Method for acquiring rotor position, electronic device, vehicle, and program product

Abstract

The application discloses a method for acquiring the position of a rotor relative to a stator in an electric machine, an electronic device, a vehicle and a computer program product. The method comprises: acquiring at least one group of channel signals of the rotor; converting the channel signals into square wave signals of the same frequency; and acquiring the position of the rotor relative to the stator according to the square wave signals. The method converts the channel signals of the rotor into square wave signals of the same frequency to acquire the position of the rotor relative to the stator, and only one group of channel signals is needed to acquire the position and speed of the rotor relative to the stator, which can eliminate the limitation of needing a fixed phase difference between two channel signals, eliminate the speed fluctuation and error accumulation of the position of the rotor caused by phase errors, improve the tolerance to phase errors, and thus improve the acquisition accuracy of the position and speed of the rotor relative to the stator.

Description

Technical Field

[0001] This application relates to the field of motor technology, and more specifically, to a method for obtaining the position of the rotor relative to the stator in an electric motor, an electronic device, a vehicle, and a computer program product. Background Technology

[0002] The position of the rotor relative to the stator and the rotor speed in an electric motor are usually obtained through sine and cosine signals acquired by sensors. However, sine and cosine signals are usually not ideal signals, and the phase difference between them is not ideal, resulting in phase errors. These phase errors can lead to significant deviations in the calculation of the rotor's position and speed relative to the stator. Summary of the Invention

[0003] This application provides a method for obtaining the position of the rotor relative to the stator in an electric motor, an electronic device, a vehicle, and a computer program product to solve at least one of the aforementioned technical problems.

[0004] This application provides a method for obtaining the position of a rotor relative to a stator in an electric motor. The method includes: obtaining at least one set of channel signals of the rotor; converting the channel signals into square wave signals of the same frequency; and obtaining the position of the rotor relative to the stator based on the square wave signals.

[0005] In some embodiments, calculating the position of the rotor relative to the stator based on the square wave signal includes: obtaining the square wave period of the square wave signal; obtaining the rotational speed of the rotor based on the square wave period; and obtaining the position of the rotor relative to the stator based on the rotational speed.

[0006] In some embodiments, obtaining the square wave period of the square wave signal includes: obtaining the rising edge or falling edge of the square wave signal; and obtaining the level transition time difference between two adjacent rising edges or the level transition time difference between two adjacent falling edges, as the square wave period.

[0007] In some embodiments, obtaining the square wave period of the square wave signal includes: obtaining the rising edge and falling edge of the square wave signal; and obtaining the level transition time difference between two adjacent rising edges and falling edges, and taking twice the level transition time difference as the square wave period.

[0008] In some implementations, the channel signal includes a sine signal and a cosine signal, and acquiring at least one set of channel signals includes: acquiring the sine signal or the cosine signal.

[0009] In some implementations, the channel signal includes a sine signal and a cosine signal, and acquiring at least one set of channel signals includes acquiring the sine signal and the cosine signal.

[0010] In some implementations, converting the channel signal into a square wave signal of the same frequency includes: converting the sine signal into a first square wave signal of the same frequency, and converting the cosine signal into a second square wave signal of the same frequency. Obtaining the rotor position based on the square wave signal includes: obtaining the rotor's position relative to the stator based on the first square wave signal and using it as a first rotor position; obtaining the rotor's position relative to the stator based on the second square wave signal and using it as a second rotor position; and obtaining the final rotor position relative to the stator based on the first rotor position and the second rotor position.

[0011] In some embodiments, converting the channel signal into a square wave signal of the same frequency includes: outputting a low-level signal when the voltage value of the channel signal is greater than the voltage threshold; outputting a high-level signal when the voltage value of the channel signal is less than the voltage threshold, wherein the voltage value of the high-level signal is a preset reference voltage; and generating a square wave signal of the same frequency as the channel signal based on the alternating transitions of the low-level signal and the high-level signal.

[0012] In some embodiments, the acquisition method further includes filtering the channel signal to eliminate DC bias and noise in the channel signal.

[0013] In some embodiments, filtering is performed on the channel signal to eliminate DC bias and noise in the channel signal, including: filtering out signal portions of the channel signal that are below a preset first cutoff frequency and above a preset second cutoff frequency, wherein the signal below the first cutoff frequency corresponds to DC bias in the channel signal, and the signal above the second cutoff frequency corresponds to noise in the channel signal.

[0014] Secondly, this application provides an electronic device comprising: a signal processing circuit and a microprocessor. The signal processing circuit is connected to an eddy current sensor and configured to receive a channel signal generated when the eddy current sensor detects the rotor position in a motor, and convert the channel signal into a square wave signal of the same frequency. The microprocessor is connected to the signal processing circuit and configured to obtain the position of the rotor relative to the stator based on the square wave signal.

[0015] In some embodiments, the microprocessor is further configured to: acquire the square wave period of the square wave signal; acquire the rotational speed of the rotor based on the square wave period; and acquire the position of the rotor relative to the stator based on the rotational speed.

[0016] In some embodiments, the microprocessor is further configured to: acquire the rising edge or falling edge of the square wave signal; and acquire the level transition time difference between two adjacent rising edges or the level transition time difference between two adjacent falling edges, as the square wave period.

[0017] In some embodiments, the microprocessor is further configured to: acquire the rising edge and falling edge of the square wave signal; and acquire the level transition time difference between two adjacent rising edges and falling edges, and use twice the level transition time difference as the square wave period.

[0018] In some implementations, the channel signal includes a sine signal and a cosine signal, and the signal processing circuit is configured to acquire the sine signal or the cosine signal.

[0019] In some implementations, the channel signal includes a sine signal and a cosine signal, and the signal processing circuit is configured to acquire the sine signal and the cosine signal.

[0020] In some embodiments, the signal processing circuit is further configured to: convert the sine signal into a first square wave signal of the same frequency, and convert the cosine signal into a second square wave signal of the same frequency. The microprocessor is further configured to: obtain the position of the rotor relative to the stator based on the first square wave signal, and use this as a first rotor position; obtain the position of the rotor relative to the stator based on the second square wave signal, and use this as a second rotor position; and obtain the final position of the rotor relative to the stator based on the first rotor position and the second rotor position.

[0021] In some embodiments, the signal processing circuit includes a filtering circuit, the input of which is connected to the output of the eddy current sensor, and the filtering circuit is configured to filter the channel signal to eliminate DC bias and noise in the channel signal.

[0022] In some embodiments, the filtering circuit is further configured to filter out signal portions of the channel signal that are below a preset first cutoff frequency and above a preset second cutoff frequency, wherein the signal below the first cutoff frequency corresponds to the DC bias in the channel signal, and the signal above the second cutoff frequency corresponds to noise in the channel signal.

[0023] In some embodiments, the filtering circuit is a bandpass filter circuit and includes a first capacitor, a second capacitor, a first resistor, and a second resistor. One end of the first capacitor is connected to the output terminal of the eddy current sensor, and the other end is connected between one end of the first resistor and one end of the second resistor. The other end of the first resistor is grounded, and one end of the second capacitor is grounded and the other end is connected to the other end of the second resistor.

[0024] In some implementations, the first cutoff frequency satisfies f L = 1 / 2πR1C1, where, f L Let R1 be the first cutoff frequency, R1 be the first resistor, and C1 be the first capacitor. In some embodiments, the second cutoff frequency satisfies: f H = 1 / 2πR²C², where f H R2 is the second cutoff frequency, R2 is the second resistor, and C2 is the second capacitor.

[0025] In some embodiments, the signal processing circuit includes a zero-crossing comparator circuit. The input of the zero-crossing comparator circuit is connected to the output of the filter circuit, and the output of the zero-crossing comparator circuit is connected to the microprocessor. The zero-crossing comparator circuit is configured to: output a low-level signal when the voltage value of the channel signal is greater than the voltage threshold; and output a high-level signal when the voltage value of the channel signal is less than the voltage threshold. The voltage value of the high-level signal is a preset reference voltage. Based on the alternating transitions of the low-level signal and the high-level signal, a square wave signal with the same frequency as the channel signal is generated.

[0026] In some embodiments, the zero-crossing comparator circuit includes an amplifier and a third resistor. The inverting input of the amplifier is connected to the output of the filter circuit, the non-inverting input of the amplifier is grounded and connected to a preset reference voltage, and the output of the amplifier is connected to the microprocessor.

[0027] Thirdly, this application provides an electronic device including one or more processors and a memory, the memory storing a computer program that, when executed by the processor, implements the steps of the method described in any of the above embodiments.

[0028] Fourthly, this application provides a vehicle that includes the electronic device described in any of the above embodiments.

[0029] Fifthly, this application provides a computer program product, including a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the method described in any of the above embodiments.

[0030] In the method, electronic device, vehicle, and computer program product for obtaining the position of the rotor relative to the stator in the motor according to the embodiments of this application, the method obtains the position of the rotor relative to the stator by converting at least one set of rotor channel signals into square wave signals of the same frequency. Only one set of channel signals is needed to obtain the position and speed of the rotor relative to the stator, which can eliminate the limitation that a fixed phase difference is required between two channel signals, eliminate speed fluctuations and rotor position error accumulation caused by phase errors, improve the tolerance to phase errors, and thus improve the accuracy of the position and speed of the rotor relative to the stator.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0033] Figure 1 This is a schematic diagram of the connection between a sensor and an electronic device in the prior art;

[0034] Figure 2 This is a schematic diagram of the signal structure of an eddy current sensor.

[0035] Figure 3 This is a schematic diagram illustrating the current angle calculation value using existing technology.

[0036] Figure 4 This is a schematic diagram illustrating the current rotational speed calculation value using existing technology.

[0037] Figure 5 This is a schematic diagram illustrating the calculated rotational speed under different phase errors using existing technology;

[0038] Figure 6 This is a schematic diagram of the connection between the sensor and the electronic device in some embodiments of this application;

[0039] Figure 7 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0040] Figure 8 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0041] Figure 9 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0042] Figure 10 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0043] Figure 11 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0044] Figure 12 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0045] Figure 13 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0046] Figure 14 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0047] Figure 15 This is a flowchart illustrating the acquisition method of some embodiments of this application;

[0048] Figure 16 This is a schematic diagram of a portion of the structure of an electronic device according to certain embodiments of this application;

[0049] Figure 17 This is a schematic diagram of the amplitude characteristic curves of a bandpass filter according to some embodiments of this application;

[0050] Figure 18 This is a structural schematic diagram of a vehicle according to some embodiments of this application;

[0051] Figure 19 This is the structure of an electronic device according to some embodiments of this application;

[0052] Figure 20 This is a schematic diagram showing the connection state of a computer program product and a processor according to some embodiments of this application.

[0053] Explanation of key component symbols:

[0054] Vehicle 10000; Motor 3000; Electronic device 100; Processor 50; Memory 70; Eddy current sensor 300; Signal processing circuit 10; Filtering circuit 11; First capacitor C1; Second capacitor C2; First resistor R1; Second resistor R2; Zero-crossing comparator circuit 13; Amplifier 131; Third resistor R3; Microprocessor 30; Timer input module 31; Computer program product 200; Computer program 202. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0056] In the description of this application, it should be understood that the terms "center", "length", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] A motor position sensor is a device used to detect the position of the rotor relative to the stator inside a motor. The motor position sensor converts the mechanical position of the rotor into an electrical signal, which is used by the microprocessor 30 inside the motor controller to determine when to switch the direction and intensity of the current in the motor 3000, thereby controlling the rotational speed and torque of the motor 3000.

[0061] In the research and development and manufacturing of the vehicle 10000, the accuracy of motor 3000 control directly affects the safety and stability of the vehicle's operation. The control of motor 3000, in turn, depends on the normal operation of the motor position sensor. This is especially true for the permanent magnet synchronous motor 3000 (Motor PMSMP), which is widely used in new energy vehicles. Because the permanent magnet synchronous motor 3000 lacks a physical contact commutator, the motor position sensor is crucial in determining when to switch the current direction to ensure smooth and stable operation of the motor 3000.

[0062] The commonly used motor position sensors in vehicle 10000 include two types: eddy current sensors 300 and resolvers. Compared to resolvers, eddy current sensors 300 have a higher degree of electronic integration, better meet platform requirements, and have stronger resistance to electromagnetic interference. Eddy current sensors 300 have strong compatibility with high-speed operating conditions because the excitation frequency of resolvers is based on speed matching; as the resolver's speed increases, the required excitation frequency also increases, necessitating modifications to the resolver's design. However, eddy current sensors 300 do not have this problem. They have a wider range of applications, faster response speeds, and advantages in high-frequency signal processing. Therefore, the application of eddy current sensors 300 will become more widespread in increasingly high-speed scenarios in the future.

[0063] Please see Figure 1 In existing eddy current sensor connection schemes, the eddy current sensor includes two signal lines: a sine signal line and a cosine signal line. In practical connections, the sine and cosine signal lines use differential input. Ideally, please refer to [link to relevant documentation]. Figure 2 The signals in the sin channel (sine wave signal line) and cosine channel (cosine wave signal line) are two sinusoidal signals with a 90-degree phase difference and equal amplitude. The analog-to-digital converter (ADC) samples and acquires the analog-to-digital conversion values ​​(AD values) of the two signal lines at the same time, and then calculates the arctangent to obtain the rotor position (i.e., the angle of the rotor relative to the stator) at the current moment. Please refer to [link to relevant documentation]. Figure 3 and Figure 4Then, the actual rotor speed can be obtained through differential calculation. It can be understood that, under ideal conditions for the sin channel signal and the cos channel signal, the motor controller can obtain the current speed through internal microprocessor and other components.

[0064] However, the signals received by the sin and cos channels are not ideal. The signal amplitudes of the two channels are not the same, and both have a DC bias. Furthermore, the phase difference between the sin and cos channels is not an ideal 90 degrees, resulting in a phase error, which typically requires normalization. Normalization can eliminate the DC bias and normalize the amplitude. However, normalization cannot eliminate the phase error; please refer to [link to relevant documentation]. Figure 5 Phase errors can lead to distortion in speed calculations.

[0065] Therefore, normalization cannot eliminate phase errors. In actual testing, phase errors cause significant deviations in rotor position and speed calculations, and the magnitude of these deviations increases with the increase of the phase error. Furthermore, the testing environment introduces significant noise into the sin and cosine channels. Both enhanced delta-Sigma analog-to-digital converters (EDSADCs) and ordinary analog-to-digital converters inherently possess sampling errors. These factors all contribute to errors in the calculation of rotor position and speed.

[0066] Please see Figure 6 and Figure 7 Based on the above problems, this application provides a method for obtaining the position of the rotor relative to the stator in an electric motor 3000. The method includes:

[0067] 01: Acquire at least one set of rotor channel signals;

[0068] 03: Convert the channel signal to a square wave signal of the same frequency; and

[0069] 05: Obtain the rotor's position relative to the stator based on the square wave signal.

[0070] The above-described acquisition method can be applied to electronic device 100, which includes signal processing circuit 10 and microprocessor 30. Signal processing circuit 10 is connected to eddy current sensor 300 and configured to receive the channel signal generated when eddy current sensor 300 detects the rotor position in motor 3000, and convert the channel signal into a square wave signal of the same frequency. Microprocessor 30 is connected to signal processing circuit 10 and configured to acquire the rotor position relative to stator based on the square wave signal.

[0071] Specifically, in the method of 01, the channel signal is a signal characterizing the mechanical position state of the rotor in the motor 3000. Exemplarily, the channel signal in this application is acquired by an eddy current sensor 300. The eddy current sensor 300 generates a periodic channel signal based on the principle of electromagnetic induction by detecting the mechanical position of the rotor in the motor 3000. The amplitude, frequency, and phase of the channel signal correspond in real time to the angle change of the rotor relative to the stator, specifically manifested as voltage fluctuations in the form of a sine wave or a cosine wave. That is, the eddy current sensor 300 can generate at least one set of channel signals related to the position of the rotor relative to the stator, including sine and / or cosine signals. In other words, in the method of 01, a sine signal, a cosine signal, or both can be acquired. The following description uses the eddy current sensor 300 as the sensor. It should be noted that in other embodiments of this application, other elements capable of acquiring sine and / or cosine signals can also be used. Furthermore, in this application, the position of the rotor relative to the stator is the angle of the rotor relative to the stator.

[0072] In method 03, the signal processing circuit 10 is communicatively connected to the eddy current sensor 300. The signal processing circuit 10 receives the channel signal and converts it into a square wave signal of the same frequency. More specifically, the signal processing circuit 10 can detect the zero-crossing point of the channel signal and convert it into a square wave signal of the same frequency as the channel signal. It can be understood that the square wave signal and the channel signal have the same frequency, that is, they have the same period. Since the rotor speed is the reciprocal of the period, the rotor speed can be obtained from the reciprocal of the period of the square wave signal.

[0073] In method 05, microprocessor 30 is communicatively connected to signal processing circuit 10 to receive square wave signals generated by signal processing circuit 10. Microprocessor 30 is configured to acquire rotor position information relative to stator based on the square wave signal. Microprocessor 30 can analyze the frequency and period of the square wave signal to determine the rotor position relative to stator. The acquisition method in this embodiment first calculates the rotor's angular velocity (rotational speed), and then obtains the rotor position relative to stator through integration or other methods. This is the reverse calculation order compared to the conventional scheme described above, which first calculates the rotor position relative to stator and then calculates the rotational speed through differentiation.

[0074] The acquisition method of this application converts the rotor's channel signal into a square wave signal of the same frequency. Only one channel signal is needed to acquire the rotor's position and speed relative to the stator. This eliminates the limitation of requiring a fixed phase difference between the two channel signals, eliminates speed fluctuations and rotor position error accumulation caused by phase errors, and improves the tolerance to phase errors, thereby improving the accuracy of acquiring the rotor's position and speed relative to the stator. Furthermore, the process of converting the rotor's channel signal into a square wave signal of the same frequency does not require an analog-to-digital converter (ADC). This avoids integrating an ADC on the microprocessor 30, reducing the hardware complexity of the microprocessor 30 and saving pin resources. It also eliminates the need for amplitude and bias normalization, reducing the ADC's resource usage on the microprocessor 30 and saving sampling resources. Finally, it avoids the limitations imposed by the ADC's sampling rate and resolution on the real-time performance and accuracy of the electronic device 100.

[0075] Please see Figure 6 and Figure 8 In some implementations, 05: Calculating the rotor's position relative to the stator based on the square wave signal includes:

[0076] 051: Obtain the square wave period of the square wave signal;

[0077] 053: Obtain the rotor speed based on the square wave period;

[0078] 055: Obtain the rotor's position relative to the stator based on rotational speed.

[0079] The above acquisition method can be applied to microprocessor 30. Microprocessor 30 is also configured to acquire the square wave period of the square wave signal. Microprocessor 30 is also configured to acquire the rotor speed based on the square wave period; and acquire the rotor position relative to the stator based on the speed.

[0080] Specifically, in the method of 051, the level transition of the square wave signal refers to the transition of the square wave signal from a high level to a low level or from a low level to a high level. The time difference ΔT between adjacent level transitions refers to the time interval between two consecutive level transitions. For example, the time difference between two consecutive rising edges or the time difference between two consecutive falling edges. The period of the square wave signal is the time difference between two adjacent identical level transitions (such as rising edge to rising edge or falling edge to falling edge). The microprocessor 30 can obtain the period of the square wave signal by measuring the time difference ΔT between adjacent level transitions. Exemplarily, this application uses the timer input module 31 (TIM) of the generic timer module (GTM) in the microprocessor 30 to capture the time difference ΔT between adjacent level transitions, which provides more accurate timing and avoids time errors.

[0081] In the 053 method, since the period of the square wave signal is inversely proportional to the rotational speed (i.e., the rotational speed is proportional to the reciprocal of the period of the square wave signal (T = 1 / T), the shorter the period, the higher the rotational speed, and the longer the period, the lower the rotational speed. Therefore, the microprocessor 30 can obtain the rotor speed through the period of the square wave signal, which avoids the error caused by the sampling time interval in the traditional method and improves the accuracy of speed acquisition.

[0082] In the method of 055, the rotational speed is related to the rotor's position relative to the stator. For example, the rotor's position relative to the stator can be obtained by integrating the rotational speed. The microprocessor 30 is configured to perform an integral calculation on the rotational speed to obtain the rotor's position relative to the stator at any given time.

[0083] It should be noted that traditional solutions using ADC or EDSADC sampling involve a time interval, typically 100µs. Traditional microprocessors need to use this time interval for differentiation to obtain the rotational speed, but this time interval usually contains timing errors. This application uses the timer input module 31 of the general-purpose timer built into the microprocessor 30 to capture the square wave period, resulting in more accurate timing and avoiding these errors.

[0084] Please see Figure 6 and Figure 9 In some implementations, 051: Obtaining the square wave period of the square wave signal includes:

[0085] 0511: Obtain the rising or falling edge of the square wave signal; and

[0086] 0513: Obtain the level transition time difference ΔT between two adjacent rising edges or between two adjacent falling edges, and use it as the square wave period.

[0087] The above acquisition method can be applied to the microprocessor 30. The microprocessor 30 is also configured to: acquire the rising edge or falling edge of the square wave signal; and acquire the level transition time difference ΔT between two adjacent rising edges or the level transition time difference ΔT between two adjacent falling edges, as the square wave period.

[0088] Specifically, the level of a square wave signal periodically transitions between high and low levels. The rising edge refers to the instant the square wave signal transitions from low to high, while the falling edge refers to the instant the square wave signal transitions from high to low. The rising and falling edges characterize the periodic changes of the square wave signal. In the method of 0511, the rising and falling edges can be used as time bases to measure the period and frequency of the signal. The microprocessor 30 acquires the rising or falling edge of the square wave signal to obtain the time point of the level transition. In the method of 0513, the level transition time difference ΔT between two adjacent rising edges refers to the time interval between one rising edge and the next rising edge. The level transition time difference ΔT between two adjacent falling edges refers to the time interval between one falling edge and the next falling edge. The level transition time difference ΔT between two adjacent rising edges, or between two adjacent falling edges, can both characterize the time of one complete cycle of the square wave signal, i.e., the period of the square wave signal.

[0089] Please see Figure 6 and Figure 10 In some implementations, 051: Obtaining the square wave period of the square wave signal includes:

[0090] 0512: Obtain the rising and falling edges of the square wave signal; and

[0091] 0515: Obtain the level transition time difference ΔT between two adjacent rising and falling edges, and use 2ΔT as the square wave period.

[0092] The above acquisition method can be applied to the microprocessor 30. The microprocessor 30 is also configured to: acquire the rising edge and falling edge of the square wave signal; and acquire the level transition time difference ΔT between two adjacent rising edges and falling edges, and use 2ΔT as the square wave period.

[0093] Specifically, when the level transition time difference ΔT between two adjacent rising edges and the level transition time difference ΔT between two adjacent falling edges are the same, the microprocessor 30 can obtain the level transition time difference ΔT between two adjacent rising and falling edges and use 2ΔT as the square wave period. That is, the microprocessor 30 obtains the level transition time difference ΔT in the order of one rising edge, one falling edge, one rising edge, and one falling edge. A complete period includes the sum of the time interval between one rising edge and one falling edge, and the time interval between the next rising edge and the next falling edge. Alternatively, a complete period includes the sum of the time interval between one falling edge and one rising edge, and the time interval between the next falling edge and the next rising edge. Thus, the rotational speed can be obtained based on the square wave period.

[0094] Please see Figure 6 and Figure 11In some implementations, the channel signal includes a sine signal and a cosine signal. 01: Acquire at least one set of channel signals, including: 011: Acquire a sine signal or a cosine signal.

[0095] The above acquisition method can be applied to the signal processing circuit 10. The signal processing circuit 10 is configured to acquire a sine signal or a cosine signal.

[0096] It is understood that, in one embodiment of this application, only one channel signal (sine signal or cosine signal) is needed to obtain the rotational speed and the rotor position relative to the stator.

[0097] Please see Figure 6 and Figure 12 In other embodiments, 01: Acquiring at least one set of channel signals, including:

[0098] 013: Obtain sine and cosine signals.

[0099] The above acquisition method can be applied to signal processing circuit 10. Signal processing circuit 10 is configured to acquire sine and cosine signals.

[0100] In another embodiment of this application, the rotational speed and the rotor position relative to the stator can be obtained based on two channel signals (sine and cosine signals). It should be noted that in the embodiment where the rotational speed and rotor position relative to the stator are obtained based on two channel signals, either channel signal (sine or cosine) can independently obtain the rotational speed and rotor position relative to the stator as described above, and achieve the beneficial effects of any of the above embodiments. Using two channel signals involves further calculating the rotational speed and rotor position relative to the stator obtained from either channel signal (sine or cosine) based on independent acquisition of these signals, thereby reducing errors and improving the accuracy of the rotational speed and rotor position relative to the stator.

[0101] Please see Figure 6 and Figure 12 In some implementations, 03: converting the channel signal to a square wave signal of the same frequency includes:

[0102] 031: Convert a sine wave signal into a first square wave signal of the same frequency, and convert a cosine wave signal into a second square wave signal of the same frequency;

[0103] 05: Obtain the rotor position based on the square wave signal, including:

[0104] 0501: Obtain the position of the rotor relative to the stator based on the first square wave signal and use it as the first rotor position; and obtain the position of the rotor relative to the stator based on the second square wave signal and use it as the second rotor position.

[0105] 0503: Obtain the final position of the rotor relative to the stator based on the first rotor position and the second rotor position.

[0106] The above-described acquisition method can be applied to the signal processing circuit 10. The signal processing circuit 10 is further configured to convert the sine wave signal into a first square wave signal of the same frequency, and to convert the cosine wave signal into a second square wave signal of the same frequency. The above-described acquisition method can be applied to the microprocessor 30. The microprocessor 30 is further configured to: acquire the rotor position relative to the stator based on the first square wave signal and use it as the first rotor position; acquire the rotor position relative to the stator based on the second square wave signal and use it as the second rotor position; and acquire the final rotor position relative to the stator based on the first rotor position and the second rotor position.

[0107] Specifically, in method 013, signal processing circuit 10 can detect the zero-crossing point of a sinusoidal signal and convert the sinusoidal signal into a first square wave signal with the same frequency as the sinusoidal signal. It is understood that the first square wave signal and the sinusoidal signal have the same frequency, that is, the first square wave signal and the sinusoidal signal have the same period. Signal processing circuit 10 can also detect the zero-crossing point of a cosine signal and convert the cosine signal into a second square wave signal with the same frequency as the cosine signal. It is understood that the second square wave signal and the cosine signal have the same frequency, that is, the second square wave signal and the cosine signal have the same period.

[0108] In method 0501, the first rotor position can be calculated by measuring the period of the first square wave signal (the time difference between adjacent rising or falling edges), then the initial rotor position (first rotor position) can be obtained by integrating the rotational speed. The method is as described above and will not be repeated. Similarly, the second rotor position can be calculated by measuring the period of the second square wave signal, then the other rotor position (second rotor position) can be obtained by integrating the rotational speed. The method is as described above and will not be repeated.

[0109] In the method of 0503, the final position can be obtained by combining the first rotor position and the second rotor position. Exemplarily, the first rotor position and the second rotor position can be averaged to obtain the final rotor position. Averaging is simple and effective, and can effectively reduce the error caused by a single signal. Exemplarily, different weights can be assigned to the first rotor position and the second rotor position based on their reliability or accuracy, and a weighted average can be calculated. For example, if the signal-to-noise ratio of the sinusoidal signal is higher, the first rotor position can be given a higher weight. In other embodiments of this application, the final position can be obtained in other ways and is not limited to this application.

[0110] Please see Figure 6 and Figure 13 In some implementations, the acquisition method further includes:

[0111] 02: Filter the channel signal to eliminate DC bias and noise in the channel signal.

[0112] In some embodiments, the signal processing circuit 10 includes a filter circuit 11, the input of which is connected to the output of the eddy current sensor 300. The acquisition method described above can be applied to the filter circuit 11. The filter circuit 11 is configured to filter the channel signal to eliminate DC bias and noise in the channel signal.

[0113] Specifically, the filter circuit 11 is configured to filter the channel signal to eliminate DC bias and noise. DC bias refers to the relatively stable DC component in the channel signal, typically originating from the bias voltage of the eddy current sensor 300 or the DC power supply in the circuit. DC bias affects the zero point of the channel signal, leading to errors in subsequent signal processing. Noise refers to random, irregular interference components in the channel signal, which may originate from environmental electromagnetic interference, internal circuit thermal noise, etc. Noise can mask useful channel signals, reduce the signal-to-noise ratio of the channel signal, and affect the detectability and processing accuracy of the channel signal. Filtering effectively removes DC bias and noise, improving the quality and usability of the channel signal, thereby improving the accuracy of obtaining the rotational speed and the rotor's position relative to the stator. The filtered channel signal can more accurately reflect the actual position change of the rotor, reducing measurement errors caused by interference. Furthermore, filtering can reduce the requirements on the subsequent signal processing circuit 10.

[0114] Please see Figure 6 and Figure 14 In some implementations, 02: Filtering the channel signal to eliminate DC bias and noise in the channel signal includes:

[0115] 021: Filter out signals from the channel that are below the preset first cutoff frequency f. L and a second cutoff frequency f higher than the preset value. H The signal portion, wherein the frequency is below the first cutoff frequency f L The signal corresponds to the DC bias in the channel signal and is higher than the second cutoff frequency f. H The signal corresponds to the noise in the channel signal.

[0116] The above acquisition method can be applied to the filter circuit 11. The filter circuit 11 is also configured to filter out signals in the channel that are below a preset first cutoff frequency f. L and a second cutoff frequency f higher than the preset value. H The signal portion, wherein the frequency is below the first cutoff frequency f L The signal corresponds to the DC bias in the channel signal and is higher than the second cutoff frequency f. HThe signal corresponds to the noise in the channel signal.

[0117] In the motor 3000, the channel signal typically contains multiple frequency components, including DC bias, active signal, and high-frequency noise. To extract the active signal and remove unwanted signal components, this application employs a first cutoff frequency f. L Second cutoff frequency f H The channel signal is processed. This is used to filter out signals below the first cutoff frequency f. L The signal section, namely DC bias and filtering out frequencies higher than the second cutoff frequency f. H The signal portion, i.e., high-frequency noise. Therefore, the DC bias and noise in the channel signal can be filtered out, preserving the signal located at f. L and f H This improves the accuracy of channel signals by providing effective signals between them.

[0118] Please see Figure 6 and Figure 15 In some embodiments, the filter circuit 11 is a bandpass filter circuit 11, and includes a first capacitor C1, a second capacitor C2, a first resistor R1 and a second resistor R2. One end of the first capacitor C1 is connected to the output terminal of the eddy current sensor 300, and the other end is connected between one end of the first resistor R1 and one end of the second resistor R2. The other end of the first resistor R1 is grounded, one end of the second capacitor C2 is grounded, and the other end is connected to the other end of the second resistor R2.

[0119] In some embodiments, the filter circuit 11 is a bandpass filter circuit, used to filter out DC bias and noise in the channel signal. The bandpass filter circuit 11 consists of a first capacitor C1, a second capacitor C2, a first resistor R1, and a second resistor R2. One end of the first capacitor C1 is connected to the output terminal of the eddy current sensor 300 to block DC components and allow AC signals to pass through, thereby initially removing DC bias. The other end of the first capacitor C1 is connected between one end of the first resistor R1 and one end of the second resistor R2 for further noise removal. The other end of the first resistor R1 is grounded to provide a stable reference potential. One end of the second capacitor C2 is grounded, and the other end is connected to the other end of the second resistor R2 to remove high-frequency noise. The bandpass filter circuit can effectively filter out unwanted signal components within a specific frequency range, ensuring that the output channel signal has a high signal-to-noise ratio and stability, providing a reliable foundation for subsequent signal processing. In some embodiments, the first cutoff frequency satisfies f L =1 / 2πR1C1, where R1 is the first resistor and C1 is the first capacitor.

[0120] Please see Figure 6 and Figure 17 In some implementations, the second cutoff frequency satisfies: fH = 1 / 2πR²C², where R² is the second resistor and C² is the second capacitor. Thus, by controlling the values ​​of the first capacitor C1, the second capacitor C2, the first resistor R1, and the second resistor R2, the first cutoff frequency f can be freely adjusted. L Second cutoff frequency f H The size of the signal is adjusted to control the portion of the communication signal that needs to be filtered out.

[0121] Please see Figure 6 and Figure 16 In some implementations, 03: converting the channel signal to a square wave signal of the same frequency includes:

[0122] 032: When the voltage value of the channel signal is less than the voltage threshold, output a low-level signal;

[0123] 033: When the voltage value of the channel signal is greater than the voltage threshold, a high-level signal is output, and the voltage value of the high-level signal is the preset reference voltage Vref;

[0124] 035: Generate a square wave signal with the same frequency as the channel signal by alternating between low-level and high-level signals.

[0125] The above acquisition method can be applied to the signal processing circuit 10. The signal processing circuit 10 includes a zero-crossing comparator circuit 13. The input terminal of the zero-crossing comparator circuit 13 is connected to the output terminal of the filter circuit 11, and the output terminal of the zero-crossing comparator circuit 13 is connected to the microprocessor 30. The zero-crossing comparator circuit 13 is configured to: output a low-level signal when the voltage value of the channel signal is less than a voltage threshold; and output a high-level signal when the voltage value of the channel signal is greater than the voltage threshold. The voltage value of the high-level signal is a preset reference voltage Vref. Based on the alternating transitions of the low-level signal and the high-level signal, a square wave signal with the same frequency as the channel signal is generated.

[0126] Zero-crossing comparator circuit 13 is used to convert the channel signal into a square wave signal. When the voltage value of the channel signal is lower than the voltage threshold, the circuit outputs a low-level signal. When the voltage value of the channel signal is higher than the set voltage threshold, the circuit outputs a high-level signal. The voltage value of the high-level signal is determined by a preset reference voltage Vref, which is usually a stable voltage value. The preset reference voltage Vref provides a voltage reference for the high-level signal, ensuring the stability and consistency of the output square wave signal. When the voltage value of the channel signal is equal to the voltage threshold, it can be either a low-level signal or a high-level signal, without restriction. Zero-crossing comparator circuit 13 generates a square wave signal with the same frequency as the channel signal through alternating transitions between low-level and high-level signals. The level transitions (rising edge or falling edge) of the square wave signal correspond to the alternating transitions between low-level and high-level signals of the channel signal. The error of the zero-crossing comparator circuit 13 in this application is typically a few microvolts. Compared with the sampling error of ADC / EDS ADC, the error of the zero-crossing comparator circuit 13 is smaller, which can improve the accuracy of obtaining the rotational speed and the rotor position relative to the stator.

[0127] Please see Figure 6 and Figure 15 In some embodiments, the zero-crossing comparator circuit 13 includes an amplifier 131 and a third resistor R3. The inverting input terminal of the amplifier 131 is connected to the output terminal of the filter circuit 11, the non-inverting input terminal of the amplifier 131 is grounded and connected to a preset reference voltage, and the output terminal of the amplifier 131 is connected to the microprocessor 30.

[0128] Specifically, the zero-crossing comparator circuit 13 is used to convert the channel signal into a square wave signal. The zero-crossing comparator circuit 13 includes an amplifier 131 and a third resistor R3. The amplifier 131 receives and amplifies the channel signal. The inverting input of the amplifier 131 is connected to the output of the filter circuit 11 (i.e., the connection point of the second resistor R2 and the second capacitor C2). The non-inverting input of the amplifier 131 is grounded and connected to a preset reference voltage Vref, which serves as the comparison reference. The output of the amplifier 131 is connected to the microprocessor 30 for transmitting the converted square wave signal. When the instantaneous value of the channel signal is less than the preset reference voltage Vref, the output of the amplifier 131 jumps to a low level; when the channel signal is higher than the preset reference voltage Vref, the output is high, thus converting the channel signal into a square wave signal. The third resistor R3 is used to introduce a hysteresis voltage to suppress jitter caused by noise near the threshold of the channel signal, ensuring the stability of the output square wave; the preset reference voltage Vref is used to adapt to channel signals of different amplitudes. It should be noted that when the electronic device 100 has a filter circuit 11, the channel signal is the filtered channel signal. The preset reference voltage is used to set the comparison reference of amplifier 131. When the voltage of the channel signal is higher than the reference voltage, amplifier 131 outputs a low level; when the voltage of the channel signal is lower than the reference voltage, amplifier 131 outputs a high level.

[0129] Please see Figure 6 and Figure 18 This application provides an electronic device 100, which includes one or more microprocessors 30 and a memory 70. The memory 70 stores a computer program 202, which, when executed by the microprocessor 30, implements the steps of any of the methods.

[0130] For example, when computer program 202 is executed by microprocessor 30, the following acquisition method is implemented:

[0131] 01: Acquire at least one set of channel signals for the rotor;

[0132] 03: Convert the channel signal into a square wave signal of the same frequency; and

[0133] 05: Obtain the position of the rotor relative to the stator based on the square wave signal.

[0134] For example, when a computer program product is executed by microprocessor 30, the following acquisition method is implemented:

[0135] 051: Obtain the square wave period of the square wave signal;

[0136] 053: Obtain the rotor speed based on the square wave period;

[0137] 055: Obtain the position of the rotor relative to the stator based on the rotational speed.

[0138] For example, when computer program 202 is executed by microprocessor 30, it can also implement the acquisition methods in 0511, 0513, 0512, 0515, 011, 013, 031, 0501, 0503, 032, 033, 035, 02 and 021.

[0139] The electronic device 100 of this application converts the rotor's channel signal into a square wave signal of the same frequency. Only one channel signal is needed to obtain the rotor's position and speed relative to the stator. This eliminates the limitation that a fixed phase difference is required between the two channel signals, eliminates speed fluctuations and rotor position error accumulation caused by phase errors, and improves the tolerance to phase errors, thereby improving the accuracy of obtaining the rotor's position and speed relative to the stator.

[0140] Please see Figure 6 and Figure 19 This application provides a vehicle 10000, which includes an electronic device 100 according to any of the above embodiments.

[0141] The vehicle 10,000 can be a gasoline-powered vehicle, a natural gas-powered vehicle, or a new energy vehicle. New energy vehicles can be pure electric vehicles, hybrid electric vehicles, or range-extended vehicles, etc., and are not restricted in this application.

[0142] The vehicle 10000 of this application converts the rotor channel signal into a square wave signal of the same frequency. Only one channel signal is needed to obtain the rotor position and speed relative to the stator. This eliminates the limitation that a fixed phase difference is required between the two channel signals, eliminates speed fluctuations and rotor position error accumulation caused by phase errors, improves the tolerance to phase errors, and thus improves the accuracy of obtaining the rotor position and speed relative to the stator.

[0143] Please see Figure 6 and Figure 20 This application provides a computer program product 200, including a computer program 202, characterized in that, when the computer program 202 is executed by a microprocessor 30, it implements the steps of the method in any of the above embodiments.

[0144] For example, when computer program product 200 is executed by microprocessor 30, the following acquisition method is implemented:

[0145] 01: Acquire at least one set of channel signals for the rotor;

[0146] 03: Convert the channel signal into a square wave signal of the same frequency; and

[0147] 05: Obtain the position of the rotor relative to the stator based on the square wave signal.

[0148] For example, when a computer program product is executed by microprocessor 30, the following acquisition method is implemented:

[0149] 051: Obtain the square wave period of the square wave signal;

[0150] 053: Obtain the rotor speed based on the square wave period;

[0151] 055: Obtain the position of the rotor relative to the stator based on the rotational speed.

[0152] For example, when the computer program product 200 is executed by the microprocessor 30, it can also implement the acquisition methods in 0511, 0513, 0512, 0515, 011, 013, 031, 0501, 0503, 032, 033, 035, 02 and 021.

[0153] The acquisition method in the computer program product 200 of this application converts the rotor channel signal into a square wave signal of the same frequency. Only one channel signal is needed to acquire the rotor position and speed relative to the stator. This eliminates the limitation that a fixed phase difference is required between the two channel signals, eliminates speed fluctuations and rotor position error accumulation caused by phase errors, improves the tolerance to phase errors, and thus improves the acquisition accuracy of the rotor position and speed relative to the stator.

[0154] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. At the same time, other embodiments can be derived from the above embodiments, so that structural and logical substitutions and changes can be made without departing from the scope of this disclosure.

[0155] The embodiments described above are merely illustrative of several implementations of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the appended claims.

Claims

1. A method for obtaining the position of the rotor relative to the stator in an electric motor, characterized in that, include: Acquire at least one set of channel signals for the rotor; Convert the channel signal into a square wave signal of the same frequency; and The position of the rotor relative to the stator is obtained based on the square wave signal.

2. The acquisition method according to claim 1, characterized in that, Calculating the position of the rotor relative to the stator based on the square wave signal includes: Obtain the square wave period of the square wave signal; The rotational speed of the rotor is obtained based on the square wave period; The position of the rotor relative to the stator is obtained based on the rotational speed.

3. The acquisition method according to claim 2, characterized in that, Obtaining the square wave period of the square wave signal includes: Obtain the rising edge or falling edge of the square wave signal; and The time difference between the level transitions of two adjacent rising edges or the time difference between the level transitions of two adjacent falling edges is obtained as the square wave period.

4. The acquisition method according to claim 2, characterized in that, Obtaining the square wave period of the square wave signal includes: Obtain the rising and falling edges of the square wave signal; and Obtain the level transition time difference between two adjacent rising edges and falling edges, and use twice the level transition time difference as the square wave period.

5. The method for obtaining according to any one of claims 1 to 4, characterized in that, The channel signals include sine and cosine signals, and at least one set of channel signals is acquired, including: Obtain the sine signal or the cosine signal.

6. The method for obtaining according to any one of claims 1 to 4, characterized in that, The channel signals include sine and cosine signals, and at least one set of channel signals is acquired, including: Obtain the sine signal and the cosine signal.

7. The method for obtaining according to claim 6, characterized in that, Converting the channel signal into a square wave signal of the same frequency includes: The sine signal is converted into a first square wave signal of the same frequency, and the cosine signal is converted into a second square wave signal of the same frequency. Obtaining the position of the rotor based on the square wave signal includes: The position of the rotor relative to the stator is obtained according to the first square wave signal and used as the first rotor position; and the position of the rotor relative to the stator is obtained according to the second square wave signal and used as the second rotor position; and The final position of the rotor relative to the stator is obtained based on the first rotor position and the second rotor position.

8. The method for obtaining according to claim 1 or 7, characterized in that, Converting the channel signal into a square wave signal of the same frequency includes: When the voltage value of the channel signal is greater than the voltage threshold, a low-level signal is output; When the voltage value of the channel signal is less than the voltage threshold, a high-level signal is output, and the voltage value of the high-level signal is a preset reference voltage. Based on the alternating transitions of the low-level signal and the high-level signal, a square wave signal with the same frequency as the channel signal is generated.

9. The acquisition method according to claim 1, characterized in that, Also includes: The channel signal is filtered to eliminate DC bias and noise.

10. The acquisition method according to claim 9, characterized in that, The channel signal is filtered to eliminate DC bias and noise, including: The signal portions of the channel signal that are below a preset first cutoff frequency and above a preset second cutoff frequency are filtered out. The signals below the first cutoff frequency correspond to the DC bias in the channel signal, and the signals above the second cutoff frequency correspond to the noise in the channel signal.

11. An electronic device, characterized in that, include: A signal processing circuit, connected to an eddy current sensor, is configured to receive a channel signal generated when the eddy current sensor detects the rotor position in the motor, and convert the channel signal into a square wave signal of the same frequency. and A microprocessor, connected to the signal processing circuit, is configured to obtain the position of the rotor relative to the stator based on the square wave signal.

12. The electronic device according to claim 11, characterized in that, The microprocessor is also configured to: Obtain the square wave period of the square wave signal; The rotational speed of the rotor is obtained based on the square wave period; The position of the rotor relative to the stator is obtained based on the rotational speed.

13. The electronic device according to claim 12, characterized in that, The microprocessor is also configured to: Obtain the rising edge or falling edge of the square wave signal; and The time difference between the level transitions of two adjacent rising edges or the time difference between the level transitions of two adjacent falling edges is obtained as the square wave period.

14. The electronic device according to claim 12, characterized in that, The microprocessor is also configured to: Obtain the rising and falling edges of the square wave signal; and Obtain the level transition time difference between two adjacent rising edges and falling edges, and use twice the level transition time difference as the square wave period.

15. The electronic device according to any one of claims 11 to 14, characterized in that, The channel signal includes a sine signal and a cosine signal, and the signal processing circuit is configured to: Obtain the sine signal or the cosine signal.

16. The electronic device according to any one of claims 11 to 14, characterized in that, The channel signal includes a sine signal and a cosine signal, and the signal processing circuit is configured to: Obtain the sine signal and the cosine signal.

17. The electronic device according to claim 16, characterized in that, The signal processing circuit is further configured to: The sine signal is converted into a first square wave signal of the same frequency, and the cosine signal is converted into a second square wave signal of the same frequency. The microprocessor is also configured to: The position of the rotor relative to the stator is obtained according to the first square wave signal and used as the first rotor position; and the position of the rotor relative to the stator is obtained according to the second square wave signal and used as the second rotor position. The final position of the rotor relative to the stator is obtained based on the first rotor position and the second rotor position.

18. The electronic device according to claim 11, characterized in that, The signal processing circuit includes a filtering circuit, the input terminal of which is connected to the output terminal of the eddy current sensor, and the filtering circuit is configured as follows: The channel signal is filtered to eliminate DC bias and noise.

19. The electronic device according to claim 18, characterized in that, The filter circuit is also configured to: The signal portions of the channel signal that are below a preset first cutoff frequency and above a preset second cutoff frequency are filtered out. The signals below the first cutoff frequency correspond to the DC bias in the channel signal, and the signals above the second cutoff frequency correspond to the noise in the channel signal.

20. The electronic device according to claim 19, characterized in that, The filtering circuit is a bandpass filter circuit and includes a first capacitor, a second capacitor, a first resistor, and a second resistor. One end of the first capacitor is connected to the output terminal of the eddy current sensor, and the other end is connected between one end of the first resistor and one end of the second resistor. The other end of the first resistor is grounded, and one end of the second capacitor is grounded and the other end is connected to the other end of the second resistor.

21. The electronic device according to claim 20, characterized in that, The first cutoff frequency satisfies: f L = 1 / 2πR1C1, where, f L Where R1 is the first cutoff frequency, R1 is the first resistor, and C1 is the first capacitor; and / or, The second cutoff frequency satisfies: f H = 1 / 2πR²C², where f H R2 is the second cutoff frequency, R2 is the second resistor, and C2 is the second capacitor.

22. The electronic device according to claim 18, characterized in that, The signal processing circuit includes a zero-crossing comparator circuit. The input terminal of the zero-crossing comparator circuit is connected to the output terminal of the filter circuit, and the output terminal of the zero-crossing comparator circuit is connected to the microprocessor. The zero-crossing comparator circuit is configured as follows: When the voltage value of the channel signal is less than the voltage threshold, a low-level signal is output; When the voltage value of the channel signal is greater than the voltage threshold, a high-level signal is output, and the voltage value of the high-level signal is a preset reference voltage. and Based on the alternating transitions of the low-level signal and the high-level signal, a square wave signal with the same frequency as the channel signal is generated.

23. The electronic device according to claim 22, characterized in that, The zero-crossing comparator circuit includes an amplifier and a third resistor. The inverting input of the amplifier is connected to the output of the filter circuit. The non-inverting input of the amplifier is grounded and connected to a preset reference voltage. The output of the amplifier is connected to the microprocessor.

24. An electronic device, characterized in that, The electronic device includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 10.

25. A vehicle, characterized in that, The vehicle includes the electronic device as described in any one of claims 11-24.

26. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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