Multi-nuclear motor control system and method
Through the dual-core operation of the multi-core motor control system, angle compensation is performed in real time, which solves the problem of low storage space occupation and accuracy in the prior art, and improves the efficiency and accuracy of motor control.
Patent Information
- Application Number
- CN202510489936.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-17
- Publication Date
- 2025-07-22
AI Technical Summary
In the prior art, the angle compensation method of the motor controller occupies a large amount of storage space and has low accuracy, which affects the motor operation performance.
The multi-core motor control system is adopted, and the dual-core operation of the rotary soft decoding module, angle compensation module and magnetic field control module is carried out in real time, saving storage space and improving compensation efficiency.
Without occupying additional storage space, the accuracy and performance of motor control are improved, and efficient angle compensation is achieved.
Smart Images
Figure CN120357801A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control, and particularly to a multi-core motor control system and method. Background Art
[0002] During the operation of a new energy vehicle, the motor controller controls the operation of the motor in real time. Whether the motor operates accurately directly determines the power performance of the new energy vehicle. The soft decoding of the resolver provides key information on the angle and speed of the motor rotor. However, due to the serial execution of the single-chip microcomputer program and the frequency conversion of the three-phase pulse width modulation (PWM) circuit, the sampling periods of the three-phase current and the resolver soft decoding module are not at the same moment, resulting in a delay in the angle output by the resolver soft decoding module. Therefore, it is necessary to compensate for the resolver soft decoding angle. Existing angle compensation methods will occupy a large amount of storage space and have low accuracy, affecting the performance of the motor operation. Summary of the Invention
[0003] In view of this, this application provides a multi-core motor control system and method to facilitate solving the impact of angle compensation on the motor performance in the prior art.
[0004] In a first aspect, an embodiment of this application provides a multi-core motor control system, including: A resolver soft decoding module, configured to determine signal parameters of sine and cosine signals and send the signal parameters to an angle compensation module, where the signal parameters include: a first angle parameter, a first angular velocity parameter, and a first sampling time; An angle compensation module, configured to obtain the signal parameters sent by the resolver soft decoding module and a second sampling time sent by a three-phase current sampling module; The angle compensation module is further configured to compensate the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter, and send the second angle parameter to a magnetic field control module; The magnetic field control module is configured to determine a PWM frequency and a PWM duty cycle based on the second angle parameter and three-phase current sampling values sent by the three-phase current sampling module, and send the PWM frequency and the PWM duty cycle to a motor control module, so that the motor control module controls the operation of the motor.
[0005] In an optional embodiment, the resolver soft decoding module is further configured to send an excitation signal to a resolver and receive the sine and cosine signals fed back by the resolver.
[0006] In an optional embodiment, the resolver soft decoding module includes: The digital-to-analog converter DSADC is used to generate the excitation signal and send the excitation signal to the resolver; The digital-to-analog converter DSADC is further configured to receive the sine and cosine signals sent by the resolver and send the sine and cosine signals to the soft decoding unit; The soft decoding unit is configured to determine the first angle parameter, the first angular velocity parameter, and the first sampling time according to the sine and cosine signals.
[0007] In an alternative embodiment, compensating the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter includes: Screening out target angle parameters that meet the compensation conditions from the first angle parameters based on the first sampling time and the second sampling time; Performing angle compensation on the target angle parameters.
[0008] In an alternative embodiment, screening out target angle parameters that meet the compensation conditions from the first angle parameters based on the first sampling time and the second sampling time includes: Determining a first sampling period corresponding to the first sampling time and a second sampling period corresponding to the second sampling time; When the first sampling period is greater than the second sampling period, all the first angle parameters are determined as target angle parameters; When the first sampling period is equal to the second sampling period, the number of the target angle parameters is zero; When the first sampling period is less than the second sampling period, screening out the target angle parameters from the first angle parameters based on the first sampling time, the second sampling time, the first sampling period, and the second sampling period.
[0009] In an alternative embodiment, screening out the target angle parameters from the first angle parameters based on the first sampling time, the second sampling time, the first sampling period, and the second sampling period includes: Calculating the minimum integer ratio of the first sampling period to the second sampling period as N1 / N2; Dividing the first sampling time and the second sampling time into multiple data groups based on N1 and N2, and each data group includes N1 first sampling times and N2 second sampling times; For any data group, calculating the time difference between the first sampling time and the corresponding second sampling time, and sorting the time differences from small to large; Determining the first angle parameters corresponding to the first N2 time differences as target angle parameters.
[0010] In an alternative embodiment, determining the first angle parameter corresponding to the first N2 time differences as the target angle parameter includes: For any data group, determining the first sampling times corresponding to the first N2 time differences of the current data group as the target sampling times; Determining the first angle parameter collected at the target sampling times as the target angle parameter.
[0011] In an alternative embodiment, calculating the time difference between the first sampling time and the corresponding second sampling time includes: Calculating the time difference between the first sampling time and the second sampling time that is the closest and greater than itself in value.
[0012] In an alternative embodiment, compensating the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter includes: Determining the time difference between the first sampling time and the corresponding second sampling time; Determining an acceleration parameter based on the time difference and the first angular velocity parameter; Determining the second angle parameter based on the time difference, the acceleration parameter, and the first angle parameter.
[0013] In a second aspect, an embodiment of the present application provides a multi-core motor control method, which is applied to the system provided in the first aspect and includes: The soft decoding module for rotation determines the signal parameters of the sine and cosine signals and sends the signal parameters to the angle compensation module. The signal parameters include: the first angle parameter, the first angular velocity parameter, and the first sampling time; The angle compensation module obtains the signal parameters sent by the soft decoding module for rotation and the second sampling time sent by the three-phase current sampling module; The angle compensation module further compensates the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter, and sends the second angle parameter to the magnetic field control module; The magnetic field control module determines the PWM frequency and the PWM duty cycle of the pulse width modulation circuit PWM based on the second angle parameter and the three-phase current sampling values sent by the three-phase current sampling module, and sends the PWM frequency and the PWM duty cycle to the motor control module, so that the motor control module controls the operation of the motor.
[0014] In a third aspect, an embodiment of the present application provides an electronic device, including a memory for storing computer program instructions and a processor for executing the program instructions. When the computer program instructions are executed by the processor, the electronic device is triggered to execute the method described in the second aspect above.
[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which includes a stored program. When the program runs, it controls the device where the computer-readable storage medium is located to execute the method described in the second aspect.
[0016] In a fifth aspect, an embodiment of the present application provides a computer program product, which contains executable instructions. When the executable instructions are executed on a computer, the computer is made to execute the method described in the second aspect.
[0017] Adopting the solution provided by the embodiment of the present application, the rotation soft decoding module determines the signal parameters of the sine and cosine signals and sends the signal parameters to the angle compensation module. The signal parameters include: the first angle parameter, the first angular velocity parameter, and the first sampling time. The angle compensation module obtains the signal parameters sent by the rotation soft decoding module and the second sampling time sent by the three-phase current sampling module. The angle compensation module compensates the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain the second angle parameter, and sends the second angle parameter to the magnetic field control module. The magnetic field control module determines the PWM frequency and the PWM duty cycle of the pulse width modulation circuit PWM based on the second angle parameter and the three-phase current sampling values sent by the three-phase current sampling module, and sends the PWM frequency and the PWM duty cycle to the motor control module so that the motor control module controls the operation of the motor. Through the dual-core operation of the angle compensation module and the magnetic field control module, angle compensation can be performed while sampling, without storing sampling data, saving storage space, and the dual-core operation improves the compensation efficiency without affecting the performance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0019] Figure 1 FIG. is a schematic structural diagram of a multi-core motor control system provided by an embodiment of the present application; Figure 2 FIG. is an exemplary schematic diagram of a multi-core motor control method provided by an embodiment of the present application; Figure 3Schematic diagram of another multi-core motor control method provided by an embodiment of the present application; Figure 4 Schematic diagram of another multi-core motor control method provided by an embodiment of the present application; Figure 5 Schematic diagram of another multi-core motor control method provided by an embodiment of the present application; Figure 6 Flow chart of a multi-core motor control method provided by an embodiment of the present application; Figure 7 Flow chart of another multi-core motor control method provided by an embodiment of the present application; Figure 8 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners
[0020] For a better understanding of the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.
[0021] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.
[0022] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.
[0023] It should be understood that the term " / and / " used herein is only a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, a and / or b can represent: a exists alone, a and b exist simultaneously, and b exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.
[0024] Aiming at the problem of low motor control accuracy at the current stage, the embodiments of the present application provide a multi-core motor control system, which can be set in the microcontroller unit (MCU) of the vehicle, and angle compensation is performed through a multi-core running model, which can save resources and improve the control accuracy of the motor.
[0025] Figure 1 Schematic diagram of the structure of a multi-core motor control system provided by an embodiment of the present application, as Figure 1As shown, the system may include: a rotary soft decoding module 10, an angle compensation module 20, a magnetic field control module 30, a three-phase current sampling module 40, and a motor control module 50.
[0026] During the operation of the motor, the rotary soft decoding module 10 sends an excitation signal to the resolver in real time, and the resolver responds to the excitation signal and sends sine and cosine signals to the rotary soft decoding module 10. Specifically, the rotary soft decoding module 10 includes: a digital-to-analog converter DSADC11 and a soft decoding unit 12. DSADC11 is used to generate an excitation signal and send the excitation signal to the resolver. The sine and cosine signals fed back by the resolver are also sent to the soft decoding unit 12 after passing through DSADC11. After receiving the sine and cosine signals, the soft decoding unit 12 determines the signal parameters of the sine and cosine signals and sends the signal parameters to the angle compensation module 20. Among them, the signal parameters include: a first angle parameter θ1, a first angular velocity parameter ω, and a first sampling time T1, where the first sampling time T1 represents a plurality of sampling time points.
[0027] The angle compensation module 20 obtains in real time the signal parameters sent by the rotary soft decoding module 10 and the second sampling time T2 sent by the three-phase current sampling module. Ideally, the sampling period of DSADC11 and the sampling period of the three-phase current sampling module 40 are synchronized. When the magnetic field control module 30 calculates, the angle of the sine and cosine signals and the three-phase current values are basically at the same time, and the angle of the sine and cosine signals does not need to be compensated. Refer to Figure 2 , the first sampling time T1 of DASDC11 and the second sampling time T2 of the three-phase current module 40 are synchronized, and their sampling periods are both 100 us. The magnetic field control module 30 can directly calculate the PWM frequency and the PWM duty cycle.
[0028] However, in actual situations, the frequency of the three-phase PWM wave is variable, and the sampling period of the three-phase current module 40 changes with the frequency of the three-phase PWM wave (the frequency of the three-phase PWM wave is different in different speed ranges). At this time, the sampling period of DSADC11 and the sampling period of the three-phase current sampling module 40 are no longer synchronized. If the first angle parameter θ1 is not compensated, the PWM duty cycle and the PWM frequency calculated by the magnetic field control module 30 will have errors, resulting in poor control accuracy of the motor. Refer to Figure 3 , the sampling period of DASDC11 is 100 us, and the sampling period of the three-phase current module 40 is 250. In this scenario, the first sampling time T1 and the second sampling time T2 are no longer synchronized.
[0029] The angle compensation module 20 compensates the first angle parameter θ1 based on the first angular velocity parameter ω, the first sampling time T1, and the second sampling time T2 to obtain the second angle parameter θ2, and sends the second angle parameter θ2 to the magnetic field control module 30. The magnetic field control module 30 calculates the PWM frequency and the PWM duty cycle based on the compensated second angle module θ2 and the three-phase current sampling values (Iu, Iv, Iw) sent by the three-phase current sampling module 40, and sends the PWM frequency and the PWM duty cycle to the motor control module 50. The motor control module 50 controls the operation of the motor based on the PWM frequency and the PWM duty cycle.
[0030] In the embodiment of the present application, the soft decoding module 20 and the angle compensation module 20 can be regarded as kernel 1, and the magnetic field control module 30, the three-phase current sampling module 40, and the motor control module 50 can be regarded as kernel 2. The system supports multi-core parallel operation. As the first angle parameter θ1 is sampled, the first angle parameter θ1 is compensated in real time, without occupying additional storage space and without affecting the motor performance.
[0031] In an alternative embodiment, the angle compensation module 20 will screen out the target angle parameters that meet the compensation conditions from the first angle parameter θ1 based on the first sampling time T1 and the second sampling time T2, and then only perform angle compensation on the target angle parameters. For Figure 3 example, when the three-phase current sampling module 40 samples at T2a, the DSADC11 samples at T1a, and the two are synchronized. The angle compensation module 20 does not need to compensate the first angle parameter θ1 sampled at T1a. Similarly, the angle compensation module 20 does not need to compensate the first angle parameter θ1 sampled at T2a either. When the three-phase current sampling module 40 samples at T2b, the most recent sampling time of the DSADC11 is T1c, and there is a time difference between the two. The angle compensation module 20 needs to compensate the first angle parameter θ1 sampled at T1c. The angle compensation is mainly based on the second sampling time T2 of the three-phase current module 40 to compensate the first sampling time T1 of the DSADC11. In Figure 3 it, the signal parameters at T1b, T1c, and T1e do not participate in the calculation.
[0032] In the embodiment of the present application, the target angle parameters are screened by the time point screening method of angle compensation, and only the target angle parameters are compensated, which reduces the processor load.
[0033] In an alternative embodiment, the process of the angle compensation module 20 screening the target angle parameter in the first angle parameter may include: (1) determining the first sampling period corresponding to the first sampling time and the second sampling period corresponding to the second sampling time. (2) When the first sampling period is greater than the second sampling period, all the first angle parameters are determined as the target angle parameters. (3) When the first sampling period is equal to the second sampling period, the number of target angle parameters is zero. (4) When the first sampling period is less than the second sampling period, the target angle parameter is screened out from the first angle parameter based on the first sampling time, the second sampling time, the first sampling period, and the second sampling period.
[0034] Referring to Figure 4 , the first sampling period is greater than the second sampling period. For the three-phase current values sampled at T2a, the angle compensation module 20 needs to compensate the angle parameter sampled at T1a. Similarly, for the three-phase current values sampled at T2b and T2c, the angle compensation module 20 also needs to compensate the angle parameter sampled at T1a respectively. For the three-phase current values sampled at T2d, the angle compensation module 20 needs to compensate the angle parameter sampled at T1b.
[0035] In an alternative embodiment, for the case where the first sampling period is less than the second sampling period, the process of the angle compensation module 20 screening the target angle parameter may include: calculating the minimum integer ratio of the first sampling period to the second sampling period as N1 / N2; dividing the first sampling time and the second sampling time into multiple data groups based on N1 and N2, where each data group contains N1 first sampling times and N2 second sampling times; for any data group, calculating the time difference between the first sampling time and the corresponding second sampling time, and sorting the time differences from small to large; determining the first angle parameters corresponding to the first N2 time differences as the target angle parameters.
[0036] Referring to Figure 5 , the first sampling period is 100 us, the second sampling period is 250 us, and the minimum integer ratio N1 / N2 of the two is 5 / 2. The angle compensation module 20 divides the first sampling time T1 and the second sampling time T2 into multiple data groups, and each data group contains 5 first sampling times and 2 second sampling times. Taking Figure 5 as an example, the 5 first sampling times of T1a, T1b, T1c, T1d, and T1e are a data group, and this data group also contains 2 second sampling times, namely T2a and T2b. The angle compensation module 20 calculates the time difference between the first sampling time and the corresponding second sampling time. Specifically, it calculates the time difference between the first sampling time and the second sampling time that is the closest and greater than itself in value. Taking Figure 5For example, for T1a and T1b, calculate the time differences between them and T2a respectively. For T1c, T1d, and T1e, calculate the time differences between them and T2b respectively.
[0037] It is calculated that the time difference t1 between T1a and T2a is 175 us, the time difference t2 between T1b and T2a is 75 us, the time difference t3 between T1c and T2b is 225 us, the time difference t4 between T1d and T2b is 125 us, and the time difference t5 between T1e and T2b is 25 us. The angle compensation module 20 sorts the time differences from smallest to largest, which are t5 (25 us), t2 (75 us), t4 (125 us), t1 (175 us), and t3 (225 us) in turn, and determines the first angle parameters corresponding to the first 2 (N2) time differences as the target angle parameters. Specifically, the angle compensation module 20 determines the first sampling times corresponding to the first 2 (N2) time differences as the target sampling times, and determines the first angle parameters collected at the target sampling times as the target angle parameters.
[0038] In Figure 5 the first angle parameters corresponding to the first 2 time differences are the first angle parameters collected at T1b and T1e respectively. When the magnetic field control module 30 calculates the three-phase current values collected at T2a, it needs to calculate in combination with the second angle parameter compensated by T1b. When the magnetic field control module 30 calculates the three-phase current values collected at T2b, it needs to calculate in combination with the second angle parameter compensated by T1e. In this data group, T1a, T1c, and T1d do not participate in the calculation and no angle compensation is required.
[0039] The above process can refer to Figure 6 the flowchart shown in Step 601, calculate the ratio of the first sampling period to the second sampling period.
[0040] Step 602, determine whether the ratio is > 1. If so, go to step 604; otherwise, go to step 603.
[0041] Step 603, determine whether the ratio = 1. If so, go to step 605; otherwise, go to step 606.
[0042] Step 604, perform angle compensation on all the first angle parameters.
[0043] Step 605, no compensation is required.
[0044] Step 606, calculate the smallest integer ratio N1 / N2 of the first sampling period and the second sampling period.
[0045] Step 607: Sort the time differences between the first sampling time and the second sampling time in ascending order, and take the first N2 ones as the target sampling times. Step 608: Perform angle compensation on the first angle parameter of the target sampling time.
[0046] Through the above process, the angle compensation module 20 can efficiently complete the screening of the target angle parameter, thereby improving the performance of motor control.
[0047] In an optional embodiment, the angle compensation process of the angle compensation module 20 may include: determining the time difference between the first sampling time and the corresponding second sampling time; determining the acceleration parameter based on the time difference and the first angular velocity parameter; determining the second angle parameter based on the time difference, the acceleration parameter, and the first angle parameter. Taking the moment T1c as an example, assume that the first angle parameter θ1c and the first angular velocity parameter ω1c are calculated at this time. The time difference t between T1c and T2b is t = T2b - T1c. The acceleration a at the moment T1c is calculated from the angular velocity ω1b at the moment T1b and the velocity ω1c at the moment T1c as a = (ω1c - ω1b) / (T1c - T1b). The second angle parameter at the moment T2b .
[0048] In the embodiment of the present application, introducing acceleration in the angle compensation method can improve the compensation accuracy.
[0049] Figure 7 As shown in the flowchart of a multi-core motor control method provided by the embodiment of the present application, Figure 7 shown, the method may include: Step 701: The soft rotation decoding module determines the signal parameters of the sine and cosine signals and sends the signal parameters to the angle compensation module. The signal parameters include: the first angle parameter, the first angular velocity parameter, and the first sampling time.
[0050] Step 702: The angle compensation module acquires the signal parameters sent by the soft rotation decoding module and the second sampling time sent by the three-phase current sampling module.
[0051] Step 703: The angle compensation module compensates the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain the second angle parameter, and sends the second angle parameter to the magnetic field control module.
[0052] Step 704: The magnetic field control module determines the PWM frequency and the PWM duty cycle of the pulse width modulation circuit PWM based on the second angle parameter and the three-phase current sampling values sent by the three-phase current sampling module, and sends the PWM frequency and the PWM duty cycle to the motor control module to enable the motor control module to control the operation of the motor.
[0053] Corresponding to the above embodiments, the present application also provides an electronic device. Figure 8 FIG. Figure 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device 800 may include: a processor 801, a memory 802, and a communication unit 803. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure, a star structure, and may also include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.
[0054] Among them, the communication unit 803 is used to establish a communication channel, so that the electronic device can communicate with other devices. Receive user data sent by other devices or send user data to other devices.
[0055] The processor 801 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines. By running or executing software programs, instructions, and / or modules stored in the memory 802, and by calling data stored in the memory, it executes various functions of the electronic device and / or processes data. The processor may be composed of an integrated circuit (IC). For example, it may be composed of a single packaged IC, or may be composed of multiple packaged ICs with the same or different functions connected. For example, the processor 801 may only include a central processing unit (CPU). In the embodiment of the present application, the CPU may be a single arithmetic core or may include multiple arithmetic cores.
[0056] The memory 802 is used to store the execution instructions of the processor 801. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc.
[0057] When the execution instructions in the memory 802 are executed by the processor 801, the electronic device 800 can execute some or all of the steps in the above embodiments.
[0058] In specific implementation, the present application further provides a computer storage medium. The computer storage medium can store a program, and when the program is executed, it may include some or all of the steps in the embodiments of the multi-core motor control method provided by the present application. The storage medium may be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like.
[0059] In specific implementation, the present application further provides a computer program product. The computer program product includes executable instructions. When the executable instructions are executed on a computer, the computer is caused to execute some or all of the steps in the embodiments of the multi-core motor control method provided by the present application.
[0060] The embodiment of the present application further provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the multi-core motor control method provided by the embodiment of the present application.
[0061] The above non-transitory computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
[0062] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including - but not limited to - electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
[0063] The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including - but not limited to - wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
[0064] Those skilled in the art can clearly understand that the technologies in the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present application.
[0065] For the same or similar parts among the various embodiments in this specification, reference can be made to each other. In particular, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the descriptions in the method embodiments.
Claims
1. A multi-core motor control system, characterized in that, Including: A rotary soft decoding module, configured to determine signal parameters of sine and cosine signals and send the signal parameters to an angle compensation module, where the signal parameters include: a first angle parameter, a first angular velocity parameter, and a first sampling time; The angle compensation module is configured to obtain the signal parameters sent by the rotary soft decoding module and a second sampling time sent by a three-phase current sampling module; The angle compensation module is further configured to compensate the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter, and send the second angle parameter to a magnetic field control module; The magnetic field control module is configured to determine a PWM frequency and a PWM duty cycle of a pulse width modulation circuit PWM based on the second angle parameter and three-phase current sampling values sent by the three-phase current sampling module, and send the PWM frequency and the PWM duty cycle to a motor control module, so that the motor control module controls the operation of a motor.
2. The system according to claim 1, wherein The rotary soft decoding module is further configured to send an excitation signal to a resolver and receive sine and cosine signals fed back by the resolver.
3. The system according to claim 2, wherein The rotary soft decoding module includes: A digital-to-analog converter DSADC, configured to generate the excitation signal and send the excitation signal to the resolver; The digital-to-analog converter DSADC is further configured to receive sine and cosine signals sent by the resolver and send the sine and cosine signals to a soft decoding unit; The soft decoding unit is configured to determine the first angle parameter, the first angular velocity parameter, and the first sampling time according to the sine and cosine signals.
4. The system according to claim 1, wherein The compensating the first angle parameter based on the first angular velocity parameter, the first sampling time, and the second sampling time to obtain a second angle parameter includes: Screening out target angle parameters that meet the compensation conditions in the first angle parameter based on the first sampling time and the second sampling time; Performing angle compensation on the target angle parameters.
5. The system according to claim 4, wherein The screening out target angle parameters that meet the compensation conditions in the first angle parameter based on the first sampling time and the second sampling time includes: Determining a first sampling period corresponding to the first sampling time and a second sampling period corresponding to the second sampling time; When the first sampling period is greater than the second sampling period, determining all first angle parameters as target angle parameters; When the first sampling period is equal to the second sampling period, the number of target angle parameters is zero; When the first sampling period is less than the second sampling period, screening out the target angle parameters in the first angle parameter based on the first sampling time, the second sampling time, the first sampling period, and the second sampling period.
6. The system according to claim 5, wherein The screening out the target angle parameters in the first angle parameter based on the first sampling time, the second sampling time, the first sampling period, and the second sampling period includes: Calculating a minimum integer ratio of the first sampling period to the second sampling period as N1 / N2; Divide the first sampling time and the second sampling time into multiple data groups based on N1 and N2, and each data group includes N1 first sampling times and N2 second sampling times; For any data group, calculate the time difference between the first sampling time and the corresponding second sampling time, and sort the time differences from small to large; Determine the first angle parameters corresponding to the first N2 time differences as the target angle parameters.
7. The system according to claim 6, characterized in that, The determining the first angle parameters corresponding to the first N2 time differences as the target angle parameters includes: For any data group, determine the first sampling times corresponding to the first N2 time differences of the current data group as the target sampling times; Determine the first angle parameters collected at the target sampling times as the target angle parameters.
8. The system according to claim 6, wherein The calculating the time difference between the first sampling time and the corresponding second sampling time includes: Calculate the time difference between the first sampling time and the second sampling time that is the closest and greater than itself in value.
9. The system according to claim 1, characterized in that, The compensating the first angle parameter based on the first angular velocity parameter, the first sampling time and the second sampling time to obtain a second angle parameter includes: Determine the time difference between the first sampling time and the corresponding second sampling time; Determine the acceleration parameter based on the time difference and the first angular velocity parameter; Determine the second angle parameter based on the time difference, the acceleration parameter and the first angle parameter.
10. A multi-core motor control method, characterized in that, When applied to the system according to any one of claims 1 to 9, it includes: The soft rotation decoding module determines the signal parameters of the sine and cosine signals and sends the signal parameters to the angle compensation module, and the signal parameters include: the first angle parameter, the first angular velocity parameter and the first sampling time; The angle compensation module obtains the signal parameters sent by the soft rotation decoding module and the second sampling time sent by the three-phase current sampling module; The angle compensation module compensates the first angle parameter based on the first angular velocity parameter, the first sampling time and the second sampling time to obtain a second angle parameter, and sends the second angle parameter to the magnetic field control module; The magnetic field control module determines the PWM frequency and the PWM duty ratio of the pulse width modulation circuit PWM based on the second angle parameter and the three-phase current sampling values sent by the three-phase current sampling module, and sends the PWM frequency and the PWM duty ratio to the motor control module so that the motor control module controls the operation of the motor.