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

Abstract

The embodiment of the invention provides a sound production control method of a motor, a vehicle, a storage medium and a program product, and the method comprises the steps: carrying out the per-unit processing of to-be-played audio data, and generating a per-unit value; obtaining a pulse width modulation duty ratio according to the per unit value and a coordinate system of the motor; and controlling the motor to produce sound according to the pulse width modulation duty ratio. According to the embodiment of the invention, the sound production of the motor can be controlled in a controllable range, and the sound produced by the motor is continuous.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and in particular to a sound generation control method of a motor, a vehicle, a computer storage medium and a computer program product. BACKGROUND

[0002] At present, the audio playing of an electric vehicle is usually limited to the vehicle interior, that is, a sound equipment is arranged in the vehicle cabin of the electric vehicle, and the audio of a multimedia system is played through the sound equipment. However, in some scenarios, a user has a demand for delivering information to the outside of the vehicle, and sound is generated through a motor or an external sound equipment. However, in the scheme of generating sound through the motor, because the file of the played sound is relatively simple, the frequency points are few, the sound is small, and only simple audio can be played, multimedia audio cannot be played, and the vehicle shakes, the gears rattle and other NVH problems occur when the sound is played. SUMMARY

[0003] In view of the above problems, the present application embodiment is proposed to provide a sound generation control method of a motor, a vehicle, a computer storage medium and a computer program product which overcome the above problems or at least partially solve the above problems.

[0004] To solve the above problems, the present application embodiment discloses a sound generation control method of a motor, which comprises:

[0005] Performing phonometer processing on the audio data to be played to generate a phonometer value;

[0006] According to the phonometer value and the coordinate system of the motor, a pulse width modulation duty cycle is obtained.

[0007] According to the pulse width modulation duty cycle, the motor is controlled to generate sound.

[0008] Optionally, the phonometer processing on the audio data to be played to generate a phonometer value comprises:

[0009] The audio data is processed based on the amplitude of the audio data to obtain a phonometer value.

[0010] Optionally, the obtaining of the pulse width modulation duty cycle according to the phonometer value and the coordinate system of the motor comprises:

[0011] An audio control scalar is obtained according to the phonometer value, and a pulse width modulation duty cycle is obtained according to the audio control scalar.

[0012] Optionally, the obtaining of the audio control scalar according to the phonometer value comprises:

[0013] determining an audio control scalar according to a product of the unit value, a volume value and a maximum target parameter value; the volume value being determined according to a user setting, and the maximum target parameter value being determined according to the motor operating parameter.

[0014] Optionally, the maximum target parameter value is a maximum current value or a maximum voltage value, and the determining the audio control scalar according to the product of the unit value, the volume value and the maximum target parameter value comprises:

[0015] determining the product of the maximum current value, the volume value and the unit value as an audio current control scalar, or,

[0016] determining the product of the maximum voltage value, the volume value and the unit value as an audio voltage control scalar.

[0017] Optionally, the obtaining the audio control scalar according to the unit value comprises:

[0018] establishing a rotor excitation current;

[0019] establishing a coordinate system of the motor based on the rotor excitation current;

[0020] obtaining the audio control scalar according to the unit value;

[0021] injecting the audio control scalar in the coordinate system to obtain a pulse width modulation duty cycle.

[0022] Optionally, the establishing the rotor excitation current comprises:

[0023] determining an excitation current value according to an audio volume amplitude of the motor;

[0024] establishing the rotor excitation current corresponding to the excitation current value.

[0025] Optionally, the determining the excitation current value according to the audio volume amplitude comprises:

[0026] determining the product of the audio volume amplitude and a preset volume ratio as the excitation current value.

[0027] Optionally, the method further comprises:

[0028] releasing the rotor excitation current when the motor is abnormally sounding.

[0029] A vehicle comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program being executed by the processor to implement the steps of the motor sound control method as described above.

[0030] A computer readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implements the steps of the sound generation control method of the motor as described above.

[0031] A computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the sound generation control method of the motor as described above.

[0032] Embodiments of the present application include the following advantages:

[0033] Embodiments of the present application generate a dimensionless value by dimensionless processing of the audio data to be played; obtain a pulse width modulation duty cycle according to the dimensionless value and the coordinate system of the motor; and control the motor to generate sound according to the pulse width modulation duty cycle. By dimensionless processing of the audio data to be played, the audio data is mapped into a dimensionless control signal, so that the pulse width modulation duty cycle obtained based on the dimensionless value conversion can make the sound generation control of the motor within a controllable range, without overvoltage or overcurrent, and the sound generated by the motor always remains within a controllable range, ensuring continuous sound generation by the motor. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a step flow chart of an embodiment of a sound generation control method of a motor of the present application;

[0035] Figure 2 is a step flow chart of another embodiment of a sound generation control method of a motor of the present application;

[0036] Figure 3 is a schematic diagram of an audio acquisition architecture of the present application. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] Referring to Figure 1 , a step flow chart of an embodiment of a sound generation control method of a motor of the present application is shown, which can specifically include the following steps:

[0039] Step 101, dimensionless processing of the audio data to be played is performed to generate a dimensionless value;

[0040] In embodiments of the present application, the host assembly can be debugged, and the corresponding audio data to be played can be collected from the host audio line of various music playing systems. The audio data can be dimensionless processed based on the performance of the motor to generate a dimensionless value.

[0041] Step 102, a pulse width modulation duty cycle is obtained according to the dimensionless value and the coordinate system of the motor;

[0042] The motor is controlled by combining the unit value and the coordinate system of the motor to generate a pulse width modulation duty cycle.

[0043] At step 104, the motor is controlled to sound according to the pulse width modulation duty cycle.

[0044] The motor controller can control the motor speed, air gap magnetic field, etc. based on the pulse width modulation duty cycle, so that the motor sounds.

[0045] The embodiment of the application generates a unit value by processing the audio data to be played, obtains a pulse width modulation duty cycle according to the unit value and the coordinate system of the motor, and controls the motor to sound according to the pulse width modulation duty cycle. The audio data to be played is processed by the unit value, and the audio data is mapped to a dimensionless control signal, so that the conversion of the unit value to the audio control scalar is within a controllable range, and the motor sound is always within a controllable range, ensuring continuous sound of the motor.

[0046] Referring to Figure 2 , a step flowchart of an embodiment of a motor sound control method of the application is shown, which can specifically include the following steps:

[0047] At step 201, audio data to be played is obtained.

[0048] In the embodiment of the application, the audio signal to be played can be obtained from the main frequency signal of the multimedia entertainment system based on the signal interface of the multimedia entertainment system. The multimedia entertainment system can be various multimedia entertainment systems with motor products, such as a vehicle-mounted multimedia entertainment system, which can control the driving motor of the vehicle to sound through user operation.

[0049] In an example of the application, collecting audio signals from a multimedia system can include: music files (various music format files MP3, wma, flac), MIDI files, Bluetooth transmitted song files, chip processed digital signals, chip processed analog signals, power amplifier amplified analog signals, PCM encoded files, microphone input analog or digital signals, etc. Various formats of files are finally converted into digital signal information by extracting according to the corresponding file encoding rules and transmitted into the controller.

[0050] Because the sources of audio signals are different in actual application, there are both analog signals and digital signals, so corresponding sampling and conversion can be performed according to different signals.

[0051] In an example of the present application, the step of obtaining audio data to be played includes: determining a target conversion frequency; obtaining an analog output quantity of the multimedia entertainment system; performing analog-digital conversion on the analog output quantity based on the target conversion frequency to generate audio data; and obtaining the audio data.

[0052] For an analog signal, the target conversion frequency can be determined directly based on the sampling frequency of the controller itself. The analog output signal of the multimedia entertainment system can be sampled to obtain an analog output quantity. The analog output quantity is converted into a digital quantity signal, i.e., audio data, by performing analog-digital conversion according to the target conversion frequency. The audio data is obtained for motor control.

[0053] In an example of the present application, the step of obtaining audio data to be played includes: obtaining a digital output quantity of the multimedia entertainment system; performing frequency reduction on the digital output quantity to generate audio data; and obtaining the audio data.

[0054] For a digital signal, since the frequency of the controller is lower than the signal frequency in the multimedia system, the digital output quantity of the vehicle-mounted multimedia entertainment system can be directly obtained, and then frequency reduction is performed on the digital output quantity to obtain a signal recognizable by the controller itself, i.e., audio data. The audio data is obtained for motor control.

[0055] Further, the step of performing frequency reduction on the digital output quantity to generate audio data to be played includes: determining a target sampling frequency; and sampling the digital output quantity based on the target sampling frequency to generate audio data.

[0056] In an embodiment of the present application, the digital output quantity is sampled according to a target sampling frequency, i.e., a target sampling frequency, to perform frequency reduction on the digital output quantity, thereby generating audio data. When no audio data point is encountered during frequency reduction, interpolation processing between the previous point and the next point is adopted to obtain the audio data point. For example, a 48 kHz audio file is sampled at a rate of 12 kHz, and one audio is selected every 3 audio data points, thereby obtaining a 12 kHz audio data.

[0057] The corresponding audio can be collected from the audio line of the multimedia system of the electric vehicle, and the signal output by the multimedia system can be converted into audio data recognizable by the motor controller, including the following signal collection schemes:

[0058] 1. ADC sampling of power amplifier analog signal

[0059] The analog signal output by the power amplifier to the sound in the vehicle-mounted environment is connected to the ADC sampling port of the MCU, the MCU performs ADC sampling, and the bottom layer driving function of the electric drive system is debugged to convert the power amplifier analog signal into a digital signal.

[0060] 2. I2S-CANFD

[0061] 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.

[0062] 3. A2B-I2S-CANFD

[0063] 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.

[0064] 4. A2B-I2S-MCU

[0065] 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.

[0066] 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.

[0067] 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 dual sampling and dual updates to increase the control frequency of the electric control chip, thereby achieving a higher control frequency (such as 20kHz, 22kHz, 24kHz, and 32kHz) at a lower switching frequency (such as 10kHz, 11kHz, 12kHz, and 16kHz), improving the music reproduction of audio files and achieving higher playback quality.

[0068] For example, you can refer to Figure 3In music motor applications, the main control chip needs to receive high-speed, real-time external audio signals. Hardware connection scheme 1: Vehicle head unit A2B—Amplifier A2B—Rear drive assembly A2B—Front drive assembly A2B. Hardware connection scheme 2: Vehicle head unit A2B—Amplifier A2B—Front drive assembly A2B—Rear drive assembly A2B.

[0069] The specific plan is described as follows:

[0070] 1. Users interact with the in-vehicle PAD or other devices to transmit information to the host computer;

[0071] 2. The vehicle-mounted unit performs music scene recognition;

[0072] 3. The host computer confirms the music scene and sends out the corresponding audio data;

[0073] 4. The front and rear drive electronic control systems receive A2B signals via the AD2428 transceiver and parse them into I2S signals;

[0074] 5. Digital conversion chips (CPLD, AD21489, etc.) receive I2S signals and forward them to the main MCU chip of the electronic control unit as SPI signals;

[0075] 6. The MCU main chip receives SPI signals to realize the data transmission of audio data from the user interface to the electronic control.

[0076] 7. The main control chip executes a hybrid PWM algorithm to drive the motor and play audio.

[0077] Audio acquisition using the above method reduces development costs. Leveraging the characteristics of the A2B bus, new downstream nodes can be added directly. It also reduces cable costs, requiring only a single twisted-pair cable. Furthermore, it offers good synchronization stability, with deterministic data latency between nodes.

[0078] 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 required 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.

[0079] 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.

[0080] 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.

[0081] Step 202: Perform per-unit processing on the audio data to be played to generate per-unit values;

[0082] The audio data to be played can be processed in per-unit format to calculate its corresponding per-unit value. By converting and processing the audio signal, the corresponding amplitude dimension of the controller can be obtained to ensure that the control signal will not be over-voltage or over-current.

[0083] Specifically, the step of performing per-unit processing on the audio data to generate per-unit values ​​includes: performing per-unit processing on the audio data based on the audio amplitude values ​​to obtain per-unit values.

[0084] Audio data can be processed in per-unit format based on its amplitude, thereby mapping the amplitude dimension based on the maximum volume value of the corresponding audio processing of the controller, and extracting the audio data and processing it in per-unit format to obtain per-unit values.

[0085] Step 203: Obtain the audio control scalar based on the per-unit value, and obtain the pulse width modulation duty cycle based on the audio control scalar.

[0086] The per-unit value can be converted to obtain the audio control scalar; then the audio control scalar is injected to obtain the pulse width modulation duty cycle.

[0087] Specifically, obtaining the audio control scalar based on the per-unit value includes: determining the audio control scalar based on the product of the per-unit value, the volume value, and the maximum target parameter value.

[0088] The per-unit value and the maximum target parameter value can be multiplied together, and the product is used to determine the audio control scalar.

[0089] Further, the maximum target parameter value is the maximum current amplitude or the maximum voltage amplitude, and the step of determining the audio control scalar based on the product of the per-unit value, the volume value, and the maximum target parameter value includes: determining that the product of the maximum current amplitude, the volume value, and the per-unit value is the audio control scalar.

[0090] The per-unit processed audio data (i.e., per-unit value) is multiplied by the maximum current amplitude for conversion, resulting in a mapping of the controller's maximum current amplitude during audio playback. This yields an audio control scalar, ensuring that subsequent volume control operates at the same level, thus guaranteeing stable sound volume. The audio control scalar includes an audio current control scalar and / or an audio voltage control scalar.

[0091] In an optional embodiment of the present invention, obtaining the audio control scalar based on the per-unit value and obtaining the pulse width modulation duty cycle based on the audio control scalar includes: establishing the rotor excitation current; establishing the coordinate system of the motor based on the rotor excitation current; obtaining the audio control scalar based on the per-unit value; and injecting the audio control scalar into the coordinate system to obtain the pulse width modulation duty cycle.

[0092] In this invention, a rotor excitation current can be established for the motor rotor to ensure the sound output of the motor. Preferably, the rotor excitation current is greater than or equal to the rated excitation current and less than the maximum excitation current.

[0093] Specifically, establishing the rotor excitation current includes determining the excitation current value based on the amplitude of the motor's sound output; and establishing the rotor excitation current corresponding to the excitation current value.

[0094] First, the amplitude of the motor's sound output can be determined, as this amplitude is related to the motor's operating performance. The excitation current value is then determined based on the magnitude of the sound output amplitude, establishing a mapping relationship between the excitation current and the sound output amplitude. Finally, the rotor excitation current corresponding to the excitation current value is established.

[0095] Further, determining the excitation current value based on the sound volume amplitude includes: determining the excitation current value by multiplying the sound volume amplitude by a preset volume ratio.

[0096] The sound volume amplitude can be multiplied by a preset volume ratio, and the product of the sound volume amplitude and the preset volume ratio is used to determine the excitation current value. The preset volume ratio can be determined based on the sound performance of the motor; the louder the sound, the larger the preset volume ratio.

[0097] The coordinate system of the motor can be established based on the rotor excitation current. This coordinate system can be a field-oriented control coordinate system and its corresponding synchronous rotating and stationary coordinate systems.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] The three-phase currents ia, ib, and ic of the motor can be obtained through current sensors. The Clarke transformation (stationary coordinate transformation) is used to convert the three-phase currents into iα and iβ in a two-phase stationary coordinate system. Then, the Park transformation (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. The current is then fitted into a field-oriented control coordinate system based on this synchronous rotating coordinate system.

[0102] 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.

[0103] Corresponding to the coordinate system described above, the audio control scalar is injected to obtain the pulse width modulation duty cycle. Audio data can be injected into the coordinate system to obtain the pulse width modulation duty cycle for controlling the motor.

[0104] Furthermore, the step of injecting the audio control scalar to obtain the pulse width modulation duty cycle includes: based on the audio data, the audio injection angle, and the coordinate system.

[0105] The pulse width modulation duty cycle is obtained by injecting audio data into the coordinate system based on the audio injection angle.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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 scalars 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 scalars 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.

[0117] Since high-frequency signals are combined in a low-frequency coordinate system, the audio voltage scalar and audio current scalar can be filtered and divided. The vectors with frequencies higher than a preset frequency value are high-frequency vectors, and those with frequencies lower than the preset frequency value are low-frequency vectors. The high-frequency vectors are 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.

[0118] Alternatively, the high-frequency scalar can be injected into the synchronous rotating coordinate system through injection angle allocation to obtain the first vector value, and the corresponding vector values ​​on the first straight axis and the second cross axis can be obtained to solve the NVH problems of low-frequency vibration of motor and gear grinding caused by the audio current of the whole vehicle.

[0119] 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 the NVH problems of 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.

[0120] 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.

[0121] In this example, the audio voltage scalar and audio current scalar can be filtered and divided. The frequencies higher than a preset frequency value are designated as high-frequency vectors, and the frequencies lower than the preset frequency value are designated 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 a second vector value; the low-frequency vector is injected into the direct axis of at least one n-order rotating coordinate system to obtain a first vector value. This eliminates motor vibration.

[0122] 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.

[0123] 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, the superimposed first and second voltage vector values ​​are combined to obtain the pulse width modulation duty cycle.

[0124] 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:

[0125] 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.

[0126] 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.

[0127] 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.

[0128] Step 204: Control the motor to produce sound according to the pulse width modulation duty cycle;

[0129] 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.

[0130] Step 205: When the motor makes an abnormal noise, release the rotor excitation current;

[0131] During motor operation, the input current or voltage of the motor can be detected to determine if the motor's operation is normal and to ascertain its operating state. The operating state is the condition in which the motor operates. If an abnormal state occurs, the rotor excitation current can be released, allowing the motor to release the energy required for operating control and preventing the abnormal operation from affecting the motor's normal drive of the vehicle.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] The present invention has provided a detailed description of a method for controlling the sound generation of an electric motor, a vehicle, a computer storage medium, and a computer 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 sound generation control method of an electric motor, characterized by, The method comprises: standardizing the audio data to be played to generate a standard value; obtaining a pulse width modulation duty cycle according to the standard value and a coordinate system of the motor; controlling the motor to sound according to the pulse width modulation duty cycle.

2. The method of claim 1, wherein, The standardization of the audio data to be played to generate a standard value comprises: standardizing the audio data based on the amplitude of the audio data to obtain a standard value.

3. The method of claim 1, wherein, The obtaining of a pulse width modulation duty cycle according to the standard value and a coordinate system of the motor comprises: obtaining an audio control scalar according to the standard value, and obtaining a pulse width modulation duty cycle according to the audio control scalar.

4. The method of claim 3, wherein, The obtaining of an audio control scalar according to the standard value comprises: determining the audio control scalar according to the product of the standard value, a volume value and a maximum target parameter value; the volume value is determined according to user setting, and the maximum target parameter value is determined according to the working parameter of the motor.

5. The method of claim 4, wherein, The maximum target parameter value is a maximum current value or a maximum voltage value, and the determination of the audio control scalar according to the product of the standard value, the volume value and the maximum target parameter value comprises: determining the product of the maximum current value, the volume value and the standard value as an audio current control scalar, or determining the product of the maximum voltage value, the volume value and the standard value as an audio voltage control scalar.

6. The method of claim 3, wherein, The obtaining of a pulse width modulation duty cycle according to the standard value and a coordinate system of the motor comprises: establishing a rotor excitation current; establishing a coordinate system of the motor based on the rotor excitation current; obtaining an audio control scalar according to the standard value; injecting the audio control scalar in the coordinate system to obtain a pulse width modulation duty cycle.

7. The method of claim 6, wherein, The establishment of a rotor excitation current comprises: determining an excitation current value according to the sound volume amplitude of the motor; establishing a rotor excitation current corresponding to the excitation current value.

8. The method of claim 7, wherein, The determination of the excitation current value according to the sound volume amplitude of the motor comprises: determining the product of the sound volume amplitude and a preset volume ratio as the excitation current value.

9. The method of claim 6, wherein, The method further comprises: releasing the rotor excitation current when the motor sounds abnormally.

10. A vehicle characterized by comprising: The computer program is stored on the computer readable storage medium and is executed by the processor to implement the steps of the sound control method of the motor according to any one of claims 1 to 9.

11. A computer readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium and is executed by the processor to implement the steps of the sound control method of the motor according to any one of claims 1 to 9.

12. A computer program product, characterised in that, The computer program is stored on the computer readable storage medium and is executed by the processor to implement the steps of the sound control method of the motor according to any one of claims 1 to 9.

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