Driving motor control method and device, electronic equipment and vehicle

Abstract

The invention relates to a driving motor control method and device, electronic equipment and a vehicle, relates to the technical field of vehicles, and aims to improve the running stability of a motor. The method comprises the steps that under the condition that a rotary transformer signal measured by a position sensor or a calculated rotation angle is abnormal, an estimated rotation angle is determined based on electrical parameters of a driving motor in the vehicle; controlling the operation of the driving motor based on the estimated rotation angle; wherein the electrical parameters comprise at least one of the following items: voltage and current; and the position sensor is used for measuring a rotary change signal of the driving motor and determining a resolving rotation angle based on the rotary change signal. Therefore, under the condition that the position sensor cannot accurately measure the rotation angle, the normal operation of the driving motor is maintained by estimating the rotation angle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a drive motor control method, device, electronic equipment and vehicle. Background Art

[0002] With the rapid development of electric vehicles, position sensors, as the core sensing element of the drive motor, have a direct impact on the vehicle's power output and driving experience. Driven by the trend toward intelligence and high integration, real-time monitoring of position sensor status has evolved from an auxiliary function to a critical technology for ensuring safe system operation.

[0003] Related technologies disclose a method for achieving full-speed switching control of the drive motor without a position sensor by establishing a mathematical model, estimating the zero-low speed and high-speed positions, monitoring the operating status, and adopting a smooth cubic function switching strategy. Another related technology discloses distinguishing between type I and type II resolver faults by detecting fault logs. In case of type I faults, the signal is reconstructed and position and speed observation is initiated to switch between active short circuit protection (ASC) and free wheeling (FW) in the off-control mode. In case of type II faults, the ASC mode is directly entered to achieve limp home control. It can be seen that most of the related technologies reduce the dependence of the drive motor on the position sensor through algorithm optimization and fault classification processing mechanisms. The former uses mathematical models to construct a virtual sensing system to achieve continuous control under all working conditions; the latter dynamically adjusts the system operation mode based on fault feature identification to ensure the basic driving capability of the vehicle. However, the sensorless control scheme relies on a fixed mathematical model, which is prone to estimation inaccuracies in complex electromagnetic environments or when motor parameters drift, resulting in degraded control accuracy. The limp homeostasis control strategy based on fault logs has a slow response to sudden compound faults and is difficult to quickly adjust the control logic, resulting in angle signal interruption. The drive motor has difficulty maintaining stable closed-loop control, which can easily lead to increased torque pulsation, system overcurrent and other problems, making it impossible for the vehicle to maintain smooth operation. Summary of the Invention

[0004] The present invention aims to provide a method, device, electronic equipment and vehicle for controlling a drive motor, so as to improve the stability of the motor operation.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a drive motor control method, the method comprising: determining an estimated rotation angle based on the voltage and / or current of the drive motor in a vehicle when there is an abnormality in the resolver signal or the resolved rotation angle measured by the position sensor; controlling the operation of the drive motor based on the estimated rotation angle; wherein the electrical parameters include at least one of the following: voltage, current; the position sensor is used to measure the resolver signal of the drive motor, and determine the resolved rotation angle based on the resolver signal.

[0007] According to the above technical means, under normal working conditions, the position sensor provides accurate angle feedback for the drive motor by collecting the rotation angle signal of the rotor relative to the stator in real time. However, when the position sensor fails, the measured rotation angle of the drive motor is abnormal, and the existing technology lacks effective angle acquisition means, which often causes the drive motor to be unable to operate, which directly affects the normal driving of the vehicle and may even cause safety hazards. The present application estimates the rotation angle through the voltage and current of the drive motor, and uses different methods to estimate the rotation angle, which can effectively overcome the limitations of a single method. Even if the position sensor fails, the installation space is limited or in a harsh electromagnetic environment, the normal operation of the drive motor can still be maintained, thereby eliminating the drive motor's dependence on the position sensor and significantly improving the reliability of vehicle operation.

[0008] In one possible embodiment, the estimated rotation angle is determined based on the voltage and / or current of the drive motor in the vehicle, including: determining the speed of the drive motor at the previous moment based on the rotation angle of the drive motor at the previous moment; determining the estimated rotation angle of the drive motor at the current moment based on the speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment.

[0009] According to the above technical means, a more accurate estimation of the motor rotation angle can be achieved by driving at least two of the speed of the motor at the previous moment, the voltage of the motor at the current moment, and the current of the motor at the current moment, thereby improving the response speed and positioning accuracy of the drive motor control system.

[0010] In one possible implementation, the estimated rotation angle of the drive motor at the current moment is determined based on the speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment, including: when the speed of the drive motor at the previous moment is less than a preset speed threshold, injecting a voltage signal with a frequency greater than a preset frequency threshold into the stator winding of the drive motor; modulating the rotation angle information of the drive motor into the voltage signal to determine the target voltage signal; and demodulating the target voltage signal to determine the estimated rotation angle.

[0011] According to the above technical means, the salient polarity of the rotor magnetic circuit of the drive motor is utilized to encode the rotation angle information into a voltage signal. Combined with signal modulation and demodulation technology, the rotation angle can be accurately estimated even in the low-speed range where the back electromotive force is weak, effectively ensuring the stability of the drive motor operation.

[0012] In one possible implementation, the estimated rotation angle of the drive motor at the current moment is determined based on the speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment, including: when the speed of the drive motor at the previous moment is greater than or equal to a preset speed threshold, determining a preset mapping relationship; the preset mapping relationship is used to represent the correspondence between voltage, current and rotation angle; based on the voltage of the drive motor at the current moment, the current of the drive motor at the current moment and the preset mapping relationship, determining the estimated rotation angle.

[0013] According to the above technical means, the estimated rotation angle is determined by the voltage, current and preset mapping relationship, which not only meets the needs of high dynamic response, but also has strong anti-interference ability. The preset mapping relationship is not easily affected by external noise and mechanical vibration, which significantly improves the robustness of the drive motor control system.

[0014] In one possible implementation, the process of determining whether there is an abnormality in the solved rotation angle measured by the position sensor includes: obtaining a deviation angle between the estimated rotation angle and the solved rotation angle; and determining, based on the deviation angle and a preset angle threshold, that there is an abnormality in the solved rotation angle measured by the position sensor.

[0015] According to the above technical means, the position sensor failure (the measured rotation angle is abnormal) is determined by the deviation angle and the preset angle threshold. The position sensor status can be detected in real time without increasing the hardware cost, so that in the event of a position sensor failure, the operation of the drive motor can be controlled in time through the estimated rotation angle to ensure the continuous and stable operation of the drive motor.

[0016] In one possible implementation, based on the deviation angle and a preset angle threshold, determining that there is an abnormality in the solved rotation angle measured by the position sensor includes: when the duration of the deviation angle being greater than the preset angle threshold is greater than a preset time, determining that there is an abnormality in the solved rotation angle measured by the position sensor.

[0017] According to the above technical means, by setting a preset time and a preset angle threshold to filter out the interference of the instantaneous deviation angle, the possibility of misjudgment is reduced, and the accuracy and reliability of fault diagnosis are improved.

[0018] In one possible implementation, a process of determining whether a resolver signal measured by the position sensor is abnormal includes determining whether the resolver signal measured by the position sensor is abnormal based on a zero point, an amplitude, and / or a phase of the resolver signal.

[0019] The above-mentioned technical approach monitors the position sensor's status in real time based on the resolver signal's zero point, amplitude, and / or phase, helping to promptly detect potential sensor faults. Furthermore, resolver-based diagnostics significantly improve the safety and stability of the drive motor control system, ensuring proper vehicle operation and efficient maintenance.

[0020] In a possible implementation, the drive motor control method further includes: sending a fault prompt message of the position sensor; the fault prompt message includes: the fault time of the position sensor.

[0021] According to the above technical means, a fault prompt message of the position sensor is sent to prompt the user to drive carefully and limit the power, thereby effectively improving the safety and reliability of vehicle driving.

[0022] In a second aspect, an embodiment of the present application provides a drive motor control device, comprising: an estimation module and a control module; the estimation module is used to estimate the rotation angle based on the voltage and / or current of the drive motor in the vehicle when there is an abnormality in the resolver signal or the resolved rotation angle measured by the position sensor; the control module is used to control the operation of the drive motor based on the rotation angle; wherein the electrical parameters include at least one of the following: voltage, current; the position sensor is used to measure the resolver signal of the drive motor and determine the resolved rotation angle based on the resolver signal.

[0023] In one possible implementation, the estimation module is specifically used to determine the rotation speed of the drive motor at a previous moment based on the rotation angle of the drive motor at a previous moment; and to determine the estimated rotation angle of the drive motor at a current moment based on the rotation speed of the drive motor at a previous moment and the electrical parameters of the drive motor at a current moment.

[0024] In one possible implementation, the estimation module is specifically used to inject a voltage signal with a frequency greater than a preset frequency threshold into the stator winding of the drive motor when the speed of the drive motor at the previous moment is less than a preset speed threshold; modulate the rotation angle information of the drive motor into the voltage signal to determine the target voltage signal; and demodulate the target voltage signal to determine the estimated rotation angle.

[0025] In one possible implementation, the estimation module is specifically used to determine a preset mapping relationship when the speed of the drive motor at the previous moment is greater than or equal to a preset speed threshold; the preset mapping relationship is used to represent the correspondence between voltage, current and rotation angle; based on the voltage of the drive motor at the current moment, the current of the drive motor at the current moment and the preset mapping relationship, the estimated rotation angle is determined.

[0026] In one possible implementation, a process for determining whether a rotation angle measured by a position sensor is abnormal includes: obtaining a deviation angle between an estimated rotation angle and a solved rotation angle; and determining whether the solved rotation angle measured by the position sensor is abnormal based on the deviation angle and a preset angle threshold.

[0027] In one possible implementation, based on the deviation angle and a preset angle threshold, determining whether the rotation angle measured by the position sensor is abnormal includes: when the duration of the deviation angle being greater than the preset angle threshold is greater than a preset time, determining that the calculated rotation angle measured by the position sensor is abnormal.

[0028] In one possible implementation, a process of determining whether a resolver signal measured by the position sensor is abnormal includes determining whether the resolver signal measured by the position sensor is abnormal based on a zero point, an amplitude, and / or a phase of the resolver signal.

[0029] In a possible implementation, the drive motor control device further includes a communication module; the communication module is configured to send a fault prompt message of the position sensor; the fault prompt message includes: a fault time of the position sensor.

[0030] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory; the memory stores instructions executable by the processor; when the processor is configured to execute the instructions, the electronic device implements the method of the first aspect above.

[0031] In a fourth aspect, an embodiment of the present application provides a vehicle, which includes the electronic device according to the third aspect above.

[0032] It should be noted that the technical effects brought about by any implementation method in the second to fourth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0035] Figure 1 is an architecture diagram of a drive motor control system according to an exemplary embodiment;

[0036] Figure 2 is a flow chart showing a method for controlling a driving motor according to an exemplary embodiment;

[0037] Figure 3 is a flow chart showing another method for controlling a drive motor according to an exemplary embodiment;

[0038] Figure 4 is a flow chart showing another method for controlling a drive motor according to an exemplary embodiment;

[0039] Figure 5 is a flow chart showing another method for controlling a drive motor according to an exemplary embodiment;

[0040] Figure 6 is a flow chart showing another method for controlling a drive motor according to an exemplary embodiment;

[0041] Figure 7 is a flow chart showing another method for controlling a drive motor according to an exemplary embodiment;

[0042] Figure 8 is a block diagram of a drive motor control device according to an exemplary embodiment;

[0043] Figure 9 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0044] In order to enable ordinary people in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0045] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0046] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, 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, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, article, or device comprising the element.

[0047] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0048] For ease of understanding, the drive motor control method provided in this application is described in detail below with reference to the accompanying drawings.

[0049] In some embodiments, the drive motor control method provided in this application can be applied to a drive motor control system, such as Figure 1 As shown, the drive motor control system includes: a position sensor 110, a drive motor 120 and a drive motor control device 130. The drive motor control device 130 is connected to the position sensor 110 and the drive motor 120 respectively, and the position sensor 110 and the drive motor 120 can be contact-connected (such as coaxial connection).

[0050] As a feasible implementation method, the position sensor 110 is used to measure the resolver signal of the drive motor 120 and calculate the rotation angle of the rotor relative to the stator in the drive motor 120 based on the resolver signal.

[0051] It should be understood that the resolver signal is a signal used to represent the position change of the rotor relative to the stator in the drive motor 120.

[0052] For example, the position sensor 110 may be a rotary transformer.

[0053] As a feasible implementation method, the drive motor control device 130 is used to estimate the rotation angle based on the electrical parameters of the drive motor 120 in the vehicle when there is an abnormality in the resolver signal measured by the position sensor 110 or the calculated rotation angle; and control the operation of the drive motor 120 based on the rotation angle.

[0054] The electrical parameters include at least one of the following: voltage and current.

[0055] Exemplarily, the drive motor control device 130 may be any device or equipment that can control the drive motor, such as a central processing unit, a vehicle controller, or an on-board chip, and the embodiment of the present application does not limit this.

[0056] As a feasible implementation, the drive motor 120 is used to control the operation of the vehicle. Exemplarily, the drive motor 120 may be a permanent magnet synchronous motor.

[0057] It should be noted that the system architecture described in the embodiments of the present application is intended to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person skilled in the art will know that with the evolution of the system architecture, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0058] The drive motor control method provided in the embodiment of the present application can be applied to a drive motor control device in a drive motor control system, such as Figure 2 As shown, the driving motor control method includes the following steps:

[0059] S201: When a resolver signal measured by a position sensor or a calculated rotation angle is abnormal, determine an estimated rotation angle based on electrical parameters of a drive motor in a vehicle.

[0060] The electrical parameters include at least one of the following: voltage and current.

[0061] It should be noted that the rotation angle is used to represent the rotational position angle of the rotor relative to the stator in the drive motor.

[0062] In some embodiments, the position sensor is used to measure a resolver signal from the drive motor and determine the rotation angle based on the resolver signal. The resolver signal may be an optical signal or an electrical signal.

[0063] As a feasible implementation method, when the position sensor is a resolver, the rotation angle can be determined in the following way: through the operation of the resolver, a resolver signal (sine winding signal and cosine winding signal) is output; the resolver signal is filtered to retain the envelope resolver signal; based on the envelope resolver signal, a phase-locked loop is used to calculate the rotation angle.

[0064] Specifically, a resolver consists of a stator and a rotor. When a high-frequency sinusoidal excitation signal is applied to the stator, an alternating magnetic field is generated. As the drive motor rotates the rotor, the rotor's internal sine windings (sin windings) and cosine windings (cos windings) cut through the stator's magnetic field, creating electromagnetic coupling and outputting a resolver signal that reflects the rotor's rotation angle. The resolver signal is essentially an amplitude modulated wave whose amplitude is modulated by the rotor's rotation angle. The sin winding's output signal amplitude has a sinusoidal relationship with the rotor's rotation angle, while the cosine winding's has a cosine relationship.

[0065] For example, the rotation angle information exists in the envelope resolver signal, and the envelope resolver signal can satisfy the following formula:

[0066] E s1 =kEsinθ;

[0067] E c1 =kEcosθ;

[0068] Among them, E s1 Used to represent the envelope resolver signal of the sin winding, E c1 It is used to represent the envelope resolver signal of the cos winding, kE is used to represent the amplitude coefficient, and θ is used to represent the rotation angle.

[0069] It should be noted that the phase-locked loop includes: a phase comparator, a loop filter, and a voltage-controlled oscillator.

[0070] Specifically, the phase-locked loop is used to calculate the rotation angle, including: normalizing the envelope resolver signal to obtain the sin component (sinθ) and the cos component (cosθ); the phase comparator compares the sin component (sinθ) and the cos component (cosθ) with the sin component of the reference position angle output by the voltage-controlled oscillator. and cosine component Perform calculations and output a phase error signal; the loop filter removes high-frequency noise and instantaneous jitter from the phase error signal, retains the DC or low-frequency components in the phase error signal that can reflect the angle deviation trend, and obtains a control signal; the voltage-controlled oscillator adjusts its own oscillation frequency through the control signal, so that the phase error signal gradually approaches zero. When the phase error signal is closest to zero, the oscillation frequency of the voltage-controlled oscillator is locked, and the reference position angle is determined based on the adjusted oscillation frequency of the voltage-controlled oscillator, and the calculated rotation angle is equal to the reference position angle.

[0071] Exemplarily, the phase error signal may satisfy the following formula:

[0072]

[0073] Among them, e is used for the phase error signal, θ(n) is used to represent the rotation angle of the driving motor at the nth moment, Used to indicate the reference position angle of the drive motor at the nth moment.

[0074] It's important to note that the reference position angle, generated by the voltage-controlled oscillator (VCO) in the phase-locked loop (PLL), represents the PLL's real-time "estimate" of the drive motor's rotation angle. The envelope resolver signal is the processed output of the resolver, containing information about the drive motor's actual rotation angle. The phase difference between the two directly reflects the deviation between the PLL's estimated angle and the motor's actual angle.

[0075] It should be understood that the rotation angle calculated based on the position sensor is used to control the normal operation of the drive motor. When there is an abnormality in the resolver signal or the calculated rotation angle measured by the position sensor, it is necessary to estimate the rotation angle of the drive motor.

[0076] Exemplarily, the rotation angle is used to represent the angle between the rotor pole axis and a reference axis of the stator winding (such as the axis of the A-phase winding).

[0077] As a feasible implementation method, the speed range of the drive motor is determined. When the speed of the drive motor is in the low-speed range, the magnetic circuit saturation effect can be used to determine the estimated rotation angle through high-frequency signal injection technology; when the drive speed is in the medium and high-speed range, the back electromotive force method (such as the sliding film observer) can be used to determine the estimated rotation angle.

[0078] It's important to note that the voltage and current driving the motor, through their electromagnetic properties, can reflect changes in the rotor's rotational angle and speed relative to the stator. When voltage is applied to the stator coils, a magnetic field is generated within the motor that is related to the rotor's position. This magnetic field variation affects the induced voltage and current waveform in the stator, providing a basis for estimating the rotational angle.

[0079] S202: Control the operation of the drive motor based on the estimated rotation angle.

[0080] It should be noted that in the process of controlling the operation of the drive motor by estimating the rotation angle, in order to ensure the reliable operation of position sensorless control, non-critical algorithms such as efficiency optimization and noise, vibration and harshness (NVH) optimization are actively suspended to reserve more chip resources for the drive motor control system.

[0081] For example, the modules where the efficiency optimization and NVH noise optimization algorithms are located can be paused by setting a flag bit to zero.

[0082] Under normal operating conditions, the position sensor provides accurate angular feedback to the drive motor by capturing real-time signals indicating the rotor's relative position to the stator. However, if the position sensor fails, the drive motor's rotation angle cannot be accurately determined. In this case, the voltage and current of the drive motor are used to estimate the rotor's relative rotation angle. Using different methods to estimate the rotation angle effectively overcomes the limitations of a single method. This allows the drive motor to maintain normal operation even in the event of a position sensor failure, limited installation space, or harsh electromagnetic environments. This eliminates the drive motor's reliance on the position sensor and significantly improves vehicle reliability.

[0083] In some embodiments, the estimated rotation angle is determined by the interval of the rotation speed of the driving motor.

[0084] As a feasible implementation method, combined with Figure 2 ,like Figure 3 As shown, the above step S201 can be specifically implemented as the following steps:

[0085] S301 : Determine the rotation speed of the drive motor at the last moment based on the rotation angle of the drive motor at the last moment.

[0086] As a feasible implementation method, the rotation speed is used to represent the time rate of change of the rotation angle.

[0087] Exemplarily, the speed of the drive motor is determined based on the derivative of the rotation angle with respect to time.

[0088] S302 : Determine an estimated rotation angle of the drive motor at the current moment based on the speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment.

[0089] As a feasible implementation method, when the drive motor's speed is in the low speed range, the back EMF is weak, but the motor's magnetic circuit saturation effect is significant. The high-frequency voltage signal injection method can accurately identify the rotation angle by detecting the anisotropy of the inductance. When the drive motor's speed is in the medium and high speed range, the back EMF becomes the primary electrical characteristic and can directly reflect the rotation angle.

[0090] It should be noted that since the speed of the drive motor is usually continuous at adjacent moments (i.e., the speed at the previous moment and the speed at the current moment change little), the rotation angle at the current moment can be estimated based on the speed at the previous moment, the voltage at the current moment and / or the current at the current moment.

[0091] It can be understood that by driving the motor's speed at the previous moment, the voltage at the current moment and / or the current data at the current moment, a more accurate estimation of the motor rotation angle can be achieved, thereby improving the response speed and positioning accuracy of the drive motor control system.

[0092] In some embodiments, if the rotation speed of the driving motor is in a low speed range, the estimated rotation angle is determined by the high-frequency voltage signal.

[0093] As a feasible implementation method, combined with Figure 3 ,like Figure 4 As shown, the above step S302 can be specifically implemented as the following steps:

[0094] S401 : When the rotation speed of the driving motor at the last moment is less than a preset rotation speed threshold, inject a voltage signal having a frequency greater than a preset frequency threshold into the stator winding of the driving motor.

[0095] Exemplarily, the preset rotation speed threshold is used to represent the lowest rotation speed at which the back electromotive force can be effectively utilized.

[0096] Exemplarily, the preset frequency threshold is used to represent the lowest frequency of the voltage signal that can be injected into the stator winding.

[0097] It should be noted that when the frequency of the voltage signal injected into the stator winding is higher than the preset frequency threshold, the signal can effectively modulate the rotation angle information, and then estimate the rotation angle through the demodulation algorithm; on the contrary, if the frequency of the injected voltage signal is lower than the preset frequency threshold, the rotation angle estimation may fail due to the coupling of the voltage signal with the fundamental signal of the drive motor or the limitation of hardware characteristics.

[0098] As a feasible implementation method, if the speed of the drive motor at the previous moment is less than the preset speed threshold, the speed of the drive motor is in the low-speed range, and the voltage signal can be injected through the power drive circuit. The power drive circuit usually consists of an H-bridge topology composed of an insulated gate bipolar transistor or metal-oxide-semiconductor field-effect transistor power module. In conjunction with an isolation transformer and a driver chip, it can amplify the high-frequency signal generated by the control power drive circuit and safely and stably inject it into the stator winding. At the same time, the power drive circuit needs to integrate overcurrent protection and voltage clamping modules to ensure the reliability of the injection process and the safe operation of the drive motor.

[0099] S402 : Modulate the rotation angle information of the driving motor into a voltage signal to determine a target voltage signal.

[0100] As a feasible implementation method, the rotation angle information can be modulated into the injected voltage signal by utilizing the salient magnetic circuit characteristics of the motor.

[0101] Specifically, the saliency of the rotor's magnetic circuit causes variations in magnetic permeability at different rotational positions, which in turn affects the stator winding's current response, manifesting as characteristic changes in amplitude and phase. After sampling the high-frequency component of the stator winding's current or voltage (the target voltage signal), the target voltage signal's amplitude and phase variations can be analyzed and demodulated, combining the known characteristics of saliency to accurately determine the rotor's current rotation angle.

[0102] S403: Demodulate the target voltage signal to determine the estimated rotation angle.

[0103] As a feasible implementation method, the demodulation process may be a phase difference method, an orthogonal demodulation method or a least squares estimation method.

[0104] It can be understood that by utilizing the salient polarity of the rotor magnetic circuit of the drive motor, encoding the rotation angle information into the voltage signal, and combining it with signal modulation and demodulation technology, the rotation angle can be accurately estimated even in the low-speed range where the back electromotive force is weak, effectively ensuring the stability of the drive motor operation.

[0105] In some embodiments, if the speed of the driving motor is in a high speed range, the estimated rotation angle is determined by the voltage and current.

[0106] As a feasible implementation method, combined with Figure 3 ,like Figure 5 As shown, the above step S302 can be specifically implemented as the following steps:

[0107] S501 : When the rotation speed of the driving motor at the previous moment is greater than or equal to a preset rotation speed threshold, determine a preset mapping relationship.

[0108] The preset mapping relationship is used to represent the corresponding relationship between voltage, current and rotation angle.

[0109] As a feasible implementation method, if the drive motor's speed at the previous moment is greater than or equal to a preset speed threshold, the drive motor's speed is in the medium-high speed range. Based on the physical characteristics of the drive motor, a preset mapping relationship is established. The preset mapping relationship can reflect the correspondence between voltage, current, magnetic flux, and rotation angle.

[0110] S502 : Determine an estimated rotation angle based on the voltage and current of the drive motor at the current moment.

[0111] As a feasible implementation method, a sliding film observer is designed based on a preset mapping relationship to estimate the rotation angle of the drive motor. The sliding film observer includes the selection of the sliding surface and the determination of the observer gain.

[0112] It can be understood that estimating the rotation angle through the voltage, current and preset mapping relationship can not only achieve higher measurement accuracy, but also have stronger anti-interference ability. The preset mapping relationship is not easily affected by external noise and mechanical vibration, which significantly improves the robustness of the drive motor control system.

[0113] In some embodiments, the rotation angle calculated by the position sensor and the estimated rotation angle are used to determine whether the calculated rotation angle measured by the position sensor is abnormal. Figure 6 As shown, the fault determination process of the position sensor can be implemented as the following steps:

[0114] S601: Obtain a deviation angle between the estimated rotation angle and the calculated rotation angle.

[0115] Exemplarily, the deviation angle is used to represent the difference between the estimated rotation angle and the solved rotation angle.

[0116] S602: Based on the deviation angle and a preset angle threshold, determine whether the calculated rotation angle measured by the position sensor is abnormal.

[0117] As a feasible implementation method, the preset angle threshold is used to represent the maximum deviation angle when the position sensor is not faulty. The preset angle threshold can be set based on the design deviation and process deviation of the position sensor, which is not limited in the embodiments of the present application.

[0118] It should be noted that when the position sensor is working normally, the calculated rotation angle should be highly consistent with the estimated rotation angle, and the deviation angle approaches zero. However, when the position sensor has faults such as wire breakage or signal interference, the calculated rotation angle will deviate from the true value, causing the deviation angle to significantly exceed the preset angle threshold set according to the control accuracy and error range. Therefore, by comparing the deviation angle with the threshold, it is possible to determine whether the position sensor is faulty.

[0119] It can be understood that by determining the position sensor failure through the deviation angle and the preset angle threshold, the position sensor status can be detected in real time without increasing the hardware cost, so that in the event of a position sensor failure, the operation of the drive motor can be controlled in time through the estimated rotation angle to ensure the continuous and stable operation of the drive motor.

[0120] In some embodiments, the above step S602 can be specifically implemented as the following steps: when the duration of the deviation angle being greater than the preset angle threshold is greater than the preset time, determining that there is an abnormality in the resolver rotation angle measured by the position sensor.

[0121] It should be noted that under normal operating conditions, the deviation angle may briefly exceed the preset angle threshold due to factors such as sampling errors and algorithm iteration delays. However, these fluctuations are incidental and last only a short time. Only when the position sensor experiences a hardware failure or signal anomaly will the rotation angle output by the position sensor continue to deviate from the estimated rotation angle, causing the deviation angle to remain above the preset angle threshold for longer than the preset time.

[0122] It can be understood that by setting the preset time and the preset angle threshold to filter out the interference of the instantaneous deviation angle, the possibility of misjudgment is reduced, and the accuracy and reliability of fault diagnosis are improved.

[0123] In some embodiments, determining that there is an abnormality in the resolver signal measured by the position sensor is performed through the output signal of the position sensor can be specifically implemented as follows: determining that there is an abnormality in the resolver signal measured by the position sensor based on the zero point, amplitude and / or phase of the resolver signal.

[0124] As a feasible implementation method, the resolver signal is the output signal of the sin winding and cos winding. The zero drift, amplitude, and phase of the resolver signal are detected to determine the position sensor fault (abnormality of the resolver signal).

[0125] Exemplarily, the zero drift detection includes calculating a DC offset of the resolver signal and determining that the position sensor is faulty if the DC offset is greater than a preset offset threshold. The preset offset threshold is used to indicate a minimum offset at which the output signal is abnormal.

[0126] Amplitude detection involves calculating the peak value or RMS value of the resolver signal. If the peak value exceeds a preset peak threshold or the RMS value exceeds a preset RMS threshold, a position sensor fault is determined. The preset peak threshold represents the minimum peak value of an abnormal output signal, and the preset RMS threshold represents the minimum RMS value of an abnormal output signal.

[0127] Phase detection involves calculating the phase angles of the sin and cos signals using the inverse tangent function (arctan²) and comparing them with the expected phase angles. A sensor fault is identified when the detected phase angle deviates from the expected phase angle by more than a preset phase deviation threshold. The expected phase value is based on the position sensor's operating model or the ideal phase angle set during pre-calibration. The preset phase deviation threshold represents the maximum phase deviation under normal conditions.

[0128] It's clear that real-time monitoring of the position sensor's status based on the resolver signal's zero point, amplitude, and / or phase can help promptly detect potential sensor faults. Furthermore, resolver-based diagnostics can significantly improve the safety and stability of drive motor control systems, ensuring proper vehicle operation and efficient maintenance.

[0129] In some embodiments, when it is determined that there is an abnormality in the position sensor measuring the resolver signal or calculating the rotation angle, the drive motor control method further includes: sending a fault prompt message of the position sensor; the fault prompt message includes: the fault time of the position sensor.

[0130] It should be understood that the timestamp of the current position sensor failure is obtained, and a fault prompt message is generated. The fault prompt message may include the fault type (such as position sensor failure) and the fault time. The fault prompt message is sent to the instrument panel or central control unit via the vehicle communication network, and the fault warning light or audio and visual alarm is activated to alert the user. In addition, information such as the position sensor failure time can be stored in local memory for subsequent maintenance and diagnosis.

[0131] It should be noted that when an abnormality occurs in the position sensor, the fault prompt message can be presented in various forms such as text, icons, or sound and light signals. It can be displayed intuitively on the vehicle's central control display screen, instrument panel and other visual interfaces, and can also be used to promptly remind users through on-board audio broadcasts, flashing indicator lights, etc.

[0132] It is understandable that sending a fault prompt message of the position sensor prompts the user to drive carefully and limit power, thereby effectively improving the safety and reliability of vehicle driving.

[0133] In some embodiments, as Figure 7As shown, the driving motor control method can be specifically implemented as the following steps:

[0134] S701 : Determine the rotation speed of the drive motor at the last moment based on the rotation angle of the drive motor at the last moment.

[0135] S702: Determine whether the rotation speed of the drive motor at the last moment is greater than or equal to a preset rotation speed threshold.

[0136] Exemplarily, when the speed of the drive motor at the previous moment is greater than or equal to the preset speed threshold, jump to step S706; when the speed of the drive motor at the previous moment is less than the preset speed threshold, jump to step S703.

[0137] S703 : Inject a voltage signal having a frequency greater than a preset frequency threshold into the stator winding of the drive motor.

[0138] S704: Modulate the rotation angle information of the driving motor into the voltage signal to determine the target voltage signal.

[0139] S705 : Demodulate the target voltage signal to determine the estimated rotation angle at the current moment.

[0140] Exemplarily, after step 705 , jump to step S708 .

[0141] S706: Determine a preset mapping relationship.

[0142] The preset mapping relationship is used to represent the corresponding relationship between voltage, current and rotation angle;

[0143] S707 : Determine an estimated rotation angle based on the voltage of the drive motor at the current moment, the current of the drive motor at the current moment, and a preset mapping relationship.

[0144] S708: Obtain a deviation angle between the estimated rotation angle and the calculated rotation angle.

[0145] S709: Determine whether the position sensor is abnormal based on the deviation angle and the preset angle threshold.

[0146] Exemplarily, when the duration of the deviation angle being greater than the preset angle threshold is greater than the preset time, it is determined that there is an abnormality in the position sensor and the process jumps to step S710; when the deviation angle is less than the preset angle threshold, it is determined that there is no abnormality in the position sensor and the process jumps to step S711.

[0147] S710: Control the operation of the drive motor based on the estimated rotation angle.

[0148] S711 . Based on the calculated rotation angle, control the operation of the drive motor.

[0149] The rotation angle is determined based on a position sensor.

[0150] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the drive motor control device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0151] In the embodiment of the present application, the driving motor control device or the electronic device can be divided into functional modules according to the above method. For example, the driving motor control device or the electronic device can include various functional modules corresponding to the functional divisions, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0152] Reference Figure 8 The drive motor control device 800 includes: an estimation module 801 and a control module 802; the estimation module 801 is used to estimate the rotation angle based on the voltage and / or current of the drive motor in the vehicle when there is an abnormality in the resolver signal or the resolved rotation angle measured by the position sensor; the control module 802 is used to control the operation of the drive motor based on the rotation angle; wherein the electrical parameters include at least one of the following: voltage and current; the position sensor is used to measure the resolver signal of the drive motor and determine the resolved rotation angle based on the resolver signal.

[0153] In one possible implementation, the estimation module 801 is specifically used to determine the rotation speed of the drive motor at a previous moment based on the rotation angle of the drive motor at a previous moment; and to determine the estimated rotation angle of the drive motor at a current moment based on the rotation speed of the drive motor at a previous moment and the electrical parameters of the drive motor at a current moment.

[0154] In one possible implementation, the estimation module 801 is specifically used to inject a voltage signal with a frequency greater than a preset frequency threshold into the stator winding of the drive motor when the speed of the drive motor at the previous moment is less than a preset speed threshold; modulate the rotation angle information of the drive motor into the voltage signal to determine the target voltage signal; and demodulate the target voltage signal to determine the estimated rotation angle.

[0155] In one possible implementation, the estimation module 801 is specifically used to determine a preset mapping relationship when the speed of the drive motor at the previous moment is greater than or equal to a preset speed threshold; the preset mapping relationship is used to represent the correspondence between voltage, current and rotation angle; based on the voltage of the drive motor at the current moment, the current of the drive motor at the current moment and the preset mapping relationship, the estimated rotation angle is determined.

[0156] In one possible implementation, a process for determining whether a rotation angle measured by a position sensor is abnormal includes: obtaining a deviation angle between an estimated rotation angle and a solved rotation angle; and determining whether the solved rotation angle measured by the position sensor is abnormal based on the deviation angle and a preset angle threshold.

[0157] In one possible implementation, based on the deviation angle and a preset angle threshold, determining whether the rotation angle measured by the position sensor is abnormal includes: when the duration of the deviation angle being greater than the preset angle threshold is greater than a preset time, determining that the calculated rotation angle measured by the position sensor is abnormal.

[0158] In one possible implementation, a process of determining whether a resolver signal measured by the position sensor is abnormal includes determining whether the resolver signal measured by the position sensor is abnormal based on a zero point, an amplitude, and / or a phase of the resolver signal.

[0159] In a possible implementation, the drive motor control device 800 further includes a communication module 803 ; the communication module 803 is configured to send a fault prompt message of the position sensor; the fault prompt message includes: the fault time of the position sensor.

[0160] like Figure 9 As shown, the electronic device 900 includes but is not limited to: a processor 901 and a memory 902 .

[0161] The memory 902 is used to store executable instructions of the processor 901. It is understandable that the processor 901 is configured to execute instructions to implement the drive motor control method in the above embodiment.

[0162] It should be noted that those skilled in the art can understand that Figure 9The structure of the electronic device 900 shown in FIG. 1 does not limit the electronic device. The electronic device 900 may include Figure 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0163] The processor 901 is the control center of the electronic device 900. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 902 and calling data stored in the memory 902, it performs various functions of the electronic device 900 and processes data, thereby monitoring the electronic device 900 as a whole. The processor 901 may include one or more processing units. Optionally, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 901.

[0164] The memory 902 can be used to store software programs and various data. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store an operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 902 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0165] In an exemplary embodiment, a computer-readable storage medium including instructions is further provided, such as a memory 902 including instructions. The instructions can be executed by the processor 901 of the electronic device 900 to implement the driving motor control method in the above embodiment.

[0166] In actual implementation, Figure 8 The functions of the estimation module 801, the control module 802 and the communication module 803 can all be represented by Figure 9 The processor 901 in the embodiment calls the computer program stored in the memory 902. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0167] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0168] In an exemplary embodiment, the present application further provides a computer program product including one or more instructions, which can be executed by the processor 901 of the electronic device 900 to implement the drive motor control method in the above embodiment.

[0169] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device 900, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0170] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0175] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A drive motor control method, characterized in that: The method comprises: When there is an abnormality in the resolver signal or the calculated rotation angle measured by the position sensor, an estimated rotation angle is determined based on the electrical parameters of the drive motor in the vehicle; controlling the operation of the drive motor based on the estimated rotation angle; The electrical parameter includes at least one of the following: voltage and current; the position sensor is used to measure the resolver signal of the drive motor and determine the resolved rotation angle based on the resolver signal.

2. The driving motor control method according to claim 1, wherein: The step of determining the estimated rotation angle based on the voltage and / or current of the drive motor in the vehicle includes: determining a rotational speed of the drive motor at a previous moment based on a rotation angle of the drive motor at a previous moment; An estimated rotation angle of the drive motor at a current moment is determined based on the rotation speed of the drive motor at a previous moment and the electrical parameters of the drive motor.

3. The driving motor control method according to claim 2, characterized in that: The step of determining the estimated rotation angle of the drive motor at the current moment based on the rotation speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment includes: In a case where the speed of the drive motor at the previous moment is less than a preset speed threshold, injecting a voltage signal with a frequency greater than a preset frequency threshold into the stator winding of the drive motor; Modulating the rotation angle information of the drive motor into the voltage signal to determine a target voltage signal; The target voltage signal is demodulated to determine the estimated rotation angle.

4. The driving motor control method according to claim 2, wherein: The step of determining the estimated rotation angle of the drive motor at the current moment based on the rotation speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment includes: When the speed of the drive motor at the last moment is greater than or equal to a preset speed threshold, determining a preset mapping relationship; the preset mapping relationship is used to represent the corresponding relationship between the voltage, the current and the rotation angle; The estimated rotation angle is determined based on the voltage of the drive motor at a current moment, the current of the drive motor at a current moment, and a preset mapping relationship.

5. The driving motor control method according to claim 1, wherein: The process of determining whether the calculated rotation angle measured by the position sensor is abnormal includes: Obtaining a deviation angle between the estimated rotation angle and the calculated rotation angle; Based on the deviation angle and a preset angle threshold, it is determined that an abnormality exists in the resolved rotation angle measured by the position sensor.

6. The driving motor control method according to claim 5, characterized in that: The determining, based on the deviation angle and a preset angle threshold, that the calculated rotation angle measured by the position sensor is abnormal includes: When the duration of the deviation angle being greater than the preset angle threshold is greater than a preset time, it is determined that an abnormality exists in the resolved rotation angle measured by the position sensor.

7. The driving motor control method according to claim 1, characterized in that: The process of determining whether the resolver signal measured by the position sensor is abnormal includes: Based on the zero point, amplitude and / or phase of the resolver signal, it is determined that an abnormality exists in the resolver signal measured by the position sensor.

8. The driving motor control method according to claim 1, characterized in that: The method further comprises: Sending a fault prompt message of the position sensor; the fault prompt message includes: the fault time of the position sensor.

9. A drive motor control device, characterized in that: include: Estimation module and control module; an estimating module for estimating the rotation angle based on at least two of a voltage and a current of a drive motor in the vehicle when an abnormality occurs in a resolver signal or a calculated rotation angle measured by the position sensor; a control module, configured to control the operation of the drive motor based on the rotation angle; The electrical parameter includes at least one of the following: voltage and current; the position sensor is used to measure the resolver signal of the drive motor and determine the resolved rotation angle based on the resolver signal.

10. The drive motor control device according to claim 9, characterized in that: The estimating the rotation angle based on electrical parameters of a drive motor in the vehicle includes: determining a rotational speed of the drive motor at a previous moment based on a rotation angle of the drive motor at a previous moment; The estimated rotation angle at the current moment is determined based on the rotation speed of the drive motor at the previous moment and the electrical parameters of the drive motor at the current moment.

11. An electronic device, characterized in that: include: processor and memory; The memory stores instructions executable by the processor; When the processor is configured to execute the instruction, the electronic device implements the drive motor control method according to any one of claims 1 to 8.

12. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 11.

Images