Noise order recognition and harmonic injection suppression method, vehicle controller and system

Abstract

The invention provides an active noise order identification and harmonic injection suppression method, a vehicle controller and a system. The method comprises the steps of collecting current of a motor in real time to obtain sampling current; fourier analysis is carried out on the sampling current to obtain harmonic order information of harmonic current of each order; for each piece of harmonic order information, obtaining noise harmonic order information according to the harmonic order information and a noise harmonic preset threshold; for each piece of noise harmonic order information, extracting a sampling current corresponding to the noise harmonic order information to obtain a harmonic current actual value; obtaining a harmonic expected voltage according to the harmonic current actual value and the harmonic current demand value; and obtaining a control signal for controlling the motor according to the fundamental wave control voltage and the harmonic wave expected voltage so as to suppress motor noise. According to the invention, the noise of the motor can be suppressed without off-line testing and on-line calibration, so that the manpower and material cost of testing and calibration can be greatly reduced; and the harmonic order information causing noise is not limited.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a method for actively identifying noise orders and suppressing harmonic injection, a vehicle controller, and a system. Background Art

[0002] As the performance requirements for motors in industrial and consumer equipment continue to increase, people are increasingly concerned about motor noise. This is especially true in areas such as home appliances, office equipment, and transportation. Noise not only affects user experience but also poses potential health risks. Therefore, reducing motor noise during operation has become a major research topic for those skilled in the art.

[0003] Existing software solutions for noise reduction mostly use offline calibration and online suppression. For example, see Figure 1 , which schematically shows the flow chart of offline noise order analysis and suppression in the prior art. Figure 1 As shown, in the prior art, noise data is usually collected offline in an anechoic chamber using specific equipment; then, based on the collected noise data, the noise generation mechanism is analyzed and the harmonic current order related to the noise is calculated; the harmonic current order information is then written into the software algorithm through the calibration value, and the corresponding harmonic current of the test bench is calibrated offline based on the harmonic current order information; finally, the current calibration value (for example, the correspondence table of torque, harmonic current order and fundamental current obtained by calibration) is stored in the controller software, and the controller software is used to perform online suppression of specific order harmonic currents. For details, please refer to Figure 2 , Figure 2 Schematic diagram of the control principle of harmonic current suppression in the prior art. Figure 2It can be seen that when controlling the motor, the corresponding relationship table obtained by the above-mentioned offline calibration is first searched according to the real-time expected torque and real-time position information (such as harmonic current) to obtain the expected fundamental current and the noise harmonic order information to be suppressed; then the three-phase actual current and position information (such as harmonic current) of the motor are respectively subjected to coordinate transformation; and the expected specific order harmonic voltage is obtained by a preset order harmonic current control algorithm based on the position information (such as harmonic current), the noise harmonic order information to be suppressed obtained by looking up the table, and the three-phase actual current and position information (such as harmonic current) after coordinate transformation; then the three-phase actual current and position information (such as harmonic current) after coordinate transformation and the expected fundamental current obtained by looking up the table are superimposed, and the expected fundamental voltage is obtained by a PI controller. Finally, the expected fundamental voltage and the expected specific order harmonic voltage are subjected to coordinate transformation and modulation (such as space vector pulse width modulation, SVPWM) to obtain a modulation signal for driving the IGBT (the switching device for driving the motor), and the motor is controlled to achieve the purpose of reducing motor noise. This approach not only increases the testing workload but also requires significant manpower and resources for subsequent calibration of harmonic current injection. Furthermore, since noise and current acquisition require specialized sites and high-precision equipment, this not only increases hardware costs but also places additional demands on the signal acquisition conditions and site. Furthermore, since this is an offline solution and order information is stored in the controller software through calibration, the applicable noise control orders are relatively limited. This offline solution becomes inapplicable if the current order corresponding to the noise triggering changes, limiting its applicability to a limited range of vehicle operating conditions.

[0004] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the Invention

[0005] The object of the present invention is to provide a method for actively identifying noise orders and suppressing harmonic injection, a vehicle controller and a system. The present invention can actively identify the harmonic order information that causes noise and automatically suppress harmonics based on the identified harmonic order information. This can not only improve the suppression effect of motor noise, thereby improving the NVH (Noise, Vibration, Harshness) performance of the motor; but also does not require any offline testing and online calibration, which can greatly reduce the manpower and material costs of testing and calibration. Furthermore, the present invention does not impose any restrictions on the harmonic order information that causes noise, greatly expanding the range of applicable vehicle operating conditions.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a method for actively identifying noise orders and suppressing harmonic injection, for reducing the noise of a motor, the method comprising:

[0007] Collecting the current of the motor in real time to obtain a sampled current;

[0008] Performing Fourier analysis on the sampled current to calculate the harmonic order information of each order harmonic current;

[0009] For each of the harmonic order information, identifying the noise harmonic order information that needs to be suppressed according to the harmonic order information and the preset noise harmonic threshold;

[0010] For each piece of noise harmonic order information, extract the sampled current corresponding to the noise harmonic order information to obtain an actual value of the harmonic current;

[0011] Calculate the expected harmonic voltage according to the actual harmonic current value and the required harmonic current value;

[0012] A control signal for controlling the motor is obtained according to the fundamental wave control voltage and the harmonic expected voltage, so as to suppress noise of the motor.

[0013] Optionally, the real-time acquisition of the current of the motor to obtain the sampled current includes:

[0014] The current of the motor is collected in real time according to a preset sampling frequency to obtain the sampled current, and the preset sampling frequency is ≥ 2 times the harmonic frequency of the motor.

[0015] Optionally, the real-time acquisition of the current of the motor to obtain the sampled current includes: real-time acquisition of the current of at least one phase of the motor to obtain the sampled current.

[0016] Optionally, the harmonic order information includes the amplitude and phase of the harmonic current of the order corresponding to the harmonic order information.

[0017] Optionally, the calculation to obtain harmonic order information of each order harmonic current includes obtaining the amplitude and phase of each order harmonic current except the fundamental current.

[0018] Optionally, performing Fourier analysis on the sampled current to calculate harmonic order information of harmonic currents of various orders includes: performing fast Fourier transform on the sampled current to calculate amplitudes of harmonic currents of various orders.

[0019] Optionally, the identifying noise harmonic order information that needs to be suppressed based on the harmonic order information and a preset noise harmonic threshold includes:

[0020] It is determined whether the amplitude of the harmonic current of the order corresponding to the harmonic order information is greater than the preset threshold value of the noise harmonic; if so, the harmonic order information is used as the noise harmonic order information.

[0021] Optionally, extracting the sampled current corresponding to the noise harmonic order information to obtain an actual value of the harmonic current includes:

[0022] On the harmonic coordinate axis, a harmonic current of a corresponding order is extracted from the sampled current corresponding to the noise harmonic order information to obtain a true value of the harmonic current.

[0023] In order to achieve the above-mentioned objectives, the present invention also provides a vehicle controller, which includes a processor and a memory, and a computer program is stored in the memory. When the computer program is executed by the processor, the method for actively identifying noise orders and suppressing harmonic injection as described in any one of the above-mentioned items is implemented.

[0024] In order to achieve the above objectives, the present invention further provides a system for actively identifying noise orders and suppressing harmonic injection, wherein the system for actively identifying noise orders and suppressing harmonic injection includes the above vehicle controller.

[0025] Compared with the prior art, the method, vehicle controller, and system for actively identifying noise orders and suppressing harmonic injection provided by the present invention have the following advantages:

[0026] The method for actively identifying noise orders and suppressing harmonic injection provided by the present invention first collects the current of the motor in real time to obtain a sampled current, laying the foundation for online Fourier analysis and calculation to obtain harmonic order information of each order of harmonic current; then, online Fourier analysis and calculation are performed on the sampled current to obtain harmonic order information of each order of harmonic current, further laying the foundation for actively identifying the harmonic order information causing noise; then, noise harmonic order information to be suppressed is obtained based on each harmonic order information and a preset noise harmonic threshold, laying the foundation for harmonic suppression; finally, the actual value of the harmonic current is obtained by extracting the sampled current corresponding to each noise harmonic order information, and the harmonic expected voltage is calculated based on the actual value of the harmonic current and the harmonic current demand value; and a control signal for controlling the motor is obtained based on the fundamental control voltage and the harmonic expected voltage, thereby suppressing the motor noise. In summary, the present invention can actively identify the harmonic order information that causes noise, and automatically perform harmonic suppression based on the identified harmonic order information. This not only improves the noise suppression effect of the motor, thereby improving the NVH (Noise, Vibration, Harshness) performance of the motor; but also does not require any offline testing and online calibration, which can greatly reduce the manpower and material costs of testing and calibration. Furthermore, the present invention does not impose any restrictions on the harmonic order information that causes noise, greatly expanding the range of applicable vehicle operating conditions.

[0027] Since the vehicle controller and system provided by the present invention belong to the same inventive concept as the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention, the vehicle controller and system provided by the present invention have at least all the advantages of the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention. For details about the beneficial effects of the vehicle controller and system provided by the present invention, please refer to the above description of the beneficial effects of the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the process of offline noise order analysis and suppression in the prior art;

[0029] Figure 2 Schematic diagram of the control principle of harmonic current suppression in the prior art;

[0030] Figure 3 A schematic diagram of the overall process of a method for actively identifying noise orders and suppressing harmonic injection provided by one embodiment of the present invention;

[0031] Figure 4 A schematic diagram showing the principle of the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention;

[0032] Figure 5 A schematic block diagram of a vehicle controller according to one embodiment of the present invention;

[0033] The accompanying drawings are numerals as follows:

[0034] Processor 110 , memory 120 , communication interface 130 , communication bus 140 . DETAILED DESCRIPTION

[0035] The following, in conjunction with the accompanying drawings, further details the method, vehicle controller, and system for actively identifying noise orders and suppressing harmonic injection, as well as the system and system, proposed by the present invention. The following description will further clarify the advantages and features of the present invention. It should be noted that the drawings are simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the purpose of the embodiments of the present invention. To make the purposes, features, and advantages of the present invention more readily apparent, please refer to the accompanying drawings. It should be noted that the structures, proportions, and sizes illustrated in the drawings herein are intended solely to facilitate understanding and reading by those skilled in the art, and are not intended to limit the implementation of the present invention. Any structural modifications, changes in proportions, or adjustments to sizes, provided they produce the same or similar effects and achieve the same objectives, are within the scope of the technical content disclosed herein. The specific design features of the present invention disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the specific application and use environment. Furthermore, in the embodiments described below, the same reference numerals may be used across different drawings to denote the same parts or parts having the same functions, and their repeated descriptions may be omitted. In this specification, similar reference numerals and letters are used to refer to similar items, so once an item is defined in one figure, it need not be further discussed in subsequent figures. In addition, if the method described herein includes a series of steps, the order in which the steps are presented herein is not necessarily the only order in which the steps can be performed, and some of the steps described may be omitted and / or some other steps not described herein may be added to the method.

[0036] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element. The singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features.

[0037] The core idea of the present invention is to provide a method for actively identifying noise orders and suppressing harmonic injection, a vehicle controller and a system. The present invention can actively identify the harmonic order information that causes noise, and automatically suppress harmonics based on the identified harmonic order information. This can not only improve the suppression effect of motor noise, thereby improving the NVH (Noise, Vibration, Harshness) performance of the motor; but also does not require any offline testing and online calibration, which can greatly reduce the manpower and material costs of testing and calibration; furthermore, the present invention has no restrictions on the harmonic order information that causes noise, greatly expanding the range of applicable vehicle operating conditions.

[0038] It should be noted that the method for actively identifying noise orders and suppressing harmonic injection and the vehicle controller provided by the present invention can be applied to the system for actively identifying noise orders and suppressing harmonic injection provided by the present invention. The method for actively identifying noise orders and suppressing harmonic injection, the vehicle controller, and the system provided by the present invention can be applied to vehicles. It should be understood that the terms "vehicle" or "vehicle-related" or other similar terms used herein include, but are not limited to, general motor vehicles and systems having motors and the vehicle controller provided by the present invention, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, and ships.

[0039] In order to realize the above idea, one embodiment of the present invention provides a method for actively identifying noise orders and suppressing harmonic injection, which is used to reduce the noise of the motor. For example, see Figure 3 and Figure 4 ,in, Figure 3 A schematic diagram of the overall flow of the method for identifying noise orders and suppressing harmonic injection provided in this embodiment; Figure 4 This is a schematic diagram of the principle of the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention. Figure 3 and Figure 4 It can be seen that the method for actively identifying noise orders and suppressing harmonic injection provided by this embodiment includes the following steps:

[0040] S100, collecting the current of the motor in real time to obtain a sampled current;

[0041] S200, performing Fourier analysis on the sampled current to calculate harmonic order information of each order of harmonic current;

[0042] S300: for each piece of harmonic order information, identify the noise harmonic order information that needs to be suppressed based on the harmonic order information and a preset noise harmonic threshold;

[0043] S400: For each piece of noise harmonic order information, extract the sampled current corresponding to the noise harmonic order information to obtain an actual value of the harmonic current;

[0044] S500, calculating a harmonic expected voltage according to the actual harmonic current value and the harmonic current demand value;

[0045] S600 : Obtain a control signal for controlling the motor according to the fundamental wave control voltage and the harmonic expected voltage to suppress noise of the motor.

[0046] Therefore, the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention first collects the current of the motor in real time to obtain a sampled current, laying the foundation for online Fourier analysis and calculation to obtain harmonic order information of harmonic currents of various orders; then, online Fourier analysis and calculation are performed on the sampled current to obtain harmonic order information of harmonic currents of various orders, further laying the foundation for actively identifying harmonic order information causing noise; then, based on each harmonic order information and a preset threshold value of the noise harmonic, the noise harmonic order information that needs to be suppressed is obtained, laying the foundation for harmonic suppression; finally, the actual value of the harmonic current is obtained by extracting the sampled current corresponding to each of the noise harmonic order information, and the harmonic expected voltage is calculated based on the actual value of the harmonic current and the harmonic current demand value; and the control signal for controlling the motor is obtained based on the fundamental control voltage and the harmonic expected voltage, thereby achieving suppression of motor noise. In summary, the present invention can actively identify the harmonic order information that causes noise, and automatically perform harmonic suppression based on the identified harmonic order information. This not only improves the noise suppression effect of the motor, thereby improving the NVH (Noise, Vibration, Harshness) performance of the motor; but also does not require any offline testing and online calibration, which can greatly reduce the manpower and material costs of testing and calibration. Furthermore, the present invention does not impose any restrictions on the harmonic order information that causes noise, greatly expanding the range of applicable vehicle operating conditions.

[0047] It should be noted that the present invention does not impose any restrictions on the motor. For example, the motor can be an AC motor, and the AC motor can be a three-phase motor. Furthermore, the present invention does not impose too many restrictions on the use of the motor. For example, the motor can be a drive motor or a control motor. In addition, the motor can be a vehicle-mounted motor or a non-vehicle-mounted motor. For the convenience of describing the present invention, herein, unless otherwise specified, the motor is exemplified by a vehicle-mounted AC three-phase motor. Furthermore, the present invention does not impose any restrictions on the specific operating conditions of the vehicle having the vehicle-mounted motor. For example, the operating conditions include but are not limited to starting conditions, urban conditions, climbing conditions, acceleration conditions, low temperature conditions, high temperature conditions, wet and slippery road conditions, and snowy driving conditions.

[0048] For example, in some exemplary embodiments, the real-time acquisition of the motor current to obtain the sampled current in step S100 includes: acquiring the motor current in real time at a preset sampling frequency to obtain the sampled current, wherein the preset sampling frequency is ≥ twice the harmonic frequency of the motor. Thus, the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention, by employing a design approach in which the preset sampling frequency is ≥ twice the harmonic frequency of the motor, can ensure the amount of sampled current data, thereby laying a good foundation for effectively suppressing motor noise.

[0049] It should be noted that those skilled in the art should be able to understand that the present invention does not impose too many restrictions on the specific value of the preset sampling frequency. Preferably, it can be set according to the size of the storage space used to store the harmonic order information.

[0050] For example, in some exemplary embodiments, the step S100 of collecting the current of the motor in real time to obtain the sampled current includes: collecting the current of at least one phase of the motor in real time to obtain the sampled current. For example, see Figure 4 ,like Figure 4 As shown, in some exemplary embodiments, the current of phase A input to the motor stator (or output from the motor stator) can be collected; in other embodiments, the current of phase B input to the motor stator (or output from the motor stator) can also be collected; in still other embodiments, the current of phase C input to the motor stator (or output from the motor stator) can also be collected.

[0051] For example, in some exemplary embodiments, the harmonic order information includes the amplitude and phase of the harmonic current of the order corresponding to the harmonic order information.

[0052] For example, in some exemplary embodiments, step S200 calculates and obtains harmonic order information of various harmonic current orders, including obtaining the amplitude and phase of various harmonic current orders other than the fundamental current. Thus, by obtaining the amplitude and phase of various harmonic current orders other than the fundamental current, not only can the foundation be laid for proactively identifying the harmonic order information that causes noise, but also for subsequent harmonic suppression.

[0053] For example, in some exemplary embodiments, step S200 performs Fourier analysis on the sampled current to calculate the harmonic order information of each order harmonic current, including performing discrete Fourier analysis on the sampled current to calculate the amplitude information of each order harmonic current. For example, assuming that the number of samples of the sampled current collected when the motor rotates one circle is N, x n represents the sampling current (value) corresponding to the time domain index n, where n=0, 1, 2, 3, ..., N-1, then the sampling current x n The harmonic order information K(k) of the corresponding harmonic current after discrete Fourier transform (DFT) can be expressed by the following formula (1):

[0054]

[0055] In formula (2), j is an imaginary unit, and k is a frequency domain index (i.e., the index of the kth harmonic order information within the frequency domain).

[0056] Furthermore, in some exemplary embodiments, step S200 performs Fourier analysis on the sampled current to calculate harmonic order information of each order harmonic current, including performing a fast Fourier transform on the sampled current to calculate the amplitude of each order harmonic current. This can further simplify calculations and improve noise identification and suppression efficiency.

[0057] Specifically, according to the rotation factor The symmetry and periodicity of the above formula (1) are simplified, and the already calculated sampling points are continuously used to calculate new sampling points. The discrete Fourier transform result of N = 2m (i.e. N is an even number) can be decomposed into a 2-point DFT. The core is to divide the data (harmonic order information) into odd and even data (harmonic order information) according to its index, where F even [k] is the discrete Fourier transform result (harmonic order information) corresponding to the odd index input, F odd [k] is the discrete Fourier transform result (harmonic order information) corresponding to the even-indexed input. The harmonic order information of the kth point can be obtained by the following formula (2):

[0058]

[0059] Further simplifying the above formula (2), the harmonic order information of any point can be calculated by the following formula (3):

[0060]

[0061] According to equation (3), the DFT result for an N-point DFT can be calculated from the results of two DFTs with even and odd inputs. For example, an 8-point DFT can be calculated from the results of an even 4-point DFT and an odd 4-point DFT. Similarly, an even / odd 4-point DFT can be calculated from the results of a 2-point DFT, and so on. This method allows the amplitude and phase information of current harmonics of a wide range of orders to be calculated from current sampling.

[0062] For example, in some exemplary embodiments, step S300 identifies noise harmonic order information that needs to be suppressed based on the harmonic order information and a preset noise harmonic threshold, including:

[0063] Determine whether the amplitude of the harmonic current of the order corresponding to the harmonic order information is greater than the preset noise harmonic threshold. If so, use the harmonic order information as the noise harmonic order information. Thus, by using the harmonic order information in which the amplitude of the harmonic current of the order corresponding to the harmonic order information is greater than the preset noise harmonic threshold as the noise harmonic order information, the logic is simple and easy to implement. It should be noted that the present invention does not impose excessive restrictions on the specific value of the preset noise harmonic threshold. When implementing the present invention, it should be reasonably set according to actual conditions.

[0064] For example, assuming that in a certain example, there are N harmonic order information, the amplitudes of the harmonic currents corresponding to these N harmonic order information are compared one by one with the preset noise harmonic threshold. If the amplitudes of the harmonic currents corresponding to M harmonic order information are greater than the preset noise harmonic threshold, these M harmonic order information are used as noise harmonic order information, and subsequent steps perform motor noise suppression based on these M noise harmonic order information, where M ≤ N. Furthermore, in some exemplary embodiments, the harmonic current demand value can be any value that is ≤ the preset noise harmonic threshold. Preferably, the harmonic current demand value is equal to the preset noise harmonic threshold.

[0065] Exemplarily, in some exemplary embodiments, the extracting of the sampled current corresponding to the noise harmonic order information to obtain the actual value of the harmonic current in step S400 includes: extracting the harmonic current of the corresponding order of the sampled current corresponding to the noise harmonic order information on the harmonic coordinate axis to obtain the true value of the harmonic current.

[0066] For more detailed information on how to obtain the control signal for controlling the motor based on the fundamental control voltage and the harmonic expected voltage, please refer to the relevant technologies related to motor control known to those skilled in the art, and this article will not elaborate on this.

[0067] In order to make the present invention easier to understand, Figure 4 The process of the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention is exemplified as follows:

[0068] SA1: sampling the current of the motor in real time to obtain a sampled current;

[0069] SA2: Perform online FFT calculation on the sampled current to obtain the harmonic order information of each order harmonic current, and select the harmonic order parameters of each order harmonic current according to the preset noise harmonic threshold to obtain the noise harmonic order information that needs to be suppressed;

[0070] SA3: Extract the harmonic current from the sampled current corresponding to each noise harmonic order information to obtain the actual value of the harmonic current;

[0071] SA4: Calculate the expected harmonic voltage based on the actual harmonic current value and the required harmonic current value;

[0072] SA5: Perform coordinate transformation on the desired harmonic voltage to obtain the d-axis voltage U of the desired harmonic voltage. dhrmc and q-axis voltage U qhrmc ;

[0073] SA6: Calculate the fundamental control voltage based on the real-time control signal and the sampled current collected in step SA1 and perform coordinate transformation to obtain the d-axis voltage U of the fundamental control voltage. d and q-axis voltage U q ;

[0074] SA7: D-axis voltage U of the harmonic desired voltage obtained in step SA5 dhrmc and q-axis voltage U qhrmc And the d-axis voltage U of the fundamental control voltage obtained by SA6 d and q-axis voltage U q The voltage is calculated to obtain the drive signal of the inverter used to drive the motor, so as to control the motor and reduce the motor noise.

[0075] It should be understood that if Figure 4 As shown, the method for actively identifying noise orders and suppressing harmonic injection provided by the present invention is a closed-loop control process. Therefore, the present invention obtains the d-axis voltage U of the desired harmonic voltage. dhrmc and q-axis voltage U qhrmc And the d-axis voltage U of the fundamental control voltage is obtained d and q-axis voltage U q In other words, in other embodiments, steps SA1 and SA6 may be performed first, and then steps SA2, SA4, and SA5.

[0076] Another embodiment of the present invention provides a vehicle controller, for example, see Figure 5 , Figure 5 This is a block diagram of the vehicle controller provided by this embodiment of the present invention. Figure 5As shown, the vehicle controller provided in this embodiment includes a processor 110 and a memory 120. The memory 120 stores a computer program. When the computer program is executed by the processor 110, it implements the method for actively identifying noise orders and suppressing harmonic injection provided in any of the above embodiments. Since the vehicle controller provided in this embodiment and the method for actively identifying noise orders and suppressing harmonic injection provided in the present invention belong to the same inventive concept, the vehicle controller provided in this embodiment has at least all the advantages of the method for actively identifying noise orders and suppressing harmonic injection provided in the present invention. For details, please refer to the above description of the beneficial effects of the method for actively identifying noise orders and suppressing harmonic injection, and no further details will be given here.

[0077] For example, Figure 5 As shown, the vehicle controller may further include a communication interface 130 and a communication bus 140, wherein the processor 110, the communication interface 130, and the memory 120 communicate with each other via the communication bus 140. The communication bus 140 includes but is not limited to a CAN bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 130 is used for communication between the above-mentioned vehicle controller (such as a motor controller) and other controllers (such as a vehicle controller, an autonomous driving domain controller, a battery management system, etc., not shown in the figure). The communication bus 140 connects the various dispersed nodes such as the above-mentioned vehicle controller (such as a motor controller) and other controllers (such as a battery management system, etc., not shown in the figure) into a closed-loop system, so that each controller can communicate and transmit data in multiple working states (parking state, charging state, starting state, running state, vehicle forward and reverse state, regenerative braking state, mechanical braking state, general fault state, major fault state), thereby realizing the control function of the vehicle.

[0078] The processor 110 referred to in the present invention may be a microcontroller unit (MCU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor 110 is the control center of the vehicle controller, connecting various parts of the entire vehicle controller using various interfaces and lines.

[0079] The memory 120 may be used to store the computer program. The processor 110 implements various functions of the vehicle controller by running or executing the computer program stored in the memory 120 and calling the data stored in the memory 120 .

[0080] The memory 120 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0081] Yet another embodiment of the present invention provides a system for identifying noise orders and suppressing harmonic injections, the system comprising the vehicle controller described in the above embodiment. Since the system for identifying noise orders and suppressing harmonic injections provided by the present invention and the vehicle controller provided by the present invention belong to the same inventive concept, and the vehicle controller provided by the present invention and the method for actively identifying noise orders and suppressing harmonic injections provided by the present invention belong to the same inventive concept, the system for identifying noise orders and suppressing harmonic injections provided by the present invention has at least all the advantages of the method for actively identifying noise orders and suppressing harmonic injections provided by the present invention. For details on the beneficial effects of the system for identifying noise orders and suppressing harmonic injections provided by the present invention, please refer to the above description of the beneficial effects of the method for actively identifying noise orders and suppressing harmonic injections provided by the present invention, which will not be elaborated on here.

[0082] Compared with the prior art, the method, vehicle controller, and system for actively identifying noise orders and suppressing harmonic injection provided by the present invention have the following beneficial effects:

[0083] The method for actively identifying noise orders and suppressing harmonic injection provided by the present invention first collects the current of the motor in real time to obtain a sampled current, laying the foundation for online Fourier analysis and calculation to obtain harmonic order information of each order of harmonic current; then, online Fourier analysis and calculation are performed on the sampled current to obtain harmonic order information of each order of harmonic current, further laying the foundation for actively identifying the harmonic order information causing noise; then, noise harmonic order information to be suppressed is obtained based on each harmonic order information and a preset noise harmonic threshold, laying the foundation for harmonic suppression; finally, the actual value of the harmonic current is obtained by extracting the sampled current corresponding to each noise harmonic order information, and the harmonic expected voltage is calculated based on the actual value of the harmonic current and the harmonic current demand value; and a control signal for controlling the motor is obtained based on the fundamental control voltage and the harmonic expected voltage, thereby suppressing the motor noise. In summary, the present invention can actively identify the harmonic order information that causes noise, and automatically perform harmonic suppression based on the identified harmonic order information. This not only improves the noise suppression effect of the motor, thereby improving the NVH (Noise, Vibration, Harshness) performance of the motor; but also does not require any offline testing and online calibration, which can greatly reduce the manpower and material costs of testing and calibration. Furthermore, the present invention does not impose any restrictions on the harmonic order information that causes noise, greatly expanding the range of applicable vehicle operating conditions.

[0084] It should be noted that the devices and methods disclosed in the embodiments of this document may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the devices, methods, and computer program products according to the various embodiments of this document. In this regard, each box in the flowchart or block diagram may represent a module, program, or portion of code, wherein the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function, and the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

[0085] In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0086] The above description is merely a description of preferred embodiments of the method for actively identifying noise orders and suppressing harmonic injection, the vehicle controller, and the readable storage medium provided by the present invention, and does not limit the scope of the present invention in any way. Any changes or modifications made by a person skilled in the art based on the above disclosure are within the scope of protection of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A method for actively identifying noise orders and suppressing harmonic injection for reducing motor noise, characterized in that: The method comprises: Collecting the current of the motor in real time to obtain a sampled current; Performing Fourier analysis on the sampled current to calculate the harmonic order information of each order harmonic current; For each of the harmonic order information, identifying the noise harmonic order information that needs to be suppressed according to the harmonic order information and the preset noise harmonic threshold; For each piece of noise harmonic order information, extract the sampled current corresponding to the noise harmonic order information to obtain an actual value of the harmonic current; Calculate the expected harmonic voltage according to the actual harmonic current value and the required harmonic current value; A control signal for controlling the motor is obtained according to the fundamental wave control voltage and the harmonic expected voltage, so as to suppress noise of the motor.

2. The method for actively identifying noise orders and suppressing harmonic injection according to claim 1, characterized in that: The real-time acquisition of the current of the motor to obtain the sampled current includes: The current of the motor is collected in real time according to a preset sampling frequency to obtain the sampled current, and the preset sampling frequency is ≥ 2 times the harmonic frequency of the motor.

3. The method for actively identifying noise orders and suppressing harmonic injection according to claim 1, characterized in that: The real-time acquisition of the current of the motor to obtain the sampled current includes: real-time acquisition of the current of at least one phase of the motor to obtain the sampled current.

4. The method for actively identifying noise orders and suppressing harmonic injection according to claim 1, characterized in that: The harmonic order information includes the amplitude and phase of the harmonic current of the order corresponding to the harmonic order information.

5. The method for actively identifying noise orders and suppressing harmonic injection according to claim 4, characterized in that: The calculation obtains harmonic order information of each order harmonic current, including obtaining the amplitude and phase of each order harmonic current except the fundamental current.

6. The method for actively identifying noise orders and suppressing harmonic injection according to claim 4, characterized in that: The performing Fourier analysis on the sampled current to calculate the harmonic order information of each order harmonic current includes: performing fast Fourier transform on the sampled current to calculate the amplitude of each order harmonic current.

7. The method for actively identifying noise orders and suppressing harmonic injection according to claim 4, characterized in that: The step of identifying the noise harmonic order information to be suppressed based on the harmonic order information and the preset noise harmonic threshold includes: It is determined whether the amplitude of the harmonic current of the order corresponding to the harmonic order information is greater than the preset threshold value of the noise harmonic; if so, the harmonic order information is used as the noise harmonic order information.

8. The method for actively identifying noise orders and suppressing harmonic injection according to claim 1, characterized in that: The extracting the sampled current corresponding to the noise harmonic order information to obtain the actual value of the harmonic current includes: On the harmonic coordinate axis, a harmonic current of a corresponding order is extracted from the sampled current corresponding to the noise harmonic order information to obtain a true value of the harmonic current.

9. A vehicle controller, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method for actively identifying noise orders and suppressing harmonic injection according to any one of claims 1 to 8 is implemented.

10. A system for actively identifying noise orders and suppressing harmonic injection, characterized in that: The noise order identification and harmonic injection suppression system includes the vehicle controller of claim 9.

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