Motor zero position angle calibration method, vehicle and storage medium

Abstract

Provided in the present application are a motor zero position angle calibration method, a vehicle and a storage medium. The method is applied to the field of vehicles, and the method comprises: if an obtained control signal sent by a vehicle control unit is a calibration mode setting signal, reading a reserved bit value of the calibration mode setting signal; if the reserved bit value is a preset calibration value, performing zero position angle calibration processing on a vehicle motor on the basis of the calibration mode setting signal, so as to obtain a calibrated zero position angle; and updating the motor zero position angle on the basis of the calibrated zero position angle, and using the updated motor zero position angle to control the vehicle motor to operate. The method can again determine whether the reserved bit value meets the preset calibration value after reception of the calibration mode setting signal, and uses an idle reserved bit as an identification bit, such that the vehicle motor is prevented from mistakenly entering the calibration mode under signal interference, thereby improving the accuracy of zero position angle calibration, and further ensuring the normal operation of the vehicle motor.

Description

Motor zero angle calibration method, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on January 23, 2024, with application number 202410097336.8 and application name “A method for calibrating the zero angle of a motor, a vehicle and a storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicles, and more specifically, to a method for calibrating a zero angle of a motor, a vehicle, and a storage medium in the field of vehicles. Background Art

[0003] The vehicle motor needs to use the zero angle to determine the direction of the main magnetic field of the motor rotor. Therefore, the value of the zero angle is closely related to the torque that the vehicle motor can provide. An inaccurate zero angle can easily cause the vehicle motor to fail to output the optimal torque, and may even cause torque reversal. In order to determine the zero angle, a signal can be sent to the vehicle motor to switch the vehicle motor to the calibration mode. The vehicle motor recalibrates the zero angle in the calibration mode to obtain the accurate zero angle in the current state. However, the vehicle motor needs to detect the accurate zero angle under no load. Since the vehicle motor may receive electromagnetic interference such as electromagnetic pulses and radio frequency signals, the vehicle motor may recognize the wrong signal and enter the calibration mode for zero angle calibration under load, thereby obtaining an inaccurate zero angle, which affects the torque provided by the vehicle motor. It is necessary to propose a motor zero angle calibration method that can accurately obtain the zero angle. Summary of the Invention

[0004] The present application provides a motor zero angle calibration method, a vehicle and a storage medium. The method can determine again whether the reserved bit value meets the preset calibration value after receiving the calibration mode setting signal. If it meets the requirement, it is determined to perform zero angle calibration to obtain an accurate zero angle. The idle reserved bit is used as an identification bit to prevent the vehicle motor from mistakenly entering the calibration mode in the case of signal interference, thereby improving the accuracy of the zero angle calibration and further ensuring the normal operation of the vehicle motor.

[0005] In a first aspect, a method for calibrating a motor zero angle is provided, the method comprising:

[0006] If the control signal sent by the vehicle control unit is a calibration mode setting signal, then the reserved bit value of the calibration mode setting signal is read, and the state value of the calibration mode setting signal is the calibration mode setting value;

[0007] If the reserved bit value is a preset calibration value, performing zero angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle;

[0008] The motor zero angle is updated based on the calibrated zero angle, and the updated motor zero angle is used to control the operation of the vehicle motor.

[0009] Through the above technical solution, after receiving the calibration mode setting signal, it is determined again whether the reserved bit value meets the preset calibration value. If it meets the requirements, zero angle calibration is performed to obtain an accurate zero angle. The idle reserved bit is used as an identification bit to avoid the vehicle motor from mistakenly entering the calibration mode in the case of signal interference, thereby improving the accuracy of the zero angle calibration and further ensuring the normal operation of the vehicle motor.

[0010] In conjunction with the first aspect, in some possible implementations, the method further includes:

[0011] Obtaining a control signal sent by a vehicle control unit and reading a state value of the control signal;

[0012] If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal.

[0013] Through the above technical solution, the state quantity value in the control signal is used to determine which mode the vehicle motor needs to be adjusted to, thereby achieving flexible control of the vehicle motor state switching.

[0014] In combination with the first aspect and the above implementation manner, in some possible implementation manners, reading the reserved bit value of the calibration mode setting signal includes:

[0015] Reading a first reserved bit value in the calibration mode setting signal;

[0016] If the first reserved bit value is a first preset calibration value, reading a second reserved bit value in the calibration mode setting signal;

[0017] If the second reserved bit value is a second preset calibration value, the reserved bit value of the calibration mode setting signal is determined to be the preset calibration value.

[0018] Through the above technical solution, only when the two reserved bit values ​​are both preset calibration values ​​can the vehicle motor be switched to the calibration mode, further avoiding the error signal confusing the vehicle motor to perform zero angle calibration in the wrong state.

[0019] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0020] If the reserved bit value is not the preset calibration value, the calibration mode setting signal is ignored.

[0021] In combination with the first aspect and the above implementation, in some possible implementations, if the reserved bit value is not the preset calibration value, ignoring the calibration mode setting signal includes:

[0022] If the first reserved bit value is not the first preset calibration value, ignoring the calibration mode setting signal;

[0023] If the first reserved bit value is the first preset calibration value, and the second reserved bit value is not the second preset calibration value, the calibration mode setting signal is ignored.

[0024] Through the above technical solution, when it is detected that the first reserved bit is not the first preset calibration value, it can be directly ignored, which further improves the efficiency of distinguishing the calibration mode setting signal and improves the utilization efficiency of the motor control signal.

[0025] In combination with the first aspect and the above implementation manner, in some possible implementation manners, before updating the motor zero angle based on the calibrated zero angle, the method further includes:

[0026] A backup process is performed on the motor zero angle of the vehicle motor to obtain a historical zero angle, where the historical zero angle has the same value as the motor zero angle.

[0027] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0028] obtaining an electric mode setting signal and a torque request value sent by the vehicle control unit;

[0029] controlling the vehicle motor to perform electric processing based on the updated motor zero angle, and obtaining an actual torque value of the vehicle motor during the electric processing;

[0030] If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle.

[0031] Through the above technical solution, the torque request value and the actual torque value are compared to further determine whether the calibrated zero angle is correct. If it is inaccurate, it can be restored to ensure the normal operation of the vehicle motor, further avoiding the situation of incorrect zero angle calibration.

[0032] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0033] If the difference between the torque request value and the actual torque value is less than or equal to the torque difference threshold, the historical zero angle is deleted.

[0034] In a second aspect, a motor zero angle calibration device is provided, the device comprising:

[0035] a reserved bit reading module, configured to read a reserved bit value of the calibration mode setting signal if the control signal sent by the vehicle control unit is a calibration mode setting signal, wherein the state quantity value of the calibration mode setting signal is the calibration mode setting value;

[0036] a calibration processing module, configured to perform zero angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle if the retained bit value is a preset calibration value;

[0037] The zero angle updating module is used to update the motor zero angle based on the calibrated zero angle, and use the updated motor zero angle to control the operation of the vehicle motor.

[0038] In a third aspect, a vehicle is provided, comprising:

[0039] a memory for storing executable program code;

[0040] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0041] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0042] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a schematic diagram illustrating an example of a vehicle motor entering a calibration mode according to an embodiment of the present application;

[0044] FIG2 is a schematic flow chart of a motor zero angle calibration method provided in an embodiment of the present application;

[0045] FIG3 is a schematic flow chart of a motor zero angle calibration method provided in an embodiment of the present application;

[0046] FIG4 is a schematic diagram illustrating an example of a zero angle restoration process provided by an embodiment of the present application;

[0047] FIG5 is a schematic structural diagram of a motor zero angle calibration device provided in an embodiment of the present application;

[0048] FIG6 is a schematic structural diagram of a motor zero angle calibration device provided in an embodiment of the present application;

[0049] FIG7 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0051] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0052] The vehicle motor in a vehicle can provide power and assist in engine starting. For example, the vehicle motor can be an integrated start-stop generator (ISG). An ISG motor is a motor system used for starting and generating electricity for a vehicle engine. For example, the ISG motor can be mounted on the vehicle generator and connected to the engine's crankshaft. When the vehicle is started, it can provide starting power to bring the engine into operation, providing torque to assist in engine starting. Even when the engine is running, the ISG motor can provide additional torque to enhance the engine's power output. Furthermore, when the vehicle slows down or stops, the ISG motor can generate electricity, feeding power back into the vehicle battery for charging. The zero angle of the vehicle motor reflects the angle of the vehicle motor caused by factors such as the motor's assembly structure. The zero angle is a critical parameter for vehicle motor operation and can be used to determine the initial position of the motor rotor for motor control and torque measurement. When the vehicle motor is in calibration mode, the zero angle is calibrated and recorded in the memory of the vehicle motor control system for easy recall and updating.

[0053] Please refer to Figure 1, which provides an example schematic diagram of a vehicle motor entering a calibration mode according to an embodiment of the present application. The vehicle control unit can be an electronic control unit (ECU) in the vehicle, which is a microprocessor used to control and manage various systems of the vehicle. The vehicle control unit can send various control signals to the vehicle motor to control the vehicle motor to be set to various modes, such as calibration mode, electric mode and power generation mode. In the calibration mode, the vehicle motor will calibrate the zero angle to obtain a calibrated zero angle, and update the motor zero angle stored in the memory based on the calibrated zero angle, so as to control the operation of the vehicle motor based on the updated motor zero angle. In the electric mode, the vehicle motor can provide torque to the vehicle generator to help the engine start or enhance the power output of the engine. In the power generation mode, the vehicle motor can charge the vehicle battery. The motor zero angle calibration device is used to receive and identify the control signal of the vehicle control unit and control the vehicle motor to switch to different modes. The motor zero angle calibration device can be a vehicle motor or a motor control system module of the vehicle motor, or a module in the vehicle motor for implementing the motor zero angle calibration method.

[0054] The control signal may be an ECU signal, and the state quantity SETMODE of the control signal is used to indicate different modes of the vehicle motor. For example, when the state quantity SETMODE = 2, the control signal may be an electric mode setting signal, used to control the vehicle motor to switch to electric mode. When the state quantity SETMOD E = 1, the control signal may be a power generation mode setting signal, used to control the vehicle motor to switch to power generation mode. Since the state quantity in the control signal can represent a value of at most 0 to 7, the motor zero angle calibration device may set the state quantity of the calibration mode to a calibration mode setting value other than 0 to 7. For example, the calibration mode setting value may be set to 12. That is, when the state quantity SETMODE = 12, the control signal may be a calibration mode setting signal. When the vehicle motor is used for an extended period of time, for example, a user or relevant personnel may send an external signal to the vehicle control unit to control the vehicle control unit to generate a calibration mode setting signal. The external signal may be an electromagnetic pulse signal or a radio frequency signal, etc., sent additionally to the vehicle control unit. The external signal may help the vehicle control unit set the state quantity to a calibration mode setting value other than 0 to 7 corresponding to the calibration mode, thereby controlling the vehicle control unit to generate the calibration mode setting signal.

[0055] It is understandable that when the vehicle control unit is affected by other interference signals, the other interference signals may interfere with the state quantity of the vehicle control unit to the calibration mode setting value, thereby causing the vehicle motor to mistakenly enter the calibration mode under the presence of load, thereby obtaining an incorrect motor zero angle, affecting the subsequent normal operation of the vehicle motor. In order to ensure that the vehicle motor can receive the correct calibration mode setting signal and enter the calibration mode under the correct no-load condition, the calibration mode setting signal sent by the vehicle control unit not only requires the state quantity to be set to the calibration mode setting value, but also requires the value of the reserved bit to be set to the preset calibration value, that is, the motor zero angle calibration device needs to read the reserved bit value after receiving the calibration mode setting signal before it can control the vehicle motor to enter the setting mode, wherein the reserved bit can be RSVD0 and RSVD1 in the identifier field of the ECU signal, RSVD0 can be located at the 4th bit, RSVD1 can be located at the 5th bit, and in general ECU signals, the reserved bits are all 0, so the preset calibration value can be set to a value other than 0, so that the motor zero angle calibration device can further identify the calibration mode setting signal.

[0056] The motor zero angle calibration method provided in this application is described in detail below with reference to specific embodiments.

[0057] Please refer to Figure 2, which is a schematic flow chart of a motor zero angle calibration method according to an embodiment of the present application. As shown in Figure 2, the method according to the embodiment of the present application may include the following steps S101-S103.

[0058] S101: If the control signal sent by the vehicle control unit is a calibration mode setting signal, read the reserved bit value of the calibration mode setting signal.

[0059] Specifically, the motor zero angle calibration device can obtain the control signal sent by the vehicle control unit and read the state quantity value in the control signal. If the state quantity value is the calibration mode setting value, it means that the vehicle control unit sent the calibration mode setting signal, which is used to control the vehicle motor to enter the calibration mode to perform zero angle calibration processing. After the motor zero angle calibration device obtains the calibration mode setting signal, in order to avoid the calibration mode setting signal being erroneously generated by the vehicle control unit due to interference from other interference signals, the reserved bit value in the calibration mode setting signal can be read. Since the reserved bit is not enabled in the general ECU signal and the reserved bits are all 0, the motor zero angle calibration device can determine whether the calibration mode setting signal is an erroneously generated control signal through the reserved bit value.

[0060] S102: If the retained bit value is a preset calibration value, a zero angle calibration process is performed on the vehicle motor based on a calibration mode setting signal to obtain a calibrated zero angle.

[0061] Specifically, if the number of retained bits is a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is not generated in error, that is, the vehicle motor is in a no-load state where zero angle calibration processing can be performed. The motor zero angle calibration device can then control the vehicle motor to switch to calibration mode based on the calibration mode setting signal, that is, perform zero angle calibration processing on the vehicle motor to obtain a calibration zero angle. The calibration zero angle is the zero angle value detected by the vehicle motor when the calibration mode setting signal is received. The preset calibration value can be a value other than 0, can be the initial setting of the motor zero angle calibration device, or can be set by the user or relevant staff.

[0062] S103 , updating the motor zero angle based on the calibrated zero angle, and controlling the operation of the vehicle motor using the updated motor zero angle.

[0063] Specifically, the motor zero angle calibration device can update the motor zero angle stored in the memory based on the calibrated zero angle, that is, the motor zero angle after the update is the same as the value of the calibrated zero angle, and the motor zero angle calibration device can use the updated motor zero angle to control the operation of the vehicle motor.

[0064] In an embodiment of the present application, if the control signal received from the vehicle control unit is a calibration mode setting signal, the reserved bit value of the calibration mode setting signal is read, and the state quantity value of the calibration mode setting signal is the calibration mode setting value. If the reserved bit value is a preset calibration value, the vehicle motor is calibrated for zero angle based on the calibration mode setting signal to obtain a calibrated zero angle. The motor zero angle is updated based on the calibrated zero angle, and the updated motor zero angle is used to control the operation of the vehicle motor. After receiving the calibration mode setting signal, it is determined whether the reserved bit value meets the preset calibration value. If it meets the preset calibration value, it is determined that the zero angle calibration is performed to obtain an accurate zero angle. The idle reserved bit is used as an identification bit to avoid the vehicle motor from mistakenly entering the calibration mode in the case of signal interference, thereby improving the accuracy of the zero angle calibration and further ensuring the normal operation of the vehicle motor.

[0065] Please refer to Figure 3, which is a schematic flow chart of a motor zero angle calibration method according to an embodiment of the present application. As shown in Figure 3, the method according to the embodiment of the present application may include the following steps S201-S209.

[0066] S201, obtaining a control signal sent by a vehicle control unit, and reading a state value of the control signal.

[0067] Specifically, the motor zero angle calibration device can obtain a control signal sent by the vehicle control unit. To identify the purpose of the control signal, the motor zero angle calibration device can read the state value of the control signal. It is understood that different state value values ​​correspond to different control signals. For example, if the state value SETMODE = 2, the control signal can be a motoring mode setting signal. When the state value SETMODE = 1, the control signal can be a power generation mode setting signal.

[0068] S202: If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal.

[0069] Specifically, if the state quantity value is the calibration mode setting value, the motor zero angle calibration device can confirm the control signal as the calibration mode setting signal, which is used to control the vehicle motor to enter the calibration mode and perform zero angle calibration processing. The calibration mode setting value can be the initial setting of the motor zero angle calibration, or it can be set by the user or relevant personnel.

[0070] Optionally, the state quantity value that can be represented in the ECU signal has a numerical range, for example, the numerical range can be 0 to 7, that is, the state quantity value in the signal generated by the ECU can only be represented as a value between 0 and 7. The user or relevant staff can send an external signal to the vehicle control unit to change the state quantity value in the control signal to a value outside the numerical range, that is, the vehicle control unit cannot generate a calibration mode setting signal on its own, thereby avoiding the vehicle's internal error in generating a calibration mode setting signal, resulting in the vehicle motor incorrectly calibrating the zero angle. Therefore, the calibration mode setting value can be set to a value outside the numerical range, for example, it can be set to 12.

[0071] S203: If the control signal sent by the vehicle control unit is a calibration mode setting signal, read the reserved bit value of the calibration mode setting signal.

[0072] Specifically, if the control signal sent by the vehicle control unit obtained by the motor zero angle calibration device is a calibration mode setting signal, in order to avoid the calibration mode setting signal being incorrectly generated by the vehicle control unit due to interference from other interference signals, the reserved bit value in the calibration mode setting signal can be read. Since the reserved bit is not enabled in the general ECU signal and the reserved bits are all 0, the motor zero angle calibration device can determine whether the calibration mode setting signal is an incorrectly generated control signal through the reserved bit value.

[0073] S204: If the retained bit value is a preset calibration value, a zero angle calibration process is performed on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle.

[0074] Specifically, if the number of retained bits is a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is not generated in error, that is, the vehicle motor is in a no-load state where zero angle calibration processing can be performed. The motor zero angle calibration device can then control the vehicle motor to switch to calibration mode based on the calibration mode setting signal, that is, perform zero angle calibration processing on the vehicle motor to obtain a calibration zero angle. The calibration zero angle is the zero angle value detected by the vehicle motor when the calibration mode setting signal is received. The preset calibration value can be a value other than 0, can be the initial setting of the motor zero angle calibration device, or can be set by the user or relevant staff.

[0075] Optionally, the reserved bit can be a first reserved bit and a second reserved bit, and the preset calibration value can be the first preset calibration value and the second preset calibration value respectively, for example, they can be RSVD0 and RSVD1 in the identifier field of the ECU signal, wherein the first reserved bit can be before the second reserved bit. The motor zero angle calibration device can first read the first reserved bit value in the calibration mode setting signal. If the first reserved bit value is the first preset calibration value, it can continue to read the second reserved bit value in the calibration mode setting signal. If the second reserved bit value is the second preset calibration value, it is determined that the reserved bit value of the calibration mode setting signal is the preset calibration value. The first preset calibration value and the second preset calibration value can be values ​​other than 0, and the first preset calibration value and the second preset calibration value can be the same or different. For example, the first preset calibration value can be 1, and the second preset calibration value can be 4.

[0076] Optionally, if the reserved bit value is not a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is erroneously generated due to the vehicle control unit receiving an interference signal, and can ignore the calibration mode setting signal. The ignoring process can include not responding to the calibration mode setting signal, not saving the calibration mode setting signal, and clearing the cache corresponding to the calibration mode setting signal. It does not respond to the erroneous signal and clears the corresponding cache. While saving storage resources and improving the utilization of computing resources, it can avoid the motor from erroneously entering the calibration mode due to erroneous operation signals or external interference signals, thereby further improving safety. If the motor zero angle calibration device reads that the first reserved bit value is the first preset calibration value, but the second reserved bit value is not the second preset calibration value, it can be determined that the reserved bit value is not the preset calibration value, and the motor zero angle calibration device can ignore the calibration mode setting signal. If the motor zero angle calibration device reads that the first reserved bit value is not the first preset calibration value, there is no need to continue reading the second reserved bit value. The motor zero angle calibration device can directly determine that the reserved bit value is not the preset calibration value, and ignore the calibration mode setting signal, thereby improving the efficiency of distinguishing the calibration mode setting signal.

[0077] S205 , backing up the motor zero angle of the vehicle motor to obtain a historical zero angle.

[0078] Specifically, in order to further avoid abnormal updates of the zero angle caused by abnormal zero angle calibration processing, the motor zero angle calibration device can back up the motor zero angle of the vehicle motor stored in the memory to obtain the historical zero angle. It can be understood that the historical zero angle has the same value as the motor zero angle.

[0079] S206 , updating the motor zero angle based on the calibrated zero angle, and using the updated motor zero angle to control the operation of the vehicle motor.

[0080] Specifically, the motor zero angle calibration device can update the motor zero angle stored in the memory based on the calibrated zero angle, that is, the motor zero angle after the update is the same as the value of the calibrated zero angle, and the motor zero angle calibration device can use the updated motor zero angle to control the operation of the vehicle motor.

[0081] S207 , obtaining an electric mode setting signal and a torque request value sent by a vehicle control unit.

[0082] Specifically, because the zero angle has a greater impact on the vehicle motor's electric mode than its power generation mode, when the motor zero angle calibration device first acquires the electric mode setting signal after updating the motor zero angle, it can detect the updated zero angle to determine whether the updated zero angle is accurate. The motor zero angle calibration device can first acquire the electric mode setting signal and torque request value sent by the vehicle control unit after updating the motor zero angle. Specifically, the electric mode setting signal and torque request value used for zero angle detection are the electric mode setting signal and torque request value first sent by the vehicle control unit after the zero angle is updated. The electric mode setting signal is a control signal whose state quantity value is the electric mode setting value, which is used to control the vehicle motor to switch to the electric state. The electric mode setting value can be 2. The torque request value is the torque value that the vehicle motor can generate or consume, calculated in real time by the vehicle control unit based on parameters such as the vehicle motor's current, voltage, speed, and temperature.

[0083] S208 , controlling the vehicle motor to perform electric processing based on the updated motor zero angle, and obtaining an actual torque value of the vehicle motor during the electric processing.

[0084] Specifically, since the motor zero angle calibration device obtains the electric mode setting signal, the motor zero angle calibration device can control the vehicle motor to switch to electric mode, that is, control the vehicle motor to perform electric processing based on the updated motor zero angle, and obtain the actual torque value of the vehicle motor during the electric processing process.

[0085] S209: If the difference between the torque request value and the actual torque value is greater than the torque difference threshold, the updated motor zero angle is restored based on the historical zero angle.

[0086] Specifically, if the difference between the requested torque value and the actual torque value is greater than a torque difference threshold, it indicates that the updated motor zero angle is inaccurate, possibly due to a zero angle calibration anomaly. The motor zero angle calibration device can then reset the updated motor zero angle based on the historical zero angle, restoring the motor zero angle to the historical zero angle value. The torque difference threshold can be an initial setting of the motor zero angle calibration device or can be set by the user or relevant personnel, for example, 3 N.m.

[0087] Optionally, after the updated motor zero angle is restored, that is, the value of the motor zero angle is restored to the value of the historical zero angle, the motor zero angle calibration device can delete the historical zero angle from the memory. Deleting the backed-up historical zero angle from the memory can free up memory space and avoid confusion between valid data and invalid data, ensuring that the motor can operate according to the accurate zero angle value, further improving the stability of the motor operation.

[0088] Optionally, if the difference between the torque request value and the actual torque value is less than or equal to the torque difference threshold, it means that the motor zero angle after update is an accurate value, and the motor zero angle calibration device can delete the historical zero angle.

[0089] Please refer to FIG4, which provides an example diagram of zero angle restoration processing for an embodiment of the present application. If the zero angle of the vehicle motor in the memory is The zero angle obtained after zero angle calibration is After the motor zero angle is updated using the calibrated zero angle, the updated motor zero angle is The historical zero angle is If the difference between the torque request value and the torque actual value is greater than the torque difference threshold, that is, the calibrated zero angle is inaccurate, the motor zero angle calibration device can adjust the motor zero angle stored in the memory. Perform restoration to restore the motor to zero angle And the historical zero angle in memory Perform deletion processing.

[0090] In an embodiment of the present application, a control signal sent by a vehicle control unit is obtained, and the state quantity value of the control signal is read. If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal. The state quantity value in the control signal is used to determine which mode the vehicle motor needs to be adjusted to, thereby achieving flexible control of the vehicle motor state switching. If the control signal sent by the vehicle control unit is obtained as a calibration mode setting signal, the reserved bit value of the calibration mode setting signal is read. If the reserved bit value is a preset calibration value, the vehicle motor is calibrated for zero angle based on the calibration mode setting signal to obtain a calibrated zero angle. If the reserved bit value is not a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is erroneously generated by the vehicle control unit due to an interference signal, and the calibration mode setting signal can be ignored. After receiving the calibration mode setting signal, the system re-determines whether the reserved bit value matches the preset calibration value. If so, it determines to perform zero angle calibration to obtain an accurate zero angle. Using the unused reserved bit as an identification bit prevents the vehicle motor from erroneously entering the calibration mode under signal interference, improves the accuracy of zero angle calibration, and further ensures the normal operation of the vehicle motor. The vehicle motor's motor zero angle is backed up to obtain a historical zero angle. The motor zero angle is updated based on the calibrated zero angle. The vehicle motor is controlled using the updated motor zero angle. The electric mode setting signal and torque request value sent by the vehicle control unit are obtained. The vehicle motor is controlled to perform electric operation based on the updated motor zero angle. The actual torque value of the vehicle motor during the electric operation is obtained. If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle. The correctness of the calibrated zero angle is further determined by comparing the torque request value with the actual torque value. If inaccurate, the zero angle is restored to ensure the normal operation of the vehicle motor, further avoiding the situation of incorrect zero angle calibration.

[0091] The following is a detailed description of the motor zero angle calibration device provided in the embodiment of the present application, in conjunction with Figures 5 and 6. It should be noted that the motor zero angle calibration device in Figures 5 and 6 is used to execute the method of the embodiment shown in Figures 1 to 4 of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the embodiment shown in Figures 1 to 4 of the present application.

[0092] Please refer to Figure 5, which shows a schematic diagram of the structure of a motor zero angle calibration device provided by an exemplary embodiment of the present application. The motor zero angle calibration device can be implemented as all or part of a device through software, hardware, or a combination of both. The device 1 includes a reserved bit reading module 11, a calibration processing module 12, and a zero angle updating module 13.

[0093] A reserved bit reading module 11 is configured to read a reserved bit value of the calibration mode setting signal if the control signal sent by the vehicle control unit is a calibration mode setting signal, wherein the state value of the calibration mode setting signal is a calibration mode setting value;

[0094] a calibration processing module 12 configured to perform zero angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle if the retained bit value is a preset calibration value;

[0095] The zero angle updating module 13 is configured to update the motor zero angle based on the calibrated zero angle, and use the updated motor zero angle to control the operation of the vehicle motor.

[0096] In an embodiment of the present application, if the control signal received from the vehicle control unit is a calibration mode setting signal, the reserved bit value of the calibration mode setting signal is read, and the state quantity value of the calibration mode setting signal is the calibration mode setting value. If the reserved bit value is a preset calibration value, the vehicle motor is calibrated for zero angle based on the calibration mode setting signal to obtain a calibrated zero angle. The motor zero angle is updated based on the calibrated zero angle, and the updated motor zero angle is used to control the operation of the vehicle motor. After receiving the calibration mode setting signal, it is determined whether the reserved bit value meets the preset calibration value. If it meets the preset calibration value, it is determined that the zero angle calibration is performed to obtain an accurate zero angle. The idle reserved bit is used as an identification bit to avoid the vehicle motor from mistakenly entering the calibration mode in the case of signal interference, thereby improving the accuracy of the zero angle calibration and further ensuring the normal operation of the vehicle motor.

[0097] Please refer to Figure 6, which shows a schematic diagram of the structure of a motor zero angle calibration device provided by an exemplary embodiment of the present application. The motor zero angle calibration device can be implemented as all or part of a device through software, hardware, or a combination of both. The device 1 includes a control signal receiving module 14, a reserved bit reading module 11, a disregard processing module 15, a calibration processing module 12, a backup processing module 16, a zero angle updating module 13, a restoration processing module 17, and a backup deletion module 18.

[0098] The control signal receiving module 14 is used to obtain the control signal sent by the vehicle control unit and read the state value of the control signal;

[0099] If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal.

[0100] A reserved bit reading module 11 is configured to read a reserved bit value of the calibration mode setting signal if the control signal sent by the vehicle control unit is a calibration mode setting signal, wherein the state value of the calibration mode setting signal is a calibration mode setting value;

[0101] Optionally, the reserved bit reading module 11 is specifically used to read the first reserved bit value in the calibration mode setting signal;

[0102] If the first reserved bit value is a first preset calibration value, reading a second reserved bit value in the calibration mode setting signal;

[0103] If the second reserved bit value is a second preset calibration value, the reserved bit value of the calibration mode setting signal is determined to be the preset calibration value.

[0104] The ignoring processing module 15 is configured to ignore the calibration mode setting signal if the reserved bit value is not the preset calibration value.

[0105] Optionally, the ignoring processing module 15 is specifically configured to ignore the calibration mode setting signal if the first reserved bit value is not the first preset calibration value;

[0106] If the first reserved bit value is the first preset calibration value, and the second reserved bit value is not the second preset calibration value, the calibration mode setting signal is ignored.

[0107] a calibration processing module 12 configured to perform zero angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle if the retained bit value is a preset calibration value;

[0108] The backup processing module 16 is used to perform backup processing on the motor zero angle of the vehicle motor to obtain a historical zero angle, where the historical zero angle has the same value as the motor zero angle.

[0109] The zero angle updating module 13 is configured to update the motor zero angle based on the calibrated zero angle, and use the updated motor zero angle to control the operation of the vehicle motor.

[0110] a recovery processing module 17, configured to obtain an electric mode setting signal and a torque request value sent by the vehicle control unit;

[0111] controlling the vehicle motor to perform electric processing based on the updated motor zero angle, and obtaining an actual torque value of the vehicle motor during the electric processing;

[0112] If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle.

[0113] The backup deletion module 18 is configured to delete the historical zero angle if the difference between the torque request value and the actual torque value is less than or equal to the torque difference threshold.

[0114] In an embodiment of the present application, a control signal sent by a vehicle control unit is obtained, and the state quantity value of the control signal is read. If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal. The state quantity value in the control signal is used to determine which mode the vehicle motor needs to be adjusted to, thereby achieving flexible control of the vehicle motor state switching. If the control signal sent by the vehicle control unit is obtained as a calibration mode setting signal, the reserved bit value of the calibration mode setting signal is read. If the reserved bit value is a preset calibration value, the vehicle motor is calibrated for zero angle based on the calibration mode setting signal to obtain a calibrated zero angle. If the reserved bit value is not a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is erroneously generated by the vehicle control unit due to an interference signal, and the calibration mode setting signal can be ignored. After receiving the calibration mode setting signal, the system re-determines whether the reserved bit value matches the preset calibration value. If so, it determines to perform zero angle calibration to obtain an accurate zero angle. Using the unused reserved bit as an identification bit prevents the vehicle motor from erroneously entering the calibration mode under signal interference, improves the accuracy of zero angle calibration, and further ensures the normal operation of the vehicle motor. The vehicle motor's motor zero angle is backed up to obtain a historical zero angle. The motor zero angle is updated based on the calibrated zero angle. The vehicle motor is controlled using the updated motor zero angle. The electric mode setting signal and torque request value sent by the vehicle control unit are obtained. The vehicle motor is controlled to perform electric operation based on the updated motor zero angle. The actual torque value of the vehicle motor during the electric operation is obtained. If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle. The correctness of the calibrated zero angle is further determined by comparing the torque request value with the actual torque value. If inaccurate, the zero angle is restored to ensure the normal operation of the vehicle motor, further avoiding the situation of incorrect zero angle calibration.

[0115] Please refer to Figure 7, which is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. As shown in Figure 7, vehicle 700 may include: at least one vehicle processor 701, at least one network interface 704, a user interface 703, a memory 705, at least one communication bus 702, and at least one belt-driven starter generator 707.

[0116] The communication bus 702 is used to implement the connection and communication between these components.

[0117] The user interface 703 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 703 may also include a standard wired interface and a wireless interface.

[0118] The network interface 704 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0119] The vehicle processor 701 may include one or more processing cores. The vehicle processor 701 utilizes various interfaces and circuits to connect various components within the vehicle 700. It executes instructions, programs, code sets, or instruction sets stored in the memory 705 and accesses data stored in the memory 705 to perform various functions and process data within the vehicle 700. Optionally, the vehicle processor 701 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The vehicle processor 701 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the display screen; and the modem handles wireless communications. It is understood that the modem may not be integrated into the vehicle processor 701 and may be implemented as a separate chip.

[0120] The memory 705 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 705 includes a non-transitory computer-readable storage medium. The memory 705 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 705 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory 705 may also optionally be at least one storage device located away from the aforementioned vehicle processor 701. As shown in Figure 7, the memory 705, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a motor zero angle calibration acquisition program.

[0121] In the vehicle 700 shown in FIG7 , the user interface 703 is mainly used to provide an input interface for the user and obtain user input data; and the vehicle processor 701 can be used to call the motor zero angle calibration acquisition program stored in the memory 705 and specifically perform the following operations:

[0122] If the control signal sent by the vehicle control unit is a calibration mode setting signal, then the reserved bit value of the calibration mode setting signal is read, and the state value of the calibration mode setting signal is the calibration mode setting value;

[0123] If the reserved bit value is a preset calibration value, performing zero angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero angle;

[0124] The motor zero angle is updated based on the calibrated zero angle, and the updated motor zero angle is used to control the operation of the vehicle motor.

[0125] In some embodiments, when executing the motor zero angle calibration method, the vehicle processor 701 further performs the following steps:

[0126] Obtaining a control signal sent by a vehicle control unit and reading a state value of the control signal;

[0127] If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal.

[0128] In some embodiments, when the vehicle processor 701 reads the reserved bit value of the calibration mode setting signal, it specifically performs the following steps:

[0129] Reading a first reserved bit value in the calibration mode setting signal;

[0130] If the first reserved bit value is a first preset calibration value, reading a second reserved bit value in the calibration mode setting signal;

[0131] If the second reserved bit value is a second preset calibration value, the reserved bit value of the calibration mode setting signal is determined to be the preset calibration value.

[0132] In some embodiments, when executing the motor zero angle calibration method, the vehicle processor 701 further performs the following steps:

[0133] If the reserved bit value is not the preset calibration value, the calibration mode setting signal is ignored.

[0134] In some embodiments, when the vehicle processor 701 ignores the calibration mode setting signal if the reserved bit value is not the preset calibration value, the vehicle processor 701 specifically performs the following steps:

[0135] If the first reserved bit value is not the first preset calibration value, ignoring the calibration mode setting signal;

[0136] If the first reserved bit value is the first preset calibration value, and the second reserved bit value is not the second preset calibration value, the calibration mode setting signal is ignored.

[0137] In some embodiments, before executing the update process of the motor zero angle based on the calibrated zero angle, the vehicle processor 701 further performs the following steps:

[0138] A backup process is performed on the motor zero angle of the vehicle motor to obtain a historical zero angle, where the historical zero angle has the same value as the motor zero angle.

[0139] In some embodiments, when executing the motor zero angle calibration method, the vehicle processor 701 further performs the following steps:

[0140] obtaining an electric mode setting signal and a torque request value sent by the vehicle control unit;

[0141] controlling the vehicle motor to perform electric processing based on the updated motor zero angle, and obtaining an actual torque value of the vehicle motor during the electric processing;

[0142] If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle.

[0143] In some embodiments, when executing the motor zero angle calibration method, the vehicle processor 701 further performs the following steps:

[0144] If the difference between the torque request value and the actual torque value is less than or equal to the torque difference threshold, the historical zero angle is deleted.

[0145] In an embodiment of the present application, a control signal sent by a vehicle control unit is obtained, and the state quantity value of the control signal is read. If the state quantity value is a calibration mode setting value, the control signal is confirmed as a calibration mode setting signal. The state quantity value in the control signal is used to determine which mode the vehicle motor needs to be adjusted to, thereby achieving flexible control of the vehicle motor state switching. If the control signal sent by the vehicle control unit is obtained as a calibration mode setting signal, the reserved bit value of the calibration mode setting signal is read. If the reserved bit value is a preset calibration value, the vehicle motor is calibrated for zero angle based on the calibration mode setting signal to obtain a calibrated zero angle. If the reserved bit value is not a preset calibration value, the motor zero angle calibration device can determine that the calibration mode setting signal is erroneously generated by the vehicle control unit due to an interference signal, and the calibration mode setting signal can be ignored. After receiving the calibration mode setting signal, the system re-determines whether the reserved bit value matches the preset calibration value. If so, it determines to perform zero angle calibration to obtain an accurate zero angle. Using the unused reserved bit as an identification bit prevents the vehicle motor from erroneously entering the calibration mode under signal interference, improves the accuracy of zero angle calibration, and further ensures the normal operation of the vehicle motor. The vehicle motor's motor zero angle is backed up to obtain a historical zero angle. The motor zero angle is updated based on the calibrated zero angle. The vehicle motor is controlled using the updated motor zero angle. The electric mode setting signal and torque request value sent by the vehicle control unit are obtained. The vehicle motor is controlled to perform electric operation based on the updated motor zero angle. The actual torque value of the vehicle motor during the electric operation is obtained. If the difference between the torque request value and the actual torque value is greater than a torque difference threshold, the updated motor zero angle is restored based on the historical zero angle. The correctness of the calibrated zero angle is further determined by comparing the torque request value with the actual torque value. If inaccurate, the zero angle is restored to ensure the normal operation of the vehicle motor, further avoiding the situation of incorrect zero angle calibration.

[0146] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a method for calibrating the zero angle of a motor provided in the above embodiment.

[0147] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for calibrating the zero angle of a motor provided in the above embodiment.

[0148] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0149] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0150] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only 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 device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for calibrating the zero position angle of a motor, characterized in that, The method includes: If the control signal sent by the vehicle control unit is a calibration mode setting signal, read the reserved bit value of the calibration mode setting signal, and the status quantity value of the calibration mode setting signal is the calibration mode setting value; If the reserved bit value is a preset calibration value, perform zero position angle calibration processing on the vehicle motor based on the calibration mode setting signal to obtain a calibrated zero position angle; Perform an update process on the motor zero position angle based on the calibrated zero position angle, and control the operation of the vehicle motor using the updated motor zero position angle.

2. The method according to claim 1, wherein The method further includes: Obtain the control signal sent by the vehicle control unit and read the status quantity value of the control signal; If the status quantity value is the calibration mode setting value, confirm the control signal as the calibration mode setting signal.

3. The method according to claim 2, wherein The calibration mode setting value is outside the numerical range of the status quantity value.

4. The method according to claim 1, wherein The step of reading the reserved bit value of the calibration mode setting signal includes: Read the first reserved bit value in the calibration mode setting signal; If the first reserved bit value is a first preset calibration value, read the second reserved bit value in the calibration mode setting signal; If the second reserved bit value is a second preset calibration value, determine that the reserved bit value of the calibration mode setting signal is the preset calibration value.

5. The method according to claim 4, characterized in that, The method further includes: If the reserved bit value is not the preset calibration value, perform an ignoring process on the calibration mode setting signal.

6. The method according to claim 5, characterized in that, The step of, if the reserved bit value is not the preset calibration value, performing an ignoring process on the calibration mode setting signal includes: If the first reserved bit value is not the first preset calibration value, perform an ignoring process on the calibration mode setting signal; If the first reserved bit value is the first preset calibration value and the second reserved bit value is not the second preset calibration value, perform an ignoring process on the calibration mode setting signal.

7. The method according to claim 6, characterized in that The step of performing an ignoring process on the calibration mode setting signal includes: Do not perform a response process on the calibration mode setting signal and clear the cache corresponding to the calibration mode setting signal.

8. The method according to claim 1, characterized in that, Before performing the update process on the motor zero position angle based on the calibrated zero position angle, it further includes: Perform a backup process on the motor zero position angle of the vehicle motor to obtain a historical zero position angle, and the historical zero position angle has the same numerical value as the motor zero position angle.

9. The method according to claim 8, wherein The method further includes: Obtain the electric mode setting signal and torque request value sent by the vehicle control unit; Based on the updated motor zero position angle, control the vehicle motor to perform electric processing, and obtain the actual torque value of the vehicle motor during the electric processing; If the difference between the torque request value and the actual torque value is greater than the torque difference threshold, perform a restoration process on the updated motor zero position angle based on the historical zero position angle.

10. The method according to claim 9, characterized in that, The step of obtaining the electric mode setting signal and torque request value sent by the vehicle control unit includes: Obtain the electric mode setting signal and torque request value sent by the vehicle control unit for the first time after the update process.

11. The method according to claim 9, characterized in that, If the difference between the torque request value and the actual torque value is greater than the torque difference threshold, then based on the historical zero position angle, a restoration process is performed on the updated motor zero position angle, including: If the difference between the torque request value and the actual torque value is greater than the torque difference threshold, then based on the historical zero position angle, a restoration process is performed on the updated motor zero position angle, and a deletion process is performed on the historical zero position angle.

12. The method according to claim 9, wherein The method further includes: If the difference between the torque request value and the actual torque value is less than or equal to the torque difference threshold, then a deletion process is performed on the historical zero position angle.

13. A motor zero-position angle calibration device, characterized in that, The device includes: A reserved bit reading module, configured to read the reserved bit value of the calibration mode setting signal if the control signal sent by the vehicle control unit is the calibration mode setting signal, and the state quantity value of the calibration mode setting signal is the calibration mode setting value; A calibration processing module, configured to perform a zero position angle calibration process on the vehicle motor based on the calibration mode setting signal if the reserved bit value is a preset calibration value, to obtain a calibrated zero position angle; A zero position angle update module, configured to update the motor zero position angle based on the calibrated zero position angle, and control the operation of the vehicle motor using the updated motor zero position angle.

14. A vehicle, characterized in that, The vehicle includes: A memory, configured to store executable program code; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which when executed, implements the method according to any one of claims 1 to 12.

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