Motor rotor position correction method and electronic device

Abstract

The present invention relates to the technical field of vehicle motors. Disclosed are a motor rotor position correction method and an electronic device. The method comprises: acquiring a first signal and a second signal, wherein the first signal is a signal inputted by a resolver, and the second signal is a signal observed by an angle observer; on the basis of the first signal and the second signal, determining a feedforward correction function, wherein the feedforward correction function is used for carrying out feedforward correction on an output angle of a motor rotor position; and using the feedforward correction function to determine a correction angle of the motor rotor position. The present invention solves the technical problem in the prior art of poor motor control stability caused by a large error of a motor rotor position obtained by calculation.

Description

Motor rotor position correction method and electronic equipment Technical Field

[0001] The present invention relates to the technical field of vehicle motors, and in particular to a method for correcting the position of a motor rotor and electronic equipment. Background Art

[0002] The electric drive system of new energy vehicles typically uses a rotary transformer to obtain the rotor position of the motor. When obtaining the rotor position of a permanent magnet synchronous motor, hardware decoding is mainly used, that is, a decoding chip is used to obtain the rotor position. For mass-produced products, the hardware decoding method increases product development costs. At the same time, due to the low accuracy of the hardware decoding chip and external interference, the error of the motor rotor position obtained by decoding is large.

[0003] Currently, resolver soft decoding technology can decode the motor rotor position through various algorithms such as the inverse tangent method, the second-order phase-locked loop angle observation method, and the third-order phase-locked loop angle observation method. However, the inverse tangent method has poor noise immunity and large static fluctuations, the second-order phase-locked loop angle observation method has angle tracking errors when the motor accelerates or decelerates, and the output results of the third-order phase-locked loop angle observation method have large phase delays.

[0004] From the above analysis, it can be seen that there is currently no effective solution to the problem that the error of the motor rotor position calculated by the above-mentioned related technologies is large, resulting in poor motor control stability.

[0005] Summary of the Invention

[0006] The embodiments of the present invention provide a method for correcting the position of a motor rotor and an electronic device, so as to at least solve the technical problem that the error of the motor rotor position calculated by the related art is large, resulting in poor motor control stability.

[0007] According to one aspect of an embodiment of the present invention, a method for correcting a motor rotor position is provided, comprising:

[0008] A first signal and a second signal are obtained, wherein the first signal is a signal input by a rotary transformer and the second signal is a signal observed by an angle observer; a feedforward correction function is determined based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position; and the correction angle of the motor rotor position is determined using the feedforward correction function.

[0009] Optionally, determining a feedforward correction function based on the first signal and the second signal includes: preprocessing the first signal to obtain a third signal, wherein the third signal is a signal output by the rotary transformer; and solving the second signal and the third signal to obtain the feedforward correction function.

[0010] Optionally, the first signal is preprocessed to obtain a third signal, including: modulating the first signal using a first modulation frequency to obtain a differential signal; modulating the differential signal using a second modulation frequency to obtain a fourth signal, wherein the first modulation frequency is lower than the second modulation frequency, and the fourth signal is a digital signal; filtering the fourth signal to obtain a fifth signal; performing bias compensation on the fifth signal to obtain a sixth signal, wherein the bias compensation is used to eliminate a DC component in the fifth signal; performing reverse shaping on the sixth signal to obtain a seventh signal; and performing an integration operation on the seventh signal to obtain a third signal.

[0011] Optionally, filtering the fourth signal to obtain a fifth signal includes: filtering the fourth signal using a first filtering method to obtain an eighth signal, wherein the first filtering method is used to reduce the sampling frequency of the fourth signal; filtering the eighth signal using a second filtering method to obtain a fifth signal, wherein the second filtering method is used to filter out noise in the eighth signal.

[0012] Optionally, the second signal and the third signal are solved to obtain a feedforward correction function, including: performing error calculation on the second signal and the third signal to obtain an angle error function; determining an error transfer function corresponding to the angle error function based on a proportional integral algorithm; and calculating the error transfer function under preset conditions to obtain a feedforward correction function.

[0013] Optionally, based on a proportional-integral algorithm, determining an error transfer function corresponding to the angle error function includes: determining an open-loop transfer function corresponding to the angle error function based on a proportional-integral algorithm; calculating the open-loop transfer function to obtain a closed-loop transfer function; and calculating the closed-loop transfer function to obtain the error transfer function.

[0014] Optionally, the above-mentioned method for correcting the motor rotor position also includes: under preset conditions, determining a first function of the input angle corresponding to the third signal, wherein the first function is an expression of the input angle in the time domain; performing a Laplace transform on the first function to obtain a second function, wherein the second function is an expression of the input angle in the frequency domain.

[0015] Optionally, under preset conditions, the error transfer function is calculated to obtain a feedforward correction function, including: multiplying the second function and the error transfer function to obtain a third function, wherein the third function is an expression of the output angle error in the frequency domain; calculating the third function to obtain a fourth function, wherein the fourth function is an expression of the output angle error in the time domain; under preset conditions, solving the fourth function to obtain the feedforward correction function.

[0016] Optionally, a feedforward correction function is used to determine the correction angle of the motor rotor position, including: when the motor accelerates or decelerates, determining a correction signal of the motor rotor position according to the feedforward correction function; and determining a correction angle corresponding to the correction signal from a preset angle mapping table.

[0017] According to another aspect of an embodiment of the present invention, there is further provided a device for correcting the position of a motor rotor, comprising:

[0018] The acquisition module is configured to acquire a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer and the second signal is a signal observed by an angle observer; the determination module is configured to determine a feedforward correction function based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position; and the correction module is configured to determine the correction angle of the motor rotor position using the feedforward correction function.

[0019] Optionally, the above-mentioned determination module is further configured to: preprocess the first signal to obtain a third signal, wherein the third signal is a signal output by the rotary transformer; and solve the second signal and the third signal to obtain a feedforward correction function.

[0020] Optionally, the above-mentioned determination module is also configured to: modulate the first signal using a first modulation frequency to obtain a differential signal; modulate the differential signal using a second modulation frequency to obtain a fourth signal, wherein the first modulation frequency is lower than the second modulation frequency, and the fourth signal is a digital signal; filter the fourth signal to obtain a fifth signal; perform bias compensation on the fifth signal to obtain a sixth signal, wherein the bias compensation is used to eliminate the DC component in the fifth signal; perform reverse shaping on the sixth signal to obtain a seventh signal; and perform integration operation on the seventh signal to obtain a third signal.

[0021] Optionally, the above-mentioned determination module is also configured to: filter the fourth signal using a first filtering method to obtain an eighth signal, wherein the first filtering method is used to reduce the sampling frequency of the fourth signal; and filter the eighth signal using a second filtering method to obtain a fifth signal, wherein the second filtering method is used to filter out noise in the eighth signal.

[0022] Optionally, the above-mentioned determination module is also configured to: perform error calculation on the second signal and the third signal to obtain an angle error function; determine an error transfer function corresponding to the angle error function based on a proportional integral algorithm; and calculate the error transfer function under preset conditions to obtain a feedforward correction function.

[0023] Optionally, the determination module is further configured to: determine an open-loop transfer function corresponding to the angle error function based on a proportional-integral algorithm; calculate the open-loop transfer function to obtain a closed-loop transfer function; and calculate the closed-loop transfer function to obtain an error transfer function.

[0024] Optionally, the above-mentioned motor rotor position correction device also includes: a calculation module, which is configured to determine a first function of the input angle corresponding to the third signal under preset conditions, wherein the first function is an expression of the input angle in the time domain; and perform a Laplace transform on the first function to obtain a second function, wherein the second function is an expression of the input angle in the frequency domain.

[0025] Optionally, the above-mentioned determination module is also configured to: multiply the second function and the error transfer function to obtain a third function, wherein the third function is an expression of the output angle error in the frequency domain; calculate the third function to obtain a fourth function, wherein the fourth function is an expression of the output angle error in the time domain; under preset conditions, solve the fourth function to obtain a feedforward correction function.

[0026] Optionally, the correction module is further configured to: determine a correction signal of the motor rotor position according to a feedforward correction function when the motor is accelerating or decelerating; and determine a correction angle corresponding to the correction signal from a preset angle mapping table.

[0027] According to another aspect of an embodiment of the present invention, a storage medium is provided. The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any of the aforementioned methods for correcting the motor rotor position.

[0028] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned methods for correcting the motor rotor position.

[0029] In an embodiment of the present invention, a first signal and a second signal are first acquired, wherein the first signal is a signal input by a rotary transformer and the second signal is a signal observed by an angle observer. Then, a feedforward correction function is determined based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position. Finally, the correction angle of the motor rotor position is determined using the feedforward correction function. By solving the feedforward correction function of the motor rotor position and using the feedforward correction function in the decoding process of the motor rotor position, the purpose of reducing the error of the motor rotor position obtained by decoding is achieved, thereby achieving the technical effect of improving the accuracy of the correction angle of the motor rotor position obtained by decoding and improving the stability of motor control, thereby solving the technical problem that the error of the motor rotor position obtained by solving the related art is large, resulting in poor motor control stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0031] 1 is a hardware structure block diagram of a vehicle terminal for an optional method for correcting a motor rotor position according to an embodiment of the present invention;

[0032] FIG2 is a flow chart of a method for correcting a motor rotor position according to an embodiment of the present invention;

[0033] FIG3 is a schematic diagram of an optional resolver soft decoding system according to an embodiment of the present invention;

[0034] FIG4 is a schematic diagram of an optional angle observer processing process according to an embodiment of the present invention;

[0035] FIG5 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention;

[0036] FIG6 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention;

[0037] 7 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention;

[0038] FIG8 is a structural block diagram of an optional device for correcting the motor rotor position according to an embodiment of the present invention;

[0039] FIG9 is a structural block diagram of another optional device for correcting the motor rotor position according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] According to an embodiment of the present invention, a method embodiment of a method for correcting the position of a motor rotor is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0043] FIG1 is a block diagram of the hardware structure of a vehicle terminal for an optional method of correcting the position of a motor rotor according to an embodiment of the present invention. As shown in FIG1 , the vehicle terminal (or a mobile device having a communication association with the vehicle) may include one or more processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microcontroller unit (MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)), a memory 104 configured to store data, and a transmission device 106 configured to implement a communication function. In addition, it may also include: a display device 110, an input / output device 108 (i.e., an IO device), a universal serial bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). It will be understood by those skilled in the art that the structure shown in FIG1 is merely illustrative and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal may also include more or fewer components than those shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0044] It should be noted that the one or more processors 102 and / or other data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the vehicle terminal (or mobile device).

[0045] The memory 104 can be configured to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the motor rotor position correction method in the embodiment of the present invention. The processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, thereby implementing the above-mentioned motor rotor position correction method. The memory 104 can include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 can further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0046] The transmission device 106 is configured to receive or transmit data via a network. A specific example of such a network may include a wireless network provided by a communications provider of the vehicle terminal. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0047] Under the above operating environment, an embodiment of the present invention provides a method for correcting the motor rotor position as shown in Figure 2. Figure 2 is a flow chart of a method for correcting the motor rotor position according to an embodiment of the present invention. As shown in Figure 2, the embodiment shown in Figure 2 above can at least include the following implementation steps, that is, it can be a technical solution implemented by steps S201 to S203.

[0048] Step S201, obtaining a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer, and the second signal is a signal observed by an angle observer;

[0049] Step S202: determining a feedforward correction function based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position;

[0050] Step S203: Determine the correction angle of the motor rotor position using a feedforward correction function.

[0051] The above method is further described below with reference to FIG3 .

[0052] FIG3 is a schematic diagram of an optional resolver soft decoding system according to an embodiment of the present invention. As shown in FIG3 , the resolver soft decoding system includes: a resolver, an analog-to-digital converter, and an angle observer. The analog-to-digital converter can be a delta-sigma analog-to-digital converter (DSADC) module provided by the motor main control chip. The carrier generator in the DSADC module can generate a high-frequency excitation signal (i.e., a first signal), which is input to the resolver. The resolver can generate a differential signal modulated by the excitation signal. The differential signal is processed using channels 1 and 2 of the DSADC module, and the processed signal is input to the angle observer. Furthermore, the angle observer can further decode the processed signal to obtain an observation signal (i.e., a second signal) of the motor rotor position. The observation signal can determine the observation angle of the motor rotor position. It should be noted that the brand and model of the motor main control chip are not specifically limited in the present invention.

[0053] In the technical solution provided by the present invention, the error function between the above-mentioned observation angle and the actual angle of the motor rotor position can be determined based on the excitation signal input by the rotary transformer and the observation signal output by the angle observer. The error function is then solved to obtain a feedforward correction function of the observation angle. When the observation angle of the motor rotor position is subsequently determined by the rotary transformer soft decoding system, the feedforward correction function can be used to perform feedforward correction on the observation angle during the soft decoding process to reduce the error between the observation angle corresponding to the observation signal output by the angle observer and the actual angle of the motor rotor position.

[0054] In an embodiment of the present invention, a first signal and a second signal are first acquired, wherein the first signal is a signal input by a rotary transformer and the second signal is a signal observed by an angle observer. Then, a feedforward correction function is determined based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position. Finally, the correction angle of the motor rotor position is determined using the feedforward correction function. By solving the feedforward correction function of the motor rotor position and using the feedforward correction function in the decoding process of the motor rotor position, the purpose of reducing the error of the motor rotor position obtained by decoding is achieved, thereby achieving the technical effect of improving the accuracy of the correction angle of the motor rotor position obtained by decoding and improving the stability of motor control, thereby solving the technical problem that the error of the motor rotor position obtained by solving the related art is large, resulting in poor motor control stability.

[0055] The above method of the embodiment of the present invention is further introduced below.

[0056] In an optional embodiment, in step S202, determining a feedforward correction function according to the first signal and the second signal includes:

[0057] Step S221, preprocessing the first signal to obtain a third signal, wherein the third signal is a signal output by the rotary transformer;

[0058] Step S222: Calculate the second signal and the third signal to obtain a feedforward correction function.

[0059] In step S221, the first signal is preprocessed to obtain a third signal, including:

[0060] Step S2211, modulating the first signal using a first modulation frequency to obtain a differential signal;

[0061] Step S2212: modulate the differential signal using the second modulation frequency to obtain a fourth signal, wherein the first modulation frequency is lower than the second modulation frequency, and the fourth signal is a digital signal;

[0062] Step S2213, filtering the fourth signal to obtain a fifth signal;

[0063] Step S2214: performing offset compensation on the fifth signal to obtain a sixth signal, wherein the offset compensation is used to eliminate a DC component in the fifth signal; and performing reverse shaping on the sixth signal to obtain a seventh signal.

[0064] Step S2215: perform an integration operation on the seventh signal to obtain a third signal.

[0065] In step S2213, filtering the fourth signal to obtain a fifth signal includes:

[0066] Step S22131: Filter the fourth signal using a first filtering method to obtain an eighth signal, wherein the first filtering method is used to reduce a sampling frequency of the fourth signal;

[0067] Step S22132: Filter the eighth signal using a second filtering method to obtain a fifth signal, wherein the second filtering method is used to filter out noise in the eighth signal.

[0068] Still as shown in FIG3 , in the technical solution provided by the present invention, the resolver generates a differential sine signal and a differential cosine signal modulated by the input excitation signal, wherein the differential sine signal can enter channel 1 of the analog-to-digital converter for processing to obtain an output sine signal of channel 1, and the differential cosine signal can enter channel 2 of the analog-to-digital converter for processing to obtain an output cosine signal of channel 2. It should also be noted that the first modulator and the second modulator shown in FIG3 can be Σ-Δ modulators, the first filter and the fourth filter (i.e., the first filtering method) can be cascade integrator combiner (Cascade Integrator Comb, CIC) decimation filters, and the second filter, the third filter, the fifth filter, and the sixth filter (i.e., the second filtering method) can be (finite impulse response decimation filter, FIR) decimation filters. It should be noted here that through the processing of channel 1, the sine signal of the demodulated motor rotor position can be obtained, and through the processing of channel 2, the cosine signal of the demodulated motor rotor position can be obtained. Furthermore, the angle observer solves the sine signal and cosine signal to obtain the observation angle of the motor rotor position.

[0069] In an optional embodiment, in step S222, the second signal and the third signal are solved to obtain a feedforward correction function, including:

[0070] Step S2221, performing error calculation on the second signal and the third signal to obtain an angle error function;

[0071] Step S2222: determining an error transfer function corresponding to the angle error function based on a proportional integral algorithm;

[0072] Step S2223: Under preset conditions, the error transfer function is calculated to obtain a feedforward correction function.

[0073] The above method will be further described below with reference to FIG4 .

[0074] FIG4 is a schematic diagram of an optional angle observer processing process according to an embodiment of the present invention. As shown in FIG4 , the error calculation is performed on the second signal (including sinθ and cosθ) and the third signal (including sinθ' and cosθ'), and the angle error function err obtained can be expressed as the following formula (1):

[0075] In the technical solution provided by the present invention, it can be understood that when the observation angle θ' is close to θ, When the observer error err=0, θ=θ′. Therefore, the processing process of the angle observer shown in FIG4 can be simplified to obtain the processing process of the angle observer shown in FIG5 .

[0076] In an optional embodiment, in step S2222, determining an error transfer function corresponding to the angle error function based on a proportional-integral algorithm includes:

[0077] Step S22221, determining an open-loop transfer function corresponding to the angle error function based on a proportional-integral algorithm;

[0078] Step S22222, calculating the open-loop transfer function to obtain a closed-loop transfer function;

[0079] Step S22223: Calculate the closed-loop transfer function to obtain the error transfer function.

[0080] The above method will be further described below with reference to FIG5 .

[0081] FIG5 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention. As shown in FIG5 , based on the proportional integral algorithm, the open-loop transfer function G of the resolver soft decoding system is determined. O (S) is shown in the following formula (2):

[0082] In the above formula (2), K p is the proportional link coefficient, K i is the coefficient of the integration link, and S is the representation of the input variable in the time domain after Laplace transform in the complex domain.

[0083] Furthermore, the closed-loop transfer function G(S) of the resolver soft decoding system is calculated as shown in the following formula (3):

[0084] Furthermore, the error transfer function G of the angle observer is calculated err (S) is shown in the following formula (4):

[0085] In an optional embodiment, the above-mentioned method for correcting the motor rotor position further includes:

[0086] Step S2041: Under a preset condition, determining a first function of the input angle corresponding to the third signal, wherein the first function is an expression of the input angle in the time domain;

[0087] Step S2042: Perform Laplace transform on the first function to obtain a second function, where the second function is an expression of the input angle in the frequency domain.

[0088] In the technical solution provided by the present invention, in the above formula (4), when the motor accelerates or decelerates, the angular acceleration is recorded as a, and the expression (i.e., the first function) θ(t) of the angle of the motor rotor position in the time domain can be shown as the following formula (5):

[0089] By performing Laplace transform on the first function, the expression of the motor rotor position in the frequency domain (i.e., the second function) θ(S) can be obtained as shown in the following formula (6):

[0090] In an optional embodiment, in step S2223, under a preset condition, the error transfer function is calculated to obtain a feedforward correction function, including:

[0091] Step S22231, performing a multiplication operation on the second function and the error transfer function to obtain a third function, wherein the third function is an expression of the output angle error in the frequency domain;

[0092] Step S22232, calculating the third function to obtain a fourth function, wherein the fourth function is an expression of the output angle error in the time domain;

[0093] Step S22233: Under preset conditions, solve the fourth function to obtain a feedforward correction function.

[0094] In the technical solution provided by the present invention, based on the error transfer function G err (S) and the expression of the motor rotor position in the frequency domain θ(S), the expression of the observation error of the angle observer in the frequency domain (i.e., the third function) err(S) can be calculated as shown in the following formula (7):

[0095] Furthermore, according to the mean value theorem of Laplace transform, the expression of the observation error of the angle error observer in the time domain (i.e., the fourth function) in the steady state can be solved, as shown in the following formula (8):

[0096] It can be seen that when the motor accelerates or decelerates, there is a difference between the angle observed by the angle observer and the actual angle of the motor rotor position. Therefore, the feedforward correction link is introduced to eliminate the error

[0097] FIG6 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention. As shown in FIG6 , the feedforward correction function G of the resolver soft decoding system is determined. f The error transfer function can be expressed as follows:

[0098] Furthermore, the frequency domain expression for calculating the observation error of the angle observer, err(S), can be expressed as follows:

[0099] Under the condition of motor acceleration or motor deceleration (preset condition), let err(S) = 0, and obtain the feedforward correction function G f It can be expressed as the following formula (11): G f =S Formula (11)

[0100] Furthermore, the expression of the observation error in the time domain can be determined according to the inverse transform of the Laplace transform as shown in the following formula (12): err(t)=L -1 [err(S)]=0 Formula (12)

[0101] Therefore, after adding a feedforward correction link to the resolver soft decoding system, the angle observer can accurately follow the input angle (θ).

[0102] In an optional embodiment, in step S203, the correction angle of the motor rotor position is determined using a feedforward correction function, including:

[0103] Step S231, when the motor is accelerating or decelerating, determining a correction signal for the motor rotor position according to a feedforward correction function;

[0104] Step S232: determining the correction angle corresponding to the correction signal from a preset angle mapping table.

[0105] The above method is further described below with reference to FIG7 .

[0106] FIG7 is a schematic diagram of another optional angle observer processing process according to an embodiment of the present invention. As shown in FIG7 , in the technical solution provided by the present invention, it can be understood that the observation signal output by the angle observer is a sine signal and a cosine signal. Therefore, an inverse tangent table can be preset in the resolver soft decoding system. The inverse tangent table can include a correspondence between tangent values ​​and angles. Thus, during the soft decoding process, the observation angle (i.e., the correction angle) corresponding to the observation signal output by the angle observer can be determined by looking up the inverse tangent table.

[0107] The technical effect achieved by the correction of the motor rotor position provided by the present invention is as follows: based on the excitation signal input by the rotary transformer and the observation signal output by the angle observer, a feedforward correction function of the motor rotor position is calculated, and then the feedforward correction function is used in the decoding process of the motor rotor position, thereby reducing the error between the observation angle corresponding to the observation signal of the angle observer and the actual angle of the motor rotor position, and accurately following the motor rotor position when the motor accelerates or decelerates, thereby improving the stability of motor control.

[0108] In this embodiment, a device for correcting the position of a motor rotor is also provided. The device is configured to implement the above-mentioned embodiments and preferred embodiments, and details already described will not be repeated. As used below, a "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0109] FIG8 is a structural block diagram of an optional device for correcting the position of a motor rotor according to an embodiment of the present invention. As shown in FIG8 , the device includes:

[0110] An acquisition module 801 is configured to acquire a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer, and the second signal is a signal observed by an angle observer;

[0111] A determination module 802 is configured to determine a feedforward correction function based on the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on an output angle of a motor rotor position;

[0112] The correction module 803 is configured to determine a correction angle of the motor rotor position using a feedforward correction function.

[0113] Optionally, the determination module 802 is further configured to: preprocess the first signal to obtain a third signal, wherein the third signal is a signal output by the rotary transformer; and solve the second signal and the third signal to obtain a feedforward correction function.

[0114] Optionally, the above-mentioned determination module 802 is also configured to: modulate the first signal using a first modulation frequency to obtain a differential signal; modulate the differential signal using a second modulation frequency to obtain a fourth signal, wherein the first modulation frequency is lower than the second modulation frequency, and the fourth signal is a digital signal; filter the fourth signal to obtain a fifth signal; perform bias compensation on the fifth signal to obtain a sixth signal, wherein the bias compensation is used to eliminate the DC component in the fifth signal; perform reverse shaping on the sixth signal to obtain a seventh signal; and perform integration operation on the seventh signal to obtain a third signal.

[0115] Optionally, the above-mentioned determination module 802 is also configured to: filter the fourth signal using a first filtering method to obtain an eighth signal, wherein the first filtering method is used to reduce the sampling frequency of the fourth signal; and filter the eighth signal using a second filtering method to obtain a fifth signal, wherein the second filtering method is used to filter out noise in the eighth signal.

[0116] Optionally, the above-mentioned determination module 802 is also configured to: perform error calculation on the second signal and the third signal to obtain an angle error function; determine an error transfer function corresponding to the angle error function based on a proportional integral algorithm; and calculate the error transfer function under preset conditions to obtain a feedforward correction function.

[0117] Optionally, the determination module 802 is further configured to: determine an open-loop transfer function corresponding to the angle error function based on a proportional-integral algorithm; calculate the open-loop transfer function to obtain a closed-loop transfer function; and calculate the closed-loop transfer function to obtain an error transfer function.

[0118] Optionally, Figure 9 is a structural block diagram of another optional motor rotor position correction device according to an embodiment of the present invention. As shown in Figure 9, in addition to all the modules shown in Figure 8, the device also includes: a calculation module 804, which is configured to determine a first function of the input angle corresponding to the third signal under preset conditions, wherein the first function is an expression of the input angle in the time domain; and perform a Laplace transform on the first function to obtain a second function, wherein the second function is an expression of the input angle in the frequency domain.

[0119] Optionally, the above-mentioned determination module 802 is also configured to: multiply the second function and the error transfer function to obtain a third function, wherein the third function is an expression of the output angle error in the frequency domain; calculate the third function to obtain a fourth function, wherein the fourth function is an expression of the output angle error in the time domain; under preset conditions, solve the fourth function to obtain a feedforward correction function.

[0120] Optionally, the correction module 803 is further configured to: determine a correction signal of the motor rotor position according to a feedforward correction function when the motor is accelerating or decelerating; and determine a correction angle corresponding to the correction signal from a preset angle mapping table.

[0121] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0122] According to another aspect of an embodiment of the present invention, a storage medium is provided. The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any of the aforementioned methods for correcting the motor rotor position.

[0123] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0124] Step S1, obtaining a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer, and the second signal is a signal observed by an angle observer;

[0125] Step S2, determining a feedforward correction function according to the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position;

[0126] Step S3: Determine the correction angle of the motor rotor position using a feedforward correction function.

[0127] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0128] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned methods for correcting the motor rotor position.

[0129] Optionally, in this embodiment, the vehicle-mounted processor may be configured to execute the following steps via a computer program:

[0130] Step S1, obtaining a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer, and the second signal is a signal observed by an angle observer;

[0131] Step S2, determining a feedforward correction function according to the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on the output angle of the motor rotor position;

[0132] Step S3: Determine the correction angle of the motor rotor position using a feedforward correction function.

[0133] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiment and its optional implementation manners, and this embodiment will not be described in detail here.

[0134] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0135] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0137] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0138] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0139] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program code.

[0140] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for correcting the position of a motor rotor, comprising: Acquire a first signal and a second signal, wherein the first signal is a signal input by a rotary transformer, and the second signal is a signal observed by an angle observer; Determine a feedforward correction function according to the first signal and the second signal, wherein the feedforward correction function is used to perform feedforward correction on an output angle of the motor rotor position; The feedforward correction function is used to determine a correction angle of the motor rotor position.

2. The method according to claim 1, wherein: Determining the feedforward correction function according to the first signal and the second signal includes: Preprocessing the first signal to obtain a third signal, wherein the third signal is a signal output by the rotary transformer; The second signal and the third signal are solved to obtain the feedforward correction function.

3. The method according to claim 2, wherein: Preprocessing the first signal to obtain the third signal includes: Modulating the first signal using a first modulation frequency to obtain a differential signal; Modulating the differential signal using a second modulation frequency to obtain a fourth signal, wherein the first modulation frequency is lower than the second modulation frequency, and the fourth signal is a digital signal; filtering the fourth signal to obtain a fifth signal; Performing offset compensation on the fifth signal to obtain a sixth signal, wherein the offset compensation is used to eliminate a DC component in the fifth signal; Performing reverse shaping on the sixth signal to obtain a seventh signal; An integration operation is performed on the seventh signal to obtain the third signal.

4. The method according to claim 3, wherein: Filtering the fourth signal to obtain the fifth signal includes: Filtering the fourth signal using a first filtering method to obtain an eighth signal, wherein the first filtering method is used to reduce a sampling frequency of the fourth signal; The eighth signal is filtered using a second filtering method to obtain the fifth signal, wherein the second filtering method is used to filter out noise in the eighth signal.

5. The method according to claim 2, wherein: Solving the second signal and the third signal to obtain the feedforward correction function includes: Performing error calculation on the second signal and the third signal to obtain an angle error function; Determine an error transfer function corresponding to the angle error function based on a proportional-integral algorithm; Under preset conditions, the error transfer function is calculated to obtain the feedforward correction function.

6. The method according to claim 5, wherein: Determining the error transfer function corresponding to the angle error function based on the proportional-integral algorithm includes: Based on the proportional-integral algorithm, determining an open-loop transfer function corresponding to the angle error function; Calculating the open-loop transfer function to obtain a closed-loop transfer function; The closed-loop transfer function is calculated to obtain the error transfer function.

7. The method according to claim 5, wherein: The method further comprises: Under the preset condition, determining a first function of the input angle corresponding to the third signal, wherein the first function is an expression of the input angle in the time domain; Perform a Laplace transform on the first function to obtain a second function, wherein the second function is an expression of the input angle in the frequency domain.

8. The method according to claim 7, wherein: Under the preset conditions, the error transfer function is calculated to obtain the feedforward correction function, including: Performing a multiplication operation on the second function and the error transfer function to obtain a third function, wherein the third function is an expression of the output angle error in the frequency domain; Calculating the third function to obtain a fourth function, wherein the fourth function is an expression of the output angle error in the time domain; Under the preset conditions, the fourth function is solved to obtain the feedforward correction function.

9. The method according to claim 1, wherein: Determining the correction angle of the motor rotor position by using the feedforward correction function includes: When the motor is accelerating or decelerating, determining a correction signal for the motor rotor position according to the feedforward correction function; The correction angle corresponding to the correction signal is determined from a preset angle mapping table.

10. An electronic device comprising an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the motor rotor position correction method according to any one of claims 1 to 9.

Images