Calibration procedure and calibration equipment for angle sensor
Patent Information
- Application Number
- DE112022007080
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-04-19
- Publication Date
- 2025-03-06
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
AREA
[0001] The present disclosure relates to the technical field of motors and in particular to a calibration method and a calibration device for an angle sensor of a motor rotor. BACKGROUND
[0002] A permanent magnet synchronous motor (PMSM) is a device for converting electrical energy into kinetic energy or vice versa. The stator of the PMSM encloses a coil winding, and the rotor of the PMSM encloses a permanent magnet. When three-phase alternating voltages or currents are applied, the coil winding can generate a rotating magnetic field, thereby causing the rotor to rotate relative to the stator. The geometric angle through which the rotor rotates in physical space is called the mechanical angle, and the position of the rotor within one cycle of a magnetic field change is called the electric angle.The angle sensor in the permanent magnet synchronous motor can directly detect the mechanical angle of the rotor and convert the mechanical angle into the electrical angle based on a match.
[0003] However, the correlation between the mechanical angle and the electrical angle can change for various reasons, such as aging or a change in the relative positions of the sensor and the rotor (i.e., the magnet). In a permanent magnet synchronous motor, non-negligible errors can occur in a rotor angle sensor after prolonged operation. Fig. In this case, the vertical axis represents a sensor angle and the horizontal axis represents an actual angle. Therefore, a curve representing a true correlation between the sensor angle and the actual angle will deviate from an ideal curve. If the electrical angle data provided by the angle sensor is faulty, fluctuations in motor torque will occur, potentially leading to motor malfunctions.
[0004] Currently, there are several ways to solve the aforementioned problems. The first option is zero-point angle self-learning, where a continuous phase voltage is applied to a U-phase to obtain a zero-point position of the electrical angle. However, this only calibrates a zero-point angle and does not solve the problem of the overall curve deviation. The second option is to provide a standardized device for calibrating the sensor data, which requires an additional device and incurs high costs. The third option is to replace or reinstall the rotor angle sensor, which requires removing the motor from the vehicle or other installation environment. This is time-consuming and labor-intensive, and also increases costs due to the need for an additional sensor. SUMMARY
[0005] Therefore, the present disclosure is intended to solve the technical problem of providing an improved calibration method and an improved calibration device.
[0006] The aforementioned technical problem is solved by a calibration procedure for an angle sensor according to the present disclosure. The angle sensor is configured to detect a mechanical angle of a permanent magnet synchronous motor and to convert the mechanical angle into an electrical angle. The permanent magnet synchronous motor includes a stator and a rotor that is rotatable relative to the stator. The calibration procedure includes: a calibration control step for successively modifying an electrical target parameter of the rotor as several predetermined vector values and for acquiring mechanical angle detection values corresponding to the several predetermined vector values from the angle sensor.wherein each of the several predetermined vector values corresponds to an actual electrical angle; a mapping calibration step to create a calibration mapping relationship table between actual electrical angles and detection values for mechanical angles corresponding to the several predetermined vector values; and a detection value calibration step to calibrate a detection value for actual mechanical angles based on the calibration mapping relationship table and to calculate an electrical angle corresponding to the detection value for actual mechanical angles based on linear interpolation if the detection value for actual mechanical angle is not included in the calibration mapping relationship table. Since the actual electrical angles of the rotor are known at the several predetermined vector values,The calibrated electrical angle detection values of the angle sensor are accurate at least at the mechanical angles (i.e., calibration nodes) corresponding to the several predetermined vector values. The electrical angle detection values between these positions (i.e., calibration nodes) can be calculated based on linear interpolation, allowing for convenient and accurate calibration of the electrical angle detection values throughout the entire cycle.
[0007] According to a preferred embodiment of the present disclosure, the calibration method further comprises a self-learning mapping step following the detection value calibration step, wherein a mapping relationship calculated on the basis of linear interpolation is added to the calibration mapping relationship table. The self-learning mapping step incrementally enriches the mapping relationship data in the calibration mapping relationship table. During subsequent detection, the electrical angles corresponding to the calibrated mechanical angles can be directly determined based on the calibration mapping relationship table.
[0008] According to a further preferred embodiment of the present disclosure, the rotor includes n pole pairs and the several predetermined vector values comprise at least vector values corresponding to actual electrical angles of 60° × i, where i = 0, 1, ..., 6n. According to the FOC (Field Oriented Control) method, the rotor of the motor is controlled to stop conveniently and precisely at these angular positions, thereby accurately correcting the electrical angle detection values at the nodes.
[0009] According to a further preferred embodiment of the present disclosure, the angle between any two adjacent predetermined vector values of the several predetermined vector values is equal. In other words, these predetermined vector values of the electrical target parameter are uniformly distributed over a cycle of 360° × n, such that the angle sensor exhibits high accuracy throughout the entire rotation cycle of the rotor.
[0010] According to a further preferred embodiment of the present disclosure, the electrical target parameter is a voltage applied to the stator. By controlling the voltage vector, the rotor can be stopped at a predetermined electrical angular position. Alternatively, a current applied to the rotor can also be defined as the electrical target parameter.
[0011] According to a further preferred embodiment of the present disclosure, the several predetermined vector values have the same modulus. The moduli of the predetermined vector values are set to ensure that the rotor can be driven in such a way that it rotates and stops at the predetermined angular position. These predetermined vector values have the same modulus, so that the electrical parameters can be more easily controlled during the switching process.
[0012] According to a further preferred embodiment of the present disclosure, steps of the calibration procedure are executed cyclically and / or steps of the calibration procedure are re-executed when a trigger condition is met. Since the detection bias in the sensor changes slowly over time, the accuracy of a calibration result can be ensured by cyclically executing the calibration procedure or by re-executing the calibration procedure as needed. Preferably, the trigger condition can include detecting that data in the calibration mapping relationship table stored on a storage device has been corrupted or lost. For example, this detection can be initiated each time the key is turned on to determine whether data has been corrupted or lost.
[0013] The foregoing technical problem is further solved by a calibration device for an angle sensor according to the present disclosure. The angle sensor is configured to detect a mechanical angle of a permanent magnet synchronous motor and to convert the mechanical angle into an electrical angle. The permanent magnet synchronous motor includes a stator and a rotor that is rotatable relative to the stator. The calibration method includes: a calibration control module configured by the angle sensor to successively modify an electrical target parameter of the rotor as several predetermined vector values and to acquire mechanical angle detection values corresponding to the several predetermined vector values, each of the several predetermined vector values corresponding to an actual electrical angle; and a mapping calibration module.that is configured to create a calibration mapping relationship table between actual electrical angles and detection values for mechanical angles corresponding to the several predetermined vector values; and a detection value calibration module configured to calibrate a detection value for actual mechanical angles based on the calibration mapping relationship table and to calculate an electrical angle corresponding to the detection value for actual mechanical angles based on linear interpolation when the detection value for actual mechanical angle is not included in the calibration mapping relationship table. Since the actual electrical angles of the rotor are known at the several predetermined vector values, the calibrated electrical angle detection values of the angle sensor are known at least at the mechanical angles (i.e., calibration nodes).which correspond exactly to the several predetermined vector values. The electrical angle detection values between these positions (i.e., calibration nodes) can be calculated based on linear interpolation, so that the electrical angle detection values can be conveniently and accurately calibrated throughout the entire cycle.
[0014] According to a preferred embodiment of the present disclosure, the calibration device further includes a mapping self-learning module. The mapping self-learning module is configured to add a mapping relationship, calculated by the detection value calibration module based on linear interpolation, to the calibration mapping relationship table. According to another preferred embodiment of the present disclosure, the rotor includes n pole pairs, and the calibration control module is configured to determine the multiple predetermined vector values, wherein the multiple predetermined vector values include at least vector values corresponding to actual electrical angles of 60° × i, where i = 0, 1, ..., 6n. According to the FOC method, the rotor of the motor is controlled to stop conveniently and accurately at these angular positions, thereby accurately correcting the electrical angle detection values at the nodes.
[0015] According to a further preferred embodiment of the present disclosure, the calibration control module is further configured to determine the multiple predetermined vector values, wherein the angle between any two adjacent predetermined vector values of the multiple predetermined vector values is equal. In other words, these predetermined vector values of the electrical target parameter are uniformly distributed over a 360° × n cycle, such that the angle sensor exhibits high accuracy throughout the entire rotation cycle of the rotor.
[0016] According to a further preferred embodiment of the present disclosure, the calibration control module is configured to determine a voltage applied to the stator as an electrical target parameter. By controlling the voltage vector, the rotor can be stopped at a predetermined electrical angular position. Alternatively, a current applied to the rotor can also be determined as an electrical target parameter.
[0017] According to a further preferred embodiment of the present disclosure, the calibration control module is configured to control the multiple predetermined vector values so that they all have the same module. The modules of the predetermined vector values are set to ensure that the rotor can be driven to rotate and stop at the predetermined angular position. These predetermined vector values have the same module, thus facilitating easier control of the electrical parameters during the switching process.
[0018] According to a further preferred embodiment of the present disclosure, the calibration device further comprises a calibration reset module. The calibration reset module is configured to enable the calibration device to cyclically perform a calibration on the angle sensor and / or to enable the calibration device to re-perform a calibration when a trigger condition is met. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The present disclosure is further described below in conjunction with the drawings. The same reference numerals are used in the drawings to designate components with the same function. They show: Fig. 1 a curve illustrating a correspondence between an electrical angle and a mechanical angle; Fig. 2 a flowchart illustrating a calibration procedure according to an exemplary embodiment of the present disclosure; Fig. 3 a schematic diagram illustrating a vector circle in a calibration procedure according to an exemplary embodiment of the present disclosure; and Fig. 4 a schematic diagram illustrating a mapping relationship of a calibration procedure according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0020] Specific implementations of a calibration method and a calibration device according to the present disclosure, in conjunction with the drawings, are described below. The following detailed description and the drawings are used to illustrate the principle of the present disclosure by way of example. The present disclosure is not limited to the described preferred embodiments, and the scope of protection of the present disclosure is defined by the claims.
[0021] According to one embodiment of the present disclosure, a calibration method for an angle sensor in a permanent magnet synchronous motor is provided. The permanent magnet synchronous motor includes a stator and a rotor, the rotor being rotatable about an axis of rotation relative to the stator. The stator is provided with a coil winding arranged around the rotor, and the coil winding can generate a rotating magnetic field when three-phase alternating voltages or three-phase alternating currents are applied. The rotor is provided with one or more pole pairs formed from permanent magnets. The rotating magnetic field of the stator can exert an electromagnetic force on the permanent magnets of the rotor, thereby causing the rotor to rotate about the axis of rotation relative to the stator. The permanent magnet synchronous motor can include a motor controller.The motor control can control electrical parameters such as voltage and / or current in the coil winding of the stator and thereby control the operation of the motor.
[0022] The permanent magnet synchronous motor further includes an angle sensor for detecting the operating angle of the motor, specifically the rotor. The geometric angle through which the rotor rotates in physical space is called the mechanical angle, and the rotor's position within one cycle of a magnetic field change is called the electrical angle. The angle sensor, for example, an encoder, is a component that can directly detect the rotor's mechanical angle. The mechanical angle detected directly by the angle sensor can be converted into the electrical angle based on a correlation. The motor controller can then regulate the motor's operation based on the electrical angle.The calibration method according to the present disclosure can be used to calibrate the agreement between the mechanical angle and the electrical angle, thereby enabling a more accurate measurement of the electrical angle.
[0023] Fig. Figure 2 is a flowchart illustrating a calibration procedure according to an exemplary embodiment of the present disclosure. As in Fig. As shown in Figure 2, the calibration procedure mainly comprises steps S1 to S3 and may also include step S4. These steps can be performed by the engine control unit. The implementation processes of the various steps of the calibration procedure are described below with reference to Figure 2. Fig. Sections 2 to 4 are described in detail.
[0024] In step S1 of the calibration control, an electrical target parameter of the rotor is successively modified as several predetermined vector values, and mechanical angle detection values corresponding to these predetermined vector values are acquired by the angle sensor. Each of these predetermined vector values corresponds to an actual electrical angle, and these actual electrical angles are known when selecting these predetermined vector values. The electrical target parameter is a physical quantity that influences a magnetic field generated by the stator (especially the coil winding) in a circuit, in particular the voltage or current applied to the stator. For simpler control, voltage is preferably chosen as the electrical target parameter.
[0025] As in Fig. Figure 3 illustrates the concept of a vector circuit in a field-oriented control (FOC) method. The generated motor torque changes with a constant voltage applied to the permanent magnet synchronous motor, causing the rotor to rotate and eventually stop stably at a corresponding position (angle). In such a case, the angle sensor can detect the corresponding mechanical angle of the rotor.
[0026] As is well known in engineering, U4, U6, U2, U3, U1 and U5 represent in the in Fig. The vector circle shown in section 3 represents six stress vectors with different directions. According to a Fig. In the sequence shown in Figure 3, the angle between any two adjacent voltage vectors is 60°. U4 represents a voltage vector with an electrical angle defined as 0°. U0 and U7 represent voltage vectors with a value of zero. If the voltage U4 is continuously applied to the motor under the control of the motor controller, the rotor will eventually stop at 0° (i.e., the actual electrical angle). In such a case, the mechanical angle detected by the angle sensor is a mechanical angle corresponding to the electrical angle of 0°. This process is also known as zero-point angle self-learning. Similarly, applying voltage vectors with different electrical angles allows the rotor to stop at different positions, and the corresponding mechanical angles can be detected by the angle sensor.
[0027] As is well known in engineering, if switches in the coil winding of the motor are stably in a closed or open state, six voltage vectors with an interval of 60° starting at 0° are obtained stably by a combination of the open and closed states of the switches, which are the above-described U4, U6, U2, U3, U1 and U5 (where 1 and 0 in parentheses in Fig. (Figure 3 shows switching states). If several switches are controlled simultaneously to change between the closed and open states within a certain time interval, theoretically any of the voltage vectors described above can be synthesized. According to the above principle, for each 360° cycle of the electrical angle, voltage vectors such as U4, U6, U2, U3, U1, and U5, which can be stably achieved, are preferably determined as predetermined vector values.
[0028] As is well known in engineering, there is a multiple relationship between one cycle of the electrical angle and one cycle of the mechanical angle, based on the number of pole pairs. If the motor rotor has n pole pairs, the electrical angle changes by 360° × n each time the mechanical angle of the rotor rotation reaches 360°. Therefore, during the entire cycle of the rotor's mechanical angle, there are a total of 6n+1 voltage vectors with an interval of 60°, starting at 0°, corresponding to electrical angles of 60° × i, where i = 0, 1, 6n. If 60° × i is greater than 360°, this indicates the start of the next cycle of the electrical angle. To output a value of the electrical angle, an electrical angle greater than 360° can, according to common knowledge, be converted into an angle within the 360° cycle. For example, if i = 8, 60° × i is 480°, then there are 120° within the second cycle.It is evident that if the rotor of the motor includes n pole pairs, the selected several predetermined vector values may preferably include at least vector values corresponding to the actual electrical angles of 60° × i.
[0029] To achieve higher accuracy, additional detection angles can be set. Theoretically, voltage vectors can be applied in any direction. For example, if a voltage U = (U4 + U6) / 2 is continuously applied, the motor rotor will eventually stop at a position with an actual electrical angle of 30°. Similarly, the rotor can also stop at an angle of, for example, 30°, 90°, ..., 330°. Preferably, the angle between any two adjacent predetermined vector values is equal to ensure the accuracy of the calibration result throughout the entire cycle. In other words, the vector directions of the selected predetermined vector values are uniformly distributed around the circumference.After all vector values corresponding to the electric angle of 60° × i have been selected, the additional vector values can therefore be vectors with equal division angles between the selected vector values.
[0030] Step S1 is described using the example of voltage, which serves as the electrical target parameter. It is understood that a current can also be determined as the electrical target parameter. In a preferred embodiment, the moduli (i.e., quantities) of the predetermined vector values are equal to each other, which is convenient for controlling the electrical target parameter during switching between the predetermined vector values.
[0031] Next, in step S2 of the mapping calibration, a calibration mapping relationship table is created between actual electrical angles and mechanical angle detection values (i.e., the mechanical angle detection values at the multiple predetermined vector values detected by the angle sensor). In step S1, based on a sequence of electrical angles (which in this embodiment are 0°, 60°, ..., 360°) corresponding to the predetermined vector values, detected mechanical angles can be recorded sequentially as Angle 1, Angle 2, etc. As described in Fig.As shown in Figure 4, a one-to-one mapping relationship is established between electrical angles and detected mechanical angles. That is, each electrical angle is assigned to a corresponding detected mechanical angle. This mapping relationship is recorded in the calibration mapping table.
[0032] Here, detection and mapping are performed for several predetermined vector values; steps S1 and S2 can be executed sequentially or alternately. If steps S1 and S2 are executed sequentially, the mechanical angles are detected first for all predetermined vector values, and then the mapping is created. If steps S1 and S2 are executed alternately, a mechanical angle is detected for one of the predetermined vector values, and a mapping relationship between the mechanical angle and the electrical angle is established according to the predetermined vector value. The preceding process is then repeated for the next predetermined vector value.
[0033] In step S3 of the detection value calibration, a current mechanical angle detection value can be calibrated based on the calibration mapping relationship table. If the angle sensor detects that the rotor is at a mechanical angle with a mapping relationship already defined in step S2, the mechanical angle is converted into the corresponding electrical angle based on the calibration mapping relationship table. For example, if the mechanical angle of the rotor is detected by the angle sensor as angle 3, the electrical angle corresponding to angle 3 is determined as 120° based on the mapping relationship, allowing electrical angles corresponding to all predefined vector values to be calibrated.
[0034] If the current mechanical angle detection value is not included in the calibration mapping table, an electrical angle corresponding to the current mechanical angle detection value can be calculated based on linear interpolation. Since predetermined vector values can be acquired for any angle, it is theoretically possible to acquire mechanical angles corresponding to any actual electrical angles. However, not all angles may be detected during the actual calibration process. Therefore, an electrical angle corresponding to a mechanical angle detected by the angle sensor that lies between two mechanical angles at two adjacent predetermined vector values is calculated based on linear interpolation.In particular, if a mechanical angle detected by the angle sensor lies between two mechanical angles detected in step S1 instead of the mechanical angle detected in step S1, the two mechanical angles serve as two nodes, and an electrical angle corresponding to any mechanical angle between the two nodes can be calculated from the two nodes based on linear interpolation. The calculation method of linear interpolation is well known and is not repeated here.
[0035] Preferably, the calibration procedure can further include an additional step S4 of assignment self-learning. Step S4 of assignment self-learning is performed after step S3 of detection value calibration. In particular, after step S3 of detection value calibration, an assignment relationship calculated on the basis of linear interpolation can be added to the calibration assignment relationship table. Step S4 of assignment self-learning incrementally extends the assignment relationship data recorded in the calibration assignment relationship table, which helps to acquire the calibrated electrical angle more quickly in the subsequent operating process.
[0036] Furthermore, the preceding steps of the calibration procedure can preferably be repeated cyclically, either based on time or a preset condition. In particular, the various steps of the calibration procedure can be repeated cyclically. Alternatively or additionally, the various steps of the calibration procedure can be repeated when a trigger condition is met. The cycle can be preset based on the rate of variation of the sensor's detection deviation; for example, the cycle can be one day, one week, or one month. Examples of the trigger condition can include the detection of data corruption or loss in the calibration mapping relationship table stored on a storage device. Data corruption and data loss can often occur due to a reliability issue with the storage device.For example, this detection can be started every time the key is switched on to determine if data has been corrupted or lost. If it is determined that data has been corrupted or lost, the calibration procedure can be run again to create an additional mapping relationship table.
[0037] According to a further embodiment of the present disclosure, a calibration device for carrying out the aforementioned calibration procedure is also provided. The calibration device may include corresponding modules for carrying out various steps in the calibration procedure. In particular, the calibration device may include a control module, an assignment module, and a calculation module.
[0038] The calibration control module is configured to execute step S1. In particular, the calibration control module can be configured to successively modify an electrical target parameter of the rotor as several predetermined vector values and to acquire mechanical angle detection values corresponding to the several predetermined vector values from the angle sensor, where each of the several predetermined vector values corresponds to an actual electrical angle.
[0039] As described above, if the rotor includes n pole pairs, the calibration control module can preferably determine the multiple predetermined vector values, wherein the multiple predetermined vector values include at least vector values corresponding to actual electrical angles of 60° × i, where i = 0, 1, ..., 6n. Preferably, the calibration control module can further determine the multiple predetermined vector values, wherein an angle between any two adjacent predetermined vector values of the multiple predetermined vector values is equal. Preferably, the calibration control module can determine a voltage or current applied to the stator as an electrical target parameter. Preferably, the calibration control module can control the multiple predetermined vector values so that they all have the same module.
[0040] The mapping calibration module is configured to execute step S2. Specifically, the mapping calibration module can be configured to create a calibration mapping relationship table between actual electrical angles and mechanical angles corresponding to several predetermined vector values.
[0041] The detection value calibration module is configured to execute step S3. Specifically, the detection value calibration module can be configured to calibrate a detection value for current mechanical angles based on the calibration mapping relationship table and to calculate an electrical angle corresponding to the current mechanical angle based on linear interpolation if the detection value for the current mechanical angle is not included in the calibration mapping relationship table.
[0042] Preferably, the calibration device can further include an assignment self-learning module for executing step S4. In particular, the assignment self-learning module is configured to add an assignment relationship, calculated by the detection value calibration module on the basis of linear interpolation, to the calibration assignment relationship table.
[0043] Preferably, the calibration device may additionally include a calibration reset module for restarting various steps of the calibration procedure. In particular, the calibration reset module is configured to allow the calibration device to perform a calibration of the angle sensor cyclically. Alternatively or additionally, the calibration reset module is configured to allow the calibration device to re-perform the calibration of the angle sensor when a trigger condition is met.
[0044] The calibration device can be integrated into the motor control of the permanent magnet synchronous motor. In particular, the various modules of the calibration device can be virtual function modules within the motor control.
[0045] The calibration method and calibration device according to this disclosure determine the actual electrical angle of the rotor based on the FOC characteristics in order to correct the angle data of the sensor. The application of the calibration method and calibration device is convenient and quick, requiring no additional equipment. The method can be used for calibration limits in the rotor, the sensor, and other components, thus providing the calibration method and calibration device with high robustness.
[0046] Although the foregoing description illustrates possible embodiments, it is understood that a large number of further embodiments exist through combinations of all known technical features and embodiments, as well as those readily apparent to a person skilled in the art. Furthermore, it is understood that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, application, or structure of the present disclosure in any way. Rather, the foregoing description is intended to provide a person skilled in the art with technical guidance for implementing at least one exemplary embodiment, to which various modifications, in particular changes to the functions and designs of the components, can be made, provided these do not deviate from the scope of protection of the claims.
Claims
[1] A calibration method for an angle sensor, the angle sensor being configured to detect a mechanical angle of a permanent magnet synchronous motor and convert the mechanical angle into an electrical angle, the permanent magnet synchronous motor comprising a stator and a rotor rotatable relative to the stator, the calibration method comprising: a calibration control step of successively modifying a target electrical parameter of the rotor as a plurality of predetermined vector values and detecting mechanical angle detection values corresponding to the plurality of predetermined vector values from the angle sensor, each of the plurality of predetermined vector values corresponding to an actual electrical angle; a mapping calibration step of creating a calibration mapping relationship table between actual electrical angles and detection values for mechanical angles corresponding to the plurality of predetermined vector values; and a detection value calibration step of calibrating a current mechanical angle detection value based on the calibration mapping relationship table, and calculating an electrical angle corresponding to the current mechanical angle detection value based on linear interpolation when the current mechanical angle detection value is not included in the calibration mapping relationship table. [2] The calibration method according to claim 1, further comprising a mapping self-learning step after the detection value calibration step, wherein a mapping relationship calculated based on linear interpolation is added to the calibration mapping relationship table. [3] The calibration method according to claim 1, wherein the rotor comprises n pole pairs and the plurality of predetermined vector values comprises at least vector values corresponding to actual electrical angles of 60° × i, where i = 0, 1, ..., 6n. [4] The calibration method according to claim 3, wherein an angle between any two adjacent predetermined vector values of the plurality of predetermined vector values is equal. [5] The calibration method of claim 1, wherein the target electrical parameter is a voltage applied to the stator. [6] The calibration method according to claim 1, wherein the plurality of predetermined vector values have the same modulus. [7] Calibration method according to one of claims 1 to 6, wherein steps of the calibration method are executed cyclically and / or steps of the calibration method are executed again when a trigger condition is met. [8] The calibration method according to claim 7, wherein the trigger condition comprises detecting that data in the calibration mapping relationship table stored on a storage device has been corrupted or lost. [9] A calibration device for an angle sensor, the angle sensor being configured to detect a mechanical angle of a permanent magnet synchronous motor and convert the mechanical angle into an electrical angle, the permanent magnet synchronous motor comprising a stator and a rotor rotatable relative to the stator, the calibration device comprising: a calibration control module configured to successively modify a target electrical parameter of the rotor as a plurality of predetermined vector values and to acquire mechanical angle detection values corresponding to the plurality of predetermined vector values from the angle sensor, each of the plurality of predetermined vector values corresponding to an actual electrical angle; a mapping calibration module configured to create a calibration mapping relationship table between actual electrical angles and detection values for mechanical angles corresponding to the plurality of predetermined vector values; and a detection value calibration module configured to calibrate a current mechanical angle detection value based on the calibration mapping relationship table and to calculate an electrical angle corresponding to the current mechanical angle detection value based on linear interpolation when the current mechanical angle detection value is not included in the calibration mapping relationship table. [10] The calibration device according to claim 9, further comprising a mapping self-learning module, wherein the mapping self-learning module is configured to add a mapping relationship calculated by the detection value calibration module based on linear interpolation to the calibration mapping relationship table. [11] The calibration device of claim 9, wherein the rotor comprises n pole pairs and the calibration control module is configured to determine the plurality of predetermined vector values, wherein the plurality of predetermined vector values comprises at least vector values corresponding to actual electrical angles of 60° × i, where i = 0, 1, ..., 6n. [12] The calibration device of claim 11, wherein the calibration control module is further configured to determine the plurality of predetermined vector values, wherein an angle between any two adjacent predetermined vector values of the plurality of predetermined vector values is equal to. [13] The calibration device of claim 9, wherein the calibration control module is configured to determine a voltage applied to the stator as the target electrical parameter. [14] The calibration device according to claim 9, wherein the calibration control module is configured to control the plurality of predetermined vector values to have the same modulus. [15] Calibration device according to one of claims 9 to 14, further comprising a calibration reset module, wherein the calibration reset module is configured to enable the calibration device to cyclically perform a calibration on the angle sensor and / or to enable the calibration device to perform a calibration again when a trigger condition is met. [16] The calibration device according to claim 15, wherein the calibration reset module is configured to perform the calibration again when it is detected that data in the calibration mapping relationship table stored on a storage device is corrupted or lost.