Method and system for detecting zero offset angle of motor resolver and electronic equipment

Abstract

The application discloses a motor resolver zero offset angle detection method and system and electronic equipment, and relates to the motor detection field. The method comprises the following steps: an MCU determines whether to enter the resolver zero offset angle detection function according to the running state of the whole vehicle / motor; the MCU jumps from the TrqCtlMod mode to the SrvMode mode; the related auxiliary functions that affect current / voltage control are closed and / or degraded, and the motor parameters are reset; the MCU collects motor running signals and pre-processes them, inputs the processed signals into a resolver zero offset angle calculation module, obtains an initial resolver zero offset angle calculation value and a final resolver zero offset angle calculation value; threshold value judgment is performed according to the final resolver zero offset angle calculation value, the processed signals and the difference between the final resolver zero offset angle calculation value Ag4 and an original resolver zero offset angle Ag_org, a detection result is output, and corresponding fault processing measures are executed; and the motor resolver zero offset angle is adjusted according to the final resolver zero offset angle calculation value and the detection result.

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-position 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 solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part, not all, of the embodiments of the present invention. All other embodiments obtained by a person 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 is a flowchart of a method for detecting a resolver zero offset angle of a drive motor provided by one or more embodiments of the present invention.

[0086] As shown in Figure 1 the figure, the method includes the following steps:

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

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

[0089] The vehicle / motor operation state is determined based on that the vehicle completes the high-voltage power-on process, the instrument displays green READY (indicating that the traction motor is in a drivable state), the gear is D gear / R gear, the accelerator pedal opening is 0%, and the like.

[0090] The motor operation state is determined based on that the MCU is in an open-tube operation state, the motor operation speed Nmin<Abs(Nmech)<Nmax, the vehicle torque command value is 0Nm, the actual motor torque response value drops from Trq to 0Nm for the first time and remains for a certain period of time Tkeep (i.e., the torque crosses zero for the first time), the motor Id_act = 0A, Iq_act = 0A, the MCU main state machine is in the TrqCtrl mode, and the motor fault level meets the requirements.

[0091] When the above conditions are met, the dynamic detection function of the drive motor resolver zero offset angle is entered, which requires controlling the MCU main state machine to enter a safe state, turning off / degrading relevant auxiliary functions that affect current / voltage control, and resetting motor parameters that affect the angle dynamic detection function;

[0092] That the MCU main state machine enters 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 from 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 vehicle / motor driving conditions. The output condition meets the flag bit Flg. (See below) 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~S1-8 are based on the actual operating state of the motor, mainly including that the control mode sent by HCU is torque control TrqCtlCmd, the MCU turns on the switches for normal operation, the motor current Id_act and current Iq_act are approximately 0A, the absolute value of the motor speed Nmin<Abs(N)<Nmax, the default value 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 0Nm state from a non-0Nm state and maintains for Tkeep time, the default value of Tkeep is 20ms, and the fault level ErrLevl <=1. The function enters only when all the above conditions are satisfied;

[0189] The described function exit conditions S1-9~S1-16 are used to judge whether the system exits according to the operating states of the motor system and the function module. The detailed content includes that the MCU itself turns off the switches, the motor speed Abs(N)< Nmin* or Abs(N)>Nmax*, the active discharge command issued by the HCU or the emergency discharge command received via the hard wire signal is valid, the fault level ErrLevl >=2, the HCU sends a non-TrqCtlCmd command, the detection function exceeds the maximum duration Tmin1 and satisfies the function initial entry maintenance time Tmin2, the dynamic detection function state StAgCal=2 or StAgCal=3 and satisfies the function initial entry maintenance time Tmin2. The system exits when any one of the above conditions is satisfied, see Figure 5 ;

[0190] The described fault level definition: the motor system is divided into three levels of faults in total, level 3 is a serious fault of the motor system, level 2 is a general fault of the motor system, level 1 is a warning fault of the motor system, and level 0 means no fault in the motor system;

[0191] The described Nmin* and Nmax* correspond to Nmin and Nmax respectively, with a certain tolerance Nhys to prevent chattering in the judgment of entry and exit conditions, where Nmin* = Nmin – Nhys, Nmax* = Nmax + Nhys;

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

[0193] The described StAgCal states are divided into: not performing StAgCal = 0; in progress StAgCal = 1; completed StAgCal = 2; failed / aborted StAgCal = 3;

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

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

[0196] The specific descriptions of the relevant function parameters for setting the MCU are 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 in detail 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 overall vehicle and motor operating status; if yes, the MCU switches from torque control mode to service mode; it disables and / or degrades related auxiliary functions that affect current and 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 final calculated resolver zero-position offset angle and the detection results, adjust the motor resolver zero-position offset angle. 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); Where Ud_flt is the filtered d-axis voltage value, Uq_flt is the filtered q-axis voltage value, Uq is the q-axis voltage value, and stRotDir is the motor rotation direction.

2. The method for detecting the zero-position offset angle of a drive motor resolver according to claim 1, characterized in that, The vehicle and 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 or R, and the accelerator pedal opening is 0%; The motor operating state includes: the MCU is in the open-tube operating state, and the MCU main state machine is in torque control 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 and / or 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 0; Reset the resolver zero-position compensation angle Ag_comp to 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 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.

7. A system for detecting the zero-position offset angle of a drive motor resolver, characterized in that, The system is used to perform the detection method according to any one of claims 1-6, including: 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 and 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 and voltage control and reset motor parameters when the MCU switches from torque control mode to service 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.

8. 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 drive motor resolver zero-position offset angle detection method according to any one of claims 1-6.

9. 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 offset angle of a drive motor resolver as described in any one of claims 1-6.

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