Sound production method of motor, vehicle, storage medium and program product

Abstract

The embodiment of the invention provides a sound production method of a motor, a vehicle, a storage medium and a program product. Comprising the following steps: acquiring to-be-played audio data; obtaining a pulse width modulation duty ratio according to the audio data and the audio injection angle; and controlling the motor to produce sound according to the pulse width modulation duty ratio. According to the embodiment of the invention, the motor can play the audio signal.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method for generating sound from a motor, a vehicle, a storage medium, and a program product. Background Technology

[0002] Currently, audio playback in electric vehicles is usually limited to the vehicle interior, where audio equipment is installed inside the cabin to play multimedia system audio. However, in some scenarios, users need to transmit information outside the vehicle, which can be done through the motor or external speakers. But for solutions that use the motor to generate sound, the sound files are relatively simple with few frequency points, so only simple audio can be played. Multimedia audio cannot be played, and there is also the issue of vehicle vibration when playing sound. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a method for generating sound from an electric motor, a vehicle, a storage medium, and a program product that overcome or at least partially solve the above problems.

[0004] To address the above problems, this invention discloses a method for generating sound using a motor, the method comprising:

[0005] Get the audio data to be played;

[0006] The pulse width modulation duty cycle is obtained based on the audio data and the audio injection angle.

[0007] The motor is controlled to produce sound based on the pulse width modulation duty cycle.

[0008] Optionally, obtaining the pulse width modulation duty cycle based on the audio data and the audio injection angle includes:

[0009] Obtain the coordinate system of the motor;

[0010] The pulse width modulation duty cycle is obtained based on the audio data, the audio injection angle, and the coordinate system.

[0011] Optionally, obtaining the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system includes:

[0012] Determine the audio control scalar based on the audio data and the maximum target parameter value;

[0013] The pulse width modulation duty cycle is obtained based on the audio control scalar, the audio injection angle, and the coordinate system.

[0014] Optionally, determining the audio control scalar based on the audio data and the maximum target parameter value includes:

[0015] The audio data is processed to generate per-unit values;

[0016] The audio control scalar is determined by multiplying the per-unit value, the volume value, and the maximum target parameter value.

[0017] Optionally, obtaining the coordinate system of the motor includes:

[0018] Establish a rotor magnetic field orientation vector control system for the motor;

[0019] The rotating coordinate system and / or stationary coordinate system in the rotor field orientation vector control system are obtained as the coordinate system of the motor.

[0020] Optionally, the rotating coordinate system includes at least one n-order rotating coordinate system in the rotor magnetic field orientation vector control system.

[0021] Optionally, obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system includes:

[0022] Based on the audio control scalar and the audio injection angle, a first vector value and a second vector value are determined on the rotating coordinate system. The first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system.

[0023] Based on the position of the phase current and magnetic field of the motor, the feedback value corresponding to the rotating coordinate system is obtained;

[0024] Based on the rotating coordinate system, closed-loop control is performed on the first vector value, the second vector value, and the feedback value to obtain the pulse width modulation duty cycle.

[0025] Optionally, determining the first vector value and the second vector value in the rotating coordinate system based on the audio control scalar and the audio injection angle includes:

[0026] Based on the audio injection angle, the audio control scalar is injected into the rotating coordinate system to obtain a first vector value and a second vector value.

[0027] Optionally, the audio control scalar includes an audio current scalar, and determining the first vector value and the second vector value in the rotating coordinate system based on the audio control scalar and the audio injection angle includes:

[0028] By using the audio injection angle, the audio current scalar is assigned to the rotating coordinate system to generate a first vector value and a second vector value.

[0029] Optionally, the step of injecting the audio control scalar into the rotating coordinate system based on the audio injection angle to obtain a first vector value and a second vector value includes:

[0030] By using the audio injection angle, the audio voltage scalar and the audio current scalar are assigned to the rotating coordinate system to generate a first vector value and a second vector value; wherein the audio voltage scalar is converted based on the audio current scalar.

[0031] Optionally, the audio voltage scalar is converted based on the audio current scalar, including:

[0032] The audio voltage scalar is obtained based on the audio current scalar and the equivalent circuit parameters of the motor of the same order; or...

[0033] The audio voltage scalar is obtained by combining the audio current scalar with a preset scaling factor.

[0034] Optionally, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by the audio injection angle to generate a first vector value and a second vector value includes:

[0035] By injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle, a first vector value and a second vector value are obtained.

[0036] Optionally, the step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain a first vector value and a second vector value includes:

[0037] By using the audio injection angle, the audio current scalar and audio voltage scalar are injected into the first perpendicular axis of the first-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis;

[0038] By using the audio injection angle, the audio current scalar and audio voltage scalar are injected into the second perpendicular axis of a first-order rotating coordinate system, resulting in a corresponding second vector value on the second perpendicular axis. The audio injection angle is used to allocate the magnitudes of the first and second vector values, thereby adjusting the volume of the motor's output.

[0039] Optionally, the step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain a first vector value and a second vector value includes:

[0040] By using the audio injection angle, the audio current scalar and the audio voltage scalar are injected into the first perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis;

[0041] By using the audio injection angle, the audio current scalar and the audio voltage scalar are injected into the second perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis.

[0042] Optionally, the audio current vector and the audio voltage vector are filtered and divided to generate a high-frequency vector and a low-frequency vector. The high-frequency vector is assigned to the synchronous rotating coordinate system, and the low-frequency vector is assigned to the higher-order synchronous rotating coordinate system.

[0043] Optionally, the step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain a first vector value and a second vector value includes:

[0044] By using the audio injection angle, the audio voltage scalar and the audio current scalar are filtered and divided to generate high-frequency vectors and low-frequency vectors.

[0045] A high-frequency vector is injected into the synchronous rotating coordinate system to obtain a first vector value. The first vector value is then distributed into the synchronous rotating coordinate system to obtain vector values ​​for the first and second perpendicular axes.

[0046] The low-frequency vector is injected into a higher-order rotating coordinate system to obtain a second vector value. The second vector value is then assigned to the higher-order rotating coordinate system to obtain vector values ​​for the first and second perpendicular axes.

[0047] Optionally, the step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain a first vector value and a second vector value includes:

[0048] By using the audio injection angle, the audio voltage scalar and the audio current scalar are filtered and divided to generate high-frequency vectors and low-frequency vectors.

[0049] The high-frequency vector is injected into the intersection axis of at least one n-order rotating coordinate system to obtain the first vector value;

[0050] The low-frequency vector is injected into the direct axis of at least an nth-order rotating coordinate system to obtain a second vector value.

[0051] Optionally, the step of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes:

[0052] Closed-loop control is performed based on the first vector value, the second vector value, and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; the first voltage vector value and the second voltage vector value are transformed to the stationary coordinate system to obtain the transformed first voltage vector value and second voltage vector value; the transformed first voltage vector value and second voltage vector value are superimposed on the torque control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; based on the superimposed first voltage vector value and second voltage vector value, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0053] Alternatively, the first and second vector values ​​can be transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. These transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain superimposed first and second voltage vector values. Finally, the pulse width modulation duty cycle is obtained using pulse width modulation based on these superimposed first and second voltage vector values.

[0054] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0055] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain the transformed first voltage vector value and second voltage vector value; superimpose the transformed first voltage vector value and second voltage vector value onto the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; and obtain the pulse width modulation duty cycle based on the superimposed first voltage vector value and second voltage vector value through pulse width modulation.

[0056] Optionally, obtaining the pulse width modulation duty cycle based on the feedback value, the superimposed first voltage vector value, and the second voltage vector value includes:

[0057] The pulse width modulation duty cycle is determined by performing proportional-integral-differential calculations on the feedback value, the superimposed first voltage vector value, and the second voltage vector value.

[0058] Optionally, obtaining the audio data to be played includes:

[0059] Determine the target conversion frequency, and within one carrier cycle, sample and convert audio data through at least one extreme point of the carrier signal of the motor's bridge arm, wherein the extreme points include peaks and / or troughs;

[0060] Obtain the analog output of the multimedia entertainment system;

[0061] Based on the target conversion frequency, within one carrier cycle, audio data is sampled and converted through at least one bridge arm carrier signal extreme point of the motor, the extreme point including peaks and / or troughs, and the analog output is converted from analog to digital to generate audio data.

[0062] Obtain the audio data.

[0063] Optionally, obtaining the audio data to be played includes:

[0064] Obtain the digital output of the multimedia entertainment system;

[0065] The digital output is down-frequencyed, and within one carrier cycle, the audio data is sampled and converted through at least one bridge arm carrier signal extreme point of the motor, the extreme point including peaks and / or troughs, to generate audio data;

[0066] Obtain the audio data.

[0067] Optionally, the digital output is down-converted, and within one carrier cycle, audio data is sampled and converted using at least one bridge arm carrier signal extreme point of the motor, the extreme point including peaks and / or troughs, to generate audio data, including:

[0068] Determine the target sampling frequency, and within one carrier cycle, sample and convert audio data through at least one extreme point of the carrier signal of the motor arm, wherein the extreme points include peaks and / or troughs;

[0069] Based on the target sampling frequency, the digital output is sampled to generate audio data.

[0070] A vehicle includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for generating sound from an electric motor as described above.

[0071] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for generating sound from an electric motor as described above.

[0072] A computer program product includes a computer program that, when executed by a processor, implements the steps of the sound-generating method of the motor as described above.

[0073] The embodiments of the present invention have the following advantages:

[0074] This invention acquires audio data to be played; obtains a pulse width modulation (PWM) duty cycle based on the audio data and the audio injection angle; and controls the motor to produce sound based on the PWM duty cycle. By acquiring audio data and converting it into a PWM duty cycle for motor control, the audio data is converted into a motor control signal that the drive motor controller can recognize. This enables the motor to play music and sing, and allows for high-complexity sound reproduction. Attached Figure Description

[0075] Figure 1 This is a flowchart illustrating the steps of an embodiment of a method for generating sound using an electric motor according to the present invention;

[0076] Figure 2 This is a flowchart illustrating the steps of another embodiment of the sound-generating method of an electric motor according to the present invention;

[0077] Figure 3 This is a schematic diagram of an audio acquisition architecture according to the present invention;

[0078] Figure 4 This is a schematic diagram of audio injection according to the present invention. Figure 1 ;

[0079] Figure 5 This is a schematic diagram of audio injection according to the present invention. Figure 2 ;

[0080] Figure 6 This is a schematic diagram of audio injection according to the present invention. Figure 3 ;

[0081] Figure 7 This is a schematic diagram of audio injection according to the present invention. Figure 4 ;

[0082] Figure 8 This is a schematic diagram of audio injection according to the present invention. Figure 5 ;

[0083] Figure 9 This is a schematic diagram illustrating audio data acquisition as an example of a method for generating sound using a motor according to the present invention;

[0084] Figure 10 This is a schematic diagram of audio data decoding and injection, illustrating an example of a method for generating sound using a motor according to the present invention. Figure 1 ;

[0085] Figure 11 This is a schematic diagram of audio data decoding and injection, illustrating an example of a method for generating sound using a motor according to the present invention. Figure 2 .

[0086] Figure 12 This is a schematic diagram of high-frequency sampling for multiphase bridge arm phase misalignment control according to the present invention;

[0087] Figure 13 This is a schematic diagram of a sound recognition step according to the present invention;

[0088] Figure 14 This is a schematic diagram of another sound recognition step of the present invention;

[0089] Figure 15 This is a schematic diagram of another motor sound-generating step according to the present invention. Detailed Implementation

[0090] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0091] Reference Figure 1 The diagram illustrates a step flowchart of an embodiment of a method for generating sound from a motor according to the present invention. The method for generating sound from a motor may specifically include the following steps:

[0092] Step 101: Obtain the audio data to be played;

[0093] In this embodiment of the invention, the host assembly can be debugged to collect corresponding audio data to be played from the host audio lines of various music playback systems.

[0094] Step 102: Obtain the pulse width modulation duty cycle based on the audio data and audio injection angle;

[0095] Then, based on this audio data and the audio injection angle, the original motor control is combined to obtain the pulse width modulation duty cycle. This allows the motor controller to control the motor speed, air gap magnetic field, etc., based on the pulse width modulation duty cycle.

[0096] The audio injection angle is a control parameter used to input audio data into the motor's control system. This audio injection angle can be a dynamically adjusted specific motor parameter, or it can be a pre-determined static parameter based on the control scheme.

[0097] The injection angle is determined by the initial angle of the motor vector control system, and can be expressed by the following formula:

[0098] theta = K + theta_init;

[0099] Where K is a real number, and theta_init is the initial angle injected, ranging from 0 to 360 degrees.

[0100] K can be determined by the frequency and time of the motor, such as K = 2*π*f*t, where t is time and f is frequency, which can be negatively correlated with the rotational speed.

[0101] Step 103: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0102] After obtaining the pulse width modulation (PWM) duty cycle, the air gap magnetic field of the motor can be controlled by the PWM duty cycle. This causes the electromagnetic force generated by the motor core to excite electromagnetic vibration. Sound is produced by vibration, thus allowing the motor to emit corresponding musical sounds. The initial setting of the air gap magnetic field is related to the magnetomotive force of the stator and rotor windings and the air gap permeability. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field within the motor's air gap. This embodiment of the invention does not specifically limit the magnitude of the air gap magnetic field and the electromagnetic sound.

[0103] This invention acquires audio data to be played; obtains a pulse width modulation (PWM) duty cycle based on the audio data and the audio injection angle; and controls the motor to produce sound based on the PWM duty cycle. By acquiring audio data and converting it into a PWM duty cycle for motor control, the audio data is converted into a motor control signal that the drive motor controller can recognize. This enables the motor to play music and sing, and allows for high-complexity sound. Furthermore, by increasing the audio injection angle, the audio data is converted into a corresponding motor control signal based on the audio injection angle, ensuring that the audio data and the original motor control signal are injected in the same dimension, avoiding abnormal vibration caused by motor sound production, and improving the vehicle's NVH performance.

[0104] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of a motor sound-generating method according to the present invention. The motor sound-generating method may specifically include the following steps:

[0105] Step 201: Obtain the audio data to be played;

[0106] In this embodiment of the invention, the audio signal to be played can be obtained from the main frequency signal of the multimedia entertainment system through a signal interface with the system. This multimedia entertainment system can be an in-vehicle multimedia entertainment system, which can control the vehicle's drive motor to produce sound through user operation.

[0107] In one example of the present invention, the acquisition of audio signals from the multimedia system may include: music files (various music format files such as MP3, wma, flac), MIDI files, Bluetooth-transmitted song files, digital signals processed by the chip, analog signals processed by the chip, analog signals amplified by the power amplifier, PCM encoded files, analog or digital signals input from the microphone, etc.; files of various formats are extracted and finally converted into digital signal information according to the corresponding file encoding rules and then transmitted to the controller.

[0108] Since audio signals come from different sources in practical applications, including both analog and digital signals, they can be sampled and converted accordingly.

[0109] In one example of the present invention, the step of acquiring the audio data to be played includes: determining a target conversion frequency; acquiring the analog output of the multimedia entertainment system; performing analog-to-digital conversion on the analog output based on the target conversion frequency to generate audio data; and acquiring the audio data.

[0110] For analog signals, the target conversion frequency can be determined directly based on the controller's own sampling frequency. The analog output signal of a multimedia entertainment system can be sampled to obtain the analog output quantity. This analog output quantity is then converted from analog to digital according to the target conversion frequency to obtain a digital signal, i.e., audio data; this audio data is then used for motor control.

[0111] In one example of the present invention, the step of acquiring the audio data to be played includes: acquiring the digital output of the multimedia entertainment system; down-converting the digital output to generate audio data; and acquiring the audio data.

[0112] For digital signals, since the controller's frequency is lower than the signal frequency in the multimedia system, the digital output of the in-vehicle multimedia entertainment system can be directly obtained. This digital output is then down-converted to obtain a signal that the controller can recognize—audio data. This audio data is then used for motor control.

[0113] Furthermore, the step of down-converting the digital output to generate audio data to be played includes: determining a target sampling frequency; and sampling the digital output based on the target sampling frequency to generate audio data.

[0114] In this embodiment of the invention, the digital output can be sampled according to the target sampling frequency, thereby downsampling the digital output to generate audio data. When encountering missing audio data points during downsampling, interpolation is used between the previous and next points. For example, for a 48kHz audio file, selecting one audio point every three audio data points yields 12kHz audio data. Through interpolation, the audio data points are made continuous, resulting in more continuous and accurate audio, thus avoiding audio distortion.

[0115] For example, you can refer to Figure 3 It can acquire corresponding audio from the audio circuitry of the electric vehicle's multimedia system and convert the signals output by the multimedia system into audio data that the drive motor controller can recognize. This includes the following signal acquisition schemes:

[0116] 1. Power amplifier analog signal ADC (Analog-to-Digital Converter) sampling

[0117] The analog signal output from the power amplifier to the audio system in the vehicle environment is connected to the ADC sampling port of the MCU (Microcontroller Unit). The MCU performs ADC sampling and converts the analog signal from the power amplifier into a digital signal by debugging the underlying drive function of the electric drive system.

[0118] 2. I2S-CANFD (CAN with Flexible Data Rate, Variable Rate Local Area Network)

[0119] The system acquires the I2S (Inter-IC Sound, integrated circuit built-in audio bus) signal source from the external power amplifier in the vehicle environment. By debugging the corresponding low-level drive function on the electric drive system, the I2S signal on the main unit is converted into a digital signal, and the digital signal is sent to the MCU through the CANFD bus.

[0120] 3. A2B-I2S-CANFD

[0121] The system acquires the A2B (Automotive Audio Bus) signal source from the external power amplifier in the vehicle environment. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller. The digital signal is then sent to the MCU via the CANFD bus.

[0122] 4. A2B-I2S-MCU

[0123] The A2B signal source from the external power amplifier in the vehicle environment is obtained. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller.

[0124] In some embodiments of the present invention, the method further includes: during the acquisition of audio signals, performing down-sampling on analog signals in the multimedia system of the electric vehicle according to the control frequency of the controller; or, during the acquisition of audio signals, performing down-sampling on digital signals in the multimedia system of the electric vehicle according to the control frequency of the controller, and performing interpolation processing between some audio points during the down-sampling process.

[0125] In practical applications, electric drive systems are limited by the switching frequency of power devices (such as IGBTs, SiC, GANs, and MOSFEETs) and the control frequency of the control chip, which are generally lower than the sampling rate of music files (such as 96kHz, 48kHz, 44.1kHz, and 22.05kHz). However, motor controllers use digital or analog processing methods to sample and convert data, increasing the control frequency of the electronic control chip. This allows them to achieve higher control frequencies (such as 20kHz, 22kHz, 24kHz, and 32kHz) at lower switching frequencies (such as 10kHz, 11kHz, 12kHz, and 16kHz), improving the fidelity of the audio file and achieving higher playback quality.

[0126] For analog signals in the multimedia system of an electric vehicle, the ADC can be used to sample the signal according to the control frequency of the control chip, thereby reducing the frequency to obtain the desired audio signal. Then, the audio signal can be denoised to improve sound quality. For example, an ADC sampling frequency of 22kHz can produce an audio signal with a sampling rate of 22kHz.

[0127] Within a carrier cycle, audio data is sampled at multiple extreme points of the carrier signal. These extreme points represent the highest and lowest points of the carrier signal count within each cycle, and are also the points where the comparison value of each bridge arm register is updated—that is, the points where the duty cycle can stably control motor operation and update the comparison value. Simultaneously, by sampling at these extreme points, changes in the audio signal are captured in a timely manner, and further processed to determine the duty cycle of the motor control signal. Timely updates of the duty cycle at the most recent extreme point reduce noise and accents caused by control delays. The natural tempo synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps maintain time consistency between the audio signal and the motor control signal, ensuring that the motor's output audio signal closely follows the changes in the original audio signal.

[0128] At the current extreme point, the audio signal is sampled and the duty cycle of the control signal is calculated. By updating and adjusting the duty cycle of the control signal at the next extreme point of the carrier signal, the control signal can be adjusted in a timely manner according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampled data of the audio signal, reducing audio distortion that may be caused by signal update delay. This ensures that the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound. The sampling of the audio signal and the calculation of the duty cycle of the control signal at each extreme point, along with timely updates of the duty cycle at the most recent extreme point, increase the sampling and control frequency of the audio signal, improve the system bandwidth, increase the response frequency of the audio signal, and improve the sound reproduction.

[0129] like Figure 12 This system employs multiple sampling and updating to increase the control frequency of the electronic control chip. Within a carrier cycle, audio data is sampled at multiple extreme points of the carrier signal. These extreme points represent the highest and lowest points of the carrier signal count value within each cycle, and they are also the points where the comparison value of each bridge arm register is updated—that is, the points where the duty cycle can stably control motor operation and update the comparison value. Simultaneously, by sampling at these extreme points, changes in the audio signal are captured in a timely manner, and further processed to determine the duty cycle of the motor control signal. Timely updates of the duty cycle at the nearest extreme point reduce noise and accents caused by control delays. The natural synchronization of sampling at extreme points with the update of the control signal at the nearest extreme point helps maintain time consistency between the audio signal and the motor control signal, ensuring that the motor's output audio signal closely follows the changes in the original audio signal.

[0130] At the current extreme point, the audio signal is sampled and the duty cycle of the control signal is calculated. By updating and adjusting the duty cycle of the control signal at the next extreme point of the carrier signal, the control signal can be adjusted in a timely manner according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampled data of the audio signal, reducing audio distortion that may be caused by signal update delay. This ensures that the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound. The sampling of the audio signal and the calculation of the duty cycle of the control signal at each extreme point, along with timely updates of the duty cycle at the most recent extreme point, increase the sampling and control frequency of the audio signal, improve the system bandwidth, increase the response frequency of the audio signal, and improve the sound reproduction.

[0131] Step 202: Obtain the coordinate system of the motor;

[0132] First, the coordinate system of the motor can be obtained. This coordinate system can be the field-oriented control coordinate system and the corresponding synchronous rotating coordinate system and stationary coordinate system.

[0133] Specifically, obtaining the coordinate system of the motor includes: establishing a rotor magnetic field orientation vector control system for the motor; and obtaining the rotating coordinate system and / or stationary coordinate system in the rotor magnetic field orientation vector control system as the coordinate system of the motor.

[0134] To establish a rotor field-oriented vector control system for an electric motor, the three-phase current of the motor can be obtained. The rotor field-oriented vector control system is then established based on the current.

[0135] Specifically, the step of establishing the field-oriented control coordinate system based on the three-phase current of the motor includes: converting the three-phase current of the motor to a two-phase stationary coordinate system current; converting the two-phase stationary coordinate system current to a synchronous rotating coordinate system current; and fitting the field-oriented control coordinate system based on the synchronous rotating coordinate system current.

[0136] The three-phase currents ia, ib, and ic of the motor can be obtained using current sensors. Clarke (stationary coordinate transformation) is used to convert the three-phase currents into iα and iβ in a two-phase stationary coordinate system. Then, Park (synchronous rotating coordinate transformation) is used to convert iα and iβ into iq and id in a dq coordinate system that rotates synchronously with the rotor magnetic field of the synchronous motor. Based on this synchronous rotating coordinate system, a field-oriented control coordinate system is fitted. There is only one stationary coordinate system with no order distinction. The synchronous rotating coordinate system includes multiple orders; the first-order synchronous rotating coordinate system has an order M=1, while the others are higher-order rotating coordinate systems with M not equal to 1.

[0137] More specifically, in one example of the invention, the rotating coordinate system includes at least one n-order rotating coordinate system in the rotor magnetic field orientation vector control system.

[0138] Step 203: Obtain the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system.

[0139] In this embodiment of the invention, audio data can be injected into the coordinate system based on the audio injection angle to obtain the pulse width modulation duty cycle of the control motor.

[0140] Further, the step of obtaining the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system includes: determining an audio control scalar based on the audio data and the maximum target parameter value; and obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system.

[0141] First, the audio data is mapped to a maximum target parameter value, which is then multiplied by the volume value to determine the audio control scalar. This maximum target parameter value represents the maximum volume of the audio data that can be used for audio control. Harmonic injection can be used to inject the audio control scalar into a frequency-matched coordinate system based on the audio injection angle, thus obtaining the pulse width modulation duty cycle for motor control.

[0142] In an optional embodiment of the present invention, the step of obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system includes: determining a first vector value and a second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle, wherein the first vector value corresponds to a first coordinate axis of the coordinate system and the second vector value corresponds to a second coordinate axis of the coordinate system; obtaining a feedback value corresponding to the rotating coordinate system based on the position of the phase current and magnetic field of the motor; and performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle.

[0143] For motor control determination, the audio control scalar can first be decomposed along two axes of a rotating coordinate system based on the audio injection angle, yielding a first vector value and a second vector value in the rotating coordinate system. The first vector value corresponds to the first axis of the coordinate system, and the second vector value corresponds to the second axis. Then, based on the position of the motor's phase current and magnetic field, feedback values ​​corresponding to the corresponding order of the rotating coordinate system are obtained. The torque control requirements of the motor are determined using the feedback values ​​from the synchronous coordinate system. Finally, based on the corresponding order of the rotating coordinate system, closed-loop control is performed on the first vector value, the second vector value, and the corresponding order feedback value. This closed-loop control integrates the sound control and torque control to obtain the pulse width modulation duty cycle.

[0144] Specifically, the audio vector includes an audio control scalar and an audio injection angle. The step of determining the first vector value and the second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle includes: allocating the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate the first vector value and the second vector value.

[0145] The first and second vector values ​​can be determined by assigning the audio current vector to the upper coordinate system of the rotating coordinate system based on the audio injection angle.

[0146] In addition, the audio vector includes an audio control scalar and an audio injection angle. The step of injecting the audio control scalar into the coordinate system based on the audio injection angle to obtain a first vector value and a second vector value also includes: converting the audio current vector into an audio voltage vector.

[0147] In this embodiment of the invention, control can also be achieved using an audio current vector or an audio voltage vector. The audio voltage vector can be determined by converting the audio current vector into an audio voltage vector. In some examples, converting the audio current vector into an audio voltage vector includes: obtaining the audio voltage vector based on the audio current vector and the equivalent circuit parameters of the motor of the same order; or, combining the audio current vector with a preset proportional coefficient to generate the audio voltage vector. For converting the audio current vector into an audio voltage vector, the impedance model of the motor is determined using the equivalent circuit parameters of the motor of the same order, and then the audio current vector is converted from voltage to current based on the motor's impedance model to obtain the audio voltage vector. Alternatively, conversion can be performed using a preset proportional coefficient between voltage and current. This preset proportional coefficient is determined based on parameters such as the motor's performance, and this embodiment of the invention does not specifically limit it. The audio current vector can also be multiplied by the preset proportional coefficient to generate the audio voltage vector.

[0148] After obtaining the audio scalar, the step of assigning the audio scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value includes: assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value. Using the audio injection angle, the audio voltage scalar and the audio current scalar can be respectively assigned to the two coordinate axes of the rotating coordinate system to obtain the first vector value and the second vector value.

[0149] More specifically, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate a first vector value and a second vector value includes: injecting the audio voltage scalar and the audio current scalar into at least one rotating coordinate system of order n to obtain the first vector value and the second vector value.

[0150] By injecting audio voltage and current scalars into at least an nth-order rotating coordinate system, a first vector value and a second vector value can be obtained. By simultaneously injecting voltage and current, the audio response bandwidth can be increased, thereby improving the sound quality of audio playback.

[0151] In some examples of the present invention, injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a first-order rotating coordinate system to obtain a first vector value (voltage vector value and current vector value) corresponding to the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a first-order rotating coordinate system to obtain a second vector value (voltage vector value and current vector value) corresponding to the second perpendicular axis.

[0152] You can refer to Figure 9 , Figure 4 , Figure 5 The audio frequencies of the audio current and voltage vectors can be determined. Then, based on a first-order rotating coordinate system of the same order as the audio vector determined from the field-oriented control coordinate system, the audio current and voltage vectors are injected into this first-order rotating coordinate system. Specifically, the audio current and voltage scalars are injected into the first perpendicular axis of the first-order rotating coordinate system, yielding the corresponding first vector value on the first perpendicular axis. Similarly, the audio current and voltage scalars are injected into the second perpendicular axis of the first-order rotating coordinate system, yielding the corresponding second vector value on the second perpendicular axis. For example, depending on the audio injection angle, the audio current and voltage scalars are converted into a current vector Is (current Isd, Isq) on the dq axis, or a voltage vector Us (voltage Usd, Usq) on the dq axis. By directly injecting these vectors into a normal FOC control system, the control method is relatively simple. Figure 9 In a normal FOC control system, injecting the given current and voltage simultaneously into the dq axis synchronous rotating coordinate system can increase the bandwidth of the audio signal response, enable the response to higher sound frequencies, and improve the sound reproduction accuracy.

[0153] In some examples of the present invention, injecting the audio voltage scalar and the audio current scalar into at least an n-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a higher-order rotating coordinate system to obtain a corresponding first vector value on the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a higher-order rotating coordinate system to obtain a corresponding second vector value on the second perpendicular axis. To avoid motor jitter caused by the addition of a signal of the same frequency, the audio current scalar and the audio voltage scalar can be injected into a higher-order rotating coordinate system. The audio frequencies of the audio current scalar and the audio voltage scalar can be determined first, and then a frequency higher than the motor jitter frequency can be determined. A higher-order rotating coordinate system can be determined for the target frequency; audio current and audio voltage scalars are injected into the first perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis; audio current and audio voltage scalars are injected into the second perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis. For example, referring to... Figure 6 , Figure 7The order can be 2, 3, 4, 5, 6, 7... in the positive direction, or 0, -1, -2, -3, -4, -5, -6, -7... in the negative direction. The audio signal is converted into a current vector Is7 (current Isd7, Isq7) on the 7th order dq axis, or a voltage vector Us-5 (voltage Usd-5, Usq-5) on the -5th order dq axis, etc., based on the corresponding vectors, and then a coordinate transformation is performed to generate the motor control signal. (See reference...) Figure 4 Audio harmonic injection consists of three parts: corresponding coordinate system feedback current extraction, corresponding coordinate system voltage calculation, and coordinate transformation injection into the motor vector control. 1. The three-phase currents are subjected to 5dq and 7dq equivalent coordinate transformations respectively, and then the 5th and 7th harmonic currents are extracted; 2. The target harmonic current value is given according to the amplitude and frequency of the note, and the voltage in the corresponding coordinate system is obtained after passing through a PI regulator; 3. Then, the voltage in the stationary coordinate system is obtained through inverse PARK transformation and injected into the original FOC closed-loop control system. By controlling the amplitude of the target current harmonic injection in the coordinate system through multiple synchronous rotations of the motor, the amplitude of the note played by the motor can be controlled; by controlling the frequency of the target current harmonic injection in the coordinate system through multiple synchronous rotations of the motor, the pitch of the note played by the motor can be controlled. (See reference...) Figure 4 The process by which the MCU injects the given current into the -5 and 7th order dq axis synchronous rotating coordinate system is as follows: the audio injection includes three parts: ① extraction of feedback current in the corresponding coordinate system ② calculation of voltage in the corresponding coordinate system ③ inverse coordinate transformation and injection into the motor vector control.

[0154] ① Current extraction in corresponding coordinate system: The phase currents of the multi-phase motor are transformed by coordinate transformations of -5dq and +7dq times respectively, and then the -5th harmonic and +7th harmonic currents are extracted.

[0155] ② Calculation of voltage in the corresponding coordinate system: Is is distributed to the dq axis of the nth-order rotating coordinate system via the angle theta, obtaining the given target harmonic current values ​​(currents Id5th, Iq5th, Id7th, Iq7th). After passing through a PI regulator, the voltage in the corresponding coordinate system (voltages Ud5th, Uq5th, Ud7th, Uq7th) is obtained. Harmonic current extraction formula:

[0156] Id5th=Is*cos(theta), Iq5th=Is*sin(theta);

[0157] Id7th=Is*cos(theta), Iq7th=Is*sin(theta);

[0158] ③ Coordinate inverse transformation is injected into motor vector control: voltages Ud5th, Uq5th, Ud7th, Uq7th are then transformed by inverse PARK to obtain voltages in the stationary coordinate system (voltages Uα5th, Uβ5th, Uα7th, Uβ7th), which are then injected into the original FOC closed-loop control system.

[0159] In some examples of the present invention, injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system to obtain a first vector value and a second vector value includes: filtering and dividing the audio voltage scalar and the audio current scalar to generate a high-frequency scalar and a low-frequency scalar; injecting the high-frequency scalar into a synchronous rotating coordinate system by an injection angle to obtain a first vector value (including the value of the perpendicular axis); and injecting the low-frequency scalar into a higher-order rotating coordinate system by an injection angle to obtain a second vector value (including the value of the perpendicular axis), which is used to suppress motor vibration.

[0160] Because high-frequency signals are combined in a low-frequency coordinate system, they are difficult for users to perceive, thus eliminating NVH (Noise, Vibration, and Harshness) problems such as motor vibration and gear grinding that are perceived by the user. Figure 8 The first and second vectors can be filtered and divided to determine the high-frequency vectors, with those frequencies above a preset value being high-frequency vectors and those below the preset value being low-frequency vectors. The high-frequency vectors are then injected into a synchronous rotating coordinate system to obtain the first vector value; the low-frequency vectors are injected into a higher-order rotating coordinate system to obtain the second vector value.

[0161] Alternatively, a high-frequency scalar can be injected into a synchronous rotating coordinate system through injection angle allocation to obtain a first vector value, and then the corresponding vector values ​​on the first straight axis and the second cross axis can be obtained to solve NVH problems such as low-frequency vibration of the motor and gear grinding caused by the audio current of the whole vehicle.

[0162] Alternatively, the high-frequency scalar can be directly injected into the second intersection axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the second intersection axis; the low-frequency vector can be injected into the first straight axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the first straight axis, which is used to solve NVH problems such as low-frequency vibration of the motor and gear grinding caused by the audio current of the whole vehicle. The preset frequency value can be determined according to the actual situation, and the embodiments of the present invention do not make specific limitations. The use of a higher-order rotating coordinate system increases the control complexity, but the advantage is that it is not easy to cause the motor to vibrate at the same frequency during the sound reproduction process. The low-frequency vibration or jitter that may exist in the low-frequency audio signal on the first-order dq-axis synchronous rotating coordinate system can be resolved in the higher-order dq-axis synchronous rotating coordinate system. Because the rotation frequency is faster than that on the first-order dq-axis synchronous rotating coordinate system, the duration of the vibration point is dispersed. With multiple rotations along the rotor, the corresponding vibration point time becomes shorter and the duration becomes less, which hardly causes jitter, thus solving the jitter problem caused by low-frequency audio signals. Furthermore, this solution can address the NVH (Noise, Vibration, and Harshness) issues caused by high-order currents in the vehicle. By extracting NVH noise and injecting it back into the nth-order dq-axis synchronous rotating coordinate system, the motor emits sound to eliminate NVH noise.

[0163] In some examples of the present invention, injecting the audio voltage scalar and the audio current scalar into at least one n-order rotating coordinate system to obtain a first vector value and a second vector value includes: filtering and dividing the audio voltage scalar and the audio current scalar to generate a high-frequency vector and a low-frequency vector; injecting the high-frequency vector into the intersection axis of at least one n-order rotating coordinate system to obtain a second vector value; and injecting the low-frequency vector into the direct axis of at least one n-order rotating coordinate system to obtain a first vector value.

[0164] In this example, the first and second vectors can be filtered and divided. Vectors with frequencies higher than a preset frequency value are classified as high-frequency vectors, while those with frequencies lower than the preset frequency value are classified as low-frequency vectors. The high-frequency vector is injected into the intersection axis of at least one n-order rotating coordinate system to obtain the second vector value; the low-frequency vector is injected into the direct axis of at least one n-order rotating coordinate system to obtain the first vector value. This eliminates motor vibration.

[0165] In one embodiment of the present invention, the step of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes: performing closed-loop control based on the first vector value, the second vector value, and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; transforming the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain transformed first voltage vector value and second voltage vector value; superimposing the transformed first voltage vector value and second voltage vector value onto the torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and obtaining the pulse width modulation duty cycle based on the feedback value and the superimposed first voltage vector value and second voltage vector value.

[0166] In this embodiment, closed-loop control can be performed first based on the first and second vector values ​​to determine the corresponding first and second voltage vector values ​​acting on the rotating coordinate system of motor control. Then, the first and second voltage vector values ​​are inversely transformed to obtain the control quantity in the stationary coordinate system, i.e., the transformed first and second voltage vector values, to determine the control quantity to be superimposed. The transformed first and second voltage vector values ​​are then superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values. This allows the audio control signal to be superimposed on the torque control signal, enabling simultaneous driving and sound generation for motor control. Finally, the feedback value and the superimposed first and second voltage vector values ​​are combined to obtain the pulse width modulation duty cycle. This simultaneous driving and sound generation control method ensures vehicle stability by generating sound without affecting the motor's operation.

[0167] In one example of the present invention, the step of obtaining the pulse width modulation duty cycle based on the feedback value, the first voltage vector value, and the second voltage vector value includes:

[0168] The first and second vector values ​​(voltage vector values) are inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. These transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain the superimposed first and second voltage vector values. Finally, the pulse width modulation duty cycle is obtained using pulse width modulation based on these superimposed first and second voltage vector values.

[0169] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0170] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain the transformed first voltage vector value and second voltage vector value; superimpose the transformed first voltage vector value and second voltage vector value onto the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; and obtain the pulse width modulation duty cycle based on the superimposed first voltage vector value and second voltage vector value through pulse width modulation.

[0171] Step 204: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0172] Once the pulse width modulation duty cycle is obtained, the operating state of the motor can be controlled based on the pulse width modulation duty cycle, enabling the motor to emit sound.

[0173] This invention also discloses a sound recognition method for motor sounds, which can be referred to. Figure 13 This may include the following steps:

[0174] Step 301: Determine the target conversion frequency. Within one carrier cycle, sample and convert the audio data through at least one extreme point of the carrier signal of the motor's bridge arm. The extreme points include peaks and / or troughs.

[0175] The target conversion frequency can be determined based on the operating frequency of the sound-generating motor. Within one carrier cycle, audio data is sampled and converted through at least one extreme point of the carrier signal on one of the motor's bridge arms, where the extreme point includes peaks and / or troughs. (Refer to...) Figure 12 Within a carrier cycle, audio data is sampled at multiple extreme points of the carrier signal. These extreme points represent the highest and lowest points of the carrier signal count within each cycle, and are also the points where the comparison value of each bridge arm register is updated—that is, the points where the duty cycle can stably control motor operation and update the comparison value. Simultaneously, by sampling at these extreme points, changes in the audio signal are captured in a timely manner, and further processed to determine the duty cycle of the motor control signal. Timely updates of the duty cycle at the most recent extreme point reduce noise and accents caused by control delays. The natural synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps maintain time consistency between the audio signal and the motor control signal, ensuring that the motor's output sound signal closely follows the changes in the original audio signal.

[0176] Step 302: Obtain the analog output of the multimedia entertainment system;

[0177] Step 303: Based on the target conversion frequency, perform analog-to-digital conversion on the analog output to generate audio data;

[0178] Step 304: Obtain the audio data.

[0179] Then, the analog output of the multimedia entertainment system is acquired, and analog-to-digital conversion (A / D) sampling is performed according to the control frequency of the control chip. This reduces the frequency of the original waveform signal to obtain the required digital audio signal, generating audio data. Noise reduction processing is then applied to the audio signal to improve sound quality. For example, an ADC sampling frequency of 22kHz can yield a 22kHz audio digital signal. The identified audio data is then processed for sound generation.

[0180] By increasing the sampling frequency of the digital audio signal, the sampling distortion of the digital audio signal is reduced at the source, and the music fidelity of the audio file is improved, resulting in a higher playback quality.

[0181] This invention also discloses another method for sound recognition of motor sounds, which can be referred to. Figure 14 This may include the following steps:

[0182] Step 401: Obtain the digital output of the multimedia entertainment system;

[0183] The first step is to obtain the digital output of the multimedia entertainment system, that is, the audio data of the digital output of the multimedia entertainment system.

[0184] Step 402: Reduce the frequency of the digital output. Within one carrier cycle, sample and convert the audio data through at least one extreme point of the carrier signal of the motor's bridge arm. The extreme point includes peaks and / or troughs to generate audio data.

[0185] The digital output frequency is down-converted to match the frequency of the motor controller. A lower sampling rate audio digital signal is obtained by down-converting the original audio digital signal from its higher sampling rate. Within one carrier cycle, the audio data is sampled and converted through at least one extreme point of the motor's bridge arm carrier signal; the converted data is the audio data. For audio points not present during the down-conversion process, interpolation is performed between the previous and next points. The interpolation algorithm is not specifically limited in this embodiment of the invention.

[0186] Step 403: Obtain the audio data.

[0187] The sampled audio data is acquired for subsequent sound processing.

[0188] By downsampling, the digital signal output by the multimedia system can be directly converted from the original signal, avoiding signal distortion and improving the quality of audio acquisition.

[0189] This invention also discloses a method for generating sound using an electric motor, which can be referred to... Figure 15 Specifically, it may include the following steps:

[0190] Step 501: Obtain the audio data to be played;

[0191] Step 502: Determine the audio control scalar based on the audio data, volume value, and maximum target parameter value;

[0192] By mapping the audio data, volume value, and maximum target parameter value to the dimensionless motor control quantity, different styles of audio can be mapped to a unified sound range, keeping the volume of the sound stable and avoiding fluctuations in sound volume.

[0193] Step 503: Based on the audio control scalar and the audio injection angle, determine the first vector value and the second vector value on the rotating coordinate system. The first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system.

[0194] Based on the audio injection angle, the audio control scalar is allocated on a rotating coordinate system to determine a first vector value and a second vector value. The first vector value corresponds to the first coordinate axis of the rotating coordinate system, and the second vector value corresponds to the second coordinate axis.

[0195] The audio control scalar includes an audio current scalar. Determining a first vector value and a second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle includes: allocating the audio current scalar to the rotating coordinate system by means of the audio injection angle, thereby generating the first vector value and the second vector value.

[0196] The first and second vector values ​​can be determined by assigning the audio current vector to the upper coordinate system of the rotating coordinate system based on the audio injection angle.

[0197] Furthermore, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate a first vector value and a second vector value includes: injecting the audio voltage scalar and the audio current scalar into at least one rotating coordinate system of order n to obtain the first vector value and the second vector value.

[0198] Step 504: Based on the rotating coordinate system, the first vector value and the second vector value are superimposed to obtain the pulse width modulation duty cycle.

[0199] In the rotating coordinate system, the first vector value and the second vector value are subjected to open-loop control. The first vector value and the second vector value are directly superimposed on the existing voltage or current in the rotating coordinate system to obtain the corresponding pulse width modulation duty cycle.

[0200] Specifically, the step of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes:

[0201] Closed-loop control is performed based on the first vector value, the second vector value, and the feedback value to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0202] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system by inverse coordinate transformation to obtain the transformed first voltage vector value and second voltage vector value;

[0203] The transformed first voltage vector value and second voltage vector value are superimposed on the torque control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value.

[0204] Based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0205] Alternatively, the first and second vector values ​​can be inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values; the transformed first and second voltage vector values ​​can be superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values; and the pulse width modulation duty cycle can be obtained by pulse width modulation based on the superimposed first and second voltage vector values.

[0206] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0207] Alternatively, the first voltage vector value and the second voltage vector value are inversely transformed to a stationary coordinate system to obtain the transformed first voltage vector value and second voltage vector value; the transformed first voltage vector value and second voltage vector value are superimposed on the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; the pulse width modulation duty cycle is obtained by pulse width modulation based on the superimposed first voltage vector value and second voltage vector value.

[0208] In this embodiment, the first and second voltage vector values ​​can be combined to determine the corresponding first and second voltage vector values ​​acting on the rotating coordinate system of motor control. Then, the first and second voltage vector values ​​are inversely transformed to obtain the control quantity in the stationary coordinate system, i.e., the transformed first and second voltage vector values, to determine the control quantity to be superimposed. The transformed first and second voltage vector values ​​are then superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values, allowing the audio control signal to be superimposed on the torque control signal. The superimposed first and second voltage vector values ​​are then combined to obtain the pulse width modulation duty cycle. Alternatively, the first and second vector values ​​can be inversely transformed to the stationary coordinate system to obtain the transformed first and second voltage vector values. These transformed first and second voltage vector values ​​are then superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values. The pulse width modulation duty cycle is then obtained by applying pulse width modulation to the superimposed first and second voltage vector values. Alternatively, the first and second voltage vector values ​​can be inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. The transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain the superimposed first and second voltage vector values. Based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0209] To enable those skilled in the art to clearly understand the embodiments of the present invention, the following example is used for illustration:

[0210] Step 1: Establish a rotor magnetic field-oriented FOC vector control system based on the vehicle motor.

[0211] A rotor-field-oriented (FOC) vector control system can be established based on a permanent magnet synchronous motor (PMSM). Similarly, a rotor-field-oriented FOC vector control system can be established based on an asynchronous motor. Unlike PMSMs, which already possess a rotor magnetic field, establishing a rotor excitation current is essential for asynchronous motors. When playing music, whether the vehicle is driving or parked, a stator excitation current (isd) must first be supplied to the asynchronous motor to establish the rotor flux linkage (ψr). Even if the torque is zero, the minimum non-zero stator excitation current that the motor can control must be maintained to consistently establish the rotor magnetic field; otherwise, the sound volume will be very low. A rotor-field-oriented (FOC) vector control system can also be established based on an electrically excited synchronous motor. Unlike PMSMs, which already possess a rotor magnetic field, establishing a rotor excitation current is essential for electrically excited motors to play audio. When playing music, whether the vehicle is driving or parked, a current (if) must first be supplied to the motor's excitation winding to establish the rotor magnetic field. Maintaining the rotor excitation magnetic field is crucial during music playback; otherwise, the sound volume will be very low.

[0212] Step 2: Extracting the audio signal. This can be done as follows: Figure 9 As shown, the music file can be a song file (various music formats such as mp3, wma, wav, flac, ape), a MIDI file, a song file transmitted via Bluetooth, a digital signal processed by the music chip, an analog signal processed by the chip, an analog signal amplified by the power amplifier, a PCM encoded file, an analog input from the microphone, or the digital signal corresponding to the music file, etc. Files of various formats are extracted according to their corresponding encoding rules, and then the channels are separated to obtain a mono music signal. The sampling points are then discretized or downsampled according to the playback frequency to obtain the amplitude of the corresponding audio signal sampling points (for example, MP3 files have a sampling frequency of 44.1kHz; obtaining the amplitude of each point at that sampling frequency is a variable). Finally, this is converted into digital signal information and transmitted to the controller.

[0213] Audio signal conversion process: The motor drive system, limited by the switching frequency of power devices (IGBT, SiC, GAN, MOSFEET, etc.) and the control frequency of the control chip, is generally lower than the sampling rate of the music file (96kHz, 48kHz, 44.1kHz, 22.05kHz). The motor controller uses dual sampling and dual updating to increase the control frequency of the electronic control chip, thereby achieving a higher control frequency (20kHz, 22kHz, 24kHz, 32kHz, etc.) at a lower switching frequency (10kHz, 11kHz, 12kHz, 16kHz, etc.), improving the music reproduction of the audio file, and achieving a higher playback quality.

[0214] Step 3: The controller converts the audio signal to obtain the corresponding amplitude dimension, resulting in a signal that the motor drive system can control. This is achieved by injecting the audio signal into the synchronous rotating coordinate system or stationary coordinate system controlled by the motor. Based on... Figure 10 By employing audio digital signal injection, the MCU injects the provided current and / or voltage into the nth-order dq-axis synchronous rotating coordinate system or stationary coordinate system controlled by the motor. For example... Figure 10 and Figure 11 As shown, the controller performs amplitude mapping processing on the audio signal: the extracted audio signal is processed in per-unit format, and then the maximum current amplitude that the current controller can use to respond to music is multiplied by the per-unit processed audio signal and volume value for conversion, resulting in the current Is in amplitude dimension corresponding to the controller. Is is then distributed to the dq axis of the n-order dq-axis synchronous rotating coordinate system (n is a real number) through the angle theta, resulting in the signals isdn and isqn that the motor drive system can control. The voltage needs to be converted through a current-voltage module: isdn and isqn are converted into voltage control signals Usdn and Usqn through the current-voltage conversion module. The current-voltage conversion module can be a pure proportional coefficient relationship or a proportional-derivative relationship, etc.

[0215] Is distributes current through the angle theta:

[0216] Formula 1: Isdn=Is*cos(theta), Isqn=Is*sin(theta), theta=K*θ+theta_init, K∈real number, θ is the rotor magnetic field electric angle, theta_init is the initial injection angle, ranging from 0 to 360 degrees.

[0217] Current-to-voltage conversion process:

[0218] Formula 2 for permanent magnet synchronous motors:

[0219] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0220] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*ψf]*Kp / Us,

[0221] ψd=*Ld*isd+ψf,ψq=Lq*isq,s are variables of the Laplace transform, and Kp is not equal to zero.

[0222] Asynchronous motor formula three:

[0223] Usd=[(R+s*Ls)*isd-we*Ls*isq+s*Lm*ird-we*Lm*irq]*Kp / Us, Usq=[(R+s*Ls)*isq+we*Ls*isd+we*Lm*ird+s*Lm*irq]*Kp / Us,

[0224] ψsd=Ls*isd+Lm*ird, ψsq=Ls*isq+Lm*irq, ψr=Lm*isd / (1+s*Lr / Rr)

[0225] The rotor d-axis current ird = -s*ψr / Rr, the rotor q-axis current irq = -Lm*isq / Lr, s is the variable of the Laplace transform, and Kp is not equal to zero.

[0226] Formula 4 for electrically excited synchronous motors:

[0227] Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us,

[0228] Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*Lmd*if]*Kp / Us,

[0229] ψd=*Ld*isd+Lmd*if,ψq=Lq*isq, s is the variable of the Laplace transform, and Kp is not equal to zero.

[0230] Alternatively, Formula 5: Usd = isd * Kp, Usq = isq * Kp, where Kp is not equal to zero.

[0231] The current Is and voltage Us must be less than the maximum allowable current and voltage of the system.

[0232] By controlling the amplitude of the target current and / or voltage harmonic injection in the nth-order synchronous rotating coordinate system of the motor, the amplitude and frequency of the notes played by the motor can be controlled, and ultimately the pitch of the notes played by the motor can be controlled.

[0233] Audio signals can be converted to a dq-axis synchronous rotating coordinate system, with the direction either positive or negative. For example, in the positive direction, the audio signal can be converted into a current vector Is (current Isd, Isq) and a voltage vector Us (voltage Usd, Usq) on the dq axis. The current and voltage are then injected into a first-order dq-axis synchronous rotating coordinate system. For permanent magnet synchronous motor control systems, both current and voltage are simultaneously injected into the dq-axis synchronous rotating coordinate system, achieving high-quality music playback. Figure 11 Electrically excited synchronous motor control system: Current and voltage are simultaneously injected into the dq axis synchronous rotating coordinate system to achieve high music playback quality.

[0234] Audio signals can be converted into current vectors Is (current Isdn, Isqn) and voltage vectors Us (voltage Usdn, Usqn) on the dq axis in an n-order dq-axis synchronous rotating coordinate system, where n ≠ 1 and are real numbers. The direction can be positive or negative (e.g., the order can be positive n = 2, 3, 4, 5, 6, 7..., and negative n = 0, -1, -2, -3, -4, -5, -6, -7... etc.). For example, the audio signal can be converted into a 7th-order dq-axis current vector Is7 (current Isd7, Isq7) or a -5th-order dq-axis voltage vector Us-5 (voltage Usd-5, Usq-5), etc., and the current and / or voltage are injected into the n-order dq-axis synchronous rotating coordinate system. Using a higher-order rotating coordinate system increases control complexity, but the advantage is that it reduces the likelihood of synchronous vibration of the motor during sound reproduction.

[0235] Audio harmonic injection consists of three parts: ① extraction of feedback current in the corresponding coordinate system; ② calculation of voltage in the corresponding coordinate system; ③ inverse coordinate transformation and injection into the motor vector control. ① The three-phase currents are subjected to 5dq and 7dq equivalent coordinate transformations, and then the 5th and 7th harmonic currents are extracted. ② The target harmonic current value is given according to the amplitude and frequency of the note, and the voltage in the corresponding coordinate system is obtained after passing through a PI regulator. ③ Then, the voltage in the stationary coordinate system is obtained through inverse PARK transformation and injected into the original FOC closed-loop control system.

[0236] The audio signal can also be directly converted into a voltage vector Uαβ (voltages Usα, Usβ) on the αβ axis and injected into the original FOC closed-loop control system. The control method is relatively simple, but the disadvantage is that the audio signal creates current vectors in two directions on the αβ axis, which can affect the motor torque under driving conditions, causing excessive torque fluctuations. For parking conditions, the influence of the current vectors in two directions on the αβ axis is related to the rotor; when perpendicular to the rotor, it can easily produce loud motor noise, but the motor is also prone to severe vibration.

[0237] Step 4: The controller controls the audio-converted signal. The electromagnetic force generated by the air gap magnetic field acting on the motor core excites electromagnetic vibration. Sound is produced by vibration, thus allowing the motor to emit corresponding musical sounds. The air gap magnetic field is determined by the magnetomotive force of the stator and rotor windings and the air gap permeability. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field within the motor's air gap.

[0238] It should be noted that, for the sake of simplicity, the method embodiments are all 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.

[0239] In some embodiments of the present invention, a vehicle is disclosed, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the motor sound-generating method as described above.

[0240] In some embodiments of the present invention, a computer-readable storage medium is disclosed, on which a computer program is stored, which, when executed by a processor, implements the steps of the sound-generating method of the motor as described above.

[0241] In some embodiments of the present invention, a computer program product is disclosed, comprising a computer program that, when executed by a processor, implements the steps of the motor sound-generating method as described above.

[0242] As the product implementation examples are basically similar to the method implementation examples, the descriptions are relatively simple, and relevant details can be found in the descriptions of the method implementation examples.

[0243] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0244] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0245] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0246] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0247] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0248] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0249] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0250] The present invention has provided a detailed description of a method for generating sound from a motor, a vehicle, a storage medium, and a program product. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method of producing sound from an electric machine, characterized in that The method comprises: acquiring audio data to be played; obtaining a pulse width modulation duty cycle according to the audio data and an audio injection angle; controlling the motor to sound according to the pulse width modulation duty cycle.

2. The method of claim 1, wherein, The obtaining of the pulse width modulation duty cycle according to the audio data and the audio injection angle comprises: acquiring a coordinate system of the motor; obtaining a pulse width modulation duty cycle according to the audio data, the audio injection angle and the coordinate system.

3. The method of claim 2, wherein, The obtaining of the pulse width modulation duty cycle according to the audio data, the audio injection angle and the coordinate system comprises: determining an audio control scalar according to the audio data, a volume value and a maximum target parameter value; obtaining a pulse width modulation duty cycle according to the audio control scalar, the audio injection angle and the coordinate system.

4. The method of claim 3, wherein, The determination of the audio control scalar according to the audio data, the volume value and the maximum target parameter value comprises: generating a unit value according to the audio data; determining the audio control scalar according to the product of the unit value, the volume value and the maximum target parameter value.

5. The method of claim 2, wherein, The acquisition of the coordinate system of the motor comprises: establishing a rotor field-oriented vector control system of the motor; acquiring a rotating coordinate system and / or a stationary coordinate system in the rotor field-oriented vector control system as the coordinate system of the motor.

6. The method of claim 5, wherein, The rotating coordinate system comprises at least one n-order rotating coordinate system established based on the rotor field-oriented vector control system.

7. The method of claim 3, wherein, The obtaining of the pulse width modulation duty cycle according to the audio control scalar, the audio injection angle and the coordinate system comprises: determining a first vector value and a second vector value on the rotating coordinate system according to the audio control scalar and the audio injection angle, the first vector value corresponding to a first coordinate axis of the coordinate system and the second vector value corresponding to a second coordinate axis of the coordinate system; obtaining a feedback value corresponding to the rotating coordinate system according to the phase current of the motor and the position of the magnetic field; performing closed-loop control on the first vector value, the second vector value and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle.

8. The method of claim 7, wherein, The determination of the first vector value and the second vector value on the rotating coordinate system according to the audio control scalar and the audio injection angle comprises: injecting the audio control scalar into the rotating coordinate system based on the audio injection angle to obtain the first vector value and the second vector value.

9. The method of claim 8, wherein, The audio control scalar comprises an audio current scalar, and the determination of the first vector value and the second vector value on the rotating coordinate system according to the audio control scalar and the audio injection angle comprises: allocating the audio current scalar to the rotating coordinate system through the audio injection angle to generate the first vector value and the second vector value.

10. The method of claim 9, wherein, The injection of the audio control scalar into the rotating coordinate system based on the audio injection angle to obtain the first vector value and the second vector value comprises: allocating an audio voltage scalar and the audio current scalar to the rotating coordinate system through the audio injection angle to generate the first vector value and the second vector value, wherein the audio voltage scalar is converted from the audio current scalar.

11. The method of claim 10, wherein, The audio voltage scalar is converted according to the audio current scalar, and the audio voltage scalar includes: The audio voltage scalar is obtained according to the audio current scalar and motor same order equivalent circuit parameters; or, The audio voltage scalar is obtained by combining the audio current scalar and a preset proportional coefficient.

12. The method of claim 10, wherein, The audio voltage scalar and the audio current scalar are distributed on the rotating coordinate system by the audio injection angle to generate the first vector value and the second vector value, and the method comprises the steps that: The audio voltage scalar and the audio current scalar are injected into at least one n order rotating coordinate system by the audio injection angle to obtain the first vector value and the second vector value.

13. The method of claim 12, wherein, The audio voltage scalar and the audio current scalar are injected into at least one n order rotating coordinate system by the audio injection angle to obtain the first vector value and the second vector value. The audio current scalar and the audio voltage scalar are injected into the first and second rotating coordinate systems of the first order rotating coordinate system by the audio injection angle to obtain the corresponding first vector value on the first and second rotating coordinate systems; The audio current scalar and the audio voltage scalar are injected into the first and second rotating coordinate systems of the first order rotating coordinate system by the audio injection angle to obtain the corresponding second vector value on the first and second rotating coordinate systems; the audio injection angle is used to distribute the sizes of the first vector value and the second vector value.

14. The method of claim 12, wherein, The audio voltage scalar and the audio current scalar are injected into at least one n order rotating coordinate system by the audio injection angle to obtain the first vector value and the second vector value. The audio current scalar and the audio voltage scalar are injected into the first and second rotating coordinate systems of the high order rotating coordinate system by the audio injection angle to obtain the corresponding first vector value on the first and second rotating coordinate systems; The audio current scalar and the audio voltage scalar are injected into the first and second rotating coordinate systems of the high order rotating coordinate system by the audio injection angle to obtain the corresponding second vector value on the first and second rotating coordinate systems.

15. The method of claim 14, wherein, The first vector value and the second vector value are filtered and divided to generate high frequency vectors and low frequency vectors, the high frequency vectors are distributed on the synchronous rotating coordinate system, and the low frequency vectors are distributed on the high order synchronous rotating coordinate system.

16. The method of claim 12, wherein, The audio voltage scalar and the audio current scalar are filtered and divided by the audio injection angle to generate high frequency vectors and low frequency vectors; The high frequency vectors are injected into the synchronous rotating coordinate system to obtain the first vector value, and the first vector value is distributed in the synchronous rotating coordinate system to obtain the vector values of the first and second rotating coordinate systems; The low frequency vectors are injected into the high order rotating coordinate system to obtain the second vector value, and the second vector value is distributed in the high order rotating coordinate system to obtain the vector values of the first and second rotating coordinate systems. The audio voltage scalar and the audio current scalar are injected into at least one n order rotating coordinate system by the audio injection angle to obtain the first vector value and the second vector value.

17. The method of claim 12, wherein, ​ filtering and frequency dividing the audio voltage scalar and the audio current scalar to generate a high frequency vector and a low frequency vector through an audio injection angle; injecting the high frequency vector into a cross axis of at least one n order rotating coordinate system to obtain a first vector value; injecting the low frequency vector into a direct axis of at least one n order rotating coordinate system to obtain a second vector value.

18. The method of claim 7, wherein, the closed loop control of the first vector value, the second vector value and the feedback value based on the rotating coordinate system to obtain a pulse width modulation duty cycle, comprising: the closed loop control of the first vector value, the second vector value and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; the inverse coordinate transformation of the first voltage vector value and the second voltage vector value to a stationary coordinate system to obtain transformed first voltage vector value and second voltage vector value; the superposition of the transformed first voltage vector value and the second voltage vector value to a torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and the pulse width modulation of the superimposed first voltage vector value and the second voltage vector value to obtain a pulse width modulation duty cycle; or, the inverse coordinate transformation of the first vector value and the second vector value to a stationary coordinate system to obtain transformed first voltage vector value and second voltage vector value; the superposition of the transformed first voltage vector value and the second voltage vector value to a torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and the pulse width modulation of the superimposed first voltage vector value and the second voltage vector value to obtain a pulse width modulation duty cycle; or, the closed loop control of the first vector value, the second vector value and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; or, the inverse coordinate transformation of the first voltage vector value and the second voltage vector value to a stationary coordinate system to obtain transformed first voltage vector value and second voltage vector value; the superposition of the transformed first voltage vector value and the second voltage vector value to a torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and the pulse width modulation of the superimposed first voltage vector value and the second voltage vector value to obtain a pulse width modulation duty cycle.

19. The method of claim 18, wherein, the pulse width modulation duty cycle obtained according to the feedback value, the superimposed first voltage vector value and the second voltage vector value, comprising: proportional integral derivative calculation of the feedback value, the superimposed first voltage vector value and the second voltage vector value to determine the pulse width modulation duty cycle.

20. The method of claim 1, wherein, the acquisition of the audio data to be played, comprising: determining a target conversion frequency, and sampling and converting the audio data through at least one bridge arm carrier signal extreme point of the motor in a carrier cycle, the extreme point including a peak and / or a valley; acquiring an analog output quantity of a multimedia entertainment system; Analog-to-digital conversion of the analog output quantity based on a target conversion frequency to generate audio data; Obtaining the audio data.

21. The method of claim 1, wherein, The obtaining of the audio data to be played includes: Obtaining a digital output quantity of a multimedia entertainment system; Down-conversion of the digital output quantity, and sampling and conversion of the audio data through at least one bridge-arm carrier signal extreme point of the motor within one carrier cycle, the extreme point including a wave crest and / or a wave trough, to generate the audio data; Obtaining the audio data.

22. The method of claim 21, wherein, The down-conversion of the digital output quantity and the sampling and conversion of the audio data through at least one bridge-arm carrier signal extreme point of the motor within one carrier cycle includes: Determining a target sampling frequency to sample and convert the audio data through at least one bridge-arm carrier signal extreme point of the motor within one carrier cycle; Sampling and converting the digital output quantity based on the target sampling frequency to generate the audio data.

23. A vehicle characterized by comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for generating sound of a motor according to any one of claims 1 to 22.

24. A computer-readable storage medium, characterized in that, A computer readable storage medium storing a computer program, the computer program, when executed by a processor, implementing the steps of the method for generating sound of a motor according to any one of claims 1 to 22.

25. A computer program product, characterised in that, A computer program product, the computer program, when executed by a processor, implementing the steps of the method for generating sound of a motor according to any one of claims 1 to 22.

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