Motor rotor position compensation method, device, equipment, medium and program product

Abstract

The invention relates to the field of machine manufacturing, in particular to a motor rotor position compensation device which mainly comprises a circuit board and a target wheel, the circuit board is provided with an induction coil and a plurality of function detection modules, the target wheel is fixed to a rotor and performs magnetic induction line cutting motion with the induction coil, and the function detection modules are connected with the circuit board. And providing signals for the plurality of function detection modules of the circuit board. The invention also relates to a motor rotor position compensation method, a device, a medium and a program product. According to the scheme, an annular or semi-annular layout design can be adopted according to actual application requirements, meanwhile, the functions of a temperature sensor, a distance sensor, a density sensor and a pressure sensor are integrated, and the sensor has the advantages of being high in compatibility and small in size.

Description

Technical Field

[0001] The present invention relates to the field of mechanical manufacturing, and particularly to a method, device, equipment, medium and program product for compensating the position of an electric motor rotor. Background Art

[0002] As is well known, in the current automotive market, the proportion of new energy vehicles is increasing, and products such as electric motors are being applied more and more widely. For example, power drive motors that provide power sources for new energy vehicles, etc. As a product of an electric motor rotor position sensor, the market demand is increasing continuously. An electric motor requires an electric motor rotor position sensor to provide the rotor position of the electric motor and corresponding feedback to the vehicle computer to control important functions such as the rotational speed of the electric motor. However, the functions of existing electric motor rotor sensors are relatively single, and the complex structure of multi-functional sensors leads to problems such as a large product volume.

[0003] The multi-functional inductive electric motor rotor position sensor of the present invention has a unique layout design that can be compatible with most products in the market, integrates the functions of multi-functional sensors, and has the characteristics of miniaturized structure, diversified functions, high precision and high reliability. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device, equipment, medium and program product for compensating the position of an electric motor rotor. By integrating multiple modules on a circuit board to achieve various function detections, it is possible to compensate for the position of the electric motor rotor, monitor the health status of the sensor module, and also detect the jitter acceleration of the electric motor to adjust the output power of the electric motor.

[0005] In a first aspect, an embodiment of the present invention discloses an electric motor rotor position compensation device, and the device includes:

[0006] A circuit board having an induction coil and multiple function detection modules;

[0007] A target wheel fixed to the rotor and performing a cutting magnetic induction line movement with the induction coil, providing signals for the multiple function detection modules of the circuit board;

[0008] The multiple function detection modules include a rotor position detection module, a temperature detection module, a density detection module, a pressure detection module, and a data analysis and processing module;

[0009] Wherein, the rotor position detection module is configured to determine the rotor position;

[0010] The temperature detection module is configured to determine the current internal ambient temperature of the electric motor;

[0011] The density detection module is configured to detect the density information of the substance in the current environment and replace the substance based on the density information;

[0012] The pressure detection module is configured to detect the pressure information of the current environment and issue an alarm based on the pressure information;

[0013] The data analysis and processing module is configured to process, calculate, and integrate the signals.

[0014] In a second aspect, the present invention discloses a method for compensating the position of a motor rotor. Using the motor rotor position compensation device as described in claim 1, the method includes:

[0015] Reading the output signal generated between the target wheel and the circuit board through inductance phenomena;

[0016] Calculating the current position of the motor rotor and the current distance between the target wheel and the circuit board based on the output signal;

[0017] Calculating the current distance compensation of the motor rotor based on the distance;

[0018] Adjusting the current position of the motor rotor based on the current distance compensation.

[0019] Optionally, obtaining the peak-to-peak value of the output signal based on the output signal, where the peak-to-peak value is the difference between the maximum value and the minimum value within the period of the output signal;

[0020] If the peak-to-peak value of the output signal is greater than the minimum value of the output signal and less than the maximum value of the output signal, it is determined that the motor is in a healthy state.

[0021] Optionally, reading the first peak-to-peak value of the output signal of the sensor at a first moment;

[0022] Assigning the first peak-to-peak value to the first minimum value of the output signal;

[0023] Reading the second peak-to-peak value of the output signal of the sensor at a second moment;

[0024] Assigning the second peak-to-peak value to the second minimum value of the output signal;

[0025] Determining the motor jitter acceleration value based on the first peak-to-peak value, the second peak-to-peak value, the first minimum value, and the second minimum value of the sensor, and adjusting the output power of the motor based on the motor jitter acceleration value.

[0026] Optionally, the motor jitter acceleration where VP1 is the first peak-to-peak value, VP2 is the second peak-to-peak value, T1 is the first moment, and T2 is the second moment.

[0027] Optionally, a temperature compensation value is determined based on the internal current ambient temperature of the motor, and the current motor rotor position is adjusted based on the temperature compensation value.

[0028] Optionally, a density compensation value is determined based on the material density of the current environment of the motor, and the current motor rotor position is adjusted based on the density compensation value.

[0029] Optionally, a pressure compensation value is determined based on the pressure information of the current environment of the motor, and the current motor rotor position is adjusted based on the pressure compensation value.

[0030] In a third aspect, an embodiment of the present invention discloses an electronic device, characterized in that the device includes a processor and a memory storing computer-executable instructions, and the processor is configured to execute the instructions to implement the above-mentioned motor rotor position compensation method.

[0031] In a fourth aspect, an embodiment of the present invention discloses a computer-readable storage medium, characterized in that at least one computer instruction is stored in the computer-readable storage medium, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned motor rotor position compensation method.

[0032] In a fifth aspect, an embodiment of the present invention discloses a computer program product, the computer program product includes computer instructions, and when the computer instructions are executed, the above-mentioned motor rotor position compensation method is implemented.

[0033] Compared with the prior art, the main differences and effects of the embodiments of the present invention are as follows: The multifunctional inductive motor rotor position sensor of the present invention integrates the functions of a multifunctional sensor, has the characteristics of miniaturized structure, diversified functions, high precision and high reliability, and can solve the measurement problems of relevant information in automotive motors. The present invention can provide functions such as motor rotor position information, motor internal temperature information, position information of internal products and target wheels of the motor, density information of liquid substances inside the motor, pressure information inside the motor, etc. within the smallest space design. On the premise of providing high-precision position information, multifunctional parameters are provided to the vehicle computer again to ensure the stability and reliability of motor operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a scenario schematic diagram of a motor rotor position compensation method according to an embodiment of the present invention;

[0035] FIG. 2(a) is a product diagram of a motor rotor position sensor according to an embodiment of the present invention;

[0036] FIG. 2(b) is a schematic diagram of a circular circuit board of a motor rotor position sensor according to an embodiment of the present invention;

[0037] FIG. 2(c) is a schematic diagram of a semi-circular circuit board of a motor rotor position sensor according to an embodiment of the present invention;

[0038] Figure 3 is a product framework diagram of a motor rotor position sensor according to an embodiment of the present invention;

[0039] Figure 4 is a flowchart of a motor rotor position compensation method according to an embodiment of the present invention;

[0040] Figure 5 is a logic flowchart of a motor rotor position sensor according to an embodiment of the present invention;

[0041] FIG. 6(a) is a state diagram of the motor health management function of a motor rotor position sensor according to an embodiment of the present invention;

[0042] FIG. 6(b) is a waveform diagram of the motor health management function of a motor rotor position sensor according to an embodiment of the present invention;

[0043] Figure 7 is a hardware structure block diagram of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0044] The present invention will be further described below in conjunction with specific embodiments and the accompanying drawings. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. In addition, for the sake of convenience of description, only parts related to the present invention rather than all structures or processes are shown in the accompanying drawings. It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings.

[0045] It should be understood that although terms such as "first", "second", etc. may be used herein to describe various features, these features should not be limited by these terms. These terms are only used for distinction and should not be construed as indicating or implying relative importance. For example, without departing from the scope of the exemplary embodiments, the first feature may be referred to as the second feature, and similarly, the second feature may be referred to as the first feature.

[0046] To make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0047] Figure 1 is a scenario schematic diagram of a motor rotor position compensation method according to an embodiment of the present invention.

[0048] Such as Figure 1As shown, the devices involved in the application scenario include a client 110 for sending motor status detection requests and a motor rotor position sensor 120 for responding to requests. Figure 1 Taking the client 110 as the request sender as an example, the client 110 sends the request to the motor rotor position sensor 120. The motor rotor position sensor 120 receives the corresponding request and performs a feedback action. For example, it provides the rotor position of the motor and the corresponding feedback to the vehicle computer to control the speed of the motor.

[0049] Among them, the number of clients 110 can be one or more, that is, the host should not be a limiting condition of the present invention. The client can be a computer device such as a smart phone, a tablet computer, a notebook computer, or a desktop computer, and has computing power, input and output functions, and network connection functions.

[0050] In the prior art, existing motor rotor sensors have problems of single function and relatively large product volume.

[0051] The multi-functional inductive motor rotor position sensor of the present invention has a unique layout design that can be compatible with most products in the market. It integrates the functions of a multi-functional sensor and has the characteristics of miniaturized structure, diversified functions, high precision, and high reliability.

[0052] FIG. 2(a) is a product diagram of a motor rotor position sensor according to an embodiment of the present invention.

[0053] FIG. 2(b) is a schematic diagram of a circular circuit board of a motor rotor position sensor according to an embodiment of the present invention.

[0054] FIG. 2(c) is a schematic diagram of a semi-circular circuit board of a motor rotor position sensor according to an embodiment of the present invention.

[0055] As shown in FIG. 2(a), the motor rotor position sensor includes a target wheel 210, a circuit board 220, and a base 230.

[0056] As shown in FIGS. 2(b) and 2(c), the circular circuit board and the semi-circular circuit board include an induction coil 221 and a function detection module 222.

[0057] As an implementation manner, the motor rotor position sensor of the present invention includes a target wheel 210 made of a conductive material disposed on a target rotor, an induction coil 221 corresponding to the target wheel 210 fixed inside the motor housing, and a circuit of a multifunctional module connected to the induction coil 221. The target wheel 210 is fixed on the rotor of the motor, and the rotation of the rotor drives the target wheel 210 to cut the magnetic field of the induction coil. The circuit board 220 and the base 230 are fixed on the stator of the motor, and the base 230 is used to support the circuit board 220. When the target wheel 210 and the induction coil 221 move relative to each other, the cutting of the magnetic induction lines will generate an induction signal. The signal induced on the motor rotor position sensor is analyzed and processed by multiple functional modules, and the position of the rotor can be accurately detected and the rotor position can be compensated.

[0058] The induction coil design of the motor rotor position sensor is adjustable according to the actual requirements of the application scenario and the different application environments.

[0059] In an example, taking a 4-pole motor as an example, the complete annular circuit board corresponds to the target wheel 210 with 4 blades. The target wheel 210 corresponding to the semi-annular circuit board remains unchanged, still having 4 blades, but the induction coil 221 of the circuit board 220 is reduced by half, providing a high-precision motor rotor position signal on the premise of ensuring to meet the application scenario.

[0060] It should be noted that although only two forms of circuit boards are drawn in the drawings of the present invention, it can be understood that the standard annular circuit board and the semi-annular circuit board are only a special example, and the shapes of the circuit board and the base should not be used as a limiting condition of the present invention. The functional modules of the motor rotor position sensor are turned on and / or closed according to the actual requirements of the application scenario and the application environment.

[0061] Figure 3 It is a product framework diagram of a motor rotor position sensor according to an embodiment of the present invention.

[0062] As Figure 3 shown, the present invention is a framework structure of a motor rotor position sensor. The upper-layer component is the interaction between the target wheel 210 and the circuit board 220, and the lower-layer component is that each detection module of the circuit board 220 communicates with the controller 300 through connection lines or wire harnesses. Among them, the detection modules include:

[0063] Rotor position detection module 222a: The rotor position detection module 222a is configured to determine the rotor position. By means of the induction coil 221 and adopting the inductive detection working mode, the rotor position signal can be measured according to the information of the rotation of the target wheel 210, realizing the test of the motor rotor position information, which is beneficial to providing high-precision and high-reliability motor rotor position information. Based on this signal information, many application scenarios can be derived, for example, motor health management, motor comfort adjustment, and sensor output signal accuracy compensation.

[0064] Temperature detection module 222b: The temperature detection module 222b is configured to determine the current internal ambient temperature of the motor. By arranging the infrared temperature detection element or the temperature detection resistor on the circuit board 220, the temperature information of the current environment can be detected in real time, and the current internal ambient temperature information of the motor can be accurately obtained. This information improves the controller's control over the motor's functions and performance, and this temperature information can be applied to the sensor position accuracy compensation.

[0065] Density detection module 222c: The density detection module 222c is configured to detect the density information of the substance in the current environment and replace the substance based on the density information. By arranging the density detection element on the circuit board 220, the density information of the current environment is detected in real time, such as other materials such as engine oil. This information can be applied to the function implementation of the controller 300. For example, by detecting this data, the density value in the current environment can be fed back, so as to judge whether it is necessary to replace the substance in this environment.

[0066] Pressure detection module 222d: The pressure detection module 222d is configured to detect the pressure information of the current environment and give an alarm based on the pressure information. By arranging the pressure detection element on the circuit board 220, the pressure information of the current environment is detected in real time. This information can be applied to the function implementation of the controller 300. For example, this data value can be used to judge whether the current environmental pressure value is within the safety threshold, and this data can be used for pressure danger warning.

[0067] Data analysis and processing module 222e: The data analysis and processing module 222e is configured to process, calculate, and integrate signals, and directly provide signal information available for the host factory controller, which is convenient, worry-free, and intelligent.

[0068] Figure 4 It is a flowchart of a method for compensating the motor rotor position according to an embodiment of the present invention.

[0069] As Figure 4 shown, the method for compensating the motor rotor position of the present invention includes:

[0070] Step S100: Read the output signal generated by the inductive phenomenon between the target wheel 210 and the circuit board 220.

[0071] Step S200: Calculate the current motor rotor position and the distance between the current target wheel 210 and the circuit board 220 based on the output signal.

[0072] Step S300: Calculate the current distance compensation of the motor rotor based on the distance.

[0073] Step S400: Adjust the current motor rotor position based on the current distance compensation.

[0074] The present invention is a multi-functional inductive motor rotor position sensor. The product design mainly includes a target wheel 210 and a circuit board 220. Among them, the target wheel 210 is fixed on the motor rotor shaft, aiming to provide relevant passive signals for the circuit board 220 to assist the circuit board 220 in completing the corresponding signal acquisition of its various functions; the various functional modules of the circuit board 220 include an induction coil 221, a rotor position detection module 222a, a temperature detection module 222b, a density detection module 222c, a pressure detection module 222d, and a data analysis and processing module 222e.

[0075] The principle of signal generation is to design a matching target wheel and receiving coil by cooperating with the number of motor drive pole pairs (number of blades). Through the inductive induction principle, when the target wheel rotates above the coil, an eddy current effect will be generated, thereby generating a changing signal. According to this signal and in combination with an algorithm, high-precision motor rotor position information can be obtained.

[0076] The method of the present invention can provide a compensation value at the current distance according to the change value of the distance signal between the target wheel 210 and the circuit board 220, so as to update the motor rotor position signal and improve the accuracy and reliability of the motor rotor position detection function.

[0077] In an example, the output signals V1, V2, V3, and V4 generated by the inductive phenomenon between the target wheel 210 and the circuit board 220 are read. The current rotor position X1 and the distance X2 between the current target wheel and the circuit board are calculated through the data V1, V2, V3, and V4. The current distance compensation value O1 is mapped through the comparison of the distance value X2. Then the rotor position is increased by the distance compensation X3 = X1 · O1.

[0078] Figure 5 It is a logic flowchart of a motor rotor position sensor according to an embodiment of the present invention.

[0079] As Figure 5 shown, the implementation logic of the motor rotor position sensor of the present invention mainly includes the compensation of the motor rotor position, the detection of the health state of the motor, and the detection of the jitter acceleration of the motor. Figure 4 Some compensation methods are described, and the parts that have been described will not be repeated here.

[0080] The method for compensating the position of the motor rotor according to the present invention further includes detecting the health state of the motor.

[0081] The motor health management function performs logical analysis and judgment through the collected motor rotor position signals. The distance between the current target wheel and the circuit board can be calculated and analyzed based on the peak-to-peak value of the signal voltage. According to this distance information, the relative position change between the current motor rotor and the stator can be judged. This data will be transmitted to the controller through the signal processing module and the communication module. The controller can directly use this data to judge the health state of the current motor and whether maintenance is required.

[0082] As an implementation manner, the peak-to-peak value of the output signal is obtained based on the output signal. The peak-to-peak value is the difference between the maximum value and the minimum value within the period of the output signal. If the peak-to-peak value of the output signal is greater than the minimum value of the output signal and less than the maximum value of the output signal, it is determined that the motor is in a healthy state.

[0083] In an example, by reading the output signal V1 of the current sensor, the peak-to-peak value VP1 of V1 is obtained. If VP1 is greater than A and less than B, the detection state of the sensor is healthy; otherwise, it is unhealthy. Here, A is the minimum value of the sensor measurement output signal when the target wheel 210 and the circuit board 220 are at the minimum gap, which is calculated through tests and finally verified during the initial design of the sensor. B is the maximum value of the sensor measurement output signal when the target wheel 210 and the circuit board 220 are at the maximum gap, which is calculated through tests and finally verified during the initial design of the sensor.

[0084] The method for compensating the position of the motor rotor according to the present invention further includes determining the motor jitter acceleration.

[0085] The motor jitter acceleration detection function performs logical analysis and judgment through the collected motor rotor position signals. This function is realized by the characteristic that different distances between the target wheel and the circuit board will output different peak-to-peak voltage values. In an example, the signal voltage value at time point A is compared with the signal voltage value at time point B, and the difference value is the change amplitude of the signal voltage value. The magnitude of the obtained change amplitude will be converted into an acceleration signal through an algorithm. The signal reflects the relative position acceleration information between the motor rotor and the motor stator. This information will be transmitted to the controller through the signal processing module and the communication module. The controller can apply the information to improve the driving stability of the motor. According to this value, the output power of the motor can be changed to reduce the motor jitter noise caused by this acceleration and improve the driving comfort.

[0086] As an implementation, read the first peak-to-peak value of the output signal of the sensor 120 at the first moment; assign the first peak-to-peak value to the first minimum value of the output signal; read the second peak-to-peak value of the output signal of the sensor 120 at the second moment; assign the second peak-to-peak value to the second minimum value of the output signal; determine the motor jitter acceleration value according to the first peak-to-peak value, the second peak-to-peak value, the first minimum value and the second minimum value of the sensor, and adjust the output power of the motor based on the motor jitter acceleration value.

[0087] As an implementation, the motor jitter acceleration where VP1 is the first peak-to-peak value, VP2 is the second peak-to-peak value, T1 is the first moment, and T2 is the second moment.

[0088] The temperature module data, density module data and pressure module data of the present invention are used for the compensation of the rotor position.

[0089] As an implementation, determine the temperature compensation value based on the internal current ambient temperature of the motor, and adjust the current motor rotor position based on the temperature compensation value.

[0090] In an example, read the output signals V1, V2, V3 and V4 generated by the inductance phenomenon between the target wheel 210 and the circuit board 220, calculate the current rotor position X1 and the distance X2 between the current target wheel and the circuit board through the data V1, V2, V3 and V4, map the current distance compensation value O1 by comparing the distance value X2, then the rotor position increases the distance compensation X3 = X1·O1, read the temperature module data value T1, map the current temperature compensation value O2 by comparing the temperature value T1, and increase the temperature compensation X4 = X3·O2 for the rotor position.

[0091] As an implementation, determine the density compensation value based on the material density of the current environment of the motor, and adjust the current motor rotor position based on the density compensation value.

[0092] In an example, read the density module data value D1, map the current density compensation value O3 by comparing the density value D1, and increase the density compensation X5 = X4·O3 for the rotor position after temperature compensation.

[0093] As an implementation, determine the pressure compensation value based on the pressure information of the current environment of the motor, and adjust the current motor rotor position based on the pressure compensation value.

[0094] In an example, read the pressure module data value P1, map the current pressure compensation value O4 by comparing the pressure value P1, and increase the pressure compensation X6 = X5·O4 for the rotor position after density compensation.

[0095] Figure 6(a) is a state diagram of the motor health management function of a motor rotor position sensor according to an embodiment of the present invention.

[0096] FIG. 6(b) is a waveform diagram of the motor health management function of a motor rotor position sensor according to an embodiment of the present invention.

[0097] The motor health management function can be realized by the cooperation of the induction coil 221 design and the target wheel 210 design in the circuit board. When the distance between the target wheel 210 and the circuit board 220 changes, the rotor position detection module will output corresponding values according to the distance between the two, and determine whether the values change within the set range. According to the signal values detected in real time, through internal analysis and comparison by the logic software, the logical comparison information between the voltage and the distance needs to be obtained through verification tests in the initial stage of product design, and finally the distance between the current target wheel 210 and the circuit board 220 is obtained, so as to judge the distance change between the motor bearing and the motor stator, and thus judge the health status of the motor.

[0098] As an implementation manner, the peak-to-peak value of the output signal is obtained based on the output signal. If the peak-to-peak value of the output signal is greater than the minimum value of the output signal and less than the maximum value of the output signal, it is determined that the motor is in a healthy state. When the distance between the target wheel 210 and the circuit board 220 is the farthest, the peak-to-peak value is the smallest. When the distance between the target wheel 210 and the circuit board 220 is the closest, the peak-to-peak value is the largest. As shown in FIGS. 6(a) and 6(b), in state 1, the distance 1 is the farthest, and the peak-to-peak value is P1. In state 2, the distance 2 is the closest, and the peak-to-peak value is P2.

[0099] According to some embodiments of the present invention, an electronic device is disclosed. The device includes a memory storing computer-executable instructions and a processor, and the processor is configured to execute the instructions to implement a motor rotor position compensation method.

[0100] Figure 7 is a hardware structure block diagram of an electronic device implementing the electronic device according to an embodiment of the present invention.

[0101] As Figure 7 shown, the electronic device 700 may include one or more processors 702, a system control logic 708 connected to at least one of the processors 702, a system memory 705 connected to the system control logic 708, a non-volatile memory (NVM) 706 connected to the system control logic 708, and a network interface 710 connected to the system control logic 708.

[0102] The processor 702 may include one or more single-core or multi-core processors. The processor 702 may include any combination of a general-purpose processor and a dedicated processor (such as a graphics processor, an application processor, a baseband processor, etc.). In an embodiment of the present invention, the processor 702 may be configured to execute the motor rotor position compensation method as Figure 4 shown.

[0103] In some embodiments, the system control logic 708 may include any suitable interface controller to provide any suitable interface to at least one of the processors 702 and / or any suitable device or component communicating with the system control logic 708.

[0104] In some embodiments, the system control logic 708 may include one or more memory controllers to provide an interface to the system memory 705. The system memory 705 may be used to load and store data and / or instructions. In some embodiments, the system memory 705 of the electronic device 700 may include any suitable volatile memory, such as a suitable dynamic random access memory (DRAM).

[0105] The NVM 706 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, the NVM 706 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as at least one of a hard disk drive (HDD), a compact disc (CD) drive, and a digital versatile disc (DVD) drive.

[0106] The NVM 706 may include a portion of the storage resources installed on the device of the electronic device 700, or it may be accessible by the device but not necessarily part of the device. For example, the NVM 706 may be accessed via the network interface 710 over a network.

[0107] In particular, the system memory 705 and the NVM 706 may respectively include: a temporary copy and a permanent copy of the instructions 720. The instructions 720 may include: instructions that, when executed by at least one of the processors 702, cause the electronic device 700 to implement the method as Figure 4 shown. In some embodiments, the instructions 720, hardware, firmware, and / or its software components may alternatively / additionally be located in the system control logic 708, the network interface 710, and / or the processor 702.

[0108] The network interface 710 may include a transceiver for providing a radio interface for the electronic device 700 to communicate with any other suitable devices (e.g., front-end modules, antennas, etc.) via one or more networks. In some embodiments, the network interface 710 may be integrated with other components of the electronic device 700. For example, the network interface 710 may be integrated with at least one of the processor 702, the system memory 705, the NVM 706, and a firmware device (not shown) having instructions, and when at least one of the processors 702 executes the instructions, the electronic device 700 implements Figure 4 one or more embodiments of the various embodiments shown.

[0109] The network interface 710 may further include any suitable hardware and / or firmware to provide a multiple-input multiple-output radio interface. For example, the network interface 710 may be a network adapter, a wireless network adapter, a telephone modem, and / or a wireless modem.

[0110] In one embodiment, at least one of the processors 702 may be packaged together with one or more controllers for the system control logic 708 to form a system-in-package (SiP). In one embodiment, at least one of the processors 702 may be integrated on the same die with one or more controllers for the system control logic 708 to form a system-on-chip (SoC).

[0111] The electronic device 700 may further include: an input / output (I / O) device 712 connected to the system control logic 708. The I / O device 712 may include a user interface that enables a user to interact with the electronic device 700; the design of the peripheral component interface enables peripheral components to also interact with the electronic device 700. In some embodiments, the electronic device 700 further includes sensors for determining at least one of environmental conditions and location information related to the electronic device 700.

[0112] In some embodiments, the I / O device 712 may include, but is not limited to, a display (e.g., a liquid crystal display, a touch screen display, etc.), a speaker, a microphone, one or more cameras (e.g., a still image camera and / or a video camera), a flashlight (e.g., a light-emitting diode flash), and a keyboard.

[0113] In some embodiments, the peripheral component interface may include, but is not limited to, a non-volatile memory port, an audio jack, and a power interface.

[0114] It will be understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the electronic device 700. In other embodiments of the present application, the electronic device 700 may include more or fewer components than shown in the figures, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0115] Program code can be applied to the input instructions to perform the various functions described in the present invention and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of the present application, a system for processing instructions including the processor 702 includes any system having a processor such as a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0116] The program code can be implemented in a high-level procedural language or an object-oriented programming language to communicate with the processing system. When needed, the program code can also be implemented in assembly language or machine language. In fact, the mechanisms described in the present invention are not limited to the scope of any specific programming language. In any case, the language can be a compiled language or an interpreted language.

[0117] According to an embodiment of the present invention, there is also provided a computer-readable storage medium storing at least one computer instruction, and the at least one instruction is loaded and executed by a processor to implement the foregoing method for compensating the position of the motor rotor.

[0118] According to an embodiment of the present invention, there is also provided a computer program product including computer instructions, and when the computer instructions are executed, the foregoing method for compensating the position of the motor rotor is implemented.

[0119] The illustrative embodiments of the present invention include, but are not limited to, a method, apparatus, device, medium, and program product for compensating the position of a motor rotor.

[0120] The various aspects of the illustrative embodiments will be described using terms commonly employed by those skilled in the art to convey the substance of their work to others skilled in the art. However, it will be apparent to those skilled in the art that some alternative embodiments can be practiced using some of the features described. For purposes of explanation, specific numbers and configurations are set forth to provide a more thorough understanding of the illustrative embodiments. However, it will be apparent to those skilled in the art that alternative embodiments can be practiced without specific details. In some other cases, some well-known features are omitted or simplified to avoid obscuring the illustrative embodiments of the present invention.

[0121] In addition, various operations will be described as multiple operations that are separated from each other in a manner that is most conducive to understanding the illustrative embodiments; however, the order of description should not be construed to imply that these operations must depend on the described order, and many of these operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the various operations can also be rearranged. When the described operations are completed, the process can be terminated, but there may also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, and so on.

[0122] References in the specification to "an example", "in the example", "an embodiment", "an implementation", etc. indicate that the described embodiment may include a specific feature, structure, or property, but each embodiment may or may not necessarily include the specific feature, structure, or property. Moreover, these phrases are not necessarily directed to the same embodiment. In addition, when a specific feature is described in connection with a particular embodiment, the knowledge of those skilled in the art can influence the combination of these features with other embodiments, whether or not these embodiments are explicitly described.

[0123] Unless the context otherwise requires, the terms "comprising", "having", and "including" are synonyms. The phrase "A and / or B" means "(A), (B), or (A and B)".

[0124] As used herein, the term "module" can refer to, as part of it, or include: a memory (shared, dedicated, or group) for running one or more software or firmware programs, an application-specific integrated circuit (ASIC), an electronic circuit, and / or a processor (shared, dedicated, or group), combinational logic circuits, and / or other suitable components that provide the function.

[0125] In the drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or ordering is not necessary. Instead, in some embodiments, these features can be illustrated in a manner and / or order different from that shown in the illustrative drawings. Additionally, the structural or method features included in a particular drawing do not mean that all embodiments need to include such features. In some embodiments, these features may not be included or may be combined with other features.

[0126] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0127] Similarly, it should be understood that, for the purpose of streamlining the present invention and assisting in understanding one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0128] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0129] In addition, those skilled in the art will be able to understand that, although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

Claims

1. A motor rotor position compensation device, characterized in that, Comprising: A circuit board having an induction coil and a plurality of function detection modules; A target wheel fixed to the rotor and performing a cutting magnetic induction line movement with the induction coil, providing signals for the plurality of function detection modules of the circuit board; The plurality of function detection modules include a rotor position detection module, a temperature detection module, a density detection module, a pressure detection module, and a data analysis and processing module; Wherein, the rotor position detection module is configured to determine the rotor position; The temperature detection module is configured to determine the current internal ambient temperature of the motor; The density detection module is configured to detect the density information of the substance in the current environment and replace the substance based on the density information; The pressure detection module is configured to detect the pressure information of the current environment and give an alarm based on the pressure information; The data analysis and processing module is configured to process, calculate, and integrate the signals.

2. A method for compensating the position of an electric motor rotor, which uses the electric motor rotor position compensation device as described in claim 1, wherein Comprising: Reading the output signal generated by the inductance phenomenon between the target wheel and the circuit board; Calculating the current motor rotor position and the current distance between the target wheel and the circuit board based on the output signal; Calculating the current distance compensation of the motor rotor based on the distance; Adjusting the current motor rotor position based on the current distance compensation.

3. The method for compensating the motor rotor position according to claim 2, wherein Obtaining the peak-to-peak value of the output signal based on the output signal, and the peak-to-peak value is the difference between the maximum value and the minimum value within the period of the output signal; If the peak-to-peak value of the output signal is greater than the minimum value of the output signal and less than the maximum value of the output signal, it is determined that the motor is in a healthy state.

4. The method for compensating the position of the motor rotor according to claim 3, wherein Further comprising: Reading the first peak-to-peak value of the output signal of the sensor at the first moment; Assigning the first peak-to-peak value to the first minimum value of the output signal; Reading the second peak-to-peak value of the output signal of the sensor at the second moment; Assigning the second peak-to-peak value to the second minimum value of the output signal; Determining the motor jitter acceleration value according to the first peak-to-peak value, the second peak-to-peak value, the first minimum value, and the second minimum value of the sensor, and adjusting the output power of the motor based on the motor jitter acceleration value.

5. The method for compensating the position of the motor rotor according to claim 4, wherein The motor jitter acceleration Wherein, VP1 is the first peak-to-peak value, VP2 is the second peak-to-peak value, T1 is the first moment, and T2 is the second moment.

6. The method for compensating the position of the motor rotor according to claim 2, characterized in that, Determining a temperature compensation value based on the current internal ambient temperature of the motor, and adjusting the current motor rotor position based on the temperature compensation value.

7. The method for compensating the position of the motor rotor according to claim 6, wherein Determining a density compensation value based on the substance density of the current environment of the motor, and adjusting the current motor rotor position based on the density compensation value.

8. The method for compensating the position of the motor rotor according to claim 7, characterized in that, Determining a pressure compensation value based on the pressure information of the current environment of the motor, and adjusting the current motor rotor position based on the pressure compensation value.

9. An electronic device, characterized in that, The device includes a memory storing computer-executable instructions and a processor, and the processor is configured to execute the instructions to implement the method for compensating the motor rotor position according to any one of claims 2-8.

10. A computer-readable storage medium, characterized in that, At least one computer instruction is stored in the computer-readable storage medium, and the at least one instruction is loaded and executed by the processor to implement the method for compensating the motor rotor position according to any one of claims 2-8.

11. A computer program product, characterized in that, The computer program product includes computer instructions which, when executed, implement the method for compensating the motor rotor position according to any one of claims 2-8.

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