Rotary transformer zero calibration method and device of vehicle motor, electronic equipment, medium and product

Abstract

The invention discloses a rotary transformer zero calibration method and device of a vehicle motor, electronic equipment, a medium and a product. The method comprises the following steps: carrying out first periodic modulation on the switch duty ratio of a three-phase bridge arm of a vehicle motor; when the modulation is completed, obtaining a first mechanical angle offset of the motor rotor; performing second periodic modulation on the switch duty ratio of the three-phase bridge arm of the vehicle motor by adopting an opposite U-phase tube state modulation strategy; when the modulation is completed, obtaining a second mechanical angle offset of the motor rotor; when the second mechanical angle offset is smaller than a preset angle threshold value, the initial rotary zero position of the motor rotor is determined according to the first mechanical angle offset and the second mechanical angle offset; and correcting the initial resolver zero position to obtain a calibrated target resolver zero position. The method can solve the problems of low efficiency, occupation of controller resources and noise caused by dependence on an external power source or high-frequency current scanning when motor resolver zero calibration is carried out in a vehicle static state.

Description

Technical Field

[0001] This application relates to the field of motor control, specifically to a method, apparatus, electronic device, readable storage medium, and computer program product for zero-position calibration of a vehicle motor's resolver. Background Technology

[0002] In applications of resolver zero-point calibration for permanent magnet synchronous motors, especially during vehicle maintenance or off-line testing, achieving rapid and accurate calibration under conditions of no additional power source and a stationary vehicle is a core requirement. Existing technologies typically involve finding the true d-axis on-board by outputting assumed d-axis currents at different angles at high frequency and detecting rotor rotation, thereby calculating the resolver zero-point. However, this method severely consumes the controller's computational resources for fast tasks due to the need for high-frequency current angle adjustments, and is prone to generating audible noise, impacting the calibration experience and efficiency. Summary of the Invention

[0003] In view of the above problems, this application provides a method, apparatus, electronic device, readable storage medium and computer program product for zero-position calibration of a vehicle motor resolver, which can solve the problems of low efficiency, occupation of controller resources and noise caused by relying on external power source or high-frequency current scanning when calibrating the zero position of the motor resolver in a stationary state.

[0004] In a first aspect, this application provides a method for zero-position calibration of a vehicle motor's resolver, comprising: When the vehicle's high-voltage system is powered on and in a stationary state, and the braking system has been released, the duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated for the first time. When the first periodic modulation is completed, the first mechanical angle offset of the motor rotor is obtained; A reverse U-phase tube state modulation strategy is adopted to perform a second periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor; When the second periodic modulation is completed, the second mechanical angle offset of the motor rotor is obtained; When the second mechanical angle offset is less than the preset angle threshold, the initial resolvent zero position of the motor rotor is determined based on the first mechanical angle offset and the second mechanical angle offset. The initial resolver zero position is corrected to obtain the calibrated target resolver zero position.

[0005] In the above technical solution, the method can quickly lock and correct the initial resolver zero position by two reverse periodic duty cycle modulations and angle offset analysis under the condition that the whole vehicle is stationary and there is no additional power source. This avoids the occupation of controller resources by high-frequency current scanning, and effectively improves calibration efficiency and experience while reducing audible noise, thereby achieving efficient, low-noise and low-resource-consumption resolver zero position calibration.

[0006] In some embodiments, the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor includes: The upper U-phase tube of the three-phase bridge arm of the vehicle motor is intermittently turned on according to a sinusoidal pattern within a preset cycle, while the lower U-phase tube is kept closed at all times. The upper and lower tubes of the V and W phases of the three-phase bridge arm of the vehicle motor are intermittently switched according to the sinusoidal and negative sinusoidal law of the phase difference; The U-phase forward current is obtained when the switching duty cycle of the three-phase bridge arm of the motor is periodically modulated. When the angle between the U-phase positive current and the actual d-axis is 0, the first periodic modulation is determined to be completed, and the step of obtaining the first mechanical angle offset of the motor rotor is executed.

[0007] In the above technical solution, this method can lay a reliable foundation for obtaining accurate first mechanical angle offset, while avoiding resource occupation and noise problems caused by high-frequency current adjustment.

[0008] In some embodiments, the method further includes: When the second mechanical angle offset is not less than the preset angle threshold, it is determined that the resolver zero-position calibration has failed, and the step of performing the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor is executed.

[0009] In the above technical solution, the method can identify calibration anomalies and trigger a retry mechanism in a timely manner by judging the relationship between the second mechanical angle offset and the preset threshold, effectively avoiding calibration failure caused by single modulation deviation and ensuring the reliability and accuracy of the resolver zero-position calibration.

[0010] In some embodiments, obtaining the first mechanical angular offset of the motor rotor includes: Before the first periodic modulation, the first initial mechanical angle of the motor rotor is obtained; When the first periodic modulation is completed, the first final mechanical angle of the motor rotor is obtained; Calculate the first angle difference between the first initial mechanical angle and the first final mechanical angle; The first angle difference is determined as the first mechanical angle offset.

[0011] In the above technical solution, this method can provide accurate and quantifiable basic data support for the subsequent determination of the initial zero point of the resolver, and ensure the rigor of the calibration logic.

[0012] In some embodiments, correcting the preliminary resolvent zero point to obtain the calibrated target resolvent zero point includes: The initial resolver zero-point calibration is then applied to the vehicle's motor controller; The Q-axis current is determined based on the preliminary resolver zero position. The motor rotor is driven to rotate according to the Q-axis current, and the rotation direction of the motor rotor is obtained; When the direction of the Q-axis current is consistent with the rotation direction of the motor rotor, the preliminary resolvent zero position is determined as the target resolvent zero position of the motor rotor; The target resolver zero point is recalibrated into the motor controller as the final resolver zero point.

[0013] In the above technical solution, the method can accurately verify and correct the initial resolver zero position through Q-axis current drive verification and rotation direction matching judgment, ensuring that the final calibrated target resolver zero position is completely consistent with the real zero position, and further improving the accuracy and reliability of resolver zero position calibration.

[0014] In some embodiments, the method further includes: When the direction of the Q-axis current is opposite to the rotation direction of the motor rotor, the preliminary resolver zero position is corrected according to the preset phase deviation to obtain the target resolver zero position, and the step of recalibrating the target resolver zero position as the final resolver zero position is executed in the motor controller.

[0015] In the above technical solution, this method can accurately correct the initial resolver zero position by preset phase deviation in the case of abnormal situation where the Q-axis current direction is opposite to the rotor rotation direction, avoid calibration errors caused by direction mismatch, ensure the accuracy of the final target resolver zero position, and further improve the calibration error correction mechanism.

[0016] In some embodiments, after correcting the initial resolvent zero to obtain the calibrated target resolvent zero, the method further includes: When the vehicle starts and travels forward to reach a stable speed, the motor controller will simultaneously turn on all the upper or lower pipes of the three-phase bridge arm, causing the vehicle's motor to enter an active short-circuit state. When the motor enters the active short-circuit state, the target angle between the d-axis current and the actual direct axis direction is calculated based on the target resolver zero position. When the included angle of the target is less than the preset safety threshold, the zero-position calibration of the target refractive index is determined to be accurate.

[0017] In the above technical solution, the method can utilize the active short-circuit state after the vehicle has stabilized, and perform secondary verification by calculating the angle between the d-axis current and the target on the real direct axis, so as to accurately verify the calibration accuracy of the target resolver zero position and ensure that the calibration results are reliable and effective in actual driving scenarios.

[0018] In some embodiments, the method further includes: When the included angle of the target is not less than the safety threshold, a prompt message indicating that the zero-position calibration of the target refractive index is inaccurate is output.

[0019] In the above technical solution, the method can promptly output a calibration error message when the target angle does not meet the safety threshold during secondary verification, quickly report calibration abnormalities, provide clear guidance for subsequent troubleshooting and recalibration, and avoid affecting vehicle driving safety and motor operation stability due to calibration deviation.

[0020] Secondly, this application provides a resolver zero-position calibration device for a vehicle motor, comprising: The first modulation unit is used to perform the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor when the high-voltage system of the whole vehicle is powered on and in a stationary state, and the braking system has been released. The first acquisition unit is used to acquire the first mechanical angle offset of the motor rotor when the first periodic modulation is completed. The second modulation unit is used to perform a second periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor using the opposite U-phase tube state modulation strategy. The second acquisition unit is used to acquire the second mechanical angle offset of the motor rotor when the second periodic modulation is completed; The determining unit is used to determine the initial resolvent zero position of the motor rotor based on the first mechanical angle offset and the second mechanical angle offset when the second mechanical angle offset is less than a preset angle threshold. The correction unit is used to correct the initial resolver zero position to obtain the calibrated target resolver zero position.

[0021] In the above technical solution, the device can quickly lock and correct the initial resolver zero position by means of two reverse periodic duty cycle modulations and angle offset analysis when the vehicle is stationary and there is no additional power source. This avoids the occupation of controller resources by high-frequency current scanning, and effectively improves calibration efficiency and experience while reducing audible noise, thereby achieving efficient, low-noise and low-resource-consumption resolver zero position calibration.

[0022] Thirdly, this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor runs the computer program to cause the electronic device to perform the resolver zero-position calibration method for a vehicle motor as described in any one of the first aspects.

[0023] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the resolver zero-position calibration method for a vehicle motor as described in any one of the first aspects.

[0024] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, performs the resolver zero-position calibration method for a vehicle motor as described in the first aspect.

[0025] The beneficial effects of this application are as follows: calibration can be completed directly on the vehicle without an additional power source, and no additional equipment is required. The routines created by the diagnostic tool can be directly retrieved and used, greatly improving the ease of operation; at the same time, the simplified calibration logic significantly reduces the time occupied by the motor controller for fast tasks and reduces resource consumption; in addition, it supports flexible setting of the opening frequency of the UVW phase, which helps to reduce NVH-related problems and optimize the calibration experience; finally, compared with the traditional method of directly calibrating the missing phase, it can further reduce the steady-state error in the calibration process, thereby effectively improving the accuracy and reliability of the calibration results. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating the vehicle motor resolver zero-position calibration method in some embodiments of this application; Figure 2 This is a flowchart illustrating the vehicle motor resolver zero-position calibration method in some embodiments of this application; Figure 3 This is a schematic diagram of the structure of the resolver zero-position calibration device for a vehicle motor in some embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0028] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0033] In existing technologies, the true d-axis is typically found on-board by outputting assumed d-axis currents at different angles at high frequencies and detecting whether the rotor rotates, thereby calculating the resolver zero point. However, this method severely consumes the controller's computational resources for fast tasks due to the need for high-frequency adjustment of the current angle, and is prone to generating audible noise, affecting the calibration experience and efficiency.

[0034] To address the aforementioned technical problems, this application provides a method for calibrating the resolver zero position of a vehicle motor. This method can achieve the effect of calibrating the resolver zero position of the motor rotor on the vehicle by regularly and alternately switching the upper and lower transistors of the UVW three-phase circuit and correspondingly adjusting the rotation angle of the motor rotor.

[0035] like Figure 1 As shown, some embodiments of this application provide a method for zero-point calibration of a vehicle motor's resolver. This method includes: S101. When the high-voltage system of the vehicle is powered on and in a stationary state, and the braking system has been released, the duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated for the first time. S102. When the first periodic modulation is completed, obtain the first mechanical angle offset of the motor rotor; S103. Using the opposite U-phase tube state modulation strategy, the switching duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated a second time. S104. When the second periodic modulation is completed, obtain the second mechanical angle offset of the motor rotor; S105. When the second mechanical angle offset is less than the preset angle threshold, determine the initial resolver zero position of the motor rotor based on the first mechanical angle offset and the second mechanical angle offset. S106. Correct the initial resolver zero position to obtain the calibrated target resolver zero position.

[0036] In some embodiments, the first periodic modulation refers to the first round of periodic adjustment of the duty cycle of the motor three-phase bridge arm switch according to a preset logic (such as the U-phase upper tube being intermittently turned on and the lower tube being turned off according to a sinusoidal pattern, and the V / W phases being switched according to a sinusoidal and negative sine pattern based on the phase difference) under the conditions of the vehicle being powered on, stationary, and brakes released.

[0037] In some embodiments, the first mechanical angle offset refers to the difference between the first initial mechanical angle of the motor rotor before the first periodic modulation and the first final mechanical angle after the modulation is completed, which is used to quantify the rotor angle change brought about by the modulation.

[0038] In some embodiments, the opposite U-phase tube state modulation strategy refers to a modulation method that is the opposite of the switching state of the upper and lower U-phase tubes in the first periodic modulation (i.e., the upper U-phase tube is always closed, and the lower tube is intermittently turned on according to the corresponding pattern), while the modulation logic of the other V / W phases remains consistent.

[0039] In some embodiments, the second periodic modulation refers to the second round of periodic adjustment of the duty cycle of the motor three-phase bridge arm switch using an opposite U-phase tube state modulation strategy, which forms a reverse verification with the first periodic modulation.

[0040] In some embodiments, the second mechanical angle offset refers to the difference between the second initial mechanical angle of the motor rotor before the second periodic modulation and the second final mechanical angle after the modulation is completed, and is used to determine the effectiveness of the modulation.

[0041] In some embodiments, the preset angle threshold refers to a pre-set angle standard for determining whether the second modulation is effective. When the second mechanical angle offset is less than the threshold, it indicates that the modulation is stable and the data is reliable.

[0042] In some embodiments, the initial resolver zero position refers to the initial value of the motor resolver zero position calculated based on the first mechanical angle offset and the second mechanical angle offset, without final verification and correction.

[0043] In some embodiments, the target resolver zero point refers to the accurate resolver zero point that is finally calibrated in the motor controller after the initial resolver zero point has been verified and corrected (such as Q-axis current drive verification, direction matching judgment, etc.).

[0044] In some embodiments, the method can calculate the resolver zero point of the motor rotor as a+b and calibrate the resolver zero point value into the motor controller.

[0045] In the above embodiments, the method can quickly lock and correct the initial resolver zero position by means of two reverse periodic duty cycle modulations and angle offset analysis when the vehicle is stationary and there is no additional power source. This avoids the occupation of controller resources by high-frequency current scanning, and effectively improves calibration efficiency and experience while reducing audible noise, thereby achieving efficient, low-noise and low-resource-consumption resolver zero-position calibration.

[0046] In some embodiments, the switching duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated for the first time, including: The upper U-phase tube of the three-phase bridge arm of the vehicle motor is intermittently turned on according to a sinusoidal pattern within a preset cycle, while the lower U-phase tube is kept closed at all times. The upper and lower tubes of the V and W phases of the three-phase bridge arm of the vehicle motor are intermittently switched according to the sinusoidal and negative sinusoidal law of the phase difference; The U-phase forward current is obtained when the switching duty cycle of the three-phase bridge arm of the motor is periodically modulated. When the angle between the U-phase forward current and the true d-axis is 0, the first periodic modulation is determined to be completed, and the step of obtaining the first mechanical angle offset of the motor rotor is executed.

[0047] In some embodiments, the method of intermittently switching on according to a sinusoidal pattern within a preset period is as follows: controlling the duty cycle of the upper U-phase tube (UT) of the three-phase bridge arm of the vehicle motor, when ηsin(ωt)>ε, the duty cycle is set to ηsin(ωt); when ηsin(ωt)≤ε, the duty cycle is set to 0.

[0048] Where η is the duty cycle adjustment coefficient, ω is the period parameter of the UVW phase current detection when the tube is turned on, t is the detection time, and ε is the zero-crossing dead zone parameter.

[0049] In some embodiments, the way to keep the U-phase lower tube always closed is to control the duty cycle of the U-phase lower tube (UB) of the three-phase bridge arm of the vehicle motor to always be set to 0, that is, no matter how the parameters change during the detection process, the U-phase lower tube will not perform the opening action.

[0050] In some embodiments, the V-phase upper and lower tubes are intermittently switched according to the sinusoidal and negative sinusoidal phase difference: the duty cycle of the V-phase upper tube (VT) of the three-phase bridge arm of the vehicle motor is controlled such that when ηsin(ωt-π / 2)>ε, the duty cycle is set to ηsin(ωt-π / 2); when ηsin(ωt-π / 2)≤ε, the duty cycle is set to 0. Simultaneously control the duty cycle of the lower V phase (VB) of the three-phase bridge arm of the vehicle motor. When ηsin(ωt-π / 2)<-ε, the duty cycle is set to ηsin(ωt-π / 2); when ηsin(ωt-π / 2)≥-ε, the duty cycle is set to 0.

[0051] Where η is the duty cycle adjustment coefficient, ω is the period parameter of the UVW phase current detection when the tube is turned on, t is the detection time, ε is the zero-crossing dead zone parameter, and π / 2 is the phase difference between the V phase and the U phase.

[0052] In some embodiments, the W-phase upper and lower tubes are intermittently switched according to the sinusoidal and negative sinusoidal phase difference: the duty cycle of the W-phase upper tube (WT) of the three-phase bridge arm of the vehicle motor is controlled such that when ηsin(ωt+π / 2)>ε, the duty cycle is set to ηsin(ωt+π / 2); when ηsin(ωt+π / 2)≤ε, the duty cycle is set to 0. Simultaneously control the duty cycle of the lower W phase tube (WB) of the three-phase bridge arm of the vehicle motor. When ηsin(ωt+π / 2)<-ε, the duty cycle is set to ηsin(ωt+π / 2); when ηsin(ωt+π / 2)≥-ε, the duty cycle is set to 0.

[0053] Where η is the duty cycle adjustment coefficient, ω is the periodic parameter of the UVW phase current detected by the open tube, t is the detection time, ε is the zero-crossing dead zone parameter, and π / 2 is the phase difference between the W phase and the U phase.

[0054] In some embodiments, ω is the periodic parameter of the UVW phase current detection when the tube is turned on (i.e., the preset period). t is the detection time, t=2π*n / ω (n is the number of current loop detection cycles).

[0055] In some embodiments, the above-mentioned opening action forms a rotating current vector of the U-phase lower tube missing phase, and the sum of the current vectors formed by the n current loop detection cycles is the U-phase positive current; since there is an angle between the U-phase positive current and the real d-axis, the generated motor torque vector will drive the motor rotor to rotate until the angle between the U-phase positive current and the real d-axis is 0 (that is, the first periodic modulation is determined to be completed), at which point the current vector can no longer drive the motor rotor to rotate.

[0056] In the above embodiments, this method can lay a reliable foundation for obtaining an accurate first mechanical angle offset, while avoiding resource consumption and noise problems caused by high-frequency current adjustment.

[0057] In some embodiments, the method further includes: When the second mechanical angle offset is not less than the preset angle threshold, it is determined that the resolver zero-position calibration has failed, and the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor is performed.

[0058] In some embodiments, the U-phase upper tube (UT) is kept closed during the second periodic modulation by setting the duty cycle of the U-phase upper tube (UT) of the three-phase bridge arm of the vehicle motor to 0, that is, the U-phase upper tube does not perform the opening action regardless of how the parameters change during the detection process.

[0059] In some embodiments, the U-phase lower transistor (UB) in the second periodic modulation is turned on intermittently according to a sinusoidal law by controlling the duty cycle of the U-phase lower transistor (UB) of the three-phase bridge arm of the vehicle motor. When ηsin(ωt) < -ε, the duty cycle is set to ηsin(ωt); when ηsin(ωt) ≥ -ε, the duty cycle is set to 0.

[0060] Where η is the duty cycle adjustment coefficient, ω is the period parameter of the UVW phase current detection when the tube is turned on, t is the detection time, and ε is the zero-crossing dead zone parameter.

[0061] In some embodiments, the V-phase upper and lower tubes in the second periodic modulation are intermittently switched according to the sinusoidal and negative sinusoidal law of their phase difference. The duty cycle of the V-phase upper tube (VT) of the three-phase bridge arm of the vehicle motor is controlled as follows: when ηsin(ωt-π / 2)>ε, the duty cycle is set to ηsin(ωt-π / 2); when ηsin(ωt-π / 2)≤ε, the duty cycle is set to 0. Simultaneously control the duty cycle of the lower V phase (VB) of the three-phase bridge arm of the vehicle motor. When ηsin(ωt-π / 2)<-ε, the duty cycle is set to ηsin(ωt-π / 2); when ηsin(ωt-π / 2)≥-ε, the duty cycle is set to 0.

[0062] Where η is the duty cycle adjustment coefficient, ω is the period parameter of the UVW phase current detection when the tube is turned on, t is the detection time, ε is the zero-crossing dead zone parameter, and π / 2 is the phase difference between the V phase and the U phase.

[0063] In some embodiments, the intermittent switching of the upper and lower phase tubes of phase W in the second periodic modulation is based on the sinusoidal and negative sinusoidal phase difference: the duty cycle of the upper phase tube (WT) of phase W of the three-phase bridge arm of the vehicle motor is controlled such that when ηsin(ωt+π / 2)>ε, the duty cycle is set to ηsin(ωt+π / 2); when ηsin(ωt+π / 2)≤ε, the duty cycle is set to 0. Simultaneously control the duty cycle of the lower W phase tube (WB) of the three-phase bridge arm of the vehicle motor. When ηsin(ωt+π / 2)<-ε, the duty cycle is set to ηsin(ωt+π / 2); when ηsin(ωt+π / 2)≥-ε, the duty cycle is set to 0.

[0064] Where η is the duty cycle adjustment coefficient, ω is the periodic parameter of the UVW phase current detected by the open tube, t is the detection time, ε is the zero-crossing dead zone parameter, and π / 2 is the phase difference between the W phase and the U phase.

[0065] In some embodiments, the duty cycle control action of the above-mentioned U, V, W three-phase upper and lower tubes will form a rotating current vector with a phase loss in the upper U-phase tube. The sum of the current vectors formed by this rotating current vector within n current loop detection cycles is the negative current of the U-phase. Since the angle between the positive current of the U-phase and the real d-axis has approached zero after the first periodic modulation, the current vector corresponding to the negative current of the U-phase cannot drive the motor rotor to rotate.

[0066] In some embodiments, the second mechanical angle offset of the motor rotor is obtained by: recording the motor rotor position (through the rotary transformer at the end of the motor rotor) b1 before the second periodic modulation; after setting the current loop detection number n, controlling the upper and lower tubes of the UVW three phases to run according to the above duty cycle period; after the operation is completed, detecting the motor rotor position b2, calculating the difference between b1 and b2, and obtaining the rotation angle b of the motor rotor (i.e., the second mechanical angle offset).

[0067] In some embodiments, the preset angle threshold is T. When the second mechanical angle offset b is not less than T, it is determined that the resolver zero-position calibration has failed. It is necessary to check whether the environment setting of the resolver calibration is normal and to re-execute the step of performing the first periodic modulation of the switching duty cycle of the vehicle motor three-phase bridge arm.

[0068] In the above embodiments, the method can identify calibration anomalies and trigger a retry mechanism in a timely manner by judging the relationship between the second mechanical angle offset and the preset threshold, effectively avoiding calibration failure caused by single modulation deviation and ensuring the reliability and accuracy of the resolver zero-position calibration.

[0069] In some embodiments, obtaining the first mechanical angular offset of the motor rotor includes: Before the first periodic modulation, the first initial mechanical angle of the motor rotor is obtained; When the first periodic modulation is completed, the first final mechanical angle of the motor rotor is obtained; Calculate the first angle difference between the first initial mechanical angle and the first final mechanical angle; The first angular difference is determined as the first mechanical angular offset.

[0070] In some embodiments, the method can record the motor rotor position (motor rotor position before UVW tube opening) a1 before the first periodic modulation by using a rotary transformer at the end of the motor rotor; then, after setting the current loop detection number n, run the UVW tubes at the preset period as described above, and detect the motor rotor position a2 after the operation is completed; finally, calculate the difference between a1 and a2 to obtain the rotation angle a of the motor rotor (i.e., the first mechanical angle offset).

[0071] In the above embodiments, this method can provide accurate and quantifiable basic data support for the subsequent determination of the initial resolver zero point, ensuring the rigor of the calibration logic.

[0072] In some embodiments, correcting the initial resolver zero position to obtain the calibrated target resolver zero position includes: The initial resolver zero position is calibrated into the vehicle's motor controller; Determine the Q-axis current based on the initial resolver zero position; The motor rotor is driven to rotate based on the Q-axis current, and the rotation direction of the motor rotor is obtained. When the direction of the Q-axis current is consistent with the rotation direction of the motor rotor, the preliminary resolver zero position is determined as the target resolver zero position of the motor rotor; The target resolver zero point is used as the final resolver zero point and recalibrated in the motor controller.

[0073] In some embodiments, the method can calibrate the q-axis current based on the calibrated motor rotor resolver zero position and check the rotation direction of the motor rotor.

[0074] For example, if the direction of the q-axis current is consistent with the rotation direction of the motor rotor, then the resolver zero point of the motor rotor is a+b. If the direction of the q-axis current is opposite to the direction of rotation of the electronic rotor, then the zero point of the motor rotor's resolver is a+b+π.

[0075] In the above embodiments, the method can accurately verify and correct the initial resolver zero position by verifying the Q-axis current drive and judging the rotation direction, ensuring that the final calibrated target resolver zero position is completely consistent with the real zero position, and further improving the accuracy and reliability of resolver zero position calibration.

[0076] In some embodiments, the method further includes: When the direction of the Q-axis current is opposite to the direction of rotation of the motor rotor, the initial resolver zero position is corrected according to the preset phase deviation to obtain the target resolver zero position, and the step of recalibrating the target resolver zero position as the final resolver zero position is executed in the motor controller.

[0077] In the above embodiments, the method can accurately correct the initial resolver zero position by preset phase deviation in the case of abnormal situation where the Q-axis current direction is opposite to the rotor rotation direction, avoid calibration errors caused by direction mismatch, ensure the accuracy of the final target resolver zero position, and further improve the calibration error correction mechanism.

[0078] In some embodiments, after correcting the initial resolver zero point to obtain the calibrated target resolver zero point, the method further includes: When the vehicle starts and travels forward to reach a stable speed, the motor controller will simultaneously turn on all the upper or lower pipes of the three-phase bridge arm, causing the vehicle's motor to enter an active short-circuit state. When the motor enters an active short-circuit state, the target angle between the d-axis current and the actual direct axis direction is calculated based on the target resolver zero position. When the included angle of the target is less than the preset safety threshold, the zero-position calibration of the target refractive index is confirmed to be accurate.

[0079] In some embodiments, if it is necessary to check whether the resolver zero-point of the motor rotor is accurately calibrated, after calibrating the resolver zero-point, the vehicle can be started and driven forward (only after the resolver zero-point calibration is basically correct can the motor on the vehicle act as a power source to drive the vehicle). After driving to a certain speed, the upper or lower tubes of the UVW three-phase circuits are switched to active short circuit. Based on the d-axis current calculated by the resolver zero-point and the angle between the d-axis and the d-axis, it is confirmed whether the resolver zero-point is calibrated correctly. If the threshold T2 is exceeded, it is necessary to check whether there is an abnormality in the three-phase current and to check whether the resolver is normal.

[0080] In the above embodiments, the method can utilize the active short-circuit state after the vehicle has stabilized, and perform secondary verification by calculating the angle between the d-axis current and the target on the real direct axis, to accurately verify the calibration accuracy of the target resolver zero position, ensuring that the calibration results are reliable and effective in actual driving scenarios.

[0081] In some embodiments, the method further includes: When the included angle of the target is not less than the safety threshold, output a prompt message indicating that the zero-position calibration of the target resolver is inaccurate.

[0082] In the above embodiments, the method can promptly output a calibration error message when the target angle does not meet the safety threshold during secondary verification, quickly report calibration abnormalities, provide clear guidance for subsequent troubleshooting and recalibration, and avoid affecting vehicle driving safety and motor operation stability due to calibration deviation.

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below. In some embodiments, such as Figure 2 As shown, the method for zero-point calibration of the resolver of the vehicle motor includes: S201. When the high-voltage system of the vehicle is powered on and in a stationary state, and the braking system has been released, the upper U-phase tube of the three-phase bridge arm of the vehicle motor is intermittently turned on according to a sinusoidal pattern within a preset cycle, while the lower U-phase tube is kept closed at all times. S202. The upper and lower tubes of the V phase and W phase of the three-phase bridge arm of the vehicle motor are intermittently switched according to the sinusoidal and negative sinusoidal law of the phase difference. S203. When periodically modulating the switching duty cycle of the three-phase bridge arm of the motor, obtain the U-phase positive current; S204. When the angle between the U-phase positive current and the real d-axis is 0, obtain the first initial mechanical angle of the motor rotor and obtain the first final mechanical angle of the motor rotor. S205. Calculate the first angle difference between the first initial mechanical angle and the first final mechanical angle; S206. The first angle difference is determined as the first mechanical angle offset; S207. Using the opposite U-phase tube state modulation strategy, the switching duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated a second time. S208. When the second periodic modulation is completed, obtain the second mechanical angle offset of the motor rotor; S209. When the second mechanical angle offset is less than the preset angle threshold, determine the initial resolver zero position of the motor rotor based on the first mechanical angle offset and the second mechanical angle offset. S210. Initially calibrate the resolver zero position to the vehicle's motor controller; S211. Determine the Q-axis current based on the initial resolver zero position; S212. Drive the motor rotor to rotate according to the Q-axis current and obtain the rotation direction of the motor rotor; S213. When the direction of the Q-axis current is consistent with the rotation direction of the motor rotor, the preliminary resolver zero position is determined as the target resolver zero position of the motor rotor. S214. Recalibrate the target resolver zero position as the final resolver zero position into the motor controller; S215. When the vehicle starts and travels forward to reach a stable speed, the motor controller will simultaneously turn on all the upper or lower pipes of the three-phase bridge arm, so that the vehicle's motor enters an active short-circuit state. S216. When the motor enters the active short-circuit state, calculate the target angle between the d-axis current and the true direct axis direction based on the target resolver zero position. S217. When the included angle of the target is less than the preset safety threshold, the zero position calibration of the target refractive index is confirmed to be accurate.

[0084] Figure 3 A schematic diagram of a resolver zero-position calibration device for a vehicle motor is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0085] The resolver zero-position calibration device for the vehicle motor includes: The first modulation unit 310 is used to perform the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor when the high-voltage system of the whole vehicle is powered on and in a stationary state and the braking system has been released. The first acquisition unit 320 is used to acquire the first mechanical angle offset of the motor rotor when the first periodic modulation is completed. The second modulation unit 330 is used to perform a second periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor using an opposite U-phase tube state modulation strategy. The second acquisition unit 340 is used to acquire the second mechanical angle offset of the motor rotor when the second periodic modulation is completed. The determining unit 350 is used to determine the initial resolvent zero position of the motor rotor based on the first mechanical angle offset and the second mechanical angle offset when the second mechanical angle offset is less than a preset angle threshold. The correction unit 360 is used to correct the initial resolver zero position to obtain the calibrated target resolver zero position.

[0086] In some embodiments, the first modulation unit 310 includes: The control subunit 311 is used to control the upper U-phase tube of the three-phase bridge arm of the vehicle motor to be intermittently turned on according to a sinusoidal pattern within a preset cycle, while keeping the lower U-phase tube always closed. The control subunit 311 is also used to control the upper and lower tubes of the V phase and W phase of the three-phase bridge arm of the vehicle motor to switch intermittently according to the phase difference being a sine and a negative sine. The first acquisition subunit 312 is used to acquire the U-phase positive current when the switching duty cycle of the three-phase bridge arm of the motor is periodically modulated. The first determining subunit 313 is used to determine the completion of the first periodic modulation when the angle between the U-phase positive current and the real d-axis is 0, and to trigger the first acquiring unit 320 to acquire the first mechanical angle offset of the motor rotor.

[0087] In some embodiments, the determining unit 350 is further configured to determine that the resolver zero-position calibration has failed when the second mechanical angle offset is not less than a preset angle threshold, and to trigger the first modulation unit 310 to perform the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor.

[0088] In some embodiments, the first acquisition unit 320 includes: The second acquisition subunit 321 is used to acquire the first initial mechanical angle of the motor rotor before the first periodic modulation. The second acquisition subunit 321 is also used to acquire the first end mechanical angle of the motor rotor when the first periodic modulation is completed. The calculation subunit 322 is used to calculate the first angle difference between the first initial mechanical angle and the first final mechanical angle; The second determining subunit 323 is used to determine the first angle difference as the first mechanical angle offset.

[0089] In some embodiments, the correction unit 360 includes: The calibration subunit 361 is used to calibrate the initial resolver zero position to the vehicle's motor controller; The third determining subunit 362 is used to determine the Q-axis current based on the initial resolver zero position; The third acquisition subunit 363 is used to drive the motor rotor to rotate according to the Q-axis current and to acquire the rotation direction of the motor rotor. The third determining subunit 362 is also used to determine the initial resolver zero position as the target resolver zero position of the motor rotor when the direction of the Q-axis current is consistent with the rotation direction of the motor rotor. The calibration subunit 361 is also used to recalibrate the target resolver zero position as the final resolver zero position into the motor controller.

[0090] In some embodiments, the correction unit 360 further includes: The correction subunit 364 is used to correct the initial resolver zero position according to the preset phase deviation when the direction of the Q-axis current is opposite to the rotation direction of the motor rotor, to obtain the target resolver zero position, and to trigger the calibration subunit 361 to recalibrate the target resolver zero position as the final resolver zero position into the motor controller.

[0091] In some embodiments, the resolver zero-position calibration device for the vehicle motor further includes: The control unit 370 is used to correct the initial resolver zero position in the correction unit 360. After obtaining the calibrated target resolver zero position, when the vehicle starts and travels forward to reach a stable speed, the control motor controller will simultaneously turn on all the upper pipes or all the lower pipes of the three-phase bridge arm, so that the vehicle's motor enters an active short circuit state. The calculation unit 380 is used to calculate the target angle between the d-axis current and the actual direct axis direction based on the target resolver zero position when the motor enters the active short-circuit state. The determination unit 350 is used to determine the accuracy of the target rotation zero-position calibration when the target angle is less than a preset safety threshold.

[0092] In some embodiments, the resolver zero-position calibration device for the vehicle motor further includes: Output unit 390 is used to output a prompt message indicating that the target resolver zero-position calibration is inaccurate when the target included angle is not less than the safety threshold.

[0093] like Figure 4 As shown, this application provides an electronic device 400, which includes a processor 401 and a memory 402. The processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanism (not shown). The memory 402 stores a computer program that can be executed by the processor 401. When the computing device is running, the processor 401 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0094] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0095] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0096] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for zero-position calibration of a vehicle motor's resolver, characterized in that, include: When the vehicle's high-voltage system is powered on and in a stationary state, and the braking system has been released, the duty cycle of the three-phase bridge arm of the vehicle motor is periodically modulated for the first time. When the first periodic modulation is completed, the first mechanical angle offset of the motor rotor is obtained; A reverse U-phase tube state modulation strategy is adopted to perform a second periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor; When the second periodic modulation is completed, the second mechanical angle offset of the motor rotor is obtained; When the second mechanical angle offset is less than the preset angle threshold, the initial resolvent zero position of the motor rotor is determined based on the first mechanical angle offset and the second mechanical angle offset. The initial resolver zero position is corrected to obtain the calibrated target resolver zero position.

2. The method for zero-position calibration of a vehicle motor resolver according to claim 1, characterized in that, The first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor includes: The upper U-phase tube of the three-phase bridge arm of the vehicle motor is intermittently turned on according to a sinusoidal pattern within a preset cycle, while the lower U-phase tube is kept closed at all times. The upper and lower tubes of the V and W phases of the three-phase bridge arm of the vehicle motor are intermittently switched according to the sinusoidal and negative sinusoidal law of the phase difference; The U-phase forward current is obtained when the switching duty cycle of the three-phase bridge arm of the motor is periodically modulated. When the angle between the U-phase positive current and the actual d-axis is 0, the first periodic modulation is determined to be completed, and the step of obtaining the first mechanical angle offset of the motor rotor is executed.

3. The method for zero-position calibration of a vehicle motor resolver according to claim 1, characterized in that, The method further includes: When the second mechanical angle offset is not less than the preset angle threshold, it is determined that the resolver zero-position calibration has failed, and the step of performing the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor is executed.

4. The method for zero-position calibration of a vehicle motor resolver according to claim 1, characterized in that, The process of obtaining the first mechanical angular offset of the motor rotor includes: Before the first periodic modulation, the first initial mechanical angle of the motor rotor is obtained; When the first periodic modulation is completed, the first final mechanical angle of the motor rotor is obtained; Calculate the first angle difference between the first initial mechanical angle and the first final mechanical angle; The first angle difference is determined as the first mechanical angle offset.

5. The method for zero-position calibration of a vehicle motor resolver according to claim 1, characterized in that, The step of correcting the preliminary resolver zero position to obtain the calibrated target resolver zero position includes: The initial resolver zero-point calibration is then applied to the vehicle's motor controller; The Q-axis current is determined based on the preliminary resolver zero position. The motor rotor is driven to rotate according to the Q-axis current, and the rotation direction of the motor rotor is obtained; When the direction of the Q-axis current is consistent with the rotation direction of the motor rotor, the preliminary resolvent zero position is determined as the target resolvent zero position of the motor rotor; The target resolver zero point is recalibrated into the motor controller as the final resolver zero point.

6. The method for zero-position calibration of a vehicle motor resolver according to claim 5, characterized in that, The method further includes: When the direction of the Q-axis current is opposite to the rotation direction of the motor rotor, the preliminary resolver zero position is corrected according to the preset phase deviation to obtain the target resolver zero position, and the step of recalibrating the target resolver zero position as the final resolver zero position is executed in the motor controller.

7. The method for zero-position calibration of a vehicle motor resolver according to claim 1, characterized in that, After correcting the initial resolvent zero point to obtain the calibrated target resolvent zero point, the method further includes: When the vehicle starts and travels forward to reach a stable speed, the motor controller will simultaneously turn on all the upper or lower pipes of the three-phase bridge arm, causing the vehicle's motor to enter an active short-circuit state. When the motor enters the active short-circuit state, the target angle between the d-axis current and the actual direct axis direction is calculated based on the target resolver zero position. When the included angle of the target is less than the preset safety threshold, the zero-position calibration of the target refractive index is determined to be accurate.

8. The method for zero-position calibration of a vehicle motor resolver according to claim 7, characterized in that, The method further includes: When the included angle of the target is not less than the safety threshold, a prompt message indicating that the zero-position calibration of the target refractive index is inaccurate is output.

9. A resolver zero-position calibration device for a vehicle motor, characterized in that, The vehicle motor's resolver zero-position calibration device includes: The first modulation unit is used to perform the first periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor when the high-voltage system of the whole vehicle is powered on and in a stationary state, and the braking system has been released. The first acquisition unit is used to acquire the first mechanical angle offset of the motor rotor when the first periodic modulation is completed. The second modulation unit is used to perform a second periodic modulation of the switching duty cycle of the three-phase bridge arm of the vehicle motor using the opposite U-phase tube state modulation strategy. The second acquisition unit is used to acquire the second mechanical angle offset of the motor rotor when the second periodic modulation is completed; The determining unit is used to determine the initial resolvent zero position of the motor rotor based on the first mechanical angle offset and the second mechanical angle offset when the second mechanical angle offset is less than a preset angle threshold. The correction unit is used to correct the initial resolver zero position to obtain the calibrated target resolver zero position.

10. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the resolver zero-position calibration method for the vehicle motor according to any one of claims 1 to 8.

11. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the resolver zero-position calibration method for the vehicle motor according to any one of claims 1 to 8.

12. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the resolver zero-position calibration method for a vehicle motor according to any one of claims 1 to 8.

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