Driving motor rotary transformer zero offset angle detection method and system and electronic equipment

Abstract

The invention discloses a driving motor rotary transformer zero position deviation angle detection method and system and electronic equipment, and relates to the field of motor detection.The method comprises the steps that an MCU judges whether a rotary transformer zero position angle detection function is started or not according to the running state of a whole vehicle / motor; an MCU (Microprogrammed Control Unit) jumps from a TrqCtlMod mode to a SrvMod mode; relevant auxiliary functions influencing current / voltage control are closed and / or degraded, and motor parameters are reset; the MCU collects and preprocesses a motor operation signal, and inputs the processed signal into the resolver zero offset angle calculation module to obtain an initial resolver zero offset angle calculation value and a final resolver zero offset angle calculation value; according to the final rotary transformer zero position deviation angle calculation value, the processed signal and the difference value between the final rotary transformer zero position deviation angle calculation value Ag4 and the original rotary transformer zero position deviation angle Aorg, threshold value judgment is conducted, a detection result is output, and corresponding fault processing measures are executed; and according to the final rotary transformer zero position deviation angle calculation value and the detection result, the motor rotary transformer zero position deviation angle is adjusted.

Description

Technical Field

[0001] This application relates to the field of motor testing, and in particular to a method for detecting the zero-position offset angle of a drive motor resolver, a system for detecting the zero-position offset angle of a drive motor resolver, electronic equipment, and storage medium. Background Technology

[0002] Currently, most new energy commercial vehicles adopt a technology route of independent assembly of drive motor (hereinafter referred to as motor) and motor controller (hereinafter referred to as MCU). The MCU is mostly integrated into an all-in-one controller, and the motor can be replaced independently. During the prototype stage of the whole vehicle, when the motor assembly is in the A sample / B sample stage, the motor produced on the trial production line usually does not undergo resolver zero-point position calibration, that is, the resolver zero-point offset angle of each motor is inconsistent; when the whole vehicle is produced, because the high-voltage wiring harness is assembled manually, there may be a mismatch between the motor UVW wiring harness and the MCU UVW wiring harness.

[0003] Based on this scenario, a method for automatically detecting the resolver zero-position offset angle is proposed. In the early stages of a vehicle project, this method addresses the issue of inaccurate initial resolver zero-position angles caused by incomplete or incorrect resolver zero-position learning after motor replacement, leading to low motor system efficiency or vehicle-wide fault reports. This method provides a detection tool to guide on-site personnel in troubleshooting. It also provides a fault detection method for reversed three-phase high-voltage lines between the motor and the MCU. During bench calibration testing, this method can provide a rough reference for the motor resolver zero-position offset angle.

[0004] For example, Chinese patent CN118646305B, entitled "A Method and System for Zero-Point Calibration of Resolver in a Permanent Magnet Synchronous Motor at Different Speeds," discloses a method for zero-point calibration of a resolver in a magnetic synchronous motor at different speeds. The method includes: pre-positioning the rotor and determining the initial zero-point value of the resolver; controlling the drive motor to a predetermined speed; implementing zero-current control through a controller to allow the motor speed to decrease freely; adjusting the resolver zero-point value to maintain the target voltage at zero; recording the resolver zero-point values ​​at different speeds and fitting a curve to complete the calibration. CN118646305B only describes the calibration process of the resolver zero-point angle and does not address technical issues such as detection methods and fault handling. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method for detecting the zero-position offset angle of a drive motor resolver, a system for detecting the zero-position offset angle of a drive motor resolver, an electronic device and a storage medium, which aim to detect and verify the initial offset angle of the motor resolver during the dynamic operation of the vehicle / motor.

[0006] This invention provides the following solution:

[0007] According to one aspect of the present invention, a method for detecting the zero-position offset angle of a drive motor resolver is provided, comprising the following steps:

[0008] The MCU determines whether to enter the resolver zero-angle detection function based on the vehicle / motor operating status and preset conditions; if yes, the MCU jumps from TrqCtlMod mode to SrvMode mode; disables and / or degrades related auxiliary functions that affect current / voltage control, and resets the motor parameters;

[0009] The MCU collects and preprocesses the motor operation signal, and inputs the processed signal into the resolver zero-position offset angle calculation module. The module then performs angle calculation, rotation direction correction and range constraint in sequence to obtain the initial resolver zero-position offset angle calculation value and the final resolver zero-position offset angle calculation value.

[0010] Based on the calculated value of the final resolver zero-position offset angle, the processed signal, and the difference between the calculated value of the final resolver zero-position offset angle Ag4 and the original resolver zero-position offset angle Ag_org, a threshold judgment is made, the detection result is output, and corresponding fault handling measures are executed.

[0011] Based on the calculated final resolver zero-position offset angle and the detection results, adjust the motor resolver zero-position offset angle.

[0012] Furthermore, including:

[0013] The vehicle / motor operating status includes: the vehicle has completed the high-voltage power-on process and the instrument panel displays green READY, the gear is in D / R gear, and the accelerator pedal opening is 0%.

[0014] The motor operating status includes: the MCU is in the on-tube operation state, and the MCU main state machine is in TrqCtrlModeCmd mode;

[0015] Motor operating speed N min <Abs(Nmech)<N max ;

[0016] The vehicle torque command value is 0 Nm, and after the actual torque response value of the motor drops from non-0 Nm to 0 Nm for the first time, the holding time is greater than the preset time threshold.

[0017] The actual d-axis current of the motor is Id_act = 0A, and the actual q-axis current is Iq_act = 0A.

[0018] Motor fault level ErrLevl ≤1.

[0019] Furthermore, including:

[0020] Disabling and / or downgrading auxiliary functions that affect current / voltage control include: disabling dead-zone compensation, active damping, and three-phase current imbalance fault diagnosis.

[0021] Furthermore, including:

[0022] Resetting motor parameters includes:

[0023] Reset the parameters related to the resolver zero position;

[0024] Among them, the original resolver zero offset angle Ag_org is reset to Ag_org*=0;

[0025] Reset the resolver zero-position compensation angle Ag_comp to Ag_comp*=0.

[0026] Furthermore, including:

[0027] Motor operating signals include:

[0028] Motor speed N, d-axis voltage Ud, q-axis voltage Uq;

[0029] Preprocessing includes:

[0030] Low-pass filtering is applied to Ud and Uq to obtain the filtered voltage values ​​Ud_flt and Uq_flt;

[0031] Based on the trend of the original angle AD value change in the resolver analysis, determine the motor rotation direction stRotDir: when the AD value increases, stRotDir=1, and when the AD value decreases, stRotDir=2;

[0032] Furthermore, including:

[0033] Calculate the initial radian angle Ag1 = atan (Ud_flt / Uq_flt);

[0034] The initial radian angle Ag1 is converted into the initial resolver zero offset angle Ag2;

[0035] Where Ag2 = Ag1 * 360 / 3.1415926 / 2, the unit is °;

[0036] When stRotDir = 1, continue to determine the sign(Uq) of Uq;

[0037] When sign(Uq) = 1, we obtain the angle Ag3, where Ag3 = 360 - Ag2;

[0038] When sign(Uq) = -1, we obtain the angle Ag3, where Ag3 = 180 - Ag2;

[0039] When stRotDir = 2, continue to determine the sign of Uq: sign(Uq);

[0040] When sign(Uq) = 1, we get angle Ag3 = 180 - Ag2;

[0041] When sign(Uq) = -1, we get angle Ag3 = 360 - Ag2;

[0042] The calculated angle is converted from 0 to 360 degrees: Ag4 = Mod(Ag3,360).

[0043] Furthermore, including:

[0044] Threshold determination includes:

[0045] A fault is determined if any of the following conditions are met:

[0046] Ag4's own fluctuation amplitude is greater than the preset threshold Ag_err;

[0047] The fluctuation range of Ud_flt itself is greater than the preset threshold Ud_flt_err;

[0048] The fluctuation range of Uq_flt itself is greater than the preset threshold Uq_flt_err;

[0049] Abs (Ag4 - Ag_org) > preset threshold Ag_errMax.

[0050] Furthermore, including:

[0051] Troubleshooting measures include:

[0052] ErrLevl=0 (No fault): MCU is running normally;

[0053] ErrLevl=1 (Warning / Fault): A warning message is reported, but the MCU continues to operate normally.

[0054] ErrLevl=2 (General Fault): Report the fault;

[0055] ErrLevl≥3 (Critical Fault): Emergency fault report, MCU shutdown or ASC protection state.

[0056] Furthermore, including:

[0057] The MCU monitors the system status in real time. When any of the exit conditions of the dynamic detection function are met, the dynamic detection function is exited and the MCU is restored to TrqCtrlMode mode.

[0058] Exit conditions include: the MCU triggering a shutdown command;

[0059] The motor speed satisfies Abs (Nmech) ≤ Nmin or Abs (Nmech) ≥ Nmax, where Nmin* = Nmin - Nhys, Nmax* = Nmax + Nhys, and Nhys is the speed tolerance;

[0060] The HCU issues an active discharge command or the MCU receives a hard-wire emergency discharge command;

[0061] Motor fault level ErrLevl≥2;

[0062] HCU sends a command other than TrqCtrlCmd;

[0063] The detection function duration is greater than Tmin1 and the initial function entry maintenance time is greater than or equal to Tmin2, where Tmin1 = 200ms and Tmin2 = 50ms;

[0064] The dynamic detection function status StAgCal=2 (completed) or StAgCal=3 (failed / aborted) and the initial entry maintenance time of the function is ≥Tmin2. StAgCal is divided into 0 = not performed, 1 = in progress, 2 = completed, and 3 = failed / aborted.

[0065] According to a second aspect of the present invention, a drive motor resolver zero-position offset angle detection system is provided, comprising:

[0066] The module includes a status judgment module, a mode switching and parameter configuration module, a signal processing and angle calculation module, a threshold judgment and fault handling module, a zero-position adjustment module, and a resolver zero-position offset angle calculation module.

[0067] The status judgment module is used to determine whether to enter the resolver zero-position angle detection function based on the vehicle / motor operating status and preset conditions by the MCU; the mode switching and parameter configuration module is used to disable and / or degrade related auxiliary functions that affect current / voltage control and reset motor parameters when the MCU switches from TrqCtlMod mode to SrvMode mode;

[0068] The signal processing and angle calculation module is used to acquire and preprocess the motor operation signal through the MCU, input the processed signal into the resolver zero position offset angle calculation module, and sequentially perform angle calculation, rotation direction correction and range constraint to obtain the initial resolver zero position offset angle calculation value and the final resolver zero position offset angle calculation value.

[0069] The threshold judgment and fault handling module is used to make a threshold judgment based on the final resolver zero position offset angle calculation value, the processed signal, and the difference between the final resolver zero position offset angle calculation value Ag4 and the original resolver zero position offset angle Ag_org, output the detection result, and execute the corresponding fault handling measures.

[0070] The zero-position adjustment module is used to adjust the motor resolver zero-position offset angle based on the final calculated value of the resolver zero-position offset angle and the detection result.

[0071] The resolver zero-position offset angle calculation module is used to calculate the resolver zero-position offset angle.

[0072] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0073] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a method for detecting the zero-position offset angle of a drive motor resolver.

[0074] According to four aspects of the present invention, a computer-readable storage medium is provided that stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a method for detecting the zero-position offset angle of a drive motor resolver.

[0075] Compared with the prior art, the present invention has the following advantages:

[0076] This application addresses the challenges of uncertain resolver zero-position offset angles in prototype / A / B model motors (where the resolver zero-position offset angle is not zeroed) and frequent motor replacements during the vehicle engineering prototype testing phase. By dynamically detecting the resolver zero-position offset angle deviation during MCU operation, it guides on-site personnel in correcting the motor resolver zero-position offset angle, improving motor system efficiency and preventing overcurrent faults due to motor system voltage saturation. For the vehicle production line assembly process, where the motor and MCU power harness UVW may be reversed (either two UVWs are reversed or all three phases are reversed), the application allows for dynamic angle calculation at the off-line testing station, where the wheel hub directly drives the wheel (motor) to rotate, providing a direct visual indication of the high-voltage harness assembly correctness. For the bench calibration stage, the application simplifies the S1 judgment conditions by excluding gear information and torque commands, allowing the bench to directly rotate the motor, thus achieving a rough calibration of the motor resolver zero-position angle. Attached Figure Description

[0077] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0078] Figure 1 This is a flowchart of a method for detecting the zero-position offset angle of a drive motor resolver provided in one or more embodiments of the present invention.

[0079] Figure 2 This is a structural diagram of a drive motor resolver zero-position offset angle detection system provided by one or more embodiments of the present invention.

[0080] Figure 3 This is a flowchart of a method for detecting the zero-position offset angle of a drive motor resolver, provided in a specific embodiment of the present invention.

[0081] Figure 4 This is a schematic diagram illustrating the entry conditions for the zero-position offset angle detection function of the drive motor resolver according to a specific embodiment of the present invention.

[0082] Figure 5 is a schematic diagram of the exit conditions of the drive motor resolver zero position offset angle detection function according to a specific embodiment of the present invention.

[0083] Figure 6 This is a block diagram of an electronic device for detecting the zero-position offset angle of a drive motor resolver, provided by one or more embodiments of the present invention. Detailed Implementation

[0084] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0085] Figure 1 It is a flowchart of a method for detecting the resolver zero position offset angle of a drive motor provided by one or more embodiments of the present invention.

[0086] As Figure 1 shown, it includes the following steps:

[0087] Step S1, the MCU determines whether to enter the resolver zero position angle detection function according to the vehicle / motor operating state and preset conditions; if yes, the MCU jumps from the TrqCtlMod mode to the SrvMode mode; closes and / or degrades the relevant auxiliary functions that affect current / voltage control, and resets the motor parameters.

[0088] Specifically, the MCU automatically enters and exits the dynamic detection function of the resolver zero position offset angle of the drive motor according to the vehicle / motor operating state.

[0089] The vehicle / motor operating state is based on the vehicle completing the high-voltage power-on process and the instrument displaying green READY (indicating the state where the power motor can drive), the gear position being D / R, and the throttle pedal opening being 0%.

[0090] The motor operating state is based on the MCU being in the open-switch operation state, the motor operating speed Nmin < Abs(Nmech) < Nmax, the vehicle torque command value being 0 Nm, the motor actual torque response value dropping from Trq to 0 Nm for the first time and remaining for a certain time Tkeep (i.e., the torque crosses zero for the first time), the motor Id_act = 0 A, Iq_act = 0 A, the MCU main state machine being in the TrqCtrl mode, and the motor fault level meeting the requirements.

[0091] When the above conditions are met, to enter the dynamic detection function of the resolver zero position offset angle of the drive motor, it is necessary to control the MCU main state machine to enter the safe state, and close / degrade the relevant auxiliary functions that affect current / voltage control, and reset the motor parameters that affect the angle dynamic detection function.

[0092] The MCU main state machine entering the safe state means that the MCU directly jumps from the TrqCtlMod mode that normally responds to the VCU to the SrvMode mode and no longer responds to the torque request of the HCU.

[0093] The aforementioned shutdown / degradation of related auxiliary functions affecting current / voltage control refers to the need for the MCU to disable additional functions such as dead-zone compensation, active damping, and three-phase current imbalance fault diagnosis.

[0094] The aforementioned resetting of the function parameters affecting the dynamic angle detection function means that the MCU sets the original motor resolver zero position offset angle from Ag_org to Ag_org*=0 and the angle compensation Ag_comp to Ag_comp*=0;

[0095] Step S2: The MCU acquires and preprocesses the motor running signal, inputs the processed signal into the resolver zero offset angle calculation module, and sequentially performs angle calculation, rotation direction correction and range constraint to obtain the initial resolver zero offset angle calculation value and the final resolver zero offset angle calculation value.

[0096] Specifically, when the condition in step S1 is met, the MCU records and processes internal signals in the software, inputs them to the motor resolver zero position offset angle calculation module, and outputs the angle calculation value after completing the angle calculation.

[0097] The MCU records internal signals, including motor speed N, motor current Id, motor current Iq, motor voltage Ud, motor voltage Uq, motor fault level ErrLvl, and motor main state machine state.

[0098] The motor resolver zero offset angle calculation module includes input signal filtering, division by zero, angle conversion, and motor rotation direction determination.

[0099] Step S3: Based on the calculated value of the final resolver zero-position offset angle, the processed signal, and the difference between the calculated value of the final resolver zero-position offset angle Ag4 and the original resolver zero-position offset angle Ag_org, a threshold judgment is performed, the detection result is output, and corresponding fault handling measures are executed.

[0100] Specifically, this includes: the angle calculation method and angle processing method of the resolver zero-position offset angle calculation module;

[0101] The processing of the input signals includes the processing of Ud and Uq, and the determination of the motor rotation direction;

[0102] The angle calculation method includes the calculation methods for Ag1 to Ag4;

[0103] Step S4: Adjust the motor resolver zero-position offset angle based on the final calculated value of the resolver zero-position offset angle and the detection result.

[0104] Specifically, the final result of the dynamic detection is determined by the angle threshold of the fault handling module, and the functional detection conclusion is output to guide the MCU software to perform the next operation, such as entering Standby or PowerDown or limiting the power to 0.

[0105] Furthermore, including:

[0106] The vehicle / motor operating status includes: the vehicle has completed the high-voltage power-on process and the instrument panel displays green READY, the gear is in D / R gear, and the accelerator pedal opening is 0%.

[0107] The motor operating status includes: the MCU is in the on-tube operating state, and the MCU main state machine is in TrqCtrlMod mode;

[0108] Motor operating speed N min <Abs(Nmech)<N max ;

[0109] The vehicle torque command value is 0 Nm, and after the actual torque response value of the motor drops from non-0 Nm to 0 Nm for the first time, the holding time is greater than the preset time threshold.

[0110] The actual d-axis current of the motor is Id_act = 0A, and the actual q-axis current is Iq_act = 0A.

[0111] Motor fault level ErrLevl ≤1.

[0112] Furthermore, including:

[0113] Disabling and / or downgrading auxiliary functions that affect current / voltage control include: disabling dead-zone compensation, active damping, and three-phase current imbalance fault diagnosis.

[0114] Furthermore, including:

[0115] Resetting motor parameters includes:

[0116] Reset the parameters related to the resolver zero position;

[0117] Among them, the original resolver zero offset angle Ag_org is reset to Ag_org*=0;

[0118] Reset the resolver zero-position compensation angle Ag_comp to Ag_comp*=0.

[0119] Furthermore, including:

[0120] Motor operating signals include:

[0121] Motor speed N, d-axis voltage Ud, q-axis voltage Uq;

[0122] Preprocessing includes:

[0123] Low-pass filtering is applied to Ud and Uq to obtain the filtered voltage values ​​Ud_flt and Uq_flt;

[0124] Based on the trend of the original angle AD value change in the resolver analysis, determine the motor rotation direction stRotDir: when the AD value increases, stRotDir=1, and when the AD value decreases, stRotDir=2;

[0125] Furthermore, including:

[0126] Calculate the initial radian angle Ag1 = atan (Ud_flt / Uq_flt);

[0127] The initial radian angle Ag1 is converted into the initial resolver zero offset angle Ag2;

[0128] Where Ag2 = Ag1 * 360 / 3.1415926 / 2, the unit is °;

[0129] When stRotDir = 1, continue to determine the sign(Uq) of Uq;

[0130] When sign(Uq) = 1, we obtain the angle Ag3, where Ag3 = 360 - Ag2;

[0131] When sign(Uq) = -1, we obtain the angle Ag3, where Ag3 = 180 - Ag2;

[0132] When stRotDir = 2, continue to determine the sign of Uq: sign(Uq);

[0133] When sign(Uq) = 1, we get angle Ag3 = 180 - Ag2;

[0134] When sign(Uq) = -1, we get angle Ag3 = 360 - Ag2;

[0135] The calculated angle is converted from 0 to 360 degrees: Ag4 = Mod(Ag3,360).

[0136] Furthermore, including:

[0137] Threshold determination includes:

[0138] A fault is determined if any of the following conditions are met:

[0139] Ag4's own fluctuation amplitude is greater than the preset threshold Ag_err;

[0140] The fluctuation range of Ud_flt itself is greater than the preset threshold Ud_flt_err;

[0141] The fluctuation range of Uq_flt itself is greater than the preset threshold Uq_flt_err;

[0142] Abs (Ag4 - Ag_org) > preset threshold Ag_errMax.

[0143] Furthermore, including:

[0144] Troubleshooting measures include:

[0145] ErrLevl=0 (No fault): MCU is running normally;

[0146] ErrLevl=1 (Warning / Fault): A warning message is reported, but the MCU continues to operate normally.

[0147] ErrLevl=2 (General Fault): Report the fault;

[0148] ErrLevl≥3 (Critical Fault): Emergency fault report, MCU shutdown or ASC protection state.

[0149] Furthermore, including:

[0150] The MCU monitors the system status in real time. When any of the exit conditions of the dynamic detection function are met, the dynamic detection function is exited and the MCU is restored to TrqCtrlMode mode.

[0151] Exit conditions include: the MCU triggering a shutdown command;

[0152] The motor speed satisfies Abs (Nmech) ≤ Nmin or Abs (Nmech) ≥ Nmax, where Nmin* = Nmin - Nhys, Nmax* = Nmax + Nhys, and Nhys is the speed tolerance;

[0153] The HCU issues an active discharge command or the MCU receives a hard-wire emergency discharge command;

[0154] Motor fault level ErrLevl≥2;

[0155] HCU sends a command other than TrqCtrlCmd;

[0156] The detection function duration is greater than Tmin1 and the initial function entry maintenance time is greater than or equal to Tmin2, where Tmin1 = 200ms and Tmin2 = 50ms;

[0157] The dynamic detection function status StAgCal=2 (completed) or StAgCal=3 (failed / aborted) and the initial entry maintenance time of the function is ≥Tmin2. StAgCal is divided into 0 = not performed, 1 = in progress, 2 = completed, and 3 = failed / aborted.

[0158] Specifically, S1: Conditions for entering and exiting the dynamic detection function of the resolver zero-position angle.

[0159] The vehicle status judgment of the solenoid zero-position angle detection function includes the vehicle's high-voltage power-on status, vehicle gear information, and vehicle accelerator pedal signal status.

[0160] The motor status judgment of the resolver zero-position angle detection function includes the torque command issued by the HCU, the actual operating status of the motor power devices, the actual values ​​of the motor currents Id and Iq, the motor speed range limitation status, and the judgment status of the torque zero crossing point, etc.

[0161] The aforementioned motor fault level requirements ErrLevl judgment method and requirements;

[0162] The method and requirements for determining the function entry times Tmin1 and Tmin2;

[0163] The method and requirements for determining the real-time status of the function StAgCal are described above;

[0164] S2: MCU automatically sets relevant function parameters

[0165] The MCU functions that need to be turned off include dead zone compensation, active damping, and three-phase current imbalance fault detection.

[0166] The requirement to reset the MCU's internal parameters means that the Ag_org (EEPROM or Flash) and Ag_comp parameters in the program should be replaced with Ag_org* = 0 and Ag_comp* = 0.

[0167] S3: Rotor zero-position offset angle calculation module: angle calculation method and angle processing method;

[0168] The processing of the input signals includes the processing of Ud and Uq, and the determination of the motor rotation direction;

[0169] The angle calculation method includes the calculation methods for Ag1 to Ag4;

[0170] S4: Troubleshooting methods after angle detection

[0171] The angle fluctuation judgment method and fault handling method described above;

[0172] The methods for judging voltage fluctuations Ud and Uq and for handling faults are described above.

[0173] Figure 2 This is a structural diagram of a drive motor resolver zero-position offset angle detection system provided by one or more embodiments of the present invention.

[0174] like Figure 2 As shown, it includes:

[0175] The module includes a status judgment module, a mode switching and parameter configuration module, a signal processing and angle calculation module, a threshold judgment and fault handling module, a zero-position adjustment module, and a resolver zero-position offset angle calculation module.

[0176] The status judgment module is used by the MCU to determine whether to enter the resolver zero-position angle detection function based on the vehicle / motor operating status and preset conditions;

[0177] The mode switching and parameter configuration module is used to disable and / or degrade auxiliary functions that affect current / voltage control and reset motor parameters when the MCU switches from TrqCtlMod mode to SrvMode mode.

[0178] The signal processing and angle calculation module is used to acquire and preprocess the motor operation signal through the MCU, input the processed signal into the resolver zero position offset angle calculation module, and sequentially perform angle calculation, rotation direction correction and range constraint to obtain the initial resolver zero position offset angle calculation value and the final resolver zero position offset angle calculation value.

[0179] The threshold judgment and fault handling module is used to make a threshold judgment based on the final resolver zero position offset angle calculation value, the processed signal, and the difference between the final resolver zero position offset angle calculation value Ag4 and the original resolver zero position offset angle Ag_org, output the detection result, and execute the corresponding fault handling measures.

[0180] The zero-position adjustment module is used to adjust the motor resolver zero-position offset angle based on the final calculated value of the resolver zero-position offset angle and the detection result.

[0181] The resolver zero-position offset angle calculation module is used to calculate the resolver zero-position offset angle.

[0182] It is worth noting that although only some basic functional modules are disclosed in this embodiment, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what this embodiment intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules does not mean that the scope of protection of the claims of this invention is limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above device is described separately according to its functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0183] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; 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. Those skilled in the art can understand and implement this without any creative effort.

[0184] Figure 3 This is a flowchart of a method for detecting the zero-position offset angle of a drive motor resolver, provided in a specific embodiment of the present invention.

[0185] like Figure 3 As shown, this embodiment includes:

[0186] S1: The MCU determines whether to enter the resolver zero-position angle dynamic detection function based on the conditions of the entire vehicle / motor. The output condition meets the flag bit Flg. See [link / reference]. Figure 4 .

[0187] The aforementioned conditions for entering the vehicle are S1-1 to S1-3, which are based on the actual operating status of the vehicle. These conditions mainly include the vehicle being powered on with high voltage and the instrument panel displaying a green "Ready" indicator, the transmission being in a non-P or non-N gear, and the accelerator pedal opening being approximately 0%.

[0188] The described function entry motor conditions S1-4 to S1-8 are based on the actual operating state of the motor, mainly including that the control mode sent by the HCU is torque control TrqCtlCmd, the MCU open switch operates normally, the motor currents Id_act and Iq_act are approximately 0A, the absolute value of the motor speed Nmin < Abs(N) < Nmax, the default value of Nmin is set to 0.2 times the rated speed, Nmax is set to 0.8 times the rated speed, the actual torque value first enters the 0 Nm state from a non-0 Nm state and maintains for the Tkeep time, the default value of Tkeep is 20 ms, the fault level ErrLevl <= 1, and when all the above conditions are met, it enters;

[0189] The described function exit conditions S1-9 to S1-16 are to judge whether the system exits according to the operating states of the motor system and the function modules. The detailed content includes that the MCU itself closes the switch, the motor speed Abs(N) < Nmin* or Abs(N) > Nmax*, the HCU issues an active discharge command or receives an effective hard wire signal emergency discharge command, the fault level ErrLevl >= 2, the HCU sends a non-TrqCtlCmd, the detection function exceeds the longest continuous time Tmin1 and meets the function initial entry maintenance time Tmin2, the dynamic detection function status StAgCal = 2 or StAgCal = 3 and meets the function initial entry maintenance time Tmin2. When one of the above conditions is met, it exits. See Figure 5 ;

[0190] The defined fault levels of the motor system are divided into three levels of faults. Level three is a serious fault of the motor system, level two is a general fault of the motor system, level one is a warning fault of the motor system, and level 0 is no fault in the motor system;

[0191] The Nmin* and Nmax* correspond to Nmin and Nmax respectively, and there is a certain tolerance Nhys to prevent the judgment jump of the entry and exit conditions. Among them, Nmin* = Nmin – Nhys, Nmax* = Nmax + Nhys;

[0192] The default value of Tmin1 is 200 ms;

[0193] The StAgCal status is divided into: not performed StAgCal = 0; in progress StAgCal = 1; completed StAgCal = 2; failed / aborted StAgCal = 3;

[0194] The default value of Tmin2 is 50 ms;

[0195] S2: The MCU sets relevant function parameters and enters the service mode SrvMode;

[0196] The specific description of the relevant function parameters for setting the MCU is as follows:

[0197] S2-1: The MCU control mode switches from TrqCtlMod to SrvMod and no longer responds to the torque commands from the HCU;

[0198] S2-2: Disable dead zone compensation function;

[0199] S2-3: Disable active damping function;

[0200] S2-4: Disable three-phase current imbalance fault detection;

[0201] S2-5: Set Ag_org*=0 to replace the original motor parameter initial resolver zero position angle Ag_org;

[0202] S2-6: Set Ag_comp*=0 to replace the original motor parameter initial resolver zero-position compensation angle Ag_comp;

[0203] S3: The MCU enters the resolver zero-position offset angle calculation module;

[0204] S3-1: Further processing of the input signal, as described below;

[0205] The input signals include motor voltage Ud, motor voltage Uq, and actual motor speed N;

[0206] The input signal processing includes:

[0207] S3-1-1 Low-pass filtering of motor voltages Ud and Uq yields Ud_flt and Uq_flt;

[0208] S3-1-2 Determining the motor rotation direction stRotDir: Define the motor rotation direction as forward (stRotDir = 1, i.e., the original angle AD value of the resolver analysis increases), and define the motor rotation direction as reverse (stRotDir = 2, i.e., the original angle AD value of the resolver analysis decreases).

[0209] S3-2 Based on the filtered values ​​of Ud_flt and Uq_flt after processing in S3-1, the initial resolver zero-position offset angle Ag1 is obtained using the formula Ag1 = atan(Ud_flt / Uq_flt);

[0210] S3-3 Based on S-2, Ag1 is calculated in rad. The initial resolver zero-position offset angle Ag2 is obtained using the formula Ag2 = Ag1 * 360 / 3.1415926 / 2, in °.

[0211] S3-4: Based on Ag2 calculated in S-3 and S3-1-2, determine the motor rotation direction stRotDir, and further process the angle, as described in detail below:

[0212] S3-4-1 When stRotDir = 1, continue to determine the sign(Uq) of Uq:

[0213] When sign(Uq) = 1, we get angle Ag3 = 360 - Ag2;

[0214] When sign(Uq) = -1, in S3-4-1-2, we obtain angle Ag3 = 180 - Ag2;

[0215] S3-4-2 When stRotDir = 2, continue to determine the sign(Uq) of Uq:

[0216] When sign(Uq) = 1, in S3-4-2-1, we obtain angle Ag3 = 180 - Ag2;

[0217] When sign(Uq) = -1, we get angle Ag3 = 360 - Ag2;

[0218] S3-5 calculates the angle and converts it from 0 to 360 degrees: Ag4 = Mod(Ag3,360);

[0219] S4: Based on the angle Ag4 calculated in S3 and Ud_flt and Uq_flt obtained in S3-1-1, these values ​​are input into the fault handling module for system fault handling. The specific description is as follows:

[0220] S4-1 determines the fluctuations of Ag4, Ud_flt, and Uq_flt. If the fluctuation of Ag4 is greater than Ag_err, or the fluctuation of Ud_flt is greater than Ud_flt_err, or the fluctuation of Uq_flt is greater than Uq_flt_err, the fault handling component needs to report the fault and output the fault handling requirements.

[0221] The aforementioned fault reporting refers to reporting motor system faults, which can be set as level two power limiting faults;

[0222] The aforementioned output fault handling requirement can be set to limit power to 0;

[0223] S4-2 compares Ag4 with Ag_org mentioned in S2-5. If Abs(Ag4-Ag_org)>Ag_errMax, the fault handling component needs to report the fault and output the fault handling requirements.

[0224] The aforementioned fault reporting refers to reporting motor system faults, which can be set as level two power limiting faults;

[0225] The aforementioned output fault handling requirement can be set to limit power to 0;

[0226] The S4-3 fault handling component is described as follows:

[0227] Based on the functional status output of the functional components (such as the dynamic detection function of the motor resolver zero position offset angle mentioned in this case), report the fault level and fault handling requirements.

[0228] The aforementioned fault levels refer to the four levels of faults in the motor system, where level three is a serious fault, level two is a general fault, level one is a warning fault, and level 0 is no fault.

[0229] The aforementioned output fault handling requirements refer to the following: when the motor system experiences a level 3 severe fault, the MCU shuts down or enters ASC protection mode; when the motor system experiences a level 2 general fault, the MCU operates in a power-limiting mode, limiting the current output capacity of the motor system by a percentage to protect the motor system; when the motor system experiences a level 1 warning fault, the MCU operates in normal operation mode; and level 0 indicates that the motor system has no fault, and the MCU operates in normal operation mode.

[0230] Based on the conclusions drawn from S3 and S4, the motor resolver zero-position offset angle Ag_org needs to be adjusted adaptively.

[0231] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0232] Figure 6 This is a block diagram of an electronic device for detecting the zero-position offset angle of a drive motor resolver, provided by one or more embodiments of the present invention.

[0233] like Figure 6 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0234] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a method for detecting the zero-position offset angle of a drive motor resolver.

[0235] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a method for detecting the zero-position offset angle of a drive motor resolver.

[0236] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0237] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0238] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting the zero-position offset angle of a drive motor resolver, characterized in that, Includes the following steps: The MCU determines whether to enter the resolver zero-position angle detection function based on the vehicle / motor operating status; if yes, the MCU jumps from TrqCtlMod mode to SrvMode mode; disables and / or degrades related auxiliary functions that affect current / voltage control, and resets the motor parameters; The MCU collects and preprocesses the motor operation signal, and inputs the processed signal into the resolver zero-position offset angle calculation module. The module then performs angle calculation, rotation direction correction and range constraint in sequence to obtain the initial resolver zero-position offset angle calculation value and the final resolver zero-position offset angle calculation value. Based on the calculated value of the final resolver zero-position offset angle, the processed signal, and the difference between the calculated value of the final resolver zero-position offset angle Ag4 and the original resolver zero-position offset angle Ag_org, a threshold judgment is made, the detection result is output, and corresponding fault handling measures are executed. Based on the calculated final resolver zero-position offset angle and the detection results, adjust the motor resolver zero-position offset angle.

2. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The vehicle / motor operating status includes: the vehicle has completed the high-voltage power-on process and the instrument panel displays green READY, the gear is in D / R gear, and the accelerator pedal opening is 0%; The motor operating state includes: the MCU is in the on-tube operating state, and the MCU main state machine is in TrqCtrlModeCmd mode; Motor operating speed N min <Abs(Nmech)<N max ; The vehicle torque command value is 0 Nm, and after the actual torque response value of the motor drops from non-0 Nm to 0 Nm for the first time, the holding time is greater than the preset time threshold. The actual d-axis current of the motor is Id_act = 0A, and the actual q-axis current is Iq_act = 0A. Motor fault level ErrLevl ≤1.

3. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The auxiliary functions that disable and / or degrade the current / voltage control include: disabling dead zone compensation, active damping, and three-phase current imbalance fault diagnosis.

4. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The process of resetting the motor parameters includes: Reset the parameters related to the resolver zero position; Among them, the original resolver zero offset angle Ag_org is reset to Ag_org*=0; Reset the resolver zero-position compensation angle Ag_comp to Ag_comp*=0.

5. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The motor operating signals include: Motor speed N, d-axis voltage Ud, q-axis voltage Uq; The preprocessing includes: Low-pass filtering is applied to Ud and Uq to obtain the filtered voltage values ​​Ud_flt and Uq_flt; Based on the trend of the original angle AD value change in the resolver analysis, the motor rotation direction stRotDir is determined: stRotDir=1 when the AD value increases, and stRotDir=2 when the AD value decreases.

6. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The angle calculation includes: Calculate the initial radian angle Ag1 = atan (Ud_flt / Uq_flt); The initial radian angle Ag1 is converted into the initial resolver zero offset angle Ag2; Where Ag2 = Ag1 * 360 / 3.1415926 / 2, the unit is °; When stRotDir = 1, continue to determine the sign(Uq) of Uq; When sign(Uq) = 1, we obtain the angle Ag3, where Ag3 = 360 - Ag2; When sign(Uq) = -1, we obtain the angle Ag3, where Ag3 = 180 - Ag2; When stRotDir = 2, continue to determine the sign of Uq: sign(Uq); When sign(Uq) = 1, we get angle Ag3 = 180 - Ag2; When sign(Uq) = -1, we get angle Ag3 = 360 - Ag2; The calculated angle is converted from 0 to 360 degrees: Ag4 = Mod(Ag3,360).

7. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The threshold determination includes: A fault is determined if any of the following conditions are met: Ag4's own fluctuation amplitude is greater than the preset threshold Ag_err; The fluctuation range of Ud_flt itself is greater than the preset threshold Ud_flt_err; The fluctuation range of Uq_flt itself is greater than the preset threshold Uq_flt_err; Abs (Ag4 - Ag_org) > preset threshold Ag_errMax.

8. A system for detecting the zero-position offset angle of a drive motor resolver, characterized in that, include: The module includes a status judgment module, a mode switching and parameter configuration module, a signal processing and angle calculation module, a threshold judgment and fault handling module, a zero-position adjustment module, and a resolver zero-position offset angle calculation module. The status judgment module is used to determine whether to enter the resolver zero-position angle detection function based on the vehicle / motor operating status and preset conditions by the MCU; the mode switching and parameter configuration module is used to disable and / or degrade related auxiliary functions that affect current / voltage control and reset motor parameters when the MCU switches from TrqCtlMod mode to SrvMode mode; The signal processing and angle calculation module is used to acquire and preprocess the motor operation signal through the MCU, input the processed signal into the resolver zero position offset angle calculation module, and sequentially perform angle calculation, rotation direction correction and range constraint to obtain the initial resolver zero position offset angle calculation value and the final resolver zero position offset angle calculation value. The threshold judgment and fault handling module is used to make a threshold judgment based on the final resolver zero position offset angle calculation value, the processed signal, and the difference between the final resolver zero position offset angle calculation value Ag4 and the original resolver zero position offset angle Ag_org, output the detection result, and execute the corresponding fault handling measures. The zero-position adjustment module is used to adjust the motor resolver zero-position offset angle based on the final calculated value of the resolver zero-position offset angle and the detection result. The resolver zero-position offset angle calculation module is used to calculate the resolver zero-position offset angle.

9. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method for detecting the zero-position offset angle of a drive motor resolver as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method for detecting the zero-position offset angle of a drive motor resolver as described in any one of claims 1-7.

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