating normally, the resolver parameter restoration module directly outputs V COS and V SIN to the angle tracking observer. The angle tracking observer is used to calculate the motor speed and motor angle based on the restoration signal. The angle tracking observer calculates the motor speed and motor angle according to V COS and V SIN .

[0059] When the diagnostic system diagnoses a single-sided failure, the resolver parameter restoration module does not directly output the V COS and V SIN signals to the angle tracking observer at this time. Instead, based on the unfailed V COS or V SIN , combined with the vehicle speed and motor speed, a restoration signal including the sine signal V X and the cosine signal V Y is obtained. The angle tracking observer calculates the motor speed and motor angle according to V X and V Y to achieve the analysis of the motor angle and motor speed.

[0060] See Figure 2 shown. This figure is a method for determining vehicle motor parameters provided by an embodiment of the present application. As Figure 2 shown, a method for determining vehicle motor parameters provided by an embodiment of the present application includes S201 - S203.

[0061] S201: Obtain the operating speed and the signal output by the resolver, where the signal includes a sine signal and a cosine signal.

[0062] The operating speed includes the vehicle speed or the motor speed. The vehicle speed is the speed at which the entire vehicle travels. As an example, the vehicle speed is obtained from the vehicle controller, for example. The motor speed can be the historical motor speed obtained by the angle tracking observer processing the historical sine signal and cosine signal. The signals output by the resolver include a sine signal and a cosine signal. The signals output by the resolver are analog signals. In a possible implementation, before inputting into the motor control unit, the analog signal is first converted into a digital signal. In another possible implementation, the motor control unit converts the analog signal into a data signal and performs per-unit processing.

[0063] S202: If the restoration condition for single-sided failure is met, a restoration signal is generated using the operating speed and the non-failed signal. The non-failed signal is determined by the failed channel of the single-sided failure of the resolver. The non-failed signal includes a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal.

[0064] The restoration condition for single-sided failure is the condition for triggering the generation of the restoration signal. As an example, the restoration condition for single-sided failure is the single-sided failure of the resolver. As another example, the restoration condition for single-sided failure is the single-sided failure of the resolver and the absolute value of the vehicle speed is greater than or equal to the threshold.

[0065] Take Figure 1 as an example. Based on the SinCosFailFlag output by the diagnostic system, it is determined whether the resolver has a single-sided failure. The values of SinCosFailFlag are 0, 1, and 2 respectively. Among them, SinCosFailFlag = 0 indicates that there is no single-sided failure problem. SinCosFailFlag = 1 indicates that the sine channel fails. SinCosFailFlag = 2 indicates that the cosine channel fails.

[0066] The embodiments of the present application do not limit the threshold of the vehicle speed. As an example, the threshold is 5 kilometers per hour. In this way, it is possible to determine whether to generate a restoration signal in combination with the vehicle speed, avoiding misjudgment of the single-sided failure problem.

[0067] When the restoration condition for single-sided failure is met, a restoration signal is generated using the operating speed and the non-failed signal.

[0068] Among them, the non-failed signal is determined by the failed channel of the single-sided failure of the resolver. The non-failed signal includes a sine signal or a cosine signal. As an example, if the failed channel of the single-sided failure of the resolver is the cosine channel, the non-failed signal is the sine signal; if the failed channel of the single-sided failure of the resolver is the sine channel, the non-failed signal is the cosine signal.

[0069] As an example, an embodiment of the present application provides a possible implementation method for generating a restoration signal by using the running speed and the unfailed signal, including the following four steps:

[0070] A1: Determine a positive and negative half-cycle identifier by using the running speed and the unfailed signal, where the positive and negative half-cycle identifier is used to indicate the half-cycle in which the angle is located.

[0071] Based on the running speed and the unfailed signal, it is possible to determine whether the half-cycle in which the current angle of the motor is located is the positive half-cycle (0 - 180°) or the negative half-cycle (180 - 360°).

[0072] The positive and negative half-cycle identifier is used to indicate the half-cycle in which the angle is located. As an example, the positive and negative half-cycle identifier is HalfFlag. When HalfFlag is 0, it indicates that the angle is in the negative half-cycle. When HalfFlag is 1, it indicates that the angle is in the positive half-cycle.

[0073] In a possible implementation method, an embodiment of the present application provides a possible implementation method for determining a positive and negative half-cycle identifier by using the running speed and the unfailed signal, including:

[0074] Determine a speed direction identifier by using the running speed; determine the positive and negative half-cycle identifier according to the speed direction identifier and the change direction and slope of the unfailed signal.

[0075] As an example, when determining the speed direction identifier for the first time, since the motor speed has not been generated, the vehicle speed is used to determine the speed direction identifier. When determining the speed direction identifier for non-first time, the motor speed is used to determine the speed direction identifier. The speed direction identifier is used to indicate the change direction of the angle.

[0076] For example, the speed direction identifier is SpdDir. When SpdDir is 1, it indicates that the angle change direction is positive. When SpdDir is 0, it indicates that the angle change direction is negative. In the scenario where the vehicle speed is used to determine the speed direction identifier, if the vehicle speed is positive, then SpdDir is 1. If the vehicle speed is negative, SpdDir is 0. In the scenario where the motor speed is used to determine the speed direction identifier, if the motor speed is positive, then SpdDir is 1. If the motor speed is negative, SpdDir is 0.

[0077] Determine the positive and negative half-cycle identifier according to the speed direction identifier and the change direction and slope of the unfailed signal.

[0078] As an example, the method for determining the positive and negative half-cycle identifier is as follows:

[0079] 1. If the speed direction identifier indicates that the angle change direction is positive, the decreasing direction of the unfailed signal is the positive half-cycle, the slope of the unfailed signal is negative, and the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle.

[0080] 2. If the speed direction identifier indicates that the angle change direction is positive, the increasing direction of the non-failed signal is the negative half-cycle, the slope of the non-failed signal is positive, and the positive and negative half-cycle identifier indicates that the angle is in the positive half-cycle.

[0081] 3. If the speed direction identifier indicates that the angle change direction is negative, the increasing direction of the non-failed signal is the positive half-cycle, the slope of the non-failed signal is positive, and the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle.

[0082] 4. If the speed direction identifier indicates that the angle change direction is negative, the decreasing direction of the non-failed signal is the negative half-cycle, the slope of the non-failed signal is negative, and the positive and negative half-cycle identifier indicates that the angle is in the positive half-cycle.

[0083] A2: Perform an arccosine operation on the non-failed signal to obtain the original angle value.

[0084] Perform an arccosine (ACOS) calculation on the non-failed signal to obtain the original angle value of the non-failed signal. It should be noted that for the case where the non-failed signal is a cosine signal, the original angle value obtained by the arccosine calculation needs to be increased by 90 degrees to obtain the updated restored angle value.

[0085] A3: If the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle, perform a half-cycle compensation on the original angle value to obtain the restored angle value.

[0086] Since ACOS can only calculate angles from 0 to 180°, when the angle is in the negative half-cycle, by compensating 180 degrees, that is, half a cycle, the true restored angle value is obtained.

[0087] A4: Generate a restored signal using the restored angle value.

[0088] Based on the restored angle value, generate a sine signal and a cosine signal. The generated sine signal and cosine signal are the restored signals.

[0089] In a possible implementation, look up the sine and cosine tables using the restored angle value to obtain the sine signal and the cosine signal. The sine and cosine tables include the sine values and cosine values corresponding to each angle value.

[0090] S203: Determine the motor angle and motor speed using the restored signal.

[0091] In this way, the restored signal can be used to determine the motor angle, that is, the position information of the motor, and the motor speed, that is, the speed information of the motor. The method of using the restored signal to determine the motor angle and motor speed is similar to the method of using the signal output by the resolver to determine the motor angle and motor speed.

[0092] Based on the relevant content of S201 - S203 above, when the restoration conditions for single - sided failure are met, a restoration signal is generated using the operating speed and the unfailed signal. In this way, the restoration of the single - sided failure signal can be achieved, and then the motor angle and motor speed are determined using the restoration signal, so as to determine the motor angle and motor speed in the case of single - sided failure, and further control the motor.

[0093] It should be noted that when the restoration conditions for single - sided failure are not met, the signals output by the resolver are used to determine the motor angle and motor speed.

[0094] As an example, see Figure 3 As shown in the figure, this figure is a schematic structural diagram of a resolver signal restoration module provided by an embodiment of the present application. The resolver signal restoration module includes a restoration function enabling judgment module, a restoration function module, and a signal selection module. The restoration function module includes a speed direction judgment module, a positive and negative half - cycle judgment module, a sine - cosine channel selection module, an ACOS look - up table module, a half - cycle compensation module, a sine deviation compensation module, and a SinCos look - up table module.

[0095] The functions of each module are described below. See Figure 4 As shown in the figure, this figure is a schematic flow diagram of a method for determining vehicle motor parameters provided by an embodiment of the present application.

[0096] 1. Restoration function enabling judgment module: Identify whether to enable this module according to SinCosFailFlag and vehicle speed judgment.

[0097] When SinCosFailFlag is not 0 and the absolute value of the vehicle speed exceeds a threshold, a module enabling signal is sent to the restoration function module to request the restoration function module. In other cases, the restoration function module is not enabled.

[0098] 2. Speed direction judgment module: Used to judge whether the change direction of the angle is increasing or decreasing.

[0099] When the speed direction judgment module is enabled for the first time, the direction needs to be judged according to the vehicle speed. If the vehicle speed is positive, SpdDir is 1 and the direction is positive; if the vehicle speed is negative, SpdDir is 0 and the direction is negative. When the speed direction judgment module is not enabled for the first time, it is judged according to the motor speed. If the motor speed is positive, SpdDir is 1 and the direction is positive; if the motor speed is negative, SpdDir is 0 and the direction is negative.

[0100] 3. Positive and negative half - cycle judgment module: Based on the speed direction, judge whether the angle is in the positive half - cycle or the negative half - cycle.

[0101] If SpdDir is 1, V USE The decreasing direction is the positive half - cycle, VUSE The slope is negative and HalfFlag is 0; V USE The increasing direction is the negative half - cycle, V USE The slope is positive and HalfFlag is 1.

[0102] If SpdDir is 0, V USE The increasing direction is the positive half - cycle, V USE The slope is positive and HalfFlag is 0; V USE The decreasing direction is the negative half - cycle, V USE The slope is negative and HalfFlag is 1.

[0103] 4. The sine - cosine channel selection module is used to select which channel to use for angle resolution.

[0104] If SinCosFailFlag is 1, then use V COS as the output; if SinCosFailFlag is 2, then use V COS as the output.

[0105] 5. The ACOS look - up table module is used to calculate the original angle value of V USE through ACOS. For the convenience of calculation, the sine channel also uses ACOS to calculate the angle, and then sine deviation compensation is performed.

[0106] 6. The half - cycle compensation module is used to compensate the original angle value obtained by ACOS calculation. When the original angle value is in the negative half - cycle, the true original angle value is obtained by compensating 180 degrees.

[0107] When HalfFlag is 0, no compensation is performed; when HalfFlag is 1, the original angle value is compensated by 180°.

[0108] 6. The sine deviation compensation module is used to compensate the original angle value obtained by using ACOS in the sine channel.

[0109] The specific compensation method is: 1) If it is the sine channel, no compensation is performed, Theta OUT = Theta Half ; 2) If it is the cosine channel, Theta OUT = 90° + Theta Half .

[0110] 7. The SinCos look - up table module

[0111] The SinCos look - up table module looks up the corresponding sine signal V OUT and cosine signal V Y1 according to Theta X1 .

[0112] 8. Signal Selection Module

[0113] The function of the signal selection module is to select V according to the module enable signal X and V Y output signals.

[0114] If the module enable signal is obtained, then V X and V Y Apply V X1 and V Y1 ; if the module enable signal is not obtained, then V X and V Y Apply V COS and V SIN .

[0115] Based on the method for determining vehicle motor parameters provided in the above method embodiments, the embodiments of the present application also provide a device for determining vehicle motor parameters. The device for determining vehicle motor parameters will be described below with reference to the accompanying drawings.

[0116] See Figure 5 As shown, this figure is a schematic structural diagram of a device for determining vehicle motor parameters provided by the embodiments of the present application. As Figure 5 shown, the device for determining vehicle motor parameters includes:

[0117] An acquisition unit 501, configured to acquire the running speed and the signals output by the resolver. The running speed is the vehicle speed or the motor speed, and the signals include a sine signal and a cosine signal;

[0118] A restoration unit 502, configured to generate a restoration signal by using the running speed and the non-failed signals if the restoration condition for single-sided failure is met. The non-failed signals are determined by the failed channels of the single-sided failure of the resolver, and the non-failed signals include a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal;

[0119] A determination unit 503, configured to determine the motor angle and the motor speed by using the restoration signal.

[0120] In a possible implementation manner, the restoration unit 502 is configured to use the running speed and the non-failed signals to determine the positive and negative half-cycle identifiers, where the positive and negative half-cycle identifiers are used to indicate the half-cycle in which the angle is located; perform an inverse cosine process on the non-failed signals to obtain the original angle value; if the positive and negative half-cycle identifiers indicate that the angle is in the negative half-cycle, perform a half-cycle compensation on the original angle value to obtain the restored angle value; generate a restoration signal by using the restored angle value.

[0121] In a possible implementation, the non-failed signal is a cosine signal, and the restoration unit 502 is further configured to increase the restored angle value by 90 degrees to obtain an updated restored angle value.

[0122] In a possible implementation, the restoration unit 502 is configured to determine positive and negative half-cycle identifiers by using the running speed and the non-failed signal, including:

[0123] The restoration unit 502 is configured to determine a speed direction identifier by using the running speed, where the speed direction identifier is used to indicate the change direction of the angle; and determine positive and negative half-cycle identifiers according to the speed direction identifier, the change direction and slope of the non-failed signal.

[0124] In a possible implementation, the restoration unit 502 is configured to determine a speed direction identifier by using the running speed, including:

[0125] The restoration unit 502 is configured to, if determining the speed direction identifier for the first time, determine the speed direction identifier by using the vehicle speed; if not determining the speed direction identifier for the first time, determine the speed direction identifier by using the motor speed.

[0126] In a possible implementation, the failed channel of the resolver with single-sided failure is the cosine channel, and the non-failed signal is a sine signal;

[0127] Or, the failed channel of the resolver with single-sided failure is the sine channel, and the non-failed signal is a cosine signal.

[0128] In a possible implementation, the restoration condition for single-sided failure is that the resolver has single-sided failure and the absolute value of the vehicle speed is greater than or equal to a threshold.

[0129] Based on the method for determining vehicle motor parameters provided in the above method embodiments, the embodiments of the present application further provide a device. Refer to Figure 6 which shows a schematic structural diagram of a device for determining vehicle motor parameters provided in the embodiments of the present application. As Figure 6 shown, the device includes a processor 620 and a memory 610:

[0130] The memory 610 is configured to store a computer program and transmit the computer program to the processor;

[0131] The processor 620 is configured to execute the method for determining vehicle motor parameters described in the above embodiments according to the instructions in the computer program.

[0132] Based on the method for determining vehicle motor parameters provided in the above method embodiments, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method for determining vehicle motor parameters described in the above embodiments.

[0133] It should be noted that the various embodiments in this specification are described in a progressive manner. The key point of each embodiment is to describe the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions in the method part.

[0134] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a, b, and c", where a, b, and c can be single or multiple.

[0135] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are 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 said element.

[0136] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be located in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art.

[0137] The foregoing description of the disclosed embodiments enables those skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining vehicle motor parameters, characterized in that, The method includes: Obtaining the operating speed and the signals output by the resolver, where the operating speed is the vehicle speed or the motor speed, and the signals include a sine signal and a cosine signal; If the restoration condition for single-sided failure is satisfied, generating a restoration signal using the operating speed and the non-failed signals, where the non-failed signals are determined by the failed channel of the single-sided failure of the resolver, and the non-failed signals include a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal; Determining the motor angle and the motor speed using the restoration signal.

2. The method according to claim 1, wherein The generating a restoration signal using the operating speed and the non-failed signals includes: Determining positive and negative half-cycle identifiers using the operating speed and the non-failed signals, where the positive and negative half-cycle identifiers are used to indicate the half-cycle in which the angle is located; Performing an inverse cosine process on the non-failed signal to obtain an original angle value; If the positive and negative half-cycle identifier indicates that the angle is in the negative half-cycle, performing a half-cycle compensation on the original angle value to obtain a restored angle value; Generating a restoration signal using the restored angle value.

3. The method according to claim 2, wherein If the non-failed signal is a cosine signal, before the generating a restoration signal using the restored angle value, the method further includes: Increasing the restored angle value by 90 degrees to obtain an updated restored angle value.

4. The method according to claim 2, wherein The determining positive and negative half-cycle identifiers using the operating speed and the non-failed signals includes: Determining a speed direction identifier using the operating speed, where the speed direction identifier is used to indicate the change direction of the angle; Determining the positive and negative half-cycle identifiers according to the speed direction identifier, the change direction, and the slope of the non-failed signal.

5. The method according to claim 4, characterized in that, The determining a speed direction identifier using the operating speed includes: If determining the speed direction identifier for the first time, determining the speed direction identifier using the vehicle speed; If not determining the speed direction identifier for the first time, determining the speed direction identifier using the motor speed.

6. The method according to any one of claims 1-5, characterized in that, The failed channel of the single-sided failure of the resolver is the cosine channel, and the non-failed signal is a sine signal; Or, the failed channel of the single-sided failure of the resolver is the sine channel, and the non-failed signal is a cosine signal.

7. The method according to any one of claims 1-5, characterized in that, The restoration condition for single-sided failure is that the resolver has a single-sided failure and the absolute value of the vehicle speed is greater than or equal to a threshold.

8. A device for determining vehicle motor parameters, characterized in that, The device includes: An acquisition unit for acquiring the operating speed and the signals output by the resolver, where the operating speed is the vehicle speed or the motor speed, and the signals include a sine signal and a cosine signal; A restoration unit for, if the restoration condition for single-sided failure is satisfied, generating a restoration signal using the operating speed and the non-failed signals, where the non-failed signals are determined by the failed channel of the single-sided failure of the resolver, and the non-failed signals include a sine signal or a cosine signal; the restoration signal includes a sine signal and a cosine signal; A determination unit for determining the motor angle and the motor speed using the restoration signal.

9. A device, characterized in that, The device includes a processor and a memory: The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute the method for determining the vehicle motor parameters according to any one of claims 1 to 7 according to the instructions in the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method for determining the vehicle motor parameters according to any one of claims 1 to 7.

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