Motor control method, electronic equipment, storage medium and computer program product

Abstract

The invention provides a motor control method, electronic equipment, a storage medium and a computer program product, and relates to the technical field of vehicle motor control, and the method comprises the steps: carrying out the sampling processing of an eddy current position sensor signal of a vehicle driving motor, and obtaining a sensor sampling signal; performing digital filtering on the sensor sampling signal through a target cascade integrator comb filter to obtain a control signal of the driving motor; and performing anti-shake control on the driving motor based on the control signal. According to the invention, vehicle shaking can be actively inhibited in a low-cost manner, and the driving comfort of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle motor control technology, and in particular to a motor control method, electronic device, storage medium, and computer program product. Background Technology

[0002] Currently, the continuous development of electrification system technology provides technical support for the innovation of vehicle power systems. Among them, hybrid technology, with its advantages of integrating traditional fuel power with electric drive, can effectively reduce vehicle fuel consumption and pollutant emissions, and has become a key technical path to achieve the energy conservation and emission reduction goals of the automotive industry at this stage.

[0003] However, hybrid systems have obvious technical defects in practical applications: when the vehicle is driving at low speeds, the motor that drives the vehicle is prone to speed fluctuations. These fluctuations are dynamically coupled with the transmission system (such as the clutch and gearbox) and are mapped to the wheels through the transmission link, causing the vehicle to vibrate at low speeds. This seriously affects the smoothness of the vehicle's ride and reduces the user's driving experience. Summary of the Invention

[0004] The main objective of this application is to provide a motor control method, electronic device, storage medium, and computer program product, which aims to actively suppress vehicle vibration in a low-cost manner, thereby improving vehicle driving comfort.

[0005] To achieve the above objectives, a first aspect of this application provides a motor control method, the method comprising: The eddy current position sensor signal of the vehicle drive motor is oversampled to obtain the sensor sampling signal; The sensor sampling signal is digitally filtered by a target cascaded integral comb filter to obtain the control signal for the drive motor; The drive motor is subjected to anti-vibration control based on the control signal.

[0006] In some embodiments, the digital filtering of the sensor sampled signal by a target cascaded integrator comb filter includes: The sensor sampling signal is input into the target cascaded integrator comb filter; The target cascaded integral comb filter filters out noise signals in the sensor sampling signal, and extracts the sensor sampling signal after noise removal to synchronize the sampling frequency of the sensor sampling signal after noise removal with the fundamental frequency of the drive motor. Wherein, the noise signal is the sampling signal in the sensor sampling signal whose sampling frequency is higher than the new Nyquist frequency; the target cascaded integrator-comb filter decimates the sensor sampling signal after the noise signal is filtered out according to the downsampling point corresponding to the fundamental frequency; the sampling frequency is synchronized with the fundamental frequency in that the sampling frequency of the sampling signal decimated by the target cascaded integrator-comb filter is an integer multiple of the fundamental frequency.

[0007] In some embodiments, the method further includes: Obtain a third-order decimation cascaded integrator comb filter; The target cascaded integrator-comb filter is obtained by increasing the oversampling factor of the third-order decimation cascaded integrator-comb filter.

[0008] In some embodiments, the method further includes: The sensor sampling signal is digitally filtered by a target filter group to obtain the control signal of the drive motor; the target filter group includes a pre-filter, a target cascaded integrator comb filter, and a finite impulse response filter group.

[0009] In some embodiments, the digital filtering of the sensor sampled signal using a filter group includes: Obtain the first group delay processing strategy of the target filter group; the first group delay processing strategy is used to indicate the shutdown of pre-filtering; The pre-filter is turned off according to the first group delay processing strategy; The sensor sampling signal is digitally filtered using the target cascaded integral comb filter and the finite impulse response filter group.

[0010] In some embodiments, the digital filtering of the sensor sampled signal using a filter group includes: Obtain the second group delay processing strategy for the target filter group; the second group delay processing strategy is used to indicate the disabling of linear phase filtering; The linear phase filter in the finite impulse response filter group is turned off according to the second group delay processing strategy. The sensor sampling signal is digitally filtered by the pre-filter, the target cascaded integrator comb filter, and the zero-phase filter in the finite impulse response filter group.

[0011] In some embodiments, the digital filtering of the sensor sampled signal using a filter group includes: Obtain the third group delay processing strategy of the target filter group; the third group delay processing strategy is used to indicate the shutdown of pre-filtering and linear phase filtering; The pre-filter and the linear phase filter in the finite impulse response filter group are turned off according to the group delay processing strategy. The sensor sampling signal is digitally filtered using the target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group.

[0012] In some embodiments, the anti-shake control of the drive motor based on the control signal includes: The angle change data of the drive motor is determined based on the control signal; The angle change data is compared with a preset angle update threshold to obtain a comparison result; the angle update threshold is greater than the original angle update threshold for controlling the drive motor. If the comparison result indicates that the angle change data is greater than the angle update threshold, the drive motor is subjected to angle update processing to obtain the updated angle of the drive motor; The drive motor is subjected to anti-shake control based on the updated angle.

[0013] In some embodiments, the oversampling processing of the eddy current position sensor signal of the vehicle drive motor includes: The sinusoidal and / or cosine signals of the eddy current position sensor are oversampled.

[0014] To achieve the above objectives, a second aspect of this application provides a motor control device, the device comprising: The oversampling module is used to oversample the eddy current position sensor signal of the vehicle drive motor to obtain the sensor sample signal; The digital filtering module is used to digitally filter the sensor sampling signal through a target cascaded integral comb filter to obtain the control signal of the drive motor; The anti-shake control module is used to perform anti-shake control on the drive motor based on the control signal.

[0015] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the motor control method described in the first aspect.

[0016] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motor control method described in the first aspect.

[0017] To achieve the above objectives, a fifth aspect of the present application provides a computer program product, which includes a computer program that, when executed by a processor, implements the motor control method provided in the first aspect above.

[0018] The motor control method, apparatus, electronic device, computer-readable storage medium, and computer program product proposed in this application obtain a sensor sampling signal by oversampling the eddy current position sensor signal of the vehicle drive motor; digitally filtering the sensor sampling signal through a target cascaded integral comb filter to obtain a control signal for the drive motor; and performing anti-shake control on the drive motor based on the control signal.

[0019] Thus, this embodiment of the application uses oversampling to process the eddy current position sensor signal of the vehicle drive motor, obtaining a sensor sampling signal. This sensor sampling signal is then digitally filtered using a target cascaded integral comb filter to obtain the control signal for the drive motor, enabling anti-vibration control. This disperses high-frequency noise energy out of band, effectively suppressing high-frequency noise. Furthermore, compared to traditional methods of vibration suppression by increasing system damping and appropriately increasing system rotational inertia, this embodiment of the application uses oversampling technology to improve accuracy through software algorithms, reducing reliance on high-precision Hall elements and other hardware sensors. This allows for proactive suppression of vehicle vibration at a low cost, thereby improving driving comfort. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a dual-motor hybrid system. Figure 2 A flowchart illustrating the steps of the motor control method provided in some embodiments of this application; Figure 3 This is a diagram showing the comparison of extraction rate multiples; Figure 4 A schematic diagram of the cascaded integrator comb filter structure involved in some embodiments of the motor control method provided in this application; Figure 5 for Figure 2 A detailed flowchart of step S202; Figure 6 A flowchart illustrating the steps of the motor control method provided in some other embodiments of this application; Figure 7 A schematic diagram of the filter chain structure involved in some embodiments of the motor control method provided in this application; Figure 8 for Figure 6A detailed flowchart of step S601; Figure 9 for Figure 6 A schematic diagram of another detailed step in step S601; Figure 10 for Figure 6 A flowchart illustrating another detailed step in step S601; Figure 11 for Figure 2 A detailed flowchart of step S203; Figure 12 A schematic diagram of the motor control principle designed in some embodiments of the motor control method provided in this application; Figure 13 This is a schematic diagram of the structure of the motor control device provided in the embodiments of this application; Figure 14 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] It should be noted that although functional modules are divided in the device / system schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device / system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0024] First, the overall concept of the motor control method provided in the embodiments of this application will be explained.

[0025] Currently, the continuous development of electrification system technology provides technical support for the innovation of vehicle power systems. Among them, hybrid technology, with its advantages of integrating traditional fuel power with electric drive, can effectively reduce vehicle fuel consumption and pollutant emissions, and has become a key technical path to achieve the energy conservation and emission reduction goals of the automotive industry at this stage.

[0026] However, hybrid systems have obvious technical defects in practical applications: when the vehicle is driving at low speeds, the motor that drives the vehicle is prone to speed fluctuations. These fluctuations are dynamically coupled with the transmission system (such as the clutch and gearbox) and are mapped to the wheels through the transmission link, causing the vehicle to vibrate at low speeds. This seriously affects the smoothness of the vehicle's ride and reduces the user's driving experience.

[0027] In view of this, embodiments of this application provide a motor control method, device, electronic device, computer-readable storage medium, and computer program product, which aim to overcome the shortcomings of the above-mentioned related technologies, actively suppress vehicle vibration in a low-cost manner, thereby improving the driving comfort of the vehicle.

[0028] In this embodiment, the eddy current position sensor signal of the vehicle drive motor is oversampled to obtain a sensor sampling signal; the sensor sampling signal is digitally filtered by a target cascaded integral comb filter to obtain a control signal for the drive motor; and the drive motor is subjected to anti-shake control based on the control signal.

[0029] Thus, this embodiment of the application uses oversampling to process the eddy current position sensor signal of the vehicle drive motor, obtaining a sensor sampling signal. This sensor sampling signal is then digitally filtered using a target cascaded integral comb filter to obtain the control signal for the drive motor, enabling anti-vibration control. This disperses high-frequency noise energy out of band, effectively suppressing high-frequency noise. Furthermore, compared to traditional methods of vibration suppression by increasing system damping and appropriately increasing system rotational inertia, this embodiment of the application uses oversampling technology to improve accuracy through software algorithms, reducing reliance on high-precision Hall elements and other hardware sensors. This allows for proactive suppression of vehicle vibration at a low cost, thereby improving driving comfort.

[0030] It should be noted that the embodiments of this application can perform anti-vibration control on the drive motor of a vehicle in a dual-motor hybrid system, thereby actively suppressing vehicle vibration. For example... Figure 1 As shown, the dual-motor hybrid system has three motor modes: pure electric mode, series mode, and parallel mode. In pure electric mode, the battery directly supplies power to the drive motor P2, which drives the wheels. In series mode, the clutch C0 is not engaged, and the engine charges the battery through the charging motor P1, while the drive motor P2 drives the wheels. In parallel mode, the clutch C0 is engaged, and the engine ENG directly participates in driving the wheels.

[0031] Furthermore, embodiments of this application can also perform anti-vibration control on the drive motors of vehicles in three-motor hybrid systems or even four-motor hybrid systems, thereby actively suppressing vehicle vibration. It should be understood that, based on different design needs in practical applications, hybrid systems can naturally have different numbers of motors in different feasible implementations. Embodiments of this application do not limit the specific number of motors in a hybrid system. As long as the hybrid system contains a vehicle drive motor, embodiments of this application can perform anti-vibration control on that drive motor, thereby actively suppressing the vibration phenomenon caused by motor vibration, thereby improving the vehicle's drivability, comfort, and safety.

[0032] Next, the motor control method, apparatus, electronic device, computer-readable storage medium, and computer program product provided in this application will be specifically described through the following embodiments, and firstly, the various detailed embodiments of the motor control method provided in this application will be described in detail.

[0033] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0034] It should be noted that the motor control method provided in this application embodiment can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be an in-vehicle terminal device (e.g., a drive motor controller, an in-vehicle computing platform, etc.) or a terminal device associated with the vehicle. The association between the terminal device and the vehicle means that the terminal device can communicate and interact with the vehicle via a network. Furthermore, the terminal can also be a smartphone, tablet, laptop, desktop computer, or other computer device. The server can be a backend server terminal device, which can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The software can be an application implementing the motor control method, a computer program, and a storage medium carrying the computer program. It should be understood that, based on different design needs of practical applications, the terminals, servers, and software that apply the motor control method provided in this application may also be in other forms not listed here, and the motor control method provided in this application does not specifically limit these.

[0035] Furthermore, this application can also be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer computer devices, personal computers (PCs), minicomputers, mainframe computers, vehicles, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0036] For ease of understanding and explanation, the following text will use the application of the motor control method provided in the embodiments of this application in a terminal device as an example to describe the various specific embodiments of this application in detail. The implementation of the motor control method provided in the embodiments of this application in any other form of subject can refer to the process of applying the motor control method in a terminal device as described below.

[0037] Please refer to Figure 2 , Figure 2 The flowchart illustrates the steps of the motor control method provided in some embodiments of this application. It should be understood that, although... Figure 2 The flowcharts illustrating subsequent steps show the execution order of some method steps. However, based on different design needs in practical applications, the motor control method provided in this application embodiment can, of course, employ a different execution order of method steps than shown in the figures. That is, Figure 2 The order of the method steps shown does not constitute a limitation on the execution logic order of the motor control method provided in the embodiments of this application. Any other order based on... Figure 2 Reasonable changes to the sequence of steps shown should be included within the protection scope of the motor control method provided in the embodiments of this application.

[0038] like Figure 2 As shown, in some embodiments, the motor control method provided in this application may include steps S201 to S203 as shown below.

[0039] Step S201: Oversample the eddy current position sensor signal of the vehicle drive motor to obtain the sensor sampling signal.

[0040] It should be noted that the eddy current position sensor signal is a sensor signal that is collected in real time by the eddy current position sensor of the drive motor and reported to the terminal device. For example, the eddy current position sensor signal can be a sensor signal that is collected in real time and reported by a high-precision position feedback sensor such as an encoder. Furthermore, the eddy current position sensor signal can be the original sine sin / cosine cos signal of the resolver.

[0041] During the process of suppressing vehicle vibration, the terminal device continuously oversamples the eddy current position sensor signal of the vehicle drive motor at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal of the drive motor.

[0042] In some embodiments, the sensor signal acquired and reported in real time by the eddy current position sensor of the drive motor is typically an analog signal. Based on this, the terminal device can oversample this analog signal using a Σ-Δ modulator at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal of the drive motor.

[0043] Step S202: The sensor sampling signal is digitally filtered by a target cascaded integrator comb filter to obtain the control signal of the drive motor.

[0044] It should be noted that the target cascaded integrator-comb filter is one type of cascaded integrator-comb filter (CIC). The cascaded integrator-comb filter (CIC) is a simple yet highly efficient low-pass filter. Cascading three comb filters (CIC3) can improve frequency characteristics, and the decimation rate can be programmed within the range of 4 to 512. Among these, such as... Figure 3 As shown, if the decimation rate is not a multiple of 2^n, the resulting value will not match the average. To synchronize filters across different channels with fine granularity, the decimation counter starts with an arbitrary initial value, which can differ from the decimation factor, and is loaded only once when the counter starts. The decimation counter also restarts (i.e., loads the initial value) when the selected integration trigger event occurs.

[0045] In some embodiments, the target cascaded integrator-comb filter is a three-stage cascaded integrator-comb filter CIC3. For example... Figure 4 As shown, the three-stage cascaded integrator-comb filter CIC3 is a third-order decimation CIC filter, commonly used for decimation and interpolation processing in oversampling. It contains three integrators and three derivatives. After discretization, the derivative and integrators of CIC3 are converted into adders and subtractors.

[0046] In addition, the target cascaded integrator comb filter performs digital filtering on the sensor sampled signal and downsamples the sensor sampled signal to output a control signal (also known as a baseband signal, fundamental signal, etc.).

[0047] After the terminal device obtains the sensor sampling signal of the drive motor through oversampling technology, it inputs the sensor sampling signal into the target cascaded integrator-comb filter. The target cascaded integrator-comb filter performs digital filtering and downsampling on the sensor sampling signal to obtain the control signal output by the target cascaded integrator-comb filter. This control signal is used to perform anti-shake control on the drive motor.

[0048] Step S203: Perform anti-shake control on the drive motor based on the control signal.

[0049] After receiving the control signal from the drive motor, the terminal device further performs real-time angle calculation and angle update processing based on the control signal, and finally performs anti-shake PID control on the drive motor based on the angle information obtained from the angle update.

[0050] In some embodiments, when the terminal device performs anti-jitter control on the drive motor based on the control signal, it can obtain the AC component in the α-β stationary coordinate system by performing an inverse Park transform on the control signal, and then track the phase of the AC component through a phase-locked loop (PLL) to output the real-time angle of the drive motor rotor. The terminal device then updates this real-time angle synchronously with the motor control cycle and smooths the updated angle to suppress abnormal jumps, obtaining a smoothed angle for feedback. Finally, based on the deviation between the target angle of the drive motor and the smoothed angle, the terminal device calculates a voltage control command through a position loop PID controller, converts the voltage control command into a voltage component in the α-β coordinate system through a Park transform, and then generates a drive signal through space vector pulse width modulation (SVPWM) to control the drive motor operation to suppress jitter.

[0051] In some embodiments, when the terminal device performs anti-shake control on the drive motor based on the control signal, it can also preprocess the control signal to obtain a purified control signal, and then perform real-time angle calculation and angle update processing based on the purified control signal, thereby performing anti-shake PID control on the drive motor based on the angle information obtained from the angle update. In this process, the terminal device can perform bias calibration and noise filtering on the control signal during preprocessing to obtain the purified control signal.

[0052] In this embodiment, during vehicle vibration suppression, the terminal device continuously oversamples the eddy current position sensor signal of the vehicle drive motor at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal of the drive motor. Then, the terminal device inputs this sensor sampling signal to a target cascaded integrator-comb filter, which performs digital filtering and downsampling on the sensor sampling information to obtain the control signal output by the target cascaded integrator-comb filter. This control signal is used for anti-shake control of the drive motor. Finally, the terminal device performs real-time angle calculation and angle update processing based on this control signal, and then performs anti-shake PID control on the drive motor based on the angle information obtained from the angle update.

[0053] Thus, this embodiment of the application uses oversampling to process the eddy current position sensor signal of the vehicle drive motor, obtaining a sensor sampling signal. This sensor sampling signal is then digitally filtered using a target cascaded integral comb filter to obtain the control signal for the drive motor, enabling anti-vibration control. This disperses high-frequency noise energy out of band, effectively suppressing high-frequency noise. Furthermore, compared to traditional methods of vibration suppression by increasing system damping and appropriately increasing system rotational inertia, this embodiment of the application uses oversampling technology to improve accuracy through software algorithms, reducing reliance on high-precision Hall elements and other hardware sensors. This allows for proactive suppression of vehicle vibration at a low cost, thereby improving driving comfort.

[0054] In some embodiments, the eddy current position sensor of the drive motor includes an eddy current sensor. In this case, the step of "oversampling the eddy current position sensor signal of the vehicle drive motor" in step S101 described above may include the following steps: The sinusoidal and / or cosine signals of the eddy current sensor resolver are oversampled.

[0055] During vehicle vibration suppression, the terminal device continuously oversamples the sinusoidal signal of the resolver generated by the eddy current sensor of the vehicle's drive motor at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal for the drive motor. Alternatively, the terminal device continuously oversamples the cosine signal of the resolver generated by the eddy current sensor at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal for the drive motor. Or, the terminal device simultaneously oversamples both the sinusoidal and cosine signals of the resolver generated by the eddy current sensor at a rate much higher than the Nyquist frequency to obtain the sensor sampling signal for the drive motor.

[0056] In some embodiments, the motor control method provided in this application may further include the following steps: Obtain a third-order decimation cascaded integrator comb filter.

[0057] The target cascaded integrator-comb filter is obtained by increasing the oversampling factor of the third-order decimation cascaded integrator-comb filter.

[0058] Before formally suppressing vehicle vibration, the terminal device can first design a cascaded integrator-comb filter to obtain a target cascaded integrator-comb filter for subsequent digital filtering and downsampling of the oversampled sensor signals. In the process of designing the cascaded integrator-comb filter, the terminal device first selects a third-order decimation cascaded integrator-comb filter, CIC3.

[0059] In some embodiments, considering that oversampling techniques typically require a 4x increase in sampling rate to improve resolution by 1 bit (for example, a 4x increase in oversampling rate results in a 1-bit increase in resolution), 64-point oversampling means an oversampling factor of 64x, thus 64 samples can improve resolution by 3 bits (because 4^3 = 64). Therefore, the terminal device selects a third-order decimation cascaded integrator comb filter (CIC3), commonly used for decimation and interpolation in oversampling. This ensures the filtering effect of subsequent digital filtering of the oversampled sensor signal. Figure 4 As shown, the third-order decimation cascaded integrator comb filter CIC3 corresponds to a three-stage filter structure, which includes three integrators and three derivatives. After discretization, the derivatives and integrators of the third-order decimation cascaded integrator comb filter CIC3 are converted into adders and subtractors.

[0060] In the process of designing a cascaded integrator-comb filter, after selecting a third-order decimation cascaded integrator-comb filter CIC3, the terminal device further designs oversampling points for this filter. Specifically, the terminal device increases the oversampling factor of CIC3 to improve the sampling rate. In this way, the terminal device can obtain the target cascaded integrator-comb filter after incorporating oversampling into the CIC filtering design.

[0061] In some embodiments, when designing oversampling points, the terminal device can increase the number of oversampling points of the third-order decimation cascaded integrator comb filter (CIC3) from 64 to 512 to improve the sampling rate, thereby enhancing the quantization noise suppression capability.

[0062] This increases the oversampling points of the third-order decimation-cascaded integrator-comb filter (CIC3) from 64 to 512, and the decimation factor R also increases from 64 to 512. Quantization noise is dispersed across a wider frequency band (0 ~ R·Fs / 2), and the noise power spectral density is reduced to 1 / 8 of its original value (3dB noise reduction for every 4x increase), thus significantly improving the signal-to-noise ratio (SNR) (enhanced quantization noise suppression capability). Combined with the integral characteristics of the CIC filter, every 4x increase in oversampling rate increases the effective resolution by 1 bit; a 512x oversampling rate increases the resolution by approximately 2 bits.

[0063] Increase resolution bit depth = (OSR)= (64) = 3 bits.

[0064] Since the relationship between the oversampling factor and the data update rate is crucial, before adding the third-order decimation cascaded integrator-comb filter (CIC3) oversampling points, the data update rate corresponding to an oversampling factor of 64 is 6.4µs, and the sampling rate is 10MHz. The calculation method is as follows: if the update period is 6.4µs, then the corresponding output rate is 1 / 6.4µs ≈ 156.25kHz. However, if the oversampling factor is 64, the sampling rate of the original analog signal ADC should be 156.25kHz × 64 ≈ 10MHz.

[0065] Among these, the output rate (ODR) is calculated using the formula for oversampling 64 points and a data update rate of 6.4µs: = .

[0066] The formula for calculating the actual sampling rate of an ADC with oversampling of 64 points and a data update rate of 6.4µs is as follows: .

[0067] After adding a third-order decimation cascaded integrator comb filter (CIC3) with oversampling points, the oversampling is increased by 512 times, and the data update rate is 25µs. Therefore, the actual sampling rate should be the reciprocal of the data update rate multiplied by the oversampling factor, i.e., 1 / 25µs = 40kHz. Multiplying this by 512 gives a sampling rate of 20.48MHz.

[0068] In this case, the output rate ODR (Output Direct Rate) is calculated using the formula for oversampling 512 points and a data update rate of 25µs: = .

[0069] The formula for calculating the actual sampling rate of an ADC with oversampling of 512 points and a data update rate of 25µs is as follows: .

[0070] Please refer to Figure 5 , Figure 5 for Figure 2 A detailed flowchart of step S202.

[0071] like Figure 5 As shown, in some embodiments, the step of "digitally filtering the sensor sampling signal by means of a target cascaded integrator comb filter" in step S202 above may include steps S501 and S502 as shown below.

[0072] Step S501: Input the sensor sampling signal into the target cascaded integrator comb filter; Step S502: The noise signal in the sensor sampling signal is filtered out by the target cascaded integrator comb filter, and the sensor sampling signal after the noise signal is filtered out is extracted to synchronize the sampling frequency of the sensor sampling signal after the noise signal is filtered out with the fundamental frequency of the drive motor.

[0073] It should be noted that the noise signal is the sampling signal in the sensor sampling signal with a sampling frequency higher than the new Nyquist frequency; the target cascaded integrator-comb filter performs decimation processing on the sensor sampling signal after filtering out the noise signal according to the downsampling point corresponding to the fundamental frequency; the sampling frequency is synchronized with the fundamental frequency in that the sampling frequency of the sampling signal decimated by the target cascaded integrator-comb filter is an integer multiple of the fundamental frequency.

[0074] After the terminal device performs oversampling design using a cascaded integrator-comb filter to obtain the target cascaded integrator-comb filter, it inputs the oversampled sensor sampling signal into the target cascaded integrator-comb filter when suppressing vehicle vibration. The target cascaded integrator-comb filter then filters out noise signals from the sensor sampling signal. Furthermore, it performs decimation processing on the noise-filtered sensor sampling signal to synchronize the sampling frequency of the noise-filtered sensor sampling signal with the fundamental frequency of the drive motor.

[0075] In this embodiment, when the terminal device performs digital filtering on the sensor sampling signal through the target cascaded integrator-comb filter, the target cascaded integrator-comb filter performs noise filtering on the input sensor sampling data stream and reduces the data rate through a selectable decimation ratio. Here, for different fundamental frequencies, the target cascaded integrator-comb filter has different downsampling points, thus corresponding to different decimation ratios R. The purpose of the terminal device passing the asynchronously sampled sensor oversampled signal through the target cascaded integrator-comb filter (e.g., a CIC decimation filter) is to synchronize the sampling frequency of the sensor oversampled signal with the fundamental frequency of the signal (i.e., to be an integer multiple of the fundamental frequency, which can be 40MHz).

[0076] Please refer to Figure 6 , Figure 6 The following is a flowchart illustrating the steps of the motor control method provided in some other embodiments of this application.

[0077] like Figure 6 As shown, in some embodiments, the motor control method provided in this application may further include step S601 as shown below.

[0078] Step S601: The sensor sampling signal is digitally filtered by a target filter group to obtain the control signal of the drive motor; the target filter group includes a pre-filter, a target cascaded integrator comb filter, and a finite impulse response filter group.

[0079] After acquiring the sensor sampling signal of the drive motor using oversampling technology, the terminal device can either input the sensor sampling signal to a target cascaded integrator-comb filter for digital filtering and downsampling, or input it to a target filter group for digital filtering and downsampling to obtain the output control signal. This control signal is then used to perform anti-jitter control on the drive motor. During the digital filtering and downsampling process, the target filter group sequentially passes the input sensor sampling signal through multiple filter units (pre-filter, target cascaded integrator-comb filter, and finite impulse response filter group), and reduces the data rate using a selectable decimation factor.

[0080] In some embodiments, the target filter group can be as follows: Figure 7 The filter chain shown consists of a pre-filter, a CIC filter (target cascaded integrator comb filter), and FIR0 and FIR1 filters (a group of finite impulse response filters).

[0081] Please refer to Figure 8 , Figure 8 for Figure 6 A detailed flowchart of step S601.

[0082] like Figure 8 As shown, in some embodiments, the step of "digitally filtering the sensor sampling signal through a filter group" in step S601 above may include steps S801 to S803 as shown below.

[0083] Step S801: Obtain the first group delay processing strategy of the target filter group; the first group delay processing strategy is used to indicate the shutdown of pre-filtering; Step S802: Turn off the pre-filter according to the first group delay processing strategy; Step S803: The sensor sampling signal is digitally filtered using the target cascaded integrator comb filter and the finite impulse response filter group.

[0084] It should be noted that when the target filter group includes a pre-filter, a target cascaded integrator-comb filter, and a finite impulse response filter group, the group delay can be composed of the delay of the zero-phase filter FIR0, the delay of the linear-phase filter FIR1, the delay of the target cascaded integrator-comb filter CIC3, and the sum of fixed delays. Accordingly, the terminal device can design the delays of these modules separately to obtain the corresponding group delay processing strategy for the target filter group.

[0085] Before digitally filtering the sensor sampled signal using the target filter group, the terminal device can design a first group delay processing strategy for the target filter group based on the delay considerations of the digital signal processing system. This first group delay processing strategy is used to indicate the shutdown of pre-filtering. Thus, when digitally filtering the sensor sampled signal using the target filter group, if the overall delay of the digital signal processing is low, the terminal device can obtain the pre-constructed first group delay processing strategy and shut down the pre-filters in the target filter group according to this strategy, thereby disabling pre-filtering. Then, the terminal device can use the remaining un-shutdown target cascaded integrator comb filters in the target filter group and the zero-phase and linear-phase filters in the finite impulse response filter group to digitally filter the sensor sampled signal.

[0086] In some embodiments, the pre-filtering switch PRE is a preliminary processing step at the front end of the signal processing chain of the target filter group on the original input sensor sampled signal. Its main purpose is to create more optimized conditions for the core processing of other filter modules (such as decimation, noise reduction, decoding, etc.). That is, the pre-filtering switch PRE (0 indicates off, 1 indicates on) is mainly used to compress high-frequency noise and reduce effective delay. Wherein: When PRE is off (PRE=0): the CIC3 delay formula is as follows 3×(N 1) / 2, group delay grows linearly with N; When PRE is enabled (PRE=1): the CIC3 delay formula is as follows 3×(2N 1) / 2, by suppressing high-frequency components in advance through the pre-filter, the amount of invalid data that the integrator needs to process is reduced, thereby reducing the actual delay by 30~50%.

[0087] For example, when N=8, if PRE is turned off: CIC delay = 3 × 7 / 2 = 10.5 points, while if PRE is turned on: CIC delay = 3 × 15 / 2 = 22.5 points. That is, turning on PRE will lead to an increase in delay (in fact, because high-frequency noise is suppressed by pre-filtering, the actual delay of the effective signal is actually lower).

[0088] Therefore, the terminal equipment is designed to turn off the pre-filter switch, so that the group delay increases linearly with N, thereby compressing high-frequency noise and reducing the effective delay.

[0089] In some embodiments, the group delay characteristic of the target cascaded integrator-comb filter CIC3 is as follows: the group delay of the cascaded integrator-comb filter is proportional to the number of stages and the decimation factor (N), and is affected by the pre-filter switch (PRE). Typically, the cascaded delay formula for CIC3 is 3.5 × 2^PRE × N, and the delay doubles when the pre-filter is enabled (PRE = 1).

[0090] Therefore, the CIC3 filter delay formula is designed as follows: =3 × (2^PRE × N - 1) / 2, where PRE is the pre-filter and N is the decimation factor. Specifically, PRE = 0 (Prefilter off), and N = 512 (number of oversampling points). Calculated value: 3 × (512 - 1) / 2 = 766.5 cycles.

[0091] In some embodiments, the group delay characteristics of the finite impulse response filter group (including FIR0 and FIR1 filters) are as follows: the group delay of the linear phase filter FIR1 is a constant value, equal to half the filter order (i.e., (N... (1 / 2 sampling periods), independent of frequency. Influencing factors: The longer the order (length), the greater the group delay. Furthermore, symmetric structures can optimize resources while maintaining delay characteristics.

[0092] In some embodiments, the delay formula for zero-phase FIR0 filtering is designed as follows: =3.5 × 2^PRE × N, where PRE=0 and N=512, the calculated value is: 3.5 × 512 = 1792 cycles. The delay formula for the linear phase filter FIR1 is designed as follows: =13.5 × 2^PRE × N × F1, where parameter F1=0, i.e. FIR1 extraction is off, calculated value: 13.5 × 1 × 512 × 0 = 0 cycles.

[0093] Please refer to Figure 9 , Figure 9 for Figure 6 A schematic diagram of another detailed step in step S601.

[0094] like Figure 9As shown, in some embodiments, the step of "digitally filtering the sensor sampling signal through a filter group" in step S601 above may include steps S901 to S903 as shown below.

[0095] Step S901: Obtain the second group delay processing strategy of the target filter group; the second group delay processing strategy is used to indicate the disabling of linear phase filtering; Step S902: Turn off the linear phase filter in the finite impulse response filter group according to the second group delay processing strategy; Step S903: The sensor sampling signal is digitally filtered by the pre-filter, the target cascaded integrator comb filter, and the zero-phase filter in the finite impulse response filter group.

[0096] Considering the delay of the digital signal processing system, the terminal device can also design a second group delay processing strategy for the target filter group when designing the group delay. This second group delay processing strategy is used to instruct the disabling of linear phase filtering. Thus, when using the target filter group to digitally filter the sensor sampled signal, if the overall delay of the digital signal processing is low, the terminal device can obtain the pre-constructed second group delay processing strategy and disable the linear phase filters in the target filter group according to this strategy, thereby achieving linear phase filtering. Then, the terminal device can use the pre-filters that are not disabled in the target filter group, the target cascaded integrator comb filter, and the zero-phase filter in the finite impulse response filter group to digitally filter the sensor sampled signal.

[0097] It should be noted that the terminal device design disables the FIR1 filter, thereby directly eliminating its high latency contribution (originally, when enabled, the latency contribution could reach over 50%, which helps reduce group delay but may increase noise interference). Furthermore, due to the increase in CIC3 oversampling from 64 to 512, the terminal device design disables the FIR1 filter to reduce group delay, ensuring that the group delay does not exceed one cycle (group delay 63.9µs). By disabling the FIR1 filter to reduce latency, the CIC3 filter has a group delay decimation factor of 512, a level of 3, and an input sampling rate of 20.48MHz. This result meets the requirements.

[0098] Please refer to Figure 10 , Figure 10 for Figure 6 A flowchart illustrating another detailed step in step S601.

[0099] like Figure 10As shown, in some embodiments, the step of "digitally filtering the sensor sampling signal through a filter group" in step S601 above may include steps S1001 to S1003 as shown below.

[0100] Step S1001: Obtain the third group delay processing strategy of the target filter group; the third group delay processing strategy is used to indicate the shutdown of pre-filtering and linear phase filtering; Step S1002: Turn off the pre-filter and the linear phase filter in the finite impulse response filter group according to the group delay processing strategy; Step S1003: The sensor sampling signal is digitally filtered by the target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group.

[0101] The terminal device can also design a third group delay processing strategy for the target filter group by performing group delay design. This third group delay processing strategy is used to instruct the simultaneous shutdown of pre-filtering and linear phase filtering. Thus, when the terminal device performs digital filtering on the sensor sampled signal using the target filter group, if the overall delay of digital signal processing is high, the terminal device can obtain the pre-constructed third group delay processing strategy and then shut down the pre-filter in the target filter group and the linear phase filter in the finite impulse response filter group according to this strategy, thereby shutting down pre-filtering and linear phase filtering. In this way, the terminal device can use the remaining un-shutdown target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group to perform digital filtering on the sensor sampled signal.

[0102] In some embodiments, the fixed-delay design takes into account a fixed delay of 0.5 cycles for input synchronization, analog front-end, etc. As shown in Table 1 below, in a digital signal processing system, the group delay is mainly contributed by the following modules: Total number of cycles: 766.5 (CIC3) + 1792 (FIR0) + 0 (FIR1) + 1.5 (fixed) = 2558.5 cycles.

[0103] Clock cycle time: The system clock cycle is 25ns (from parameter sum × 25ns) 4.

[0104] Total group delay: 2500 × 25ns = 62475ns ≈ 63.9µs.

[0105] Table 1

[0106] In this embodiment, the above group delay design enables the terminal device to digitally filter the sensor sampled signal using the target filter group to meet the group delay requirements. This allows the overall system to combine oversampling and the target filter group to actively suppress jitter in the drive motor, improving both the sampling rate and meeting the group delay requirements.

[0107] Please refer to Figure 11 , Figure 11 for Figure 2 A detailed flowchart of step S203.

[0108] like Figure 11 As shown, in some embodiments, step S203 above: performing anti-shake control on the drive motor based on the control signal may include steps S1101 to S1104 as shown below.

[0109] Step S1101: Determine the angle change data of the drive motor based on the control signal.

[0110] When the terminal device performs real-time angle calculation and angle update processing based on the control signal, and performs anti-shake PID control on the drive motor based on the angle information obtained from the angle update, it first combines the arctangent operation (e.g., four-quadrant arctangent operation) to calculate the motor angle of the control signal to obtain the motor angle of the drive motor. Then, the terminal device compares the calculated motor angles of the drive motor before and after two consecutive times to obtain the angle difference between the two consecutive times, and determines the angle difference as the angle change data of the drive motor.

[0111] Step S1102: Compare the angle change data with a preset angle update threshold to obtain a comparison result; the angle update threshold is greater than the original angle update threshold for controlling the drive motor.

[0112] It's important to note that the angle update threshold is a core control parameter for motor control. It defines the criteria for triggering the system to update the "current angle" only when the deviation between the actual detected angle of the motor and the "current angle" recorded by the system reaches or exceeds a certain preset threshold. In other words, the angle update threshold acts as a "judgment threshold" to "filter out minor fluctuations and avoid invalid updates"—it doesn't immediately update the system record for any tiny change in the motor angle, but only when the change is sufficiently large (exceeding the threshold) is it considered a "valid angle change," thus updating the angle data for subsequent control.

[0113] In some embodiments, the terminal device may pre-design the angle update threshold for controlling the drive motor, that is, increase the original angle update threshold (e.g., 0.0069 rad / s) used to control the drive motor to obtain a new angle update threshold. For example, the original angle update threshold of 0.0069 rad / s may be increased to 0.1 rad / s.

[0114] After determining the angle change data of the drive motor, the terminal device compares the angle change data with the preset angle update threshold of 0.1 rad / s to obtain the comparison result. This comparison result can at least characterize the relationship between the angle change data and the angle update threshold of 0.1 rad / s.

[0115] Step S1103: If the comparison result indicates that the angle change data is greater than the angle update threshold, perform angle update processing on the drive motor to obtain the updated angle of the drive motor; After the terminal device obtains the comparison result between the angle change data of the drive motor and the angle update threshold of 0.1 rad / s, if the comparison result indicates that the angle change data is greater than the angle update threshold of 0.1 rad / s, then the terminal device performs angle update processing on the drive motor to obtain the updated angle of the drive motor.

[0116] Step S1104: Perform anti-shake control on the drive motor based on the updated angle.

[0117] After the terminal device updates the angle of the drive motor to obtain the updated angle, it further calculates the voltage control command based on the updated angle (for example, by calculating the voltage control command through the position loop PID controller). Then, the voltage control command is converted into voltage components in the α-β coordinate system through Park transformation. After that, the voltage components are generated into a drive signal through space vector pulse width modulation. The drive signal is then used to control the operation of the drive motor, thereby actively suppressing the jitter generated by the drive motor.

[0118] In this embodiment, oversampling technology is used to oversample the eddy current position sensor signal of the drive motor. Then, digital filtering and downsampling are combined to obtain the control signal. Finally, based on the control signal, motor angle-related information is calculated to actively control the drive motor. This achieves improved motor control accuracy through software algorithms, reduces reliance on hardware sensors (such as high-precision Hall elements), and achieves a trade-off between low cost and high performance. Furthermore, this embodiment addresses the electrical field by introducing oversampling combined with a CIC filter to effectively suppress high-frequency noise, thereby achieving active control of drive motor vibration and effectively improving vehicle drivability, comfort, and safety.

[0119] The following is a complete embodiment of the motor control method provided in this application.

[0120] Please refer to Figure 12 , Figure 12 The schematic diagram of the motor control principle designed in some embodiments of the motor control method provided in this application is shown.

[0121] like Figure 12 As shown, the motor control method provided in this application embodiment can be implemented according to the following process.

[0122] First, the position / speed sensor of the drive motor acquires the position θ signal of the motor rotor. The acquired sensor signal (i.e., the motor rotor position θ signal) is processed by the "oversampling and group delay design" module to obtain the control signal. Here, the oversampling design improves the signal sampling resolution and reduces the impact of noise, while the group delay design corrects the phase delay during sensor signal transmission / processing, ensuring the accuracy of the control timing. After processing, the control signal yields an accurate motor speed, which is then used for subsequent torque and current control of the drive motor.

[0123] Furthermore, the externally input "torque request" first enters the "active damping control" module. This module increases system damping through algorithms to suppress oscillations (such as mechanical resonance) in the drive motor (or load), optimize dynamic stability, and output an adjusted torque signal. The id / iq lookup table is used to output d-axis current reference values ​​(idref) and q-axis current reference values ​​(iqref) based on the adjusted "final torque request" and "preprocessed motor speed," according to preset motor control strategies (such as maximum torque-to-current ratio (MTPA), field weakening control, etc.) and the torque demand and speed. (In a permanent magnet synchronous motor (PMSM), (i_q) mainly determines the electromagnetic torque, and (i_d) is used for flux control.)

[0124] Furthermore, the current sensor collects the three-phase stator current (i_a, i_b, i_c) of the motor, and converts the current in the three-phase stationary coordinate system (ABC axis) into the current in the two-phase stationary coordinate system (α-β axis) (i_α, i_β) through Clark transformation; then, through Park transformation, (i_α, i_β) are converted into the current (i_d) (d-axis current) and (i_q) (q-axis current) in the dq coordinate system that rotates synchronously with the rotor.

[0125] Finally, the deviation between (idref) and the actual (i_d) is input to the d-axis PI controller; the deviation between (iqref) and the actual (i_q) is input to the q-axis PI controller. The PI controllers, through proportional-integral action, eliminate current deviations and output d-axis voltage reference values ​​(U_d) and q-axis voltage reference values ​​(U_q) respectively. The Park inverse converter module converts (U_d, U_q) in the dq coordinate system into voltages (U_α, U_β) in a two-phase stationary coordinate system (α-β axes). Space vector pulse width modulation (SVPWM) generates optimized PWM pulse signals based on (U_α, U_β), precisely controlling the on / off timing of the inverter's switching transistors. The inverter receives the SVPWM PWM signal, inverts the DC bus voltage (U_s) into a three-phase AC voltage, and applies it to the stator windings of the permanent magnet synchronous motor (PMSM), driving the motor to operate at the desired torque and speed.

[0126] In this embodiment, oversampling combined with a CIC filter effectively suppresses high-frequency noise, making it suitable for precision measurement scenarios. Oversampling samples the analog signal at a rate much higher than the Nyquist frequency (e.g., using a Σ-Δ modulator). The sampled signal is then digitally filtered and downsampled to disperse high-frequency noise energy out of band, thereby increasing the effective bit depth. Furthermore, for angle signals, the original sine / cosine signal from the encoder or resolver is oversampled and then combined with arctangent operations to improve rotor position resolution. Moreover, the CIC filter (e.g., CIC3) increases the oversampling points from 64 to 512, increasing the sampling rate (from 10MHz to 20MHz) and enhancing quantization noise suppression capabilities.

[0127] Due to the group delay characteristics of the CIC filter: the group delay of the cascaded integrator-comb filter is proportional to the number of stages and the decimation factor (N), and is affected by the pre-filter switch (PRE). The CIC3 oversampling points increase from 64 to 512, increasing the delay. Therefore, the group delay needs to be designed. The group delay is composed of the accumulated delays of the following modules: FIR0 filter delay, FIR1 filter delay, CIC3 filter delay, and fixed delay. To reduce the group delay, the pre-filter switch is turned off, causing the group delay to increase linearly with N, thereby compressing high-frequency noise and reducing the effective delay. Simultaneously, the FIR1 filter is also turned off, directly eliminating its high delay contribution (originally, when enabled, the delay contribution could reach over 50%, which helps reduce the group delay but may increase noise interference).

[0128] Please see Figure 13 This application also provides a motor control device, which can implement the above-described motor control method.

[0129] like Figure 13 As shown, the motor control device provided in this embodiment includes an oversampling module 1301, a digital filtering module 1302, and a jitter control module 1303. Among them, The oversampling module 1301 is used to oversample the eddy current position sensor signal of the vehicle drive motor to obtain the sensor sampling signal; Digital filtering module 1302 is used to digitally filter the sensor sampling signal through a target cascaded integral comb filter to obtain the control signal of the drive motor; The anti-shake control module 1303 is used to perform anti-shake control on the drive motor based on the control signal.

[0130] In some embodiments, the digital filtering module 1302 is further configured to input the sensor sampling signal into a target cascaded integrator-comb filter; filter out noise signals in the sensor sampling signal through the target cascaded integrator-comb filter, and perform extraction processing on the sensor sampling signal after filtering out noise signals, and synchronize the sampling frequency of the sensor sampling signal after filtering out noise signals with the fundamental frequency of the drive motor. Wherein, the noise signal is the sampling signal in the sensor sampling signal whose sampling frequency is higher than the new Nyquist frequency; the target cascaded integrator-comb filter decimates the sensor sampling signal after the noise signal is filtered out according to the downsampling point corresponding to the fundamental frequency; the sampling frequency is synchronized with the fundamental frequency in that the sampling frequency of the sampling signal decimated by the target cascaded integrator-comb filter is an integer multiple of the fundamental frequency.

[0131] In some embodiments, the digital filtering module 1302 is further configured to obtain a third-order decimation cascaded integrator-comb filter; and to increase the oversampling factor of the third-order decimation cascaded integrator-comb filter to obtain the target cascaded integrator-comb filter.

[0132] In some embodiments, the digital filtering module 1302 is further configured to digitally filter the sensor sampled signal through a target filter group to obtain the control signal of the drive motor; the target filter group includes a pre-filter, a target cascaded integrator comb filter, and a finite impulse response filter group.

[0133] In some embodiments, the digital filtering module 1302 is further configured to acquire a first group delay processing strategy for the target filter group; the first group delay processing strategy is used to indicate the shutdown of pre-filtering; the pre-filter is shut down according to the first group delay processing strategy; and the sensor sampled signal is digitally filtered by the target cascaded integrator comb filter and the finite impulse response filter group.

[0134] In some embodiments, the digital filtering module 1302 is further configured to acquire a second group delay processing strategy for the target filter group; the second group delay processing strategy is used to indicate the shutdown of linear phase filtering; the linear phase filter in the finite impulse response filter group is shut down according to the second group delay processing strategy; and the sensor sampled signal is digitally filtered by the pre-filter, the target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group.

[0135] In some embodiments, the digital filtering module 1302 is further configured to acquire a third group delay processing strategy for the target filter group; the third group delay processing strategy is used to indicate the shutdown of pre-filtering and linear phase filtering; the pre-filter and the linear phase filter in the finite impulse response filter group are shut down according to the group delay processing strategy; and the sensor sampled signal is digitally filtered by the target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group.

[0136] In some embodiments, the anti-shake control module 1303 is further configured to: determine the angle change data of the drive motor based on the control signal; compare the angle change data with a preset angle update threshold to obtain a comparison result; the angle update threshold is greater than the original angle update threshold for controlling the drive motor; if the comparison result indicates that the angle change data is greater than the angle update threshold, perform angle update processing on the drive motor to obtain the updated angle of the drive motor; and perform anti-shake control on the drive motor based on the updated angle.

[0137] In some embodiments, the oversampling module 1301 is further configured to perform oversampling processing on the sinusoidal and / or cosine signals of the eddy current sensor resolver.

[0138] It should be noted that the specific implementation of the motor control device provided in this application is basically the same as the specific implementation of the motor control method described above, and will not be repeated here.

[0139] Please see Figure 14 This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described motor control method.

[0140] In some embodiments, the electronic device can be any smart terminal such as a tablet computer, smartphone, in-vehicle hardware platform (e.g., in-vehicle computer), or wearable device.

[0141] like Figure 14As shown, the electronic device provided in this application embodiment may include: The processor 1401 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1402 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1402 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1402 and is called and executed by the processor 1401 using the motor control method of the embodiments of this application. The input / output interface 1403 is used to implement information input and output; The communication interface 1404 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1405 transmits information between various components of the device (e.g., processor 1401, memory 1402, input / output interface 1403, and communication interface 1404); The processor 1401, memory 1402, input / output interface 1403 and communication interface 1404 are connected to each other within the device via bus 1405.

[0142] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described motor control method.

[0143] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0144] This application also provides a computer program product, including a computer program. The steps implemented by the computer program when executed by a processor are basically the same as those in the specific embodiments of the motor control method described above, and will not be repeated here.

[0145] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0146] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0147] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0148] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0149] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0150] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0151] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0152] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0154] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A motor control method, characterized in that, The method includes: The eddy current position sensor signal of the vehicle drive motor is oversampled to obtain the sensor sampling signal; The sensor sampling signal is digitally filtered by a target cascaded integral comb filter to obtain the control signal for the drive motor; The drive motor is subjected to anti-vibration control based on the control signal.

2. The method according to claim 1, characterized in that, The digital filtering of the sensor sampled signal through a target cascaded integrator comb filter includes: The sensor sampling signal is input into the target cascaded integrator comb filter; The target cascaded integral comb filter filters out noise signals in the sensor sampling signal, and extracts the sensor sampling signal after noise removal to synchronize the sampling frequency of the sensor sampling signal after noise removal with the fundamental frequency of the drive motor. Wherein, the noise signal is the sampling signal in the sensor sampling signal whose sampling frequency is higher than the new Nyquist frequency; the target cascaded integrator-comb filter decimates the sensor sampling signal after the noise signal is filtered out according to the downsampling point corresponding to the fundamental frequency; the sampling frequency is synchronized with the fundamental frequency in that the sampling frequency of the sampling signal decimated by the target cascaded integrator-comb filter is an integer multiple of the fundamental frequency.

3. The method according to claim 1, characterized in that, The method further includes: Obtain a third-order decimation cascaded integrator comb filter; The target cascaded integrator-comb filter is obtained by increasing the oversampling factor of the third-order decimation cascaded integrator-comb filter.

4. The method according to claim 1, characterized in that, The method further includes: The sensor sampling signal is digitally filtered by a target filter group to obtain the control signal of the drive motor; the target filter group includes a pre-filter, a target cascaded integrator comb filter, and a finite impulse response filter group.

5. The method according to claim 4, characterized in that, The digital filtering of the sensor sampled signal through a filter group includes: Obtain the first group delay processing strategy of the target filter group; the first group delay processing strategy is used to indicate the shutdown of pre-filtering; The pre-filter is turned off according to the first group delay processing strategy; The sensor sampling signal is digitally filtered using the target cascaded integral comb filter and the finite impulse response filter group.

6. The method according to claim 4, characterized in that, The digital filtering of the sensor sampled signal through a filter group includes: Obtain the second group delay processing strategy for the target filter group; the second group delay processing strategy is used to indicate the disabling of linear phase filtering; The linear phase filter in the finite impulse response filter group is turned off according to the second group delay processing strategy. The sensor sampling signal is digitally filtered by the pre-filter, the target cascaded integrator comb filter, and the zero-phase filter in the finite impulse response filter group.

7. The method according to claim 4, characterized in that, The digital filtering of the sensor sampled signal through a filter group includes: Obtain the third group delay processing strategy of the target filter group; the third group delay processing strategy is used to indicate the shutdown of pre-filtering and linear phase filtering; The pre-filter and the linear phase filter in the finite impulse response filter group are turned off according to the group delay processing strategy. The sensor sampling signal is digitally filtered using the target cascaded integrator comb filter and the zero-phase filter in the finite impulse response filter group.

8. The method according to claim 1, characterized in that, The anti-shake control of the drive motor based on the control signal includes: The angle change data of the drive motor is determined based on the control signal; The angle change data is compared with a preset angle update threshold to obtain a comparison result; the angle update threshold is greater than the original angle update threshold for controlling the drive motor. If the comparison result indicates that the angle change data is greater than the angle update threshold, the drive motor is subjected to angle update processing to obtain the updated angle of the drive motor; The drive motor is subjected to anti-shake control based on the updated angle.

9. The method according to any one of claims 1 to 8, characterized in that, The oversampling processing of the eddy current position sensor signal of the vehicle drive motor includes: The sinusoidal and / or cosine signals of the eddy current position sensor are oversampled.

10. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the motor control method according to any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the motor control method as described in any one of claims 1 to 9.

12. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the motor control method as described in any one of claims 1 to 9.

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