Motor rotary transformer soft and hard simultaneous decoding method and device, vehicle and electronic equipment

Abstract

The invention provides a motor rotary transformer soft and hard simultaneous decoding method and device, a vehicle and electronic equipment, is applied to the technical field of motor decoding, and solves the problem that a soft decoding scheme and a hard decoding scheme can only be physically combined and switched through a switch in the prior art. The method comprises the following steps: carrying out differential conversion on an excitation signal output by a rotary transformer decoding chip to generate a differential signal, comparing the differential signal with a zero crossing point value to output a symbol signal, shaping a sine and cosine winding feedback signal output by a rotary transformer based on the symbol signal, carrying out integration to extract an outer envelope line, and outputting the outer envelope line. And the first motor resolver angle is output, the second motor resolver angle output by the rotary transformer decoding chip is obtained, and the motor resolver angle is determined according to the first motor resolver angle and the second motor resolver angle. According to the invention, simultaneous working of the soft decoding mode and the hard decoding mode is realized, and the function of mutual verification of the two decoding modes when the system works can be achieved.

Description

Technical Field

[0001] This application relates to the field of motor decoding technology, specifically to a method, apparatus, vehicle, and electronic equipment for simultaneous hardware and software decoding of motor resolvers. Background Technology

[0002] A rotary transformer is an electromagnetic sensor consisting of a stator and a rotor. Typically, the rotor of the rotary transformer is mounted on the shaft of a motor and rotates synchronously with the motor. The position information induced in the stator coils can reflect the position of the motor rotor. Accurate rotor position information is the key to achieving efficient and precise control of the motor control system.

[0003] In existing technologies, software or hardware decoding is typically used. For example, a resolver decoding chip provides an excitation signal to the primary winding of a resolver through an excitation circuit. The feedback signal output from the sine and cosine windings of the resolver is processed by a signal processing circuit and the resolver decoding chip to calculate the angle, which is then transmitted to the CPUDSP via SPI. Alternatively, the ADC module of the CPUDSP can extract the envelope of the sine and cosine winding response signal, and the angle is obtained by the resolver software decoding algorithm. However, these two decoding schemes are only physically combined and switched by a switch. They cannot achieve simultaneous operation of the two decoding methods, nor can they achieve the function of mutual verification between the two decoding methods during system operation.

[0004] Therefore, it is necessary to provide a method for simultaneous hardware and software decoding of motor resolvers that can enable both hardware and software decoding to work simultaneously and achieve mutual verification between the two decoding methods during system operation. Summary of the Invention

[0005] In view of this, this application provides a method, apparatus, vehicle, and electronic equipment for simultaneous software and hardware decoding of motor resolvers. While the excitation signal output by the resolver decoding chip is being processed by software decoding, the first motor resolver angle is obtained and compared with the second motor resolver angle calculated by the resolver decoding chip. This enables the simultaneous operation of both software and hardware decoding methods and allows for mutual verification between the two decoding methods during system operation.

[0006] To achieve the above objectives, as a first aspect of this application, the following technical solution is provided: a method for simultaneous soft and hard decoding of a motor resolver, comprising:

[0007] Acquire the excitation signal output by the rotary transformer decoding chip and the feedback signal from the sine and cosine windings of the rotary transformer;

[0008] The excitation signal output from the rotary transformer decoding chip is differentially converted to generate a differential signal;

[0009] The differential signal is compared with the zero-crossing value to output the sign signal;

[0010] The feedback signals from the sine and cosine windings of the rotary transformer are shaped based on the symbolic signals.

[0011] The outer envelope of the shaped sine and cosine winding feedback signal is extracted by integration, and the first motor resolver angle is output.

[0012] The second motor resolver angle output by the resolver decoding chip is obtained, wherein the second motor resolver angle is the output of the resolver after processing the feedback signal of the sine and cosine windings;

[0013] The motor resolver angle is determined based on the resolver angles of the first motor and the second motor.

[0014] In one embodiment of this application, before comparing the differential signal with the zero-crossing value, the method further includes:

[0015] The zero-crossing value is corrected so that the center point of the differential signal is the zero-crossing value.

[0016] In one embodiment of this application, the correction of the zero-crossing value includes:

[0017] The zero-crossing value is compared with the differential signal, and a square wave signal is output.

[0018] When the high level in the square wave signal is not 50%, the zero-crossing value is corrected so that the high level in the square wave signal is 50%.

[0019] In one embodiment of this application, comparing the differential signal with the zero-crossing value and outputting a sign signal includes:

[0020] When the differential signal is greater than the zero-crossing value, the sign signal is at a high level;

[0021] When the differential signal is less than or equal to the zero-crossing value, the sign signal is at a low level.

[0022] In one embodiment of this application, shaping the sine and cosine winding feedback signals output by the rotary transformer based on the sign signal includes:

[0023] The symbol signal is multiplied by the sine and cosine winding feedback signal of one cycle of the rotary transformer output, so that the negative values ​​in the sine and cosine winding feedback signal are shaped into positive values.

[0024] In one embodiment of this application, before shaping the sine and cosine winding feedback signals output by the rotary transformer based on the symbol signal, the method further includes:

[0025] The symbol signal is corrected to eliminate the delay between the excitation signal output by the rotary transformer decoding chip and the sine and cosine winding feedback signal output by the rotary transformer.

[0026] In one embodiment of this application, the modification of the symbol signal includes:

[0027] The first moment corresponding to the first positive value of the sine and cosine winding feedback signals output by the rotary transformer and the second moment corresponding to the first rising edge of the sign signal are obtained respectively.

[0028] Calculate the difference between the first time point and the second time point;

[0029] When the difference between the first and second time points is not zero, the symbol signal is corrected based on the difference between the first and second time points.

[0030] As a second aspect of this application, this application also provides a motor resolver simultaneous hardware and software decoding device, comprising:

[0031] The data acquisition module is used to acquire the excitation signal output by the rotary transformer decoding chip and the sine and cosine winding feedback signals output by the rotary transformer.

[0032] The differential conversion module is used to differentially convert the excitation signal output by the rotary transformer decoding chip to generate a differential signal;

[0033] The fast comparison module is used to compare the differential signal with the zero-crossing value of the processing unit to output the sign signal;

[0034] The shaping module is used to shape the sine and cosine winding feedback signals output by the rotary transformer based on the sign signal;

[0035] The first calculation module is used to integrate the shaped sine and cosine winding feedback signals to extract the outer envelope and output the first motor resolver angle.

[0036] The second calculation module is used by the rotary transformer decoding chip to process the sine and cosine winding feedback signals of the rotary transformer output and calculate the second motor resolver angle.

[0037] The determination module is used to determine the motor resolver angle based on the resolver angles of the first motor and the second motor.

[0038] As a third aspect of this application, this application also provides a vehicle, including:

[0039] The motor resolver simultaneous soft and hard decoding device described in the second aspect above.

[0040] As a fourth aspect of this application, this application also provides an electronic device, comprising:

[0041] Memory;

[0042] A processor and a computer program stored in the memory and capable of running on the processor;

[0043] When the processor executes the computer program, it implements the simultaneous hardware and software decoding method for motor resolver as described in any of the first aspects above.

[0044] This application provides a method for simultaneous hardware and software decoding of a motor resolver. First, it acquires the excitation signal output from the resolver decoding chip and the sine and cosine winding feedback signals output from the resolver. Then, it performs differential conversion on the excitation signal output from the resolver decoding chip to generate a differential signal. This differential signal is compared with a zero-crossing value to output a sign signal. Based on the sign signal, it shapes the sine and cosine winding feedback signals output from the resolver. The shaped sine and cosine winding feedback signals are then integrated to extract the outer envelope, and a first motor resolver angle is output. Simultaneously, a second motor resolver angle output from the resolver decoding chip is acquired, enabling simultaneous operation of both hardware and software decoding methods. Finally, the motor resolver angle is determined based on the first and second motor resolver angles. This method achieves mutual verification between the hardware and software decoding methods during system operation, ensuring the accuracy of the motor resolver angle. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating a method for simultaneous soft and hard decoding of a motor resolver, as provided in an embodiment of this application.

[0047] Figure 2 This is a flowchart illustrating a method for correcting zero-crossing values ​​according to an embodiment of this application.

[0048] Figure 3 This is a flowchart illustrating a method for simultaneous soft and hard decoding of a motor resolver, provided as another embodiment of this application.

[0049] Figure 4 This is a flowchart illustrating a method for correcting symbolic signals according to an embodiment of this application.

[0050] Figure 5 This is a schematic diagram of the structure of a motor resolver simultaneous soft and hard decoding device provided in an embodiment of this application.

[0051] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0053] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0054] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0055] Exemplary methods

[0056] like Figure 1 As shown in the exemplary embodiment of this application, a method for simultaneous hardware and software decoding of a motor resolver is provided, which may include the following steps:

[0057] S10: Obtain the excitation signal output by the rotary transformer decoding chip and the feedback signal of the sine and cosine windings output by the rotary transformer.

[0058] To obtain the motor's operating status information, the motor controller interacts with the resolver to acquire information such as the motor's rotor position and speed. Specifically, the resolver decoding chip (resolver decoding chip) can provide excitation signals to the sine and cosine windings of the resolver in conjunction with the excitation circuit. The resolver decoding chip, together with the signal conditioning circuit, processes the feedback signals from the sine and cosine windings of the resolver. The sine and cosine winding feedback signals output by the resolver are the sine and cosine modulated signals output by the resolver on the motor shaft. The motor controller obtains the rotor position, speed, and other information of the motor by acquiring the excitation signal output by the resolver decoding chip and the sine and cosine winding feedback signals output by the resolver.

[0059] S20: Perform differential conversion on the excitation signal output by the rotary transformer decoding chip to generate a differential signal.

[0060] The excitation signal output by the resolver decoding chip is a single-ended signal. In order to prevent the single-ended excitation signal from being affected by common-mode interference and affecting the subsequent zero-crossing point identification, a single-ended to differential conversion module is designed in the peripheral circuit of the resolver decoding chip. By controlling the single-ended to differential conversion module through the motor controller, the excitation signal output by the resolver decoding chip can be differentially converted to generate a differential signal.

[0061] S30: Compare the differential signal with the zero-crossing value to output the symbol signal.

[0062] A fast comparator ADC unit is set up in the microcontroller to convert analog signals into digital signals. Specifically, the differential signal is injected into the fast comparator ADC unit and the zero-crossing value is obtained. The fast comparator ADC unit compares the differential signal with the zero-crossing value to output the sign signal.

[0063] S40: Shapes the sine and cosine winding feedback signals output by the rotary transformer based on the symbol signal.

[0064] Since the sine and cosine winding feedback signals output by the resolver are sinusoidally modulated and cosinely modulated, and these signals have both positive and negative values, it is necessary to integrate these signals to calculate the resolver angle. Therefore, the sine and cosine winding feedback signals need to be shaped to ensure they are all positive. This application uses a sign signal to shape the acquired sine and cosine winding feedback signals from the resolver.

[0065] S50: Integrate the shaped sine and cosine winding feedback signals to extract the outer envelope and output the first motor resolver angle.

[0066] The shaped sine and cosine winding feedback signals are acquired separately at a fixed frequency. The acquired values ​​are summed, with summation triggered at the rising edge of the corrected sign signal and ending at the next rising edge, then starting the next summation. This allows for the calculation of the integral values ​​of the sine and cosine modulated signals within one synchronization cycle. This integral value represents the outer envelope of the resolver return signal, which contains information about the motor resolver angle, i.e., the first motor resolver angle. The process for calculating the first motor resolver angle in this application is the same as the resolver soft decoding process in the prior art, and will not be described in detail here.

[0067] S60: Obtain the second motor resolver angle output by the resolver decoding chip.

[0068] The second motor resolver angle is the output of the resolver after processing the feedback signal from the sine and cosine windings. The process of calculating the second motor resolver angle in this application is the same as the resolver hard decoding process in the prior art, and will not be described in detail here.

[0069] S70: Determine the motor resolver angle based on the resolver angles of the first motor and the second motor.

[0070] Specifically, a preset threshold is set, and the calculated first motor resolver angle is compared with the second motor resolver angle. For example, the absolute value of the difference between the first and second motor resolver angles is calculated, and the motor resolver angle is determined based on the relationship between the absolute value of the difference and the preset threshold. Optionally, when the absolute value of the difference between the first and second motor resolver angles is less than or equal to the preset threshold, that is, after mutual verification by both software and hardware decoding methods, the decoding validity can be determined to be valid, and the motor resolver angle is either the first motor resolver angle or the second motor resolver angle. Optionally, when the absolute value of the difference between the first and second motor resolver angles is greater than the preset threshold, that is, after mutual verification by both software and hardware decoding methods, the decoding validity can be determined to be invalid, and the motor controller will generate fault information.

[0071] In some embodiments of this application, firstly, the excitation signal output by the resolver decoding chip and the sine and cosine winding feedback signals output by the resolver are acquired. Then, the excitation signal output by the resolver decoding chip is differentially converted to generate a differential signal. The differential signal is compared with the zero-crossing value to output a sign signal. Based on the sign signal, the sine and cosine winding feedback signals output by the resolver are shaped. The shaped sine and cosine winding feedback signals are integrated to extract the outer envelope, and the first motor resolver angle is output. Simultaneously, the second motor resolver angle output by the resolver decoding chip is acquired, realizing the simultaneous operation of both hardware and software decoding methods. Finally, the motor resolver angle is determined based on the first and second motor resolver angles. This achieves the function of mutual verification between the two decoding methods during system operation, ensuring the accuracy of the motor resolver angle.

[0072] In some embodiments of this application, before comparing the differential signal with the zero-crossing value in S30, the above-mentioned motor resolver simultaneous soft and hard decoding method may further include the following steps:

[0073] S25: Correct the zero-crossing value so that the center point of the differential signal is the zero-crossing value.

[0074] For the converted differential signal, if it is a sinusoidal signal, the normal center point is at zero. However, due to the quality of the single-ended signal, there may be a zero drift problem with an asymmetrical center point. In order to avoid the zero drift problem of the differential signal, this application designs a dynamic monitoring module in the motor controller, which continuously corrects the zero-crossing value when powered on, so that the center point of the differential signal is at the zero-crossing value.

[0075] In some embodiments of this application, such as Figure 2 As shown, the zero-crossing value is corrected in S25, and the specific steps may include:

[0076] S251: Compares the zero-crossing value with the differential signal and outputs a square wave signal;

[0077] A comparison unit is set up in the microcontroller to store the zero-crossing value, compare the zero-crossing value with the differential signal, and output a square wave signal.

[0078] S252: When the high level in the square wave signal is not 50%, correct the zero-crossing value so that the high level in the square wave signal is 50%.

[0079] By sampling the square wave signal output by the processing unit, the proportion of high level in the square wave signal is determined. When the proportion of high level in the square wave signal is not 50%, the zero-crossing value is continuously corrected until the proportion of high level in the square wave signal is 50%. At this time, the center point of the differential signal is the zero-crossing value, and the correction of the zero-crossing value in the processing unit ends.

[0080] In some embodiments of this application, such as Figure 3 As shown, in S30, the differential signal is compared with the zero-crossing value to output the symbol signal. Specific steps may include:

[0081] S31: When the differential signal is greater than the zero-crossing value, the sign signal is high.

[0082] By using a fast comparison ADC unit, the differential signal is compared with the zero-crossing value. When the value of the differential signal at a certain moment is greater than the zero-crossing value, the symbol signal at that moment is high, meaning the symbol signal is positive. Generally, only the symbol signal within one complete cycle is acquired, such as the symbol signal within the first cycle.

[0083] S32: When the differential signal is less than or equal to the zero-crossing value, the sign signal is low.

[0084] When the value of the differential signal at a certain moment is less than or equal to the zero-crossing value, the sign signal at that moment is low, that is, the sign signal is negative.

[0085] In some embodiments of this application, before the above-described S40 process of shaping the sine and cosine winding feedback signals output by the resolver based on the symbol signal, the above-described motor resolver simultaneous soft and hard decoding method may further include the following steps:

[0086] S35: Correct the symbol signal to eliminate the delay between the excitation signal output by the rotary transformer decoding chip and the feedback signal of the sine and cosine windings output by the rotary transformer.

[0087] Because the excitation signal output by the resolver decoding chip must pass through the excitation circuit and the microcontroller before reaching the resolver, and the feedback signals from the sine and cosine windings of the resolver then return to the resolver decoding chip, which, in conjunction with the signal conditioning circuit, processes these feedback signals, there is a delay between the excitation signal output by the resolver decoding chip and the feedback signals from the sine and cosine windings of the resolver, resulting in a phase difference between them. To address this delay issue, this application employs a method of correcting the sign signal corresponding to the excitation signal to eliminate the delay between the excitation signal output by the resolver decoding chip and the feedback signals from the sine and cosine windings of the resolver.

[0088] In some embodiments of this application, such as Figure 4 As shown, the symbol signal is corrected in S35, and the specific steps may include:

[0089] S351: Obtain the first moment corresponding to the first positive value of the sine and cosine winding feedback signals output by the rotary transformer, and the second moment corresponding to the first rising edge of the sign signal.

[0090] Obtain the first positive value of the sine and cosine winding feedback signal within one cycle of the rotary transformer output, corresponding to the first time point. This first positive time point corresponds to the start point of the first positive cycle. Obtain the second time point corresponding to the first rising edge within the same cycle of the symbol signal, where the second time point corresponding to the first rising edge corresponds to the start position of the high-level signal in the symbol signal.

[0091] S352: Calculate the difference between the first time point and the second time point.

[0092] The difference between the first and second moments is the phase difference that the symbol signal needs to compensate for.

[0093] S353: When the difference between the first time and the second time is not zero, the symbol signal is corrected according to the difference between the first time and the second time.

[0094] After calculating the difference between the first and second moments, determine whether the difference between the first and second moments is zero. If the difference between the first and second moments is not zero, use the difference between the first and second moments as the phase difference that the symbol signal needs to be compensated for.

[0095] Optionally, obtain the third time corresponding to the first rising edge of the corrected symbol signal, calculate the difference between the first time and the third time, and when the difference between the first time and the third time is zero, it means that there is no delay at this time, and there is no need to continue to correct the symbol signal.

[0096] In some embodiments of this application, the shaping of the sine and cosine winding feedback signals output by the rotary transformer based on the sign signal in step S40 may include the following steps:

[0097] S41: Multiply the symbol signal with the sine and cosine winding feedback signal of one cycle of the rotary transformer output, so that the negative values ​​in the sine and cosine winding feedback signal are shaped into positive values.

[0098] The sine and cosine winding feedback signals output by the rotary transformer within one cycle are divided into positive and negative values ​​for the first half of the cycle. The symbol signal value within one cycle is multiplied by the sine and cosine winding feedback signals within one cycle. Specifically, the symbol signal value for the first half of the cycle is multiplied by the sine and cosine winding feedback signals for the first half of the cycle, and the symbol signal value for the second half of the cycle is multiplied by the sine and cosine winding feedback signals for the second half of the cycle. Since the symbol signal has been corrected in the early stage, the symbol signal value within one cycle corresponds completely with the positive and negative values ​​of the sine and cosine winding feedback signals within one cycle. That is, the negative values ​​in the sine and cosine winding feedback signals can be shaped into positive values. Therefore, the shaped sine and cosine winding feedback signals only contain positive values.

[0099] Exemplary device

[0100] Below, as a second aspect of this application, such as Figure 5 As shown, this application also provides a motor resolver simultaneous hardware and software decoding device. It includes: a data acquisition module 501, a differential conversion module 502, a fast comparison module 503, a shaping module 504, a calculation module 505, and a determination module 506, wherein...

[0101] The data acquisition module 501 is used to acquire the excitation signal output by the rotary transformer decoding chip and the sine and cosine winding feedback signals output by the rotary transformer; and to acquire the second motor resolver angle output by the rotary transformer decoding chip, wherein the second motor resolver angle is the output of the rotary transformer after processing the sine and cosine winding feedback signals.

[0102] The differential conversion module 502 is used to perform differential conversion on the excitation signal output by the rotary transformer decoding chip to generate a differential signal.

[0103] The fast comparison module 503 is used to compare the differential signal with the zero-crossing value of the processing unit to output the sign signal.

[0104] Shaping module 504 is used to shape the sine and cosine winding feedback signals output by the rotary transformer based on the sign signal.

[0105] The calculation module 505 is used to integrate the shaped sine and cosine winding feedback signals to extract the outer envelope and output the first motor resolver angle.

[0106] The determination module 506 is used to determine the motor resolver angle based on the resolver angle of the first motor and the resolver angle of the second motor.

[0107] The motor resolver simultaneous hardware and software decoding device provided in this application acquires the excitation signal output by the resolver decoding chip and the sine and cosine winding feedback signal output by the resolver through a data acquisition module 501; it also acquires the second motor resolver angle output by the resolver decoding chip; a differential conversion module 502 performs differential conversion on the excitation signal output by the resolver decoding chip to generate a differential signal; a fast comparison module 503 compares the differential signal with the zero-crossing value of the processing unit to output a sign signal; a shaping module 504 shapes the sine and cosine winding feedback signal output by the resolver based on the sign signal; a calculation module 505 integrates the shaped sine and cosine winding feedback signal to extract the outer envelope and outputs the first motor resolver angle; and a determination module 506 determines the motor resolver angle based on the first and second motor resolver angles. This achieves the function of mutual verification between the two decoding methods during system operation, ensuring the accuracy of the motor resolver angle.

[0108] The motor resolver simultaneous hardware and software decoding device provided in this embodiment belongs to the same concept as the motor resolver simultaneous hardware and software decoding method provided in the above embodiments of this application. It can execute the motor resolver simultaneous hardware and software decoding method provided in any of the above embodiments of this application and has the corresponding functional units and beneficial effects of the motor resolver simultaneous hardware and software decoding method. Technical details not described in detail in this embodiment can be found in the specific processing content of the motor resolver simultaneous hardware and software decoding method provided in the above embodiments of this application, and will not be repeated here.

[0109] Exemplary vehicle

[0110] As a third aspect of this application, this application also provides a vehicle, including: the motor resolver simultaneous hardware and software decoding device described in the second aspect above. The vehicle can be a pure electric vehicle or a hybrid electric vehicle.

[0111] Exemplary electronic devices

[0112] As a fourth aspect of this application, this application also provides an electronic device. (Reference) Figure 6 This describes an electronic device according to embodiments of the present application.

[0113] Figure 6 The figure shows a structural block diagram of an electronic device according to an embodiment of the present application.

[0114] like Figure 6 As shown, the electronic device 60 includes one or more processors 601 and memory 602.

[0115] The processor 601 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 60 to perform desired functions.

[0116] The memory 602 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may execute the program instructions to implement the grader control methods of the various embodiments of this application described above and / or other desired functions.

[0117] In one example, the electronic device 60 may also include an input device 603 and an output device 604, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0118] When the electronic device is a standalone device, the input device 603 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0119] In addition, the input device 603 may also include, for example, a keyboard, a mouse, etc.

[0120] The output device 604 can output various information to the outside, including determined distance information, direction information, etc. The output device 604 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0121] Of course, for the sake of simplicity, Figure 6 Only some of the components of the electronic device 60 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 60 may include any other suitable components depending on the specific application.

[0122] Exemplary computer-readable storage media

[0123] As a fifth aspect of this application, this application provides a computer-readable storage medium storing a computer program for performing the steps in the motor resolver simultaneous hardware and software decoding methods of the various embodiments described above.

[0124] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0125] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information. When the computer program information is run by a processor, it causes the processor to execute the steps in the simultaneous soft and hard decoding method for motor resolver of various embodiments of this application.

[0126] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0127] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0128] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0129] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

Claims

1. A method for simultaneous soft and hard decoding of a motor resolver, characterized in that, include: Acquire the excitation signal output by the rotary transformer decoding chip and the feedback signal from the sine and cosine windings of the rotary transformer; The excitation signal output from the rotary transformer decoding chip is differentially converted to generate a differential signal; The differential signal is compared with the zero-crossing value to output the sign signal; The feedback signals from the sine and cosine windings of the rotary transformer are shaped based on the symbolic signals. The outer envelope of the shaped sine and cosine winding feedback signal is extracted by integration, and the first motor resolver angle is output. The second motor resolver angle output by the resolver decoding chip is obtained, wherein the second motor resolver angle is the output of the resolver after processing the feedback signal of the sine and cosine windings; The motor resolver angle is determined based on the resolver angles of the first motor and the second motor.

2. The method for simultaneous hardware and software decoding of a motor resolver according to claim 1, characterized in that, Before comparing the differential signal with the zero-crossing value, the method further includes: The zero-crossing value is corrected so that the center point of the differential signal is the zero-crossing value.

3. The method for simultaneous soft and hard decoding of motor resolvers according to claim 2, characterized in that, Corrections are made to the zero-crossing values, including: The zero-crossing value is compared with the differential signal, and a square wave signal is output. When the high level in the square wave signal is not 50%, the zero-crossing value is corrected so that the high level in the square wave signal is 50%.

4. The method for simultaneous hardware and software decoding of a motor resolver according to claim 1, characterized in that, The differential signal is compared with the zero-crossing value, and the sign signal is output, including: When the differential signal is greater than the zero-crossing value, the sign signal is at a high level; When the differential signal is less than or equal to the zero-crossing value, the sign signal is at a low level.

5. The method for simultaneous hardware and software decoding of a motor resolver according to claim 1, characterized in that, Shaping the sine and cosine winding feedback signals output from the rotary transformer based on the symbol signal includes: The symbol signal is multiplied by the sine and cosine winding feedback signal of one cycle of the rotary transformer output, so that the negative values ​​in the sine and cosine winding feedback signal are shaped into positive values.

6. The method for simultaneous hardware and software decoding of a motor resolver according to claim 1, characterized in that, Before shaping the sine and cosine winding feedback signals output by the rotary transformer based on the symbol signal, the method further includes: The symbol signal is corrected to eliminate the delay between the excitation signal output by the rotary transformer decoding chip and the sine and cosine winding feedback signal output by the rotary transformer.

7. The method for simultaneous hardware and software decoding of a motor resolver according to claim 6, characterized in that, The correction of the symbol signal includes: The first moment corresponding to the first positive value of the sine and cosine winding feedback signals output by the rotary transformer and the second moment corresponding to the first rising edge of the sign signal are obtained respectively. Calculate the difference between the first time point and the second time point; When the difference between the first and second time points is not zero, the symbol signal is corrected based on the difference between the first and second time points.

8. A motor resolver simultaneous soft and hard decoding device, characterized in that, include: The data acquisition module is used to acquire the excitation signal output by the rotary transformer decoding chip and the sine and cosine winding feedback signals output by the rotary transformer. The differential conversion module is used to differentially convert the excitation signal output by the rotary transformer decoding chip to generate a differential signal; The fast comparison module is used to compare the differential signal with the zero-crossing value of the processing unit to output the sign signal; The shaping module is used to shape the sine and cosine winding feedback signals output by the rotary transformer based on the sign signal; The first calculation module is used to integrate the shaped sine and cosine winding feedback signals to extract the outer envelope and output the first motor resolver angle. The second calculation module is used by the rotary transformer decoding chip to process the sine and cosine winding feedback signals of the rotary transformer output and calculate the second motor resolver angle. The determination module is used to determine the motor resolver angle based on the resolver angles of the first motor and the second motor.

9. A vehicle, characterized in that, include: The motor resolver simultaneous soft and hard decoding device as described in claim 8.

10. An electronic device, characterized in that, include: Memory; A processor and a computer program stored in the memory and capable of running on the processor; When the processor executes the computer program, it implements the simultaneous soft and hard decoding method for motor resolvers as described in any one of claims 1 to 7.

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