Method and apparatus for zero position self-learning of an electric machine, and computer program product
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2025-02-07
- Publication Date
- 2026-08-07
AI Technical Summary
然而，现有的电机零位自学习过程都需要手动地启用，尤其是需要将车轮抬离地面后再注入一定的转矩才能够启用电机零位自学习过程，并且在电机零位自学习过程期间电机的旋转方向是不可控的，这极大地限制了电机零位自学习在车辆的生产流水线和售后服务中的应用
[0004]本申请的目的在于提供一种用于电机的零位自学习的方法，一种用于电机的零位自学习的装置，以及一种计算机程序产品，至少部分地以解决现有技术中的问题。
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Figure CN122533495A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of electric motors, and more particularly to a method for zero-position self-learning of an electric motor, an apparatus for zero-position self-learning of an electric motor, and a computer program product for at least assisting in implementing the steps of the method described according to this application. Background Technology
[0002] During motor drive, current commutation is required based on the mechanical position of the motor rotor. However, the rotor electrical angle detected by the angle sensor often has a zero-position deviation angle compared to the actual mechanical position of the motor rotor. This zero-position deviation angle can usually be automatically corrected through zero-position self-learning. However, existing motor zero-position self-learning processes require manual activation, especially by lifting the wheel off the ground and injecting a certain torque. Furthermore, the motor's rotation direction is uncontrollable during the zero-position self-learning process, which greatly limits the application of motor zero-position self-learning in vehicle production lines and after-sales service.
[0003] Therefore, there is room for improvement in the current motor zero-position self-learning process. Summary of the Invention
[0004] The purpose of this application is to provide a method for zero-position self-learning of an electric motor, a device for zero-position self-learning of an electric motor, and a computer program product, to at least partially solve the problems in the prior art.
[0005] According to a first aspect of this application, a method for zero-position self-learning of a motor is provided, the method comprising the following steps:
[0006] The triggering conditions for the motor's zero-position self-learning mode are determined at least based on the motor's deviation angle state.
[0007] Under the condition that the triggering conditions of the motor's zero-position self-learning mode are met, the vehicle's operating parameter limits related to the motor's zero-position self-learning are set; and
[0008] The zero-position self-learning mode of the motor is enabled based on the vehicle's operating parameters to determine the motor's zero-position deviation angle.
[0009] The core concept of this application includes at least the following: automatically selecting different zero-position self-learning modes of the motor based on the read motor deviation angle state, automatically setting the vehicle's operating parameter limits related to the motor's zero-position self-learning without operator intervention, and automatically activating the motor's zero-position self-learning mode when the vehicle's operating parameters meet the requirements. This eliminates the cumbersome startup process of motor zero-position self-learning that requires operator intervention, and enables rotational control of the motor during the zero-position self-learning process, laying the foundation for the convenient application of motor zero-position self-learning in vehicle production lines and after-sales service.
[0010] According to a second aspect of the present invention, an apparatus for zero-position self-learning of an electric motor is provided, the apparatus being used to perform the method according to the present application, wherein the apparatus comprises the following components:
[0011] - Self-learning mode determination module, which is configured to determine whether the triggering conditions for the zero-position self-learning mode of the motor are met, based at least on the motor's deviation angle state.
[0012] - An operating parameter setting module, configured to set operating parameter limits related to the motor's zero-position self-learning when the trigger conditions for the motor's zero-position self-learning mode are met; and
[0013] - A self-learning module, which is configured to enable the motor's zero-position self-learning mode based on the vehicle's operating parameters, in order to determine the motor's zero-position deviation angle.
[0014] According to a third aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising computer program instructions that, when executed by a processor, at least partially implement the steps of the method described in this application. Attached Figure Description
[0015] The principles, features, and advantages of this application will be better understood below with reference to the accompanying drawings. The drawings include:
[0016] Figure 1 A flowchart illustrating a method for zero-position self-learning of a motor according to an exemplary embodiment of this application is shown.
[0017] Figure 2 A flowchart illustrating a method for zero-position self-learning of a motor according to another exemplary embodiment of this application is shown;
[0018] Figure 3 A timing diagram of vehicle parameters in a first zero-bit self-learning mode is shown according to an exemplary embodiment of this application;
[0019] Figure 4A timing diagram of vehicle parameters in a second zero-bit self-learning mode is shown according to another exemplary embodiment of this application;
[0020] Figure 5 A flowchart illustrating a method for zero-position self-learning of a motor according to another exemplary embodiment of this application is shown; and
[0021] Figure 6 A schematic block diagram of an apparatus for zero-position self-learning of a motor according to an exemplary embodiment of this application is shown. Detailed Implementation
[0022] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.
[0023] Figure 1 A flowchart illustrating a method for zero-position self-learning of a motor according to an exemplary embodiment of this application is shown. The following exemplary embodiments describe the method according to this application in more detail.
[0024] like Figure 1As shown, the method may include steps S1 to S3. In step S1, it can be determined whether the triggering condition of the motor's zero-position self-learning mode is met, at least based on the motor's deviation angle state. The method according to this application is applicable not only to standalone permanent magnet synchronous motors and their power control inverters, but also to permanent magnet synchronous motors and their power control inverters in highly integrated electric drive systems. During the driving process of a permanent magnet synchronous motor, current commutation needs to be performed according to the mechanical position of the motor rotor. However, there is often a zero-position deviation angle between the rotor electrical angle detected by the angle sensor and the actual mechanical position of the motor rotor. In vehicle factory testing, this zero-position deviation angle can be obtained through the motor's zero-position self-learning mode, and the obtained zero-position deviation angle is stored in the memory of the motor's power control inverter (e.g., electrically erasable programmable read-only memory, EEPROM). In this case, the motor's deviation angle state is the effective value of the deviation angle. However, for vehicles on the production line, since the power control inverter of the vehicle's motor has not yet undergone factory testing, the zero-position deviation angle is not stored in the memory of the power control inverter. In this case, the deviation angle state of the motor is an invalid value. For vehicles undergoing after-sales service, their power control inverter has undergone factory testing, and the deviation angle has a valid value stored in the memory of the power control inverter. Therefore, when the vehicle is powered on, the deviation angle state of the motor can be read. Based on the deviation angle state, it can be determined whether the power control inverter of the motor has undergone factory testing, thereby determining the zero-position self-learning mode of the motor—including a first zero-position self-learning mode for vehicle factory testing and a second zero-position self-learning mode for vehicle after-sales service. Then, it is possible to monitor whether the triggering conditions of the determined zero-position self-learning mode are met, at least based on the deviation angle state of the motor.
[0025] The following combination Figure 2 The flowchart illustrating step S1 of a method for zero-position self-learning of a motor according to another exemplary embodiment of this application is shown in detail. Figure 2 As shown, step S1 may include steps S11 to S14. In step S11, when the vehicle is powered on, the motor's deviation angle state can be read from the memory of the motor's power control inverter, for example, and it can be determined whether the read deviation angle state is the effective value of the motor's deviation angle.
[0026] Figure 3 A timing diagram of vehicle parameters according to an exemplary embodiment of this application is shown. For example, in the sub-timing diagram of the motor's zero-position deviation angle A with respect to time t, when the vehicle is powered on (i.e., t...),... 10If the deviation angle state of the motor read at time t is an invalid deviation angle value (marked as NA), and as shown in the sub-timing diagram of the motor's self-learning state B with respect to time t, the motor's self-learning state is also an invalid self-learning state (marked as IV), this means that the motor's power control inverter has not undergone factory testing. Therefore, in step S12, the triggering condition for the first zero-position self-learning mode is detected. Here, the first zero-position self-learning mode is applicable to factory testing of vehicles on the production line, and vehicles that have not undergone factory testing can be screened based on the invalid deviation angle value in the power control inverter. Furthermore, as... Figure 3 The sub-time sequence diagram of the turtle light state L of the vehicle with respect to time t, when the trigger condition of the first zero-bit self-learning mode is detected at t. 10 At any time, the vehicle's self-learning status indicator, especially the turtle light, can be turned on (it is marked ON).
[0027] Figure 4 A timing diagram of vehicle parameters according to another exemplary embodiment of this application is shown. If the motor deviation angle state read when the vehicle is powered on is a valid deviation angle value, for example, in the sub-timing diagram of the motor's zero-position deviation angle A with respect to time t, then at t 20 The zero-position deviation angle A is read at all times. 21 This means that the motor's power control inverter has undergone factory testing, and in step S13, the motor's deviation angle state and self-learning state can be reset based on the vehicle's operating parameters. Considering that in vehicle after-sales service, only the motor, only the power control inverter, or both the motor and the power control inverter may be replaced, in these cases, the zero-position deviation angle stored in the power control inverter's memory may not match the motor. Therefore, after replacing the motor and / or the power control inverter, after-sales service personnel need to enable the second zero-position self-learning mode to determine the zero-position deviation angle suitable for the current motor. The second zero-position self-learning mode is applicable to vehicle after-sales service where the motor and / or the motor's power control inverter have been replaced. For example, after-sales service personnel can input a pre-given diagnostic service flag into the vehicle, or perform specific operations on the vehicle, such as continuously performing one handbrake operation, two brake pedal operations, and three gear shift operations, thereby resetting the motor's deviation angle state and self-learning state in step S13. 21 The motor's deviation angle state is constantly changed from zero deviation angle A. 21 Reset to an invalid deviation angle value, and as follows: Figure 4 As shown in the sub-timing diagram of the self-learning state B of the motor with respect to time t, at t 21 At any time, the motor's self-learning state will also be reset from the valid self-learning state (marked as V) to the invalid self-learning state (marked as IV).
[0028] In step S14, the triggering condition of the second zero-position self-learning mode can be monitored based on the motor's deviation angle state. This second zero-position self-learning mode is applicable to after-sales service for vehicles that have replaced the motor and / or the motor's power control inverter. If the reset deviation angle state is an invalid deviation angle value, the triggering condition of the second zero-position self-learning mode is met. Optionally, as... Figure 4 The sub-time sequence diagram of the turtle light state L of the vehicle with respect to time t, when the trigger condition of the second zero-bit self-learning mode is detected at t. 21 At any time, the vehicle's self-learning status indicator light, especially the turtle light, can be kept on.
[0029] In step S2, if the triggering conditions for the motor's zero-position self-learning mode are met, the vehicle's operating parameter limits related to the motor's zero-position self-learning are set. To improve the overall vehicle energy utilization rate, the energy recovery mode is usually activated during vehicle operation. During vehicle deceleration, coasting, or braking, the motor operates in generator mode to convert some of the vehicle's kinetic energy into electrical energy. However, this energy recovery mode may affect the motor's zero-position self-learning process and cause the zero-position deviation angle obtained through the motor's zero-position self-learning to become inaccurate. Therefore, it is necessary to temporarily disable the vehicle's energy recovery mode.
[0030] In addition, the motor speed limits can be set. For example, a maximum speed limit of 3500 rpm can be set to ensure that the vehicle speed does not exceed 20 km / h, thus ensuring driving safety during the motor's self-learning process. Alternatively, a minimum speed limit of 1500 rpm can be set to prevent the vehicle speed from being too low, as excessively low speeds would reduce the accuracy of the motor's zero-position self-learning results.
[0031] In step S3, the motor's zero-position self-learning mode can be enabled based on the vehicle's operating parameters to determine the motor's zero-position deviation angle. To ensure a high functional safety level for the vehicle's electric drive system, a three-layer architecture is introduced, comprising an execution layer (L1 layer), a software monitoring layer (L2 layer), and a hardware monitoring layer (L3 layer). The motor's zero-position self-learning process can only be implemented in the execution and software monitoring layers if there are no faults in the hardware monitoring layer. Furthermore, it is necessary to monitor the operation of the accelerator pedal by the tester or after-sales service personnel, as well as the vehicle's speed. If the accelerator pedal is detected to be released by the tester or after-sales service personnel, and the motor speed is within the speed range defined by the set speed limit value—for example, the speed range of 3500 rpm to 1500 rpm—and the hardware monitoring layer (L3 layer) of the vehicle's electric drive system is fault-free, then the motor's zero-position self-learning mode can be enabled to determine the motor's zero-position deviation angle.
[0032] For example in Figure 3 The first zero-bit self-learning mode shown in t 11 At any moment or Figure 4 The second zero-bit self-learning mode shown in t 22 At any given time, the operating mode of the motor's power control inverter is reset from torque control mode to flywheel mode, and the motor's self-learning state is reset to an effective self-learning state, thereby enabling the motor's zero-position self-learning mode. The zero-position deviation angle of the motor is then determined through zero-position self-learning at the execution layer and software monitoring layer of the vehicle's electric drive system. Figure 3 The first zero-bit self-learning mode shown in t 11 To t 12 During the time period, or Figure 4 The second zero-bit self-learning mode shown in t 22 To t 23 The motor undergoes a zero-position self-learning process for approximately 0.5 seconds. By matching and compensating the motor resolver angle with the actual values collected by the angle sensor, the zero-position deviation angle suitable for the currently installed motor can be determined. For example, in the first zero-position self-learning mode, the zero-position deviation angle A1 suitable for the motor installed on the production line can be determined on the vehicle's factory test road. Similarly, in the second zero-position self-learning mode, the zero-position deviation angle A1 suitable for the newly replaced motor can be determined during vehicle after-sales service. 22 (e.g., 99.8°), which is the zero-point deviation angle A of the motor before replacement, previously stored in the power control inverter and adapted to the motor. 21 (For example, 96.5°) are different.
[0033] According to embodiments of this application, different zero-position self-learning modes of the motor are automatically selected based on the read motor deviation angle state, and the vehicle's operating parameter limits related to the motor's zero-position self-learning are automatically set without operator intervention. When the vehicle's operating parameters meet the requirements, the motor's zero-position self-learning mode is automatically activated, thereby eliminating the cumbersome startup process of motor zero-position self-learning that requires operator intervention. Furthermore, the motor's rotation can be controlled during the zero-position self-learning process, laying the foundation for the convenient application of motor zero-position self-learning in vehicle production lines and after-sales service.
[0034] Figure 5 A flowchart illustrating a method for zero-position self-learning of a motor according to another exemplary embodiment of this application is shown. The following only describes the method in relation to... Figure 1 The differences between the embodiments shown are omitted for brevity, and the same steps will not be repeated.
[0035] like Figure 5As shown, the method may further include step S4. In step S4, the determined zero-position deviation angle is stored in the motor's power control inverter, such as the electrically erasable programmable read-only memory (EEPROM) of the power control inverter, and the vehicle's operating parameter limitations related to the motor's zero-position self-learning are eliminated. Exemplarily, the vehicle's energy recovery mode can be restored; the operating mode of the motor's power control inverter can be switched from flywheel mode to torque control mode; and the motor's speed limits, such as the maximum speed limit of 3500 rpm and / or the minimum speed limit of 1500 rpm, can be eliminated. Optionally, the vehicle's self-learning status indicator, especially the turtle-shaped indicator light, can also be turned off.
[0036] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.
[0037] Figure 6 A schematic block diagram of an apparatus for zero-position self-learning of a motor according to an exemplary embodiment of this application is shown.
[0038] like Figure 6 As shown, the device 1 may include the following components:
[0039] - Self-learning mode determination module 11, which is configured to determine whether the triggering condition of the zero-position self-learning mode of the motor is met, based at least on the deviation angle state of the motor.
[0040] - Operation parameter setting module 12, configured to set vehicle operation parameter limits related to the motor's zero-position self-learning when the triggering conditions of the motor's zero-position self-learning mode are met; and
[0041] - Self-learning module 13, which is configured to enable the motor's zero-position self-learning mode based on the vehicle's operating parameters, in order to determine the motor's zero-position deviation angle.
[0042] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.
[0043] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.
[0044] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.
Claims
1. A method for zero-position self-learning of a motor, the method comprising the following steps: The triggering conditions for the motor's zero-position self-learning mode are determined at least based on the motor's deviation angle state. Under the condition that the triggering conditions of the motor's zero-position self-learning mode are met, the vehicle's operating parameter limits related to the motor's zero-position self-learning are set; and The zero-position self-learning mode of the motor is enabled based on the vehicle's operating parameters to determine the motor's zero-position deviation angle.
2. The method according to claim 1, wherein, When the vehicle is powered on, the deviation angle state of the motor is read, the zero-position self-learning mode of the motor is determined based on the deviation angle state of the motor, and the triggering conditions of the determined zero-position self-learning mode are monitored at least based on the deviation angle state of the motor.
3. The method according to claim 2, wherein the motor deviation angle state includes invalid values for the motor deviation angle, wherein, If the deviation angle state of the motor read when the vehicle is powered on is an invalid deviation angle value, then the trigger condition of the first zero-bit self-learning mode is met. The first zero-bit self-learning mode is applicable to the factory testing of vehicles on the production line.
4. The method according to claim 2, wherein, The motor's deviation angle state includes the effective value of the motor's deviation angle. If the deviation angle state of the motor read when the vehicle is powered on is the effective value of the deviation angle, the deviation angle state and self-learning state of the motor are reset based on the vehicle's operating parameters. The system also monitors whether the triggering conditions of the second zero-position self-learning mode are met based on the motor's deviation angle state. The second zero-position self-learning mode is applicable to after-sales service of vehicles that replace the motor and / or the motor's power control inverter.
5. The method according to claim 4, wherein, When the vehicle's diagnostic service flag is a predefined value and / or when the vehicle's operating parameters include, for example, one handbrake operation, two brake pedal operations, and three gear shift operations, the motor's deviation angle state is reset to an invalid deviation angle value, and the motor's self-learning state is reset to an invalid self-learning state. If the reset deviation angle state is an invalid deviation angle value, then the triggering condition of the second zero-bit self-learning mode is met.
6. The method according to any one of claims 1 to 5, wherein, When the triggering conditions for the motor's zero-position self-learning mode are met, the vehicle's energy recovery mode is disabled, and the motor's speed limits are set, such as the maximum speed limit of 3500 rpm and / or the minimum speed limit of 1500 rpm.
7. The method according to any one of claims 1 to 6, wherein, If the accelerator pedal is detected to be released and the motor speed is within the speed range defined by the set speed limit value, and the hardware monitoring layer of the vehicle's electric drive system is fault-free, then the motor's zero-position self-learning mode is activated to determine the motor's zero-position deviation angle.
8. The method according to any one of claims 1 to 7, wherein, Switch the motor's power control inverter to flywheel mode and reset the motor's self-learning state to an effective self-learning state, thereby enabling the motor's zero-position self-learning mode to determine the motor's zero-position deviation angle at the execution layer and software monitoring layer of the vehicle's electric drive system.
9. The method according to any one of claims 1 to 8, wherein, When the trigger conditions for the motor's zero-position self-learning mode are detected, the vehicle's self-learning status indicator light, especially the turtle light, will be turned on.
10. The method according to any one of claims 1 to 9, wherein, The method further includes: The determined zero-position deviation angle is stored in the motor's power control inverter, and the vehicle's operating parameter limitations related to the motor's zero-position self-learning are eliminated. This includes, for example, reactivating the vehicle's energy recovery mode, eliminating the motor's speed limits, and switching the motor's power control inverter's operating mode to torque control mode. Optionally, the vehicle's self-learning status indicator, especially the turtle light, is also turned off.
11. A device (1) for zero-position self-learning of an electric motor, said device (1) being used to perform the method according to any one of claims 1 to 10, wherein, The device (1) includes the following components: The self-learning mode determination module (11) is configured to determine whether the triggering condition of the zero-position self-learning mode of the motor is met, based at least on the deviation angle state of the motor. The operating parameter setting module (12) is configured to set the operating parameter limits of the vehicle related to the zero-position self-learning of the motor when the triggering conditions of the zero-position self-learning mode of the motor are met. and The self-learning module (13) is configured to enable the zero-position self-learning mode of the motor based on the vehicle's operating parameters to determine the zero-position deviation angle of the motor.
12. A computer program product, such as a computer-readable program carrier, comprising computer program instructions that, when executed by a processor, at least partially implement the steps of the method according to any one of claims 1 to 10.