Motor zero angle diagnosis and calibration method, integrated electro-hydraulic braking system and equipment

Abstract

The invention provides a motor zero angle diagnosis and calibration method and an integrated electro-hydraulic braking system and device.The motor zero angle diagnosis and calibration method comprises the steps that in response to a motor zero angle diagnosis instruction, relevance matching is conducted on the current motor torque and the current servo cylinder pressure; under the condition of determining that the matching result value does not belong to the preset matching range, performing reciprocating relative direction learning on a plurality of zero positions in the motor; and determining a recalibrated target motor zero angle based on the plurality of learning results, and replacing the current motor zero angle with the target motor zero angle. According to the invention, the abnormal output when the initial angle deviation of the motor is relatively large can be diagnosed in time, so that the phenomenon of reverse output jamming possibly occurring when the motor is replaced or the angle value stored in the controller is abnormal is avoided; the influence of factors such as system parameters, mechanical friction, power supply voltage and temperature on the accuracy of the calibration result can be effectively avoided, and the accuracy and reliability of the initial angle result of the motor are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of electro-hydraulic braking technology, and in particular to a method for diagnosing and calibrating the zero-position angle of a motor, an integrated electro-hydraulic braking system and equipment. Background Technology

[0002] With the development and application of drive-by-wire chassis technology, integrated electro-hydraulic braking systems are becoming increasingly widespread. The initial angle of the electronic rotor, a crucial parameter in this system, directly affects the torque control, speed, and dynamic performance of the motor output. Excessive deviation in this initial angle can even cause the motor to rotate in the opposite direction to the intended rotation. Since integrated electro-hydraulic braking systems typically include ball screws, a reverse impact can cause the output shaft to jam, rendering the system inoperable. Therefore, timely diagnosis of the motor's zero-position angle and accurate calibration when abnormalities are detected are of paramount importance. Summary of the Invention

[0003] The purpose of this invention is to provide a method for diagnosing and calibrating the zero-position angle of a motor, an integrated electro-hydraulic braking system, and equipment. This addresses the technical problems of existing technologies, such as untimely zero-position angle diagnosis and inaccurate calibration when abnormalities are detected. By using a diagnostic method based on the correlation between motor torque and servo cylinder pressure, abnormal output when the initial angle deviation of the motor is large can be diagnosed in a timely manner. This effectively avoids the phenomenon of reverse output jamming that may occur when replacing the motor or when the angle value stored in the controller is abnormal. It can complete the accurate diagnosis of the motor's zero-position angle in a timely and accurate manner. Simultaneously, by adopting a reciprocating calibration method for the motor's initial angle, the accuracy of the calibration results can be effectively avoided due to factors such as system parameters, mechanical friction, power supply voltage, and temperature. This significantly improves the accuracy and reliability of the motor's initial angle results. Therefore, by learning and diagnosing the motor's initial angle, not only can differences in the motor's parameters be confirmed, preventing preliminary screening of the motor and preventing the use of abnormal motor components in products, but the accuracy of the calibrated initial angle also enables more precise motor control, maximizing output torque and improving product performance. The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] This invention provides a method for diagnosing and calibrating the zero-position angle of a motor, comprising:

[0006] In response to the motor zero-position angle diagnostic command, the current motor torque and the current servo cylinder pressure are correlated and matched.

[0007] If the matching result value is determined to be outside the preset matching range, reciprocating relative direction learning is performed on multiple zero positions in the motor; the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero position angles.

[0008] Based on multiple learning results, the recalibrated target motor zero angle is determined, and the current motor zero angle is replaced with the target motor zero angle.

[0009] According to the present invention, a method for diagnosing and calibrating the zero-position angle of a motor is provided, wherein the reciprocating relative direction learning is performed on multiple zero positions in the motor, including:

[0010] With the initial control angle and initial control angle id of the motor initialized, the following zero-point learning steps are performed for each zero position in the motor:

[0011] Drive the motor to the zero-degree position of the zero position, lock it for a first preset time, then drive the zero-degree position to the first angle position, then drive it from the first angle position to the zero position, lock it again for a second preset time, and record the first initial angle of the motor at the zero position.

[0012] If the first initial angle has been recorded, drive the zero-degree position to the second angle position, then drive it from the second angle position to the zero position, lock it again for a third preset time, and then record the second initial angle of the motor at the zero position.

[0013] Based on the first initial angle and the second initial angle, the target initial angle of the zero position is determined;

[0014] Wherein, the first angular position and the second angular position are at the same angular interval as the zero-degree position and drive in opposite directions.

[0015] According to the present invention, a method for diagnosing and calibrating the zero-position angle of a motor is provided, the method further includes:

[0016] Once the target initial angle of the zero position has been determined, the motor is driven to the next zero position in a preset angle step, and the next zero position is used as the new zero position. The zero-point learning step is repeated until the target initial angle of each of the plurality of zero positions is determined.

[0017] According to the present invention, a method for diagnosing and calibrating the zero-position angle of a motor is provided, wherein determining the recalibrated target motor zero-position angle based on multiple learning results includes:

[0018] In the case that each learning result includes the target initial angle corresponding to the zero position,

[0019] The motor is tested for qualification based on multiple initial angles of the target.

[0020] If the motor passes the qualified test, the zero position angle of the target motor is determined based on multiple target initial angles.

[0021] According to the present invention, a method for diagnosing and calibrating a motor zero-position angle, wherein the step of detecting whether the motor is qualified or not based on multiple target initial angles includes:

[0022] Calculate the angle difference between the initial angles of the multiple targets;

[0023] Determine whether the angle difference falls within a preset range; the determination result indicates whether the motor passes or fails the test.

[0024] According to the present invention, a method for diagnosing and calibrating the zero-position angle of a motor is provided, the method further includes:

[0025] Based on the deviation between the matching result value and the preset matching range, the degree of abnormality of the current motor zero position angle is determined.

[0026] According to the present invention, a method for diagnosing and calibrating the zero-position angle of a motor is provided, the method further includes:

[0027] The abnormality level value is integrated, and the integrated value is compared with a preset threshold.

[0028] If the integral value is greater than the preset threshold, it is determined that the motor is currently malfunctioning.

[0029] The present invention also provides an integrated electro-hydraulic braking system, including a motor, a control unit and a pressure supply unit, wherein the control unit is electrically connected to the motor and the pressure supply unit respectively, and the control unit is used to perform any of the above-described motor zero-position angle diagnosis and calibration methods.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the motor zero-position angle diagnosis and calibration method as described above.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the motor zero-position angle diagnosis and calibration method as described above.

[0032] This invention provides a method for diagnosing and calibrating the zero-position angle of a motor, an integrated electro-hydraulic braking system, and a device. In the method for diagnosing and calibrating the zero-position angle of a motor, when responding to a zero-position angle diagnosis command, the current motor torque and the current servo cylinder pressure are first correlated and matched. If the matching result value is determined to be outside the preset matching range, multiple zero positions in the motor are reciprocated and their relative directions are learned. Then, based on the multiple learning results, the recalibrated target motor zero-position angle is determined, and the current motor zero-position angle is replaced with the target motor zero-position angle. Since the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles, the correlation diagnosis method of motor torque and servo cylinder pressure can promptly diagnose abnormal output when the initial angle deviation of the motor is large. In particular, it avoids the phenomenon of reverse output jamming that may occur when replacing the motor or when the angle value stored in the controller is abnormal. It can complete the accurate diagnosis of the motor zero-position angle in a timely and accurate manner. At the same time, by adopting the reciprocating calibration method of the motor initial angle, it can effectively avoid the influence of system parameters, mechanical friction, power supply voltage and temperature on the accuracy of calibration results, which significantly improves the accuracy and reliability of the motor initial angle results. Therefore, by learning and diagnosing the motor initial angle, it is possible not only to confirm the parameter differences of the motor body, prevent the initial screening of the motor body, and prevent abnormal motor parts from being used in the product, but also to make the motor control more precise, maximize the output torque and improve product performance through the accuracy of the calibrated motor initial angle. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating the motor zero-position angle diagnosis and calibration method provided in an embodiment of the present invention;

[0035] Figure 2 A schematic diagram illustrating the normal matching range of motor torque and servo cylinder pressure provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the reciprocating relative direction learning process provided in an embodiment of the present invention;

[0037] Figure 4This is a schematic diagram of the motor zero-position angle diagnosis and calibration device provided in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] In embodiments of the present invention, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. In the textual description of the present invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, it should be noted that the serial numbers assigned to the described objects in the present invention, such as "first," "second," etc., are only used to distinguish the described objects and do not have any sequential or technical meaning.

[0041] With the development and application of drive-by-wire chassis technology, integrated electro-hydraulic braking systems are becoming increasingly widespread. The initial angle of the electronic rotor, a crucial parameter in this system, directly affects the torque control, speed, and dynamic performance of the motor output. Excessive deviation in this initial angle can even cause the motor to rotate in the opposite direction to the intended rotation. Since integrated electro-hydraulic braking systems typically include ball screws, a reverse impact can cause the output shaft to jam, rendering the system inoperable. Therefore, timely diagnosis of the motor's zero-position angle and accurate calibration when abnormalities are detected are of paramount importance.

[0042] In related technologies, the calibration method for the initial angle of a motor rotor typically involves injecting voltage to drive the motor to rotate. However, due to differences in temperature, mechanical friction, and motor parameters, a stable voltage may result in different calibration results for the motor in different environments. Furthermore, the initial angle of the motor rotor is only diagnosed once during the calibration process. Afterward, the initial angle obtained through the calibration method is directly written into the controller's storage unit for use, without diagnosing whether the electronic rotor initial angle matches the current system. Thus, when the stored initial angle of the motor rotor changes or the motor is replaced, if the integrated electro-hydraulic braking system directly uses an incorrect electronic rotor initial angle for braking, it may experience reverse rotation and even jamming.

[0043] For example, patent application CN117650730A discloses a method for determining the zero-position angle of a motor. This method uses a voltage control mode to calibrate the zero-position angle of the motor. The calibration process is highly dependent on load parameters and the environment, which leads to differences in the calibration results. At the same time, the maximum pressure value is used to diagnose the zero-position angle of the motor. Since friction, ball screw efficiency, and temperature also affect the characteristics of the brake fluid in the integrated electro-hydraulic braking system, the diagnostic threshold is very high, making it impossible to directly determine the accuracy of the calibrated initial angle of the motor.

[0044] Therefore, it is particularly important to be able to diagnose the zero-position angle of the motor in a timely manner and to accurately calibrate it when an abnormality is diagnosed.

[0045] To address the aforementioned technical problems, this invention provides a method for diagnosing and calibrating the zero-position angle of a motor, an integrated electro-hydraulic braking system, and equipment. By using a diagnostic method based on the correlation between motor torque and servo cylinder pressure, it can promptly diagnose abnormal output when the initial angle deviation of the motor is large. This effectively avoids the reverse output jamming phenomenon that may occur when replacing the motor or when the angle value stored in the controller is abnormal. It can accurately diagnose the zero-position angle of the motor in a timely manner. Simultaneously, by employing a reciprocating calibration method for the initial motor angle, it effectively avoids the influence of system parameters, mechanical friction, power supply voltage, and temperature on the accuracy of the calibration results, significantly improving the accuracy and reliability of the initial motor angle results. Therefore, by learning and diagnosing the initial motor angle, it is possible not only to confirm parameter differences in the motor body, preventing preliminary screening of the motor body and preventing the use of abnormal motor components in products, but also to ensure that the accuracy of the calibrated initial motor angle allows for more precise motor control, maximizing output torque and improving product performance.

[0046] The following combination Figure 1-Figure 5This paper describes a method for diagnosing and calibrating the zero-position angle of a motor, an integrated electro-hydraulic braking system, and related equipment. The execution entity of the motor zero-position angle diagnosis and calibration method can be a control unit within the integrated electro-hydraulic braking system, or a controller connected to the motor in the integrated electro-hydraulic braking system. This controller must possess at least the functions of controlling motor drive, zero-position learning, and zero-position diagnosis. Furthermore, the motor zero-position angle diagnosis and calibration method can also be applied to a motor zero-position angle diagnosis and calibration device installed within the integrated electro-hydraulic braking system. This device can be implemented through software, hardware, or a combination of both. The following description uses the control unit within the integrated electro-hydraulic braking system as an example to illustrate the method's execution entity.

[0047] To facilitate understanding of the motor zero-position angle diagnosis and calibration method provided in the embodiments of the present invention, the following will provide a detailed description of the method through several exemplary embodiments. It is understood that these exemplary embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0048] Reference Figure 1 This is a flowchart illustrating the motor zero-position angle diagnosis and calibration method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method for diagnosing and calibrating the zero-position angle of the motor includes the following steps 110 to 130.

[0049] Step 110: In response to the motor zero-position angle diagnostic command, perform correlation matching between the current motor torque and the current servo cylinder pressure.

[0050] The current motor torque can be either the currently stored motor zero angle or the currently calibrated motor zero angle.

[0051] The motor zero-position angle diagnostic command can be automatically generated based on pre-set diagnostic conditions. These diagnostic conditions may include, but are not limited to, diagnosing the currently stored or currently calibrated motor zero-position angle every time a preset cycle is reached.

[0052] Specifically, when the control unit in the integrated electro-hydraulic braking system responds to the motor zero-position angle diagnostic command, it can first obtain the corresponding current motor torque and current servo cylinder pressure under the action of the current motor zero-position angle. This can be obtained by sensor reading; for example, the servo electric cylinder can measure the current servo cylinder pressure by installing a pressure sensor, and the motor can measure the current motor torque by installing a torque sensor; or, the current motor torque and current servo cylinder pressure can also be calculated by pre-configured motor torque calculation formula and servo cylinder pressure calculation formula; the present invention does not specifically limit the specific method of obtaining the current motor torque and current servo cylinder pressure.

[0053] At this point, the current motor torque and the current servo cylinder pressure are correlated and matched to determine whether the current motor zero angle is abnormal based on the matching result value. An abnormal current motor zero angle can indicate that the currently stored motor zero angle has been changed or the motor has been replaced.

[0054] Step 120: If the matching result value is determined to be outside the preset matching range, perform reciprocating relative direction learning on multiple zero positions in the motor; the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero position angles.

[0055] Specifically, when it is determined that the matching result value does not belong to the preset matching range, that is, when the matching result value exceeds the preset matching range, it can be first determined that the currently stored motor zero angle has been changed or the motor has been replaced, and the motor zero angle needs to be recalibrated. At this time, in order to effectively avoid the influence of system parameters, mechanical friction, power supply voltage and temperature on the accuracy of the calibration result, this invention adopts a reciprocating calibration initial angle method to reciprocate relative direction learning for multiple zero positions in the current motor, so as to determine the final target motor zero angle based on multiple learning results.

[0056] It should be noted that, in order to quickly improve the accuracy and reliability of motor zero-position angle diagnosis, a mapping relationship between different accurate motor zero-position angles and normal motor torque range and normal servo cylinder pressure range can be pre-constructed, and the corresponding preset matching range, that is, the normal matching range of motor torque and servo cylinder pressure, can be determined based on this mapping relationship.

[0057] For example, the preset matching range can be as follows: Figure 2 As shown, in Figure 2 In the diagram showing the normal matching range of motor torque and servo cylinder pressure, the red shaded area represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles. Therefore... Figure 2Understandably, if the matching result of the current motor torque and the current servo cylinder pressure is within the red shaded area, it is determined that the currently stored motor zero angle has not been diagnosed as abnormal; conversely, if the matching result of the current motor torque and the current servo cylinder pressure is not within the red shaded area, it is determined that the currently stored motor zero angle has been diagnosed as abnormal.

[0058] Step 130: Determine the recalibrated target motor zero angle based on multiple learning results, and replace the current motor zero angle with the target motor zero angle.

[0059] Specifically, for multiple learning results, it can first be determined whether they meet the pre-set acceptable range. If all learning results meet the acceptable range, the recalibrated target motor zero angle can be determined based on the multiple learning results. Conversely, if multiple learning results do not meet the acceptable range, it indicates that the current motor body may be abnormal. At this time, the user can be reminded to manually check whether the motor body is abnormal, and the user can be reminded to replace the normal motor if the motor body is found to be abnormal, so as to perform reciprocating relative direction learning for multiple zero positions in the normal motor.

[0060] The motor zero-position angle diagnosis and calibration method provided in this embodiment of the invention, when responding to a motor zero-position angle diagnosis command, firstly performs correlation matching on the current motor torque and the current servo cylinder pressure, and when it is determined that the matching result value does not belong to the preset matching range, performs reciprocating relative direction learning on multiple zero positions in the motor respectively; then, based on the multiple learning results, further determines the recalibrated target motor zero-position angle, and replaces the current motor zero-position angle with the target motor zero-position angle. Since the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles, the correlation diagnosis method of motor torque and servo cylinder pressure can promptly diagnose abnormal output when the initial angle deviation of the motor is large. In particular, it avoids the phenomenon of reverse output jamming that may occur when replacing the motor or when the angle value stored in the controller is abnormal. It can complete the accurate diagnosis of the motor zero-position angle in a timely and accurate manner. At the same time, by adopting the reciprocating calibration method of the motor initial angle, it can effectively avoid the influence of system parameters, mechanical friction, power supply voltage and temperature on the accuracy of calibration results, which significantly improves the accuracy and reliability of the motor initial angle results. Therefore, by learning and diagnosing the motor initial angle, it is possible not only to confirm the parameter differences of the motor body, prevent the initial screening of the motor body, and prevent abnormal motor parts from being used in the product, but also to make the motor control more precise, maximize the output torque and improve product performance through the accuracy of the calibrated motor initial angle.

[0061] Based on the above Figure 1 In one example embodiment of the motor zero-position angle diagnosis and calibration method shown, step 120 involves reciprocating relative direction learning of multiple zero positions in the motor. The specific learning process can be implemented through the following steps.

[0062] With the initial control angle and initial control angle id of the motor initialized, the following zero-point learning steps are performed for each zero position in the motor:

[0063] First, drive the motor to the zero-degree position, lock it for a first preset time, then drive it from the zero-degree position to the first angle position, then drive it from the first angle position to the zero-degree position, lock it for a second preset time, and record the motor's first initial angle at the zero position.

[0064] Secondly, after confirming that the first initial angle has been recorded, the zero position is driven to the second angle position, and then driven from the second angle position to the zero position. After locking the third preset time again, the second initial angle of the motor at the zero position is recorded.

[0065] Finally, based on the first initial angle and the second initial angle, the target initial angle at zero position is determined.

[0066] The first and second angular positions are at the same angular interval as the zero-degree position and have opposite driving directions.

[0067] It should be noted that the first, second, and third preset durations can all be any time within the preset time range, and their values ​​can be the same or at least two different. No specific limitations are imposed here. Furthermore, the purpose of each locking action includes mechanically locking the motor and reading at least one of the following during the locking period:

[0068] For example, the preset time range can be 10 milliseconds to 20 milliseconds.

[0069] Specifically, after initializing the initial control angle and initial control angle ID of the motor, for each zero position in the motor, the motor is first driven to the zero-degree position and locked for a first preset time, causing the motor to be stuck at that zero position. Then, starting from the zero-degree position, the motor is driven forward to the first angle position and then returns to the zero position. At this time, the first initial angle of the motor at the zero position is recorded by locking. Further, starting from the zero-degree position, the motor is driven backward to the second angle position and then returns to the zero position. At this time, the second initial angle of the motor at the zero position is also recorded by locking. The first and second initial angles at this point are the learning results of the two rotation directions to the zero position, and the target initial angle of the zero position can be the average of the first and second initial angles. In this way, by learning and diagnosing the target initial angle of each zero position, the parameter differences of the motor body can be confirmed, preventing the initial screening of the motor body and preventing abnormal motor components from being used in the product.

[0070] For example, refer to Figure 3 This is a schematic diagram of the reciprocating relative direction learning process provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the motor initialization is completed by setting the initial control angle of the motor to 0 and the initial control angle id to id_Ref. This ensures that the motor can be accurately driven to the corresponding true zero position each time it learns zero position. That is, when the zero position is reciprocated in the relative direction 4 times, it can be driven to the true zero position 1, zero position 2, zero position 3 and zero position 4 in sequence.

[0071] Combination Figure 3 Let's take the reciprocating relative direction learning of zero-position 1 as an example for illustration:

[0072] The motor is driven to the zero-degree position of zero position 1, locked for 20 milliseconds, then the driving angle is set to 60 degrees, and it returns to the zero-degree position. After locking for another 20 milliseconds, the initial angle 1 of the motor at zero position 1 is recorded. Similarly, the driving angle is set to 300 degrees, and it returns to the zero-degree position. After locking for another 20 milliseconds, the initial angle 2 of the motor at zero position 1 is recorded. The initial angles 1 and 2 at this point are the learning results when the two rotation directions reach the zero-degree position. Following the above process, the reciprocating relative direction learning is performed sequentially for zero positions 2, 3, and 4.

[0073] for Figure 3It should be noted that the solid green dots represent the positions where the offset values ​​are recorded. Specifically, the offset values ​​can be the positions of initial angle 1 and initial angle 2. Furthermore, 1. EangLe = 0 indicates driving from 60° to the zero-degree position of zero position 1, 2. EangLe = -60° indicates driving from the zero-degree position of zero position 1 to the 300° position, and 3. EangLe = 0° indicates driving from the 300° position back to the zero-degree position of zero position 1.

[0074] Based on the above Figure 1 In one example embodiment of the motor zero-position angle diagnosis and calibration method shown, during the process of sequentially learning the relative directions of each zero position in the motor, the zero position that has completed zero-point learning can also be updated through the following steps.

[0075] Given that the initial target angle of the zero position has been determined, the motor is driven to the next zero position in a preset angle step, and the next zero position is used as the new zero position. The zero-point learning step is repeated until the initial target angle of each of the multiple zero positions is determined.

[0076] Specifically, when one of the zero positions in the motor has completed zero-point learning, that is, when the target initial angle of the zero position has been determined, the motor can be controlled to drive in a stepping manner to the next zero position to continue zero-point learning; until all the zero positions in the motor have been learned, the learning process of each zero position is the same and all adopt the above-mentioned zero-point learning steps.

[0077] It should be noted that, to prevent large angular deviations and discontinuous motor rotation, a smaller angle can be used for the stepping process of controlling the motor from one zero position to the next. This smaller angle is the aforementioned preset angle, and its value is no greater than 180°. This is because only when this preset angle is no greater than 180° can the direction of the motor's controlled drive be determined, while also ensuring that the motor can be driven normally and will not return to its original position even after the driving force is released. Furthermore, if this preset angle is greater than 180°, the motor will drive back much more slowly. Therefore, the preset angle is set to no more than 180° here.

[0078] Furthermore, when the motor is driven from a certain zero position to the next zero position by controlling the preset angle, it can reach the next zero position in multiple steps, such as... Figure 3 As shown, the zero position 1 is stepped into position 2 in 6 steps at a preset angle of 60°; or, it can be reached in one step, such as stepping from one zero position to the next zero position in a preset angle of 180°. The stepping process is not specifically limited here.

[0079] Based on the above Figure 1In an example embodiment of the motor zero-position angle diagnosis and calibration method shown, step 130 determines the recalibrated target motor zero-position angle based on multiple learning results. The specific determination process can be implemented through the following steps.

[0080] In each learning result including the target initial angle of the corresponding zero position, the motor is tested for pass or fail based on the target initial angles of multiple zero positions. If the motor passes the pass test, the target motor zero position angle is determined based on the multiple target initial angles.

[0081] Specifically, once the zero-point learning of all zero positions in the motor is completed, the motor can be tested for pass / fail based on the target initial angle of each zero position. This will determine whether there is any abnormality in the motor body. If the motor passes the pass / fail test, it means that there is no possibility of abnormality in the motor body and it is qualified. At this time, the target motor zero-point angle can be determined based on multiple target initial angles. Conversely, if the motor fails the pass / fail test, it means that there is a possibility of abnormality in the motor body and it is unqualified. At this time, relevant technicians are prompted to manually verify the motor body so that the motor can be replaced if an abnormality is found.

[0082] For example, the process of determining the zero-position angle of the target motor based on multiple target initial angles can be to calculate the average of multiple target initial angles and use the average result as the zero-position angle of the target motor. The zero-position angle of the target motor determined in this way is more accurate, and its accuracy can make the motor control more precise, the output torque reaches the maximum, and the product performance is improved.

[0083] Based on the above Figure 1 The motor zero-position angle diagnosis and calibration method shown, in one example embodiment, detects whether the motor is qualified or not based on multiple target initial angles. The specific process can be implemented through the following steps.

[0084] First, calculate the angle difference between the initial angles of multiple targets; then, determine whether the angle difference falls within the preset range. The result indicates whether the motor passes or fails the test.

[0085] Specifically, in order to accurately and quickly calibrate the motor zero position, after completing zero-point learning for all zero positions in the motor, a qualification diagnosis can be performed on all zero points. That is, it can be determined whether there is any possible abnormality in the motor body. Specifically, it can be determined whether the angle difference of the target initial angle of all zero positions is small enough. If the angle difference is small enough, it means that there is no possible abnormality in the motor body and all target initial angles are within the qualified range. Conversely, if the angle difference is too large, it means that there is a possible abnormality in the motor body and at least one of the target initial angles is not within the qualified range.

[0086] Based on the above Figure 1 In one example embodiment of the motor zero-position angle diagnosis and calibration method shown, if the correlation matching result between the current motor torque and the current servo cylinder pressure exceeds a preset matching range, the degree of abnormality of the current motor zero-position angle can be determined based on the degree of deviation. Therefore, after step 130, the motor zero-position angle diagnosis and calibration method provided by this invention may further include the following steps.

[0087] Based on the deviation between the matching result value and the preset matching range, the degree of abnormality of the current motor zero position angle is determined.

[0088] Specifically, when the current motor torque and current servo cylinder pressure are correlated and the matching result value exceeds the preset matching range, it can be determined that the currently stored motor zero angle or the currently calibrated motor zero angle is abnormal. The degree of abnormality is related to the deviation range value; the larger the deviation, the higher the degree of abnormality. At this time, based on the pre-set mapping relationship between the deviation value and the degree of abnormality value, the degree of abnormality value corresponding to the deviation between the matching result value and the preset matching range can be determined.

[0089] Based on the above Figure 1 The motor zero-position angle diagnosis and calibration method shown in the example embodiment, in the case that the current motor zero-position angle is determined to be abnormal, can further determine whether the motor is currently faulty. Based on this, the motor zero-position angle diagnosis and calibration method provided by the present invention may also include the following steps.

[0090] First, the abnormality level value is integrated, and the integrated value is compared with a preset threshold. Then, if the integrated value is greater than the preset threshold, it is determined that the motor is currently malfunctioning.

[0091] It should be noted that by integrating the abnormal result values, the integral value can be used to accurately determine whether the motor is currently faulty. For example, the motor may have been replaced, or the controller may have stored an abnormal motor zero-position angle, potentially causing reverse output jamming. Thus, the diagnostic method based on the correlation between servo cylinder pressure and motor torque can correlate the diagnostic confirmation time with the severity of abnormal deviations, and can also promptly diagnose abnormal output when the angle deviation is large. This is especially important in preventing reverse output jamming that may occur when the motor is replaced or when the angle value stored in the controller is abnormal.

[0092] The motor zero-position angle diagnosis and calibration device provided by the present invention is described below. The motor zero-position angle diagnosis and calibration device described below can be referred to in correspondence with the motor zero-position angle diagnosis and calibration method described above.

[0093] Reference Figure 4This is a schematic diagram of the motor zero-position angle diagnosis and calibration device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the motor zero-position angle diagnosis and calibration device 400 includes: a correlation diagnosis module 410 and a motor zero-position calibration module 420.

[0094] The correlation diagnosis module 410 is used to perform correlation matching between the current motor torque and the current servo cylinder pressure in response to the motor zero-position angle diagnosis command.

[0095] The motor zero-position calibration module 420 is used to perform reciprocating relative direction learning on multiple zero positions in the motor when the matching result value is determined not to be within the preset matching range. The preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles. Then, based on the multiple learning results, the recalibrated target motor zero-position angle is determined, and the current motor zero-position angle is replaced with the target motor zero-position angle.

[0096] Optionally, the motor zero-position calibration module 420 is specifically used to perform the following zero-point learning steps for each zero position in the motor after initializing the initial control angle and initial control angle id of the motor: drive the motor to the zero-degree position of the zero position, lock it for a first preset time, then drive the zero-degree position to the first angle position, then drive it from the first angle position to the zero position, lock it again for a second preset time, and record the first initial angle of the motor at the zero position; after confirming that the first initial angle has been recorded, drive the zero position to the second angle position, then drive it from the second angle position to the zero position, lock it again for a third preset time, and record the second initial angle of the motor at the zero position; based on the first initial angle and the second initial angle, determine the target initial angle of the zero position; wherein the first angle position and the second angle position are the same as the zero position in terms of angular interval and the driving direction is opposite.

[0097] Optionally, the motor zero-position calibration module 420 is specifically used to drive the motor to the next zero position in preset angle steps when the target initial angle of the zero position has been determined, and to use the next zero position as the new zero position, and repeat the zero-point learning step until the target initial angle of each of the multiple zero positions is determined.

[0098] Optionally, the motor zero-position calibration module 420 is specifically used to detect whether the motor is qualified or not based on multiple target initial angles when each learning result includes the target initial angle of the corresponding zero position; and to determine the target motor zero-position angle based on multiple target initial angles when the motor is determined to pass the qualified test.

[0099] Optionally, the motor zero-position calibration module 420 is specifically used to calculate the angle difference between the initial angles of multiple targets; determine whether the angle difference is within the preset difference range; and the judgment result indicates whether the motor has passed the qualified test or failed the qualified test.

[0100] Optionally, the motor zero-position angle diagnosis and calibration device provided in this embodiment of the invention may further include an anomaly diagnosis module, used to determine the degree of anomaly of the current motor zero-position angle based on the deviation between the matching result value and the preset matching range.

[0101] Optionally, the anomaly diagnosis module is also used to perform integral processing on the anomaly degree value and compare the integral value obtained by integral processing with a preset threshold; if it is determined that the integral value is greater than the preset threshold, it is determined that the motor is currently malfunctioning.

[0102] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a motor zero-position angle diagnosis and calibration method. This method includes: responding to the motor zero-position angle diagnosis instruction, performing a correlation matching of the current motor torque and the current servo cylinder pressure; if it is determined that the matching result value does not belong to the preset matching range, performing reciprocating relative direction learning on multiple zero positions in the motor; the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles; determining the recalibrated target motor zero-position angle based on multiple learning results, and replacing the current motor zero-position angle with the target motor zero-position angle.

[0103] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] Furthermore, this invention also provides an integrated electro-hydraulic braking system, including a motor, a control unit, and a pressure supply unit. The control unit is electrically connected to the motor and the pressure supply unit, respectively. The control unit is used to execute the motor zero-position angle diagnosis and calibration method provided by the above methods. The method includes: responding to the motor zero-position angle diagnosis command, performing correlation matching on the current motor torque and the current servo cylinder pressure; if it is determined that the matching result value does not belong to the preset matching range, performing reciprocating relative direction learning on multiple zero positions in the motor; the preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles; determining the recalibrated target motor zero-position angle based on multiple learning results, and replacing the current motor zero-position angle with the target motor zero-position angle.

[0105] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the motor zero-position angle diagnosis and calibration method provided by the above methods. The method includes: responding to a motor zero-position angle diagnosis command, performing a correlation matching of the current motor torque and the current servo cylinder pressure; when it is determined that the matching result value does not belong to a preset matching range, performing reciprocating relative direction learning on multiple zero positions in the motor; the preset matching range characterizes the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles; determining the recalibrated target motor zero-position angle based on multiple learning results, and replacing the current motor zero-position angle with the target motor zero-position angle.

[0106] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the motor zero-position angle diagnosis and calibration method provided by the above methods. The method includes: responding to a motor zero-position angle diagnosis command, performing a correlation matching of the current motor torque and the current servo cylinder pressure; if it is determined that the matching result value does not belong to a preset matching range, performing reciprocating relative direction learning on multiple zero positions in the motor; the preset matching range characterizes the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles; determining the recalibrated target motor zero-position angle based on multiple learning results, and replacing the current motor zero-position angle with the target motor zero-position angle.

[0107] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for diagnosing and calibrating the zero-position angle of a motor, characterized in that, include: In response to the motor zero-position angle diagnostic command, the current motor torque and the current servo cylinder pressure are correlated and matched. If the matching result value is determined to be outside the preset matching range, reciprocating relative direction learning is performed on multiple zero positions in the motor. The preset matching range represents the normal motor torque range and normal servo cylinder pressure range corresponding to different accurate motor zero-position angles. Based on multiple learning results, the recalibrated target motor zero angle is determined, and the current motor zero angle is replaced with the target motor zero angle.

2. The method for diagnosing and calibrating the zero-position angle of a motor according to claim 1, characterized in that, The reciprocating relative direction learning of multiple zero positions in the motor includes: With the initial control angle and initial control angle id of the motor initialized, the following zero-point learning steps are performed for each zero position in the motor: Drive the motor to the zero-degree position of the zero position, lock it for a first preset time, then drive the zero-degree position to the first angle position, then drive it from the first angle position to the zero position, lock it again for a second preset time, and record the first initial angle of the motor at the zero position. If the first initial angle has been recorded, drive the zero-degree position to the second angle position, then drive it from the second angle position to the zero position, lock it again for a third preset time, and then record the second initial angle of the motor at the zero position. Based on the first initial angle and the second initial angle, the target initial angle of the zero position is determined; Wherein, the first angular position and the second angular position are at the same angular interval as the zero-degree position and drive in opposite directions.

3. The method for diagnosing and calibrating the zero-position angle of a motor according to claim 2, characterized in that, The method further includes: Once the target initial angle of the zero position has been determined, the motor is driven to the next zero position in a preset angle step, and the next zero position is used as the new zero position. The zero-point learning step is repeated until the target initial angle of each of the plurality of zero positions is determined.

4. The method for diagnosing and calibrating the zero-position angle of a motor according to claim 3, characterized in that, The process of determining the recalibrated target motor zero-position angle based on multiple learning results includes: In the case that each learning result includes the target initial angle corresponding to the zero position, The motor is tested for qualification based on multiple initial angles of the target. If the motor passes the qualified test, the zero position angle of the target motor is determined based on multiple target initial angles.

5. The method for diagnosing and calibrating the zero-position angle of a motor according to claim 4, characterized in that, The method of detecting whether the motor is qualified or not based on multiple target initial angles includes: Calculate the angle difference between the initial angles of the multiple targets; Determine whether the angle difference falls within a preset range; the determination result indicates whether the motor passes or fails the test.

6. The method for diagnosing and calibrating the zero-position angle of a motor according to any one of claims 1 to 5, characterized in that, The method further includes: Based on the deviation between the matching result value and the preset matching range, the degree of abnormality of the current motor zero position angle is determined.

7. The method for diagnosing and calibrating the zero-position angle of a motor according to claim 6, characterized in that, The method further includes: The abnormality level value is integrated, and the integrated value is compared with a preset threshold. If the integral value is greater than the preset threshold, it is determined that the motor is currently malfunctioning.

8. An integrated electro-hydraulic braking system, characterized in that, It includes a motor, a control unit, and a pressure supply unit. The control unit is electrically connected to the motor and the pressure supply unit, respectively. The control unit is used to perform the motor zero-position angle diagnosis and calibration method as described in any one of claims 1 to 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the motor zero-position angle diagnosis and calibration method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motor zero-position angle diagnosis and calibration method as described in any one of claims 1 to 7.

Images