Sound production method for motor, vehicle, storage medium, and program product

Abstract

A sound production method for a motor, a vehicle, a storage medium, and a program product. The method comprises: acquiring audio data to be played; acquiring a pulse width modulation duty cycle on the basis of the audio data and an audio injection angle; and on the basis of the pulse width modulation duty cycle, controlling a motor to produce sound.

Description

Methods of generating sound in electric motors, vehicles, storage media, and software products.

[0001] This application claims priority to Chinese patent application No. 202411219751.2, filed on August 30, 2024; Chinese patent application No. 202411223603.8, filed on August 30, 2024; and Chinese patent application No. 202411211814.X, filed on August 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of motor control technology, and in particular to a method for generating sound from a motor, a vehicle, a storage medium, and a program product. Background Technology

[0003] With the continuous development of society, the ownership rate of vehicles is increasing, and vehicles have become one of the main means of transportation for people's daily travel. Among the components of electric vehicles, the motor not only drives the vehicle, but also has other functions. Summary of the Invention

[0004] A method for generating sound using an electric motor, a vehicle, a storage medium, and a program product are provided to overcome or at least partially solve the aforementioned problems.

[0005] In a first aspect, a method for generating sound from a motor is provided, the method comprising: acquiring audio data to be played; obtaining a pulse width modulation duty cycle based on the audio data and an audio injection angle; and controlling the motor to generate sound based on the pulse width modulation duty cycle.

[0006] Secondly, a method for generating sound from a motor is provided, the method comprising: performing per-unit processing on audio data to be played to generate per-unit values; obtaining a pulse width modulation duty cycle based on the per-unit values ​​and the coordinate system of the motor; and controlling the motor to generate sound based on the pulse width modulation duty cycle.

[0007] Thirdly, another method for generating sound from a motor is provided, the method comprising: acquiring an audio sampling signal, the audio sampling signal being obtained by sampling audio data; determining an audio injection signal based on the audio sampling signal, the audio injection signal including at least one of a voltage vector or a current vector in a target vector coordinate system of the motor; determining a control signal for generating sound from the motor based on the audio injection signal; and controlling the motor based on the control signal to cause the motor to generate sound.

[0008] Fourthly, a vehicle is provided, the vehicle including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, it implements the method for generating sound from a motor as described above.

[0009] Fifthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the method for generating sound from a motor as described above.

[0010] Sixthly, a computer program product is provided, the computer program product including a computer program, which, when executed by a processor, implements the sound-generating method of the motor as described above. Attached Figure Description

[0011] Figure 1 is a flowchart of a method for generating sound using an electric motor according to some embodiments of the present disclosure;

[0012] Figure 2 is a flowchart of another method for generating sound using a motor according to some embodiments of the present disclosure;

[0013] Figure 3 is a schematic diagram of an audio acquisition architecture according to some embodiments of the present disclosure;

[0014] Figure 4 is a schematic diagram of audio injection according to some embodiments of the present disclosure;

[0015] Figure 5 is another schematic diagram of audio injection according to some embodiments of the present disclosure;

[0016] Figure 6 is a schematic diagram of another audio injection according to some embodiments of the present disclosure;

[0017] Figure 7 is a schematic diagram of another audio injection according to some embodiments of the present disclosure;

[0018] Figure 8 is a schematic diagram of another audio injection according to some embodiments of the present disclosure;

[0019] Figure 9 is a flowchart of an audio data acquisition method for a motor to produce sound according to some embodiments of the present disclosure;

[0020] Figure 10 is a schematic diagram of audio data decoding and injection in a sound-generating method of an electric motor according to some embodiments of the present disclosure;

[0021] Figure 11 is a schematic diagram of audio data decoding and injection for another method of generating sound using a motor according to some embodiments of the present disclosure;

[0022] Figure 12 is a schematic diagram of high-frequency sampling performed by multiphase bridge arm phase shift control according to some embodiments of the present disclosure;

[0023] Figure 13 is a flowchart of a voice recognition method according to some embodiments of the present disclosure;

[0024] Figure 14 is a flowchart of another voice recognition method according to some embodiments of the present disclosure;

[0025] Figure 15 is a flowchart of another method for generating sound using an electric motor according to some embodiments of the present disclosure;

[0026] Figure 16 is a flowchart of a method for generating sound using an electric motor according to some embodiments of the present disclosure;

[0027] Figure 17 is a flowchart of another method for generating sound using a motor according to some embodiments of the present disclosure;

[0028] Figure 18 is a schematic diagram of another audio acquisition architecture according to some embodiments of the present disclosure;

[0029] Figure 19 is a flowchart of another method for generating sound using an electric motor according to some embodiments of the present disclosure;

[0030] Figure 20 is a schematic diagram of a sampling channel in a vehicle according to some embodiments of the present disclosure;

[0031] Figure 21 is a schematic diagram of coordinate transformation when the amplitude signal is current according to some embodiments of the present disclosure;

[0032] Figure 22 is a schematic diagram of coordinate transformation when the amplitude signal is voltage according to some embodiments of the present disclosure;

[0033] Figure 23 is a schematic diagram of adjusting the duty cycle by transferring the voltage in the amplitude signal to a rotating coordinate system of order -5 and order 7 according to some embodiments of the present disclosure.

[0034] Figure 24 is a schematic diagram of adjusting the duty cycle by transferring the current and voltage in the amplitude signal to a first-order rotating coordinate system according to some embodiments of the present disclosure.

[0035] Figure 25 is a schematic diagram of adjusting the duty cycle by transferring the current in the amplitude signal to a first-order rotating coordinate system according to some embodiments of the present disclosure.

[0036] Figure 26 is a schematic diagram of adjusting the duty cycle by transferring the voltage in the amplitude signal to a first-order rotating coordinate system according to some embodiments of the present disclosure.

[0037] Figure 27 is a schematic diagram of adjusting the duty cycle by transferring the current in the amplitude signal to a rotating coordinate system of order -5 and order 7 according to some embodiments of the present disclosure.

[0038] Figure 28 is a block diagram of an electronic device according to some embodiments of the present disclosure;

[0039] Figure 29 is a block diagram of a vehicle according to some embodiments of the present disclosure. Detailed Implementation

[0040] To make the above-mentioned objects, features, and advantages of this disclosure more apparent and understandable, some embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0041] The current development of new energy vehicles is moving from a single visual interaction to a multi-sensory interaction integrating sight, hearing, and other senses; and from in-vehicle interaction to external interaction. However, many vehicles currently lack external auditory interaction capabilities.

[0042] In external auditory interaction, the sound-generating method of the motor, the vehicle, the computer program product, and the storage medium provided in some embodiments of this disclosure can be used to fill functional gaps. The advantage lies in the fact that the motor, as the "heart" of a new energy vehicle, produces the most authentic sound from the heart of the vehicle, best representing the voice of the "human" in the car. By enabling the vehicle to generate low-speed sounds, engine noises, anthropomorphic voices, music, and natural background sounds, and applying these to scenarios such as vehicle status prompts, external voice interaction, and external media entertainment, the new energy vehicle can be given a soul while improving vehicle safety, interactive convenience, and fun, creating a warm and intelligent "human" in the car.

[0043] The following description, in conjunction with the accompanying drawings, details some embodiments and application scenarios of the sound-generating method of an electric motor, a vehicle, a storage medium, and a computer program product provided in this disclosure.

[0044] Currently, audio playback in electric vehicles is usually limited to the vehicle interior, where audio equipment is installed inside the cabin to play multimedia audio. However, in some scenarios, users need to transmit information to the outside of the vehicle, which can be done through the motor or external speakers. However, for solutions that use the motor to generate sound, the audio files are relatively simple with few frequency points, so only simple audio can be played. This cannot play multimedia audio and also causes vehicle vibration issues when playing sound.

[0045] Based on this, some embodiments of this disclosure provide a method for generating sound using an electric motor.

[0046] Referring to Figure 1, the method for generating sound using a motor may include the following steps 101-103.

[0047] Step 101: Obtain the audio data to be played.

[0048] In some embodiments of this disclosure, the host assembly can be debugged to collect corresponding audio data to be played from the host audio lines of various music playback systems.

[0049] Step 102: Obtain the pulse width modulation duty cycle based on the audio data and audio injection angle.

[0050] Then, based on this audio data and the audio injection angle, the original motor control is combined to obtain the pulse width modulation duty cycle. This allows the motor controller to control the motor speed, air gap magnetic field, etc., based on the pulse width modulation duty cycle.

[0051] The audio injection angle is a control parameter used to input audio data into the motor's control system. This audio injection angle can be a dynamically adjusted motor parameter or a static parameter predetermined based on the control scheme.

[0052] For example, the injection angle is determined by the initial angle of the motor vector control system, and the injection angle can be expressed by the following formula: theta=K+theta_init;

[0053] Where K is a real number, and theta_init is the initial angle injected, ranging from 0 to 360 degrees.

[0054] K can be determined by the frequency and time of the motor, such as K = 2 × π × f × t, where t is time and f is frequency, which can be negatively correlated with the rotational speed.

[0055] Step 103: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0056] After obtaining the pulse width modulation (PWM) duty cycle, the air gap magnetic field of the motor can be controlled by the PWM duty cycle. This causes the electromagnetic force generated by the motor core to excite electromagnetic vibration. Sound is produced by vibration, thus allowing the motor to emit corresponding musical sounds. The initial setting of the air gap magnetic field is related to the magnetomotive force of the stator and rotor windings and the air gap permeability. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field within the motor's air gap. This disclosure does not limit the magnitude of the air gap magnetic field and the electromagnetic sound.

[0057] This disclosure discloses several embodiments for acquiring audio data to be played; obtaining a pulse width modulation (PWM) duty cycle based on the audio data and the audio injection angle; and controlling the motor to produce sound based on the PWM duty cycle. By acquiring audio data and converting it into a PWM duty cycle for motor control, the audio data is converted into a motor control signal that the drive motor controller can recognize. This enables the motor to play music and sing, and allows for high-complexity sound. Furthermore, by increasing the audio injection angle, the audio data is converted into a corresponding motor control signal based on the audio injection angle, ensuring that the audio data and the original motor control signal are injected in the same dimension, avoiding abnormal vibration caused by motor sound production, and improving the vehicle's NVH performance.

[0058] In some embodiments, referring to FIG2, the sound-generating method of the motor may include the following steps 201-204.

[0059] Step 201: Obtain the audio data to be played.

[0060] In some embodiments of this disclosure, the audio signal to be played can be obtained from the main frequency signal of the multimedia entertainment system through a signal interface with the multimedia entertainment system. This multimedia entertainment system can be an in-vehicle multimedia entertainment system, which can control the vehicle's drive motor to produce sound through user operation.

[0061] In some embodiments of this disclosure, the acquisition of audio signals from a multimedia system may include: music files (various music formats such as MP3, WMA, and FLAC), Musical Instrument Digital Interface (MIDI) files, Bluetooth-transmitted song files, digital signals processed by a chip, analog signals processed by a chip, analog signals amplified by a power amplifier, Pulse Code Modulation (PCM) encoded files, analog or digital signals input from a microphone, etc.; files of various formats are extracted and finally converted into digital signal information according to the corresponding file encoding rules and then transmitted to the controller.

[0062] Since audio signals come from different sources in practical applications, including both analog and digital signals, they can be sampled and converted accordingly.

[0063] In some embodiments of this disclosure, acquiring the audio data to be played includes: determining a target conversion frequency; acquiring the analog output of the multimedia entertainment system; performing analog-to-digital conversion on the analog output based on the target conversion frequency to generate audio data; and acquiring the audio data.

[0064] For example, for analog signals, the target conversion frequency can be determined directly based on the controller's own sampling frequency. The analog output signal of a multimedia entertainment system can be sampled to obtain an analog output quantity. This analog output quantity is then converted from analog to digital according to the target conversion frequency to obtain a digital signal, i.e., audio data; this audio data is then used for motor control.

[0065] In some embodiments of this disclosure, acquiring the audio data to be played includes: acquiring the digital output of the multimedia entertainment system; down-converting the digital output to generate audio data; and acquiring the audio data.

[0066] For digital signals, since the controller's frequency is lower than the signal frequency in the multimedia system, the digital output of the in-vehicle multimedia entertainment system can be directly obtained. This digital output is then down-converted to obtain a signal that the controller can recognize—audio data. This audio data is then used for motor control.

[0067] For example, the step of down-converting the digital output to generate audio data to be played includes: determining a target sampling frequency; and sampling the digital output based on the target sampling frequency to generate audio data.

[0068] In some embodiments of this disclosure, the digital output can be sampled according to the target sampling frequency, thereby downsampling the digital output to generate audio data. When encountering missing audio data points during downsampling, interpolation between the previous and next points is used to obtain the data.

[0069] For example, a 48kHz audio file can be processed by selecting one audio point every three audio data points to obtain 12kHz audio data. Through interpolation, the audio data points are made continuous, resulting in more consistent and accurate audio data and avoiding audio distortion.

[0070] For example, referring to Figure 3, corresponding audio can be acquired from the audio lines of the multimedia system of an electric vehicle, and the signal output by the multimedia system can be converted into audio data that can be recognized by the drive motor controller. This includes the following signal acquisition schemes.

[0071] 1. Power amplifier analog signal ADC (Analog-to-Digital Converter) sampling

[0072] The analog signal output from the power amplifier to the audio system in the vehicle environment is connected to the ADC sampling port of the MCU (Microcontroller Unit). The MCU performs ADC sampling and converts the analog signal from the power amplifier into a digital signal by debugging the underlying drive function of the electric drive system.

[0073] 2. I2S-CANFD (CAN with Flexible Data Rate, Variable Rate Local Area Network)

[0074] The system acquires the I2S (Inter-IC Sound, integrated circuit built-in audio bus) signal source from the external power amplifier in the vehicle environment. By debugging the corresponding low-level drive function on the electric drive system, the I2S signal on the main unit is converted into a digital signal, and the digital signal is sent to the MCU through the CANFD bus.

[0075] 3. A2B-I2S-CANFD

[0076] The system acquires the A2B (Automotive Audio Bus) signal source from the external power amplifier in the vehicle environment. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller. The digital signal is then sent to the MCU via the CANFD bus.

[0077] 4. A2B-I2S-MCU

[0078] The A2B signal source from the external power amplifier in the vehicle environment is obtained. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller.

[0079] For example, multiple components (as shown in Figure 3, the sub-host assembly, the vehicle host, the external power amplifier assembly, and multiple electric drive systems) transmit A2B signals through their respective A2B transceivers.

[0080] The external power amplifier assembly can be connected to the MCU in the electric drive system via a digital signal processing (DSP) chip, and can also be connected to audio equipment via an amplifier.

[0081] In some embodiments of this disclosure, the method further includes: during the acquisition of audio signals, performing down-sampling on analog signals in the multimedia system of the electric vehicle according to the control frequency of the controller; or, during the acquisition of audio signals, performing down-sampling on digital signals in the multimedia system of the electric vehicle according to the control frequency of the controller, and performing interpolation processing between some audio points during the down-sampling process.

[0082] In practical applications, electric drive systems are limited by the switching frequency of power devices (such as Insulated-Gate Bipolar Transistors (IGBTs), Silicon Carbide (SiC), Gallium Nitride (GAN), and Metal-Oxide-Semiconductor Field-Effect Transistors (MOSFETs)) and the control frequency of the control chip. These frequencies are generally lower than the sampling rate of the music file (such as 96kHz, 48kHz, 44.1kHz, and 22.05kHz). However, motor controllers use digital or analog processing methods to sample and convert data, increasing the control frequency of the control chip. This allows them to achieve higher control frequencies (such as 20kHz, 22kHz, 24kHz, and 32kHz) at lower switching frequencies (such as 10kHz, 11kHz, 12kHz, and 16kHz), improving the fidelity of the audio file and achieving higher playback quality.

[0083] For analog signals in the multimedia system of an electric vehicle, the ADC can be used to sample the signal according to the control frequency of the control chip, thereby reducing the frequency to obtain the desired audio signal. Then, the audio signal can be denoised to improve sound quality. For example, an ADC sampling frequency of 22kHz can produce an audio signal with a sampling rate of 22kHz.

[0084] Within a carrier cycle, audio data is sampled at multiple extreme points of the carrier signal. The extreme points of the carrier signal represent the highest and lowest points of the carrier signal count value in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can stably control the motor operation to update the comparison value.

[0085] Furthermore, by sampling at these extreme points to capture changes in the audio signal in a timely manner, and further processing them in a timely manner to become the duty cycle of the motor control signal, the duty cycle is updated in a timely manner at the most recent extreme point to reduce noise and accents caused by control delay. The natural rhythm synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0086] At the current extreme point, the audio signal is sampled and the duty cycle of the control signal is calculated. By updating and adjusting the duty cycle of the control signal at the next extreme point of the carrier signal, the control signal can be adjusted in a timely manner according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampled data of the audio signal, reducing audio distortion that may be caused by signal update delay. This ensures that the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound. The sampling of the audio signal and the calculation of the duty cycle of the control signal at each extreme point, along with timely updates of the duty cycle at the most recent extreme point, increase the sampling and control frequency of the audio signal, improve the system bandwidth, increase the response frequency of the audio signal, and improve the sound reproduction.

[0087] In some embodiments, as shown in FIG12, multiple sampling and multiple updates are used to increase the control frequency of the electronic control chip. Within one carrier cycle, audio data is sampled at multiple extreme points of the carrier signal.

[0088] The extreme points of the carrier signal represent the highest and lowest points of the carrier signal count value in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can stably control the motor operation and update the comparison value.

[0089] Furthermore, by sampling at these extreme points, changes in the audio signal are captured in a timely manner, and further processed in a timely manner to become the duty cycle of the motor control signal. The duty cycle is updated in a timely manner at the most recent extreme point to reduce noise and accents caused by control delay. The natural rhythm synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0090] At the current extreme point, the audio signal is sampled and the duty cycle of the control signal is calculated. By updating and adjusting the duty cycle of the control signal at the next extreme point of the carrier signal, the control signal can be adjusted in a timely manner according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampled data of the audio signal, reducing audio distortion that may be caused by signal update delay. This ensures that the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound. The sampling of the audio signal and the calculation of the duty cycle of the control signal at each extreme point, along with timely updates of the duty cycle at the most recent extreme point, increase the sampling and control frequency of the audio signal, improve the system bandwidth, increase the response frequency of the audio signal, and improve the sound reproduction.

[0091] Step 202: Obtain the coordinate system of the motor.

[0092] For example, the coordinate system of the motor can be obtained first. The coordinate system of the motor can be the field-oriented control coordinate system and the corresponding synchronous rotating coordinate system and stationary coordinate system.

[0093] For example, obtaining the coordinate system of the motor includes: establishing a rotor magnetic field orientation vector control system for the motor; and obtaining at least one of the rotating coordinate system or the stationary coordinate system in the rotor magnetic field orientation vector control system as the coordinate system of the motor.

[0094] To establish a rotor field-oriented vector control system for an electric motor, the three-phase current of the motor can be obtained. The rotor field-oriented vector control system is then established based on the current.

[0095] For example, establishing the field-oriented control coordinate system based on the three-phase current of the motor includes: converting the three-phase current of the motor to a two-phase stationary coordinate system current; converting the two-phase stationary coordinate system current to a synchronous rotating coordinate system current; and fitting the field-oriented control coordinate system based on the synchronous rotating coordinate system current.

[0096] The three-phase currents ia, ib, and ic of the motor can be obtained through current sensors. The three-phase currents are then converted into iα and iβ in a two-phase stationary coordinate system using a Clarke transformation. Then, iα and iβ are converted into iq and id in a dq coordinate system that rotates synchronously with the rotor magnetic field of the synchronous motor using a Park transformation. The current is then fitted into a field-oriented control coordinate system based on this synchronous rotating coordinate system.

[0097] There is only one stationary coordinate system, with no distinction of order. A synchronously rotating coordinate system includes multiple orders. A synchronously rotating coordinate system is a first-order system with M=1, while the rest are higher-order rotating coordinate systems with M not equal to 1.

[0098] For example, in some embodiments of this disclosure, the rotating coordinate system includes at least one n-order rotating coordinate system in the rotor magnetic field orientation vector control system.

[0099] Step 203: Obtain the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system.

[0100] In some embodiments of this disclosure, audio data can be injected into the coordinate system based on the audio injection angle to obtain the pulse width modulation duty cycle for controlling the motor.

[0101] For example, obtaining the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system includes: determining an audio control scalar based on the audio data and the maximum target parameter value; and obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system.

[0102] First, the audio data is mapped to a maximum target parameter value, which is then multiplied by the volume value to determine the audio control scalar. This maximum target parameter value represents the maximum volume of the audio data that can be used for audio control. Harmonic injection can be used to inject the audio control scalar into a frequency-matched coordinate system based on the audio injection angle, thus obtaining the pulse width modulation duty cycle for motor control.

[0103] In some embodiments of this disclosure, obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system includes: determining a first vector value and a second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle, wherein the first vector value corresponds to a first coordinate axis of the coordinate system and the second vector value corresponds to a second coordinate axis of the coordinate system; obtaining a feedback value corresponding to the rotating coordinate system based on the position of the phase current and magnetic field of the motor; and performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle.

[0104] For motor control determination, the audio control scalar can first be decomposed on the two coordinate axes of the rotating coordinate system based on the audio injection angle to obtain the first vector value and the second vector value on the rotating coordinate system. The first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system.

[0105] Then, based on the phase current and magnetic field position of the motor, feedback values ​​corresponding to the corresponding order rotating coordinate system are obtained; the torque control requirements of the motor are determined through the synchronous coordinate system feedback values. Finally, based on the corresponding order rotating coordinate system, closed-loop control is performed on the first vector value, the second vector value, and the corresponding order feedback value. The sound generation control and torque control are integrated through closed-loop control to obtain the pulse width modulation duty cycle.

[0106] For example, the audio vector includes an audio control scalar and an audio injection angle. Determining the first vector value and the second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle includes: allocating the audio current scalar to the rotating coordinate system using the audio injection angle to generate the first vector value and the second vector value.

[0107] The first and second vector values ​​can be determined by assigning the audio current vector to the upper coordinate system of the rotating coordinate system based on the audio injection angle.

[0108] In addition, the audio vector includes an audio control scalar and an audio injection angle. The step of injecting the audio control scalar into the coordinate system based on the audio injection angle to obtain a first vector value and a second vector value also includes: converting the audio current vector into an audio voltage vector.

[0109] In some embodiments of this disclosure, control can also be performed using an audio current vector or an audio voltage vector. The audio voltage vector can be determined by converting the audio current vector into an audio voltage vector.

[0110] In some embodiments, converting the audio current vector into an audio voltage vector includes: obtaining an audio voltage vector based on the audio current vector and equivalent circuit parameters of the motor of the same order; or, combining the audio current vector with a preset scaling factor to generate an audio voltage vector.

[0111] To convert an audio current vector into an audio voltage vector, the impedance model of the motor is determined using the equivalent circuit parameters of the motor of the same order. Then, the audio current vector is converted to voltage and current based on the motor's impedance model to obtain the audio voltage vector. Alternatively, a preset proportionality coefficient between voltage and current can be used for conversion. This preset proportionality coefficient is determined based on parameters such as motor performance, and this disclosure does not limit it. The audio current vector can also be multiplied by the preset proportionality coefficient to generate the audio voltage vector.

[0112] After obtaining the audio scalar, the step of assigning the audio scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value includes: assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value. Using the audio injection angle, the audio voltage scalar and the audio current scalar can be respectively assigned to the two coordinate axes of the rotating coordinate system to obtain the first vector value and the second vector value.

[0113] For example, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate a first vector value and a second vector value includes: injecting the audio voltage scalar and the audio current scalar into at least one rotating coordinate system of order n to obtain the first vector value and the second vector value.

[0114] By injecting audio voltage and current scalars into at least an nth-order rotating coordinate system, a first vector value and a second vector value can be obtained. By simultaneously injecting voltage and current, the audio response bandwidth can be increased, thereby improving the sound quality of audio playback.

[0115] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a first-order rotating coordinate system to obtain a first vector value (voltage vector value and current vector value) corresponding to the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a first-order rotating coordinate system to obtain a second vector value (voltage vector value and current vector value) corresponding to the second perpendicular axis.

[0116] As shown in Figures 4, 5, and 9, the audio frequencies of the audio current vector and audio voltage vector can be determined. Then, based on the first-order rotating coordinate system of the same order as the audio vector determined from the magnetic field orientation control coordinate system, the audio current vector and audio voltage vector are injected into the first-order rotating coordinate system of the same order.

[0117] That is, the audio current scalar and the audio voltage scalar are injected into the first perpendicular axis of the first-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis; the audio current scalar and the audio voltage scalar are injected into the second perpendicular axis of the first-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis.

[0118] For example, based on the audio injection angle, the audio current scalar and audio voltage scalar can be converted into a current vector Is (current Isd, Isq) on the dq axis, or a voltage vector Us (voltage Usd, Usq) on the dq axis. By directly injecting the audio into a control system with normal FOC, the control method is relatively simple.

[0119] Figure 9 shows that in a normal FOC control system, injecting the given current and voltage simultaneously into the dq axis synchronous rotating coordinate system can improve the bandwidth of the audio signal response, enable the response to higher sound frequencies, and improve the sound reproduction.

[0120] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least an n-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a higher-order rotating coordinate system to obtain a first vector value corresponding to the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a higher-order rotating coordinate system to obtain a second vector value corresponding to the second perpendicular axis.

[0121] To avoid motor jitter caused by the addition of signals at the same frequency, the audio current and audio voltage scalars can be injected into a higher-order rotating coordinate system. First, the audio frequencies of the audio current and audio voltage scalars can be determined, and then frequencies higher than the motor jitter frequency can be determined. A higher-order rotating coordinate system with the target frequency can be determined; the audio current and audio voltage scalars are injected into the first perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis; the audio current and audio voltage scalars are injected into the second perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis.

[0122] For example, referring to Figure 6, the order of 7 can be 2, 3, 4, 5, 6, 7... in the positive direction, and 0, -1, -2, -3, -4, -5, -6, -7... in the negative direction: the audio signal is converted into a current vector Is7 (current Isd7, Isq7) on the 7th order dq axis, or a voltage vector Us-5 (voltage Usd-5, Usq-5) on the -5th order dq axis, etc., based on the corresponding vectors, and a coordinate transformation is performed to generate a motor control signal.

[0123] Referring to Figure 4, the audio harmonic injection includes three parts: corresponding coordinate system feedback current extraction, corresponding coordinate system voltage calculation, and coordinate transformation injection into the motor vector control.

[0124] 1. The three-phase currents are transformed into 5dq and 7dq equal coordinates respectively, and then the 5th and 7th harmonic currents are extracted; 2. The target harmonic current value is given according to the amplitude and frequency of the note, and the voltage in the corresponding coordinate system is obtained after passing through the proportional integral (PI) regulator; 3. Then, the voltage in the stationary coordinate system is obtained through the inverse PARK transformation and injected into the original FOC closed-loop control system.

[0125] By controlling the amplitude of the target current harmonic injection into the coordinate system of the motor during multiple synchronous rotations, the amplitude of the notes played by the motor can be controlled; by controlling the frequency of the target current harmonic injection into the coordinate system of the motor during multiple synchronous rotations, the pitch of the notes played by the motor can be controlled.

[0126] Referring to Figures 4, 6, and 7, the process by which the MCU injects the given current into the -5 and 7th order dq axis synchronous rotating coordinate systems is as follows: the audio injection includes three parts: ① extraction of the feedback current in the corresponding coordinate system ② calculation of the voltage in the corresponding coordinate system ③ inverse coordinate transformation and injection into the motor vector control.

[0127] ① Current extraction in corresponding coordinate system: The phase currents of the multi-phase motor are transformed by coordinate transformations of -5dq and +7dq times respectively, and then the -5th harmonic and +7th harmonic currents are extracted.

[0128] ② Calculation of voltage in the corresponding coordinate system: Is is distributed to the dq axis of the nth-order synchronous rotating coordinate system through the angle theta, to obtain the given target harmonic current values ​​(current Id5th, Iq5th, Id7th, Iq7th). After passing through the PI regulator, the voltage in the corresponding coordinate system (voltage Ud5th, Uq5th, Ud7th, Uq7th) is obtained. Harmonic current extraction formula: Id5th=Is*cos(theta), Iq5th=Is*sin(theta); Id7th=Is*cos(theta), Iq7th=Is*sin(theta);

[0129] ③ Coordinate inverse transformation is injected into motor vector control: voltages Ud5th, Uq5th, Ud7th, Uq7th are then transformed by inverse PARK to obtain voltages in the stationary coordinate system (voltages Uα5th, Uβ5th, Uα7th, Uβ7th), which are then injected into the original FOC closed-loop control system.

[0130] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system to obtain a first vector value and a second vector value includes: filtering and dividing the audio voltage scalar and the audio current scalar to generate a high-frequency scalar and a low-frequency scalar; injecting the high-frequency scalar into a synchronous rotating coordinate system by an injection angle to obtain a first vector value (including the value of the perpendicular axis); and injecting the low-frequency scalar into a higher-order rotating coordinate system by an injection angle to obtain a second vector value (including the value of the perpendicular axis), which is used to suppress motor vibration.

[0131] Because high-frequency signals are combined in a low-frequency coordinate system, they are difficult for users to perceive, thus eliminating NVH (Noise, Vibration, and Harshness) problems such as motor vibration and gear grinding that are perceived by the user. Referring to Figure 8, the first and second vectors can be filtered and divided. The vectors with frequencies higher than a preset frequency value are high-frequency vectors, and those with frequencies lower than the preset frequency value are low-frequency vectors. The high-frequency vector is injected into the synchronous rotating coordinate system to obtain the first vector value; the low-frequency vector is injected into the higher-order rotating coordinate system to obtain the second vector value.

[0132] Alternatively, a high-frequency scalar can be injected into a synchronous rotating coordinate system through injection angle allocation to obtain a first vector value, and then the corresponding vector values ​​on the first straight axis and the second cross axis can be obtained to solve NVH problems such as low-frequency vibration of the motor and gear grinding caused by the audio current of the whole vehicle.

[0133] Alternatively, the high-frequency scalar can be directly injected into the second cross axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the second cross axis; the low-frequency vector can be injected into the first straight axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the first straight axis, which is used to solve NVH problems such as low-frequency vibration of the motor and gear grinding caused by the vehicle's audio current. The preset frequency value can be determined according to the actual situation, and this disclosure does not limit it.

[0134] Using a higher-order rotating coordinate system increases control complexity, but the advantage is that it reduces the likelihood of motor vibrations at the same frequency during sound reproduction. Low-frequency vibrations or jitter that may occur with low-frequency audio signals on a first-order dq-axis synchronous rotating coordinate system are mitigated in a higher-order dq-axis synchronous rotating coordinate system. Because the rotation frequency is faster than in the first-order dq-axis synchronous rotating coordinate system, the duration of vibration points is dispersed. With multiple rotations along one rotor revolution, the corresponding vibration point time becomes shorter and the duration is reduced, almost eliminating jitter and resolving the jitter problem caused by low-frequency audio signals.

[0135] This solution can resolve NVH issues caused by high-order currents in the vehicle. By extracting NVH noise and injecting it back into the nth-order dq-axis synchronous rotating coordinate system, the motor emits sound to eliminate NVH noise.

[0136] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least one n-order rotating coordinate system to obtain a first vector value and a second vector value includes: filtering and dividing the audio voltage scalar and the audio current scalar to generate a high-frequency vector and a low-frequency vector; injecting the high-frequency vector into the intersection axis of at least one n-order rotating coordinate system to obtain a second vector value; and injecting the low-frequency vector into the direct axis of at least one n-order rotating coordinate system to obtain a first vector value.

[0137] In some embodiments, the first and second vectors can be filtered and frequency-divided, with the vectors having frequencies higher than a preset frequency value as high-frequency vectors and frequencies not higher than the preset frequency value as low-frequency vectors. The high-frequency vector is injected into the intersection axis of at least one n-order rotating coordinate system to obtain the second vector value; the low-frequency vector is injected into the direct axis of at least one n-order rotating coordinate system to obtain the first vector value. This eliminates motor vibration.

[0138] In one embodiment of this disclosure, the step of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes: performing closed-loop control based on the first vector value, the second vector value, and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; transforming the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain transformed first voltage vector value and second voltage vector value; superimposing the transformed first voltage vector value and second voltage vector value onto the torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and obtaining the pulse width modulation duty cycle based on the feedback value and the superimposed first voltage vector value and second voltage vector value.

[0139] In some embodiments of this disclosure, closed-loop control can be performed first based on the first vector value and the second vector value to determine the corresponding first voltage vector value and second voltage vector value when acting on the rotating coordinate system of motor control. Then, the first voltage vector value and the second voltage vector value are subjected to inverse coordinate transformation to obtain the control quantity in the stationary coordinate system, that is, to obtain the transformed first voltage vector value and second voltage vector value, so as to determine the control quantity that needs to be superimposed.

[0140] The transformed first and second voltage vector values ​​are then superimposed onto the torque control coordinate system to obtain superimposed first and second voltage vector values. This allows the audio control signal to be superimposed onto the torque control signal, enabling simultaneous driving and sound generation for motor control. Finally, the feedback value, the superimposed first and second voltage vector values ​​are combined to obtain the pulse width modulation duty cycle. This simultaneous driving and sound generation control method ensures vehicle stability by generating sound without affecting the motor's operation.

[0141] In some embodiments of this disclosure, obtaining the pulse width modulation duty cycle based on the feedback value, the first voltage vector value, and the second voltage vector value includes:

[0142] The first and second vector values ​​(voltage vector values) are inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. These transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain the superimposed first and second voltage vector values. Finally, the pulse width modulation duty cycle is obtained using pulse width modulation based on these superimposed first and second voltage vector values.

[0143] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0144] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain the transformed first voltage vector value and second voltage vector value; superimpose the transformed first voltage vector value and second voltage vector value onto the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; and obtain the pulse width modulation duty cycle based on the superimposed first voltage vector value and second voltage vector value through pulse width modulation.

[0145] Step 204: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0146] Once the pulse width modulation duty cycle is obtained, the operating state of the motor can be controlled based on the pulse width modulation duty cycle, enabling the motor to emit sound.

[0147] Some embodiments of this disclosure also provide a sound recognition method for motor sound, referring to FIG13, the method may include the following steps 301-304.

[0148] Step 301: Determine the target conversion frequency. Within one carrier cycle, sample and convert audio data through at least one extreme point of the carrier signal of the motor's bridge arm. The extreme point includes at least one of a peak or a trough.

[0149] The target conversion frequency can be determined based on the operating frequency of the sound-generating motor. Within one carrier cycle, audio data is sampled and converted through at least one extreme point of the carrier signal of the motor's bridge arm, where the extreme point includes at least one of a peak or a trough.

[0150] Referring to Figure 12, audio data is sampled at multiple extreme points of the carrier signal within one carrier cycle. The extreme points of the carrier signal represent the highest and lowest points of the carrier signal count value in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can stably control the motor operation to update the comparison value.

[0151] Furthermore, by sampling at these extreme points to capture changes in the audio signal in a timely manner, and further processing them in a timely manner to become the duty cycle of the motor control signal, the duty cycle is updated in a timely manner at the most recent extreme point to reduce noise and accents caused by control delay. The natural rhythm synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0152] Step 302: Obtain the analog output of the multimedia entertainment system.

[0153] Step 303: Based on the target conversion frequency, perform analog-to-digital conversion on the analog output to generate audio data.

[0154] Step 304: Obtain the audio data.

[0155] Then, the analog output of the multimedia entertainment system is acquired, and analog-to-digital conversion (A / D) sampling is performed according to the control frequency of the electronic control chip. This reduces the frequency of the original waveform signal to obtain the required digital audio signal, generating audio data. Noise reduction processing is then applied to the audio signal to improve sound quality. For example, an ADC sampling frequency of 22kHz can yield a 22kHz audio digital signal. The identified audio data is then processed for sound generation.

[0156] By increasing the sampling frequency of the digital audio signal, the sampling distortion of the digital audio signal is reduced at the source, and the music fidelity of the audio file is improved, resulting in a higher playback quality.

[0157] Some embodiments of this disclosure also provide another method for sound recognition of motor sounds. Referring to FIG14, the method may include the following steps 401-403.

[0158] Step 401: Obtain the digital output of the multimedia entertainment system.

[0159] For example, one can first obtain the digital output of the multimedia entertainment system, that is, the audio data of the digital output of the multimedia entertainment system.

[0160] Step 402: Reduce the frequency of the digital output. Within one carrier cycle, sample and convert the audio data through at least one extreme point of the carrier signal of the motor's bridge arm. The extreme point includes at least one of the peaks or troughs, and generate audio data.

[0161] The digital output frequency is down-converted to match the frequency of the motor controller. A lower sampling rate audio digital signal is obtained by down-converting the original audio digital signal from its higher sampling rate. Within one carrier cycle, the audio data is sampled and converted through at least one extreme point of the motor's bridge arm carrier signal; the converted data is the audio data. For audio points not present during the down-conversion process, interpolation between the previous and next points is used. This disclosure does not limit the interpolation algorithm.

[0162] Step 403: Obtain the audio data.

[0163] The sampled audio data is acquired for subsequent sound processing.

[0164] By downsampling, the digital signal output by the multimedia system can be directly converted from the original signal, avoiding signal distortion and improving the quality of audio acquisition.

[0165] Some embodiments of this disclosure also provide a method for generating sound from a motor. Referring to FIG15, the method may include the following steps 501-504.

[0166] Step 501: Obtain the audio data to be played.

[0167] Step 502: Determine the audio control scalar based on the audio data, volume value, and maximum target parameter value.

[0168] For example, by mapping the audio data, volume value, and maximum target parameter value to the dimensionless motor control quantity, different styles of audio can be mapped to a unified sound range, keeping the volume of the sound stable and avoiding fluctuations in sound volume.

[0169] Step 503: Based on the audio control scalar and the audio injection angle, determine the first vector value and the second vector value in the rotating coordinate system. The first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system.

[0170] For example, based on the audio injection angle, the audio control scalar is assigned on a rotating coordinate system to determine a first vector value and a second vector value. The first vector value corresponds to the first coordinate axis of the rotating coordinate system, and the second vector value corresponds to the second coordinate axis of the rotating coordinate system.

[0171] For example, the audio control scalar includes an audio current scalar, and determining the first vector value and the second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle includes: allocating the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate the first vector value and the second vector value.

[0172] The first and second vector values ​​can be determined by assigning the audio current vector to the upper coordinate system of the rotating coordinate system based on the audio injection angle.

[0173] Furthermore, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate a first vector value and a second vector value includes: injecting the audio voltage scalar and the audio current scalar into at least one rotating coordinate system of order n to obtain the first vector value and the second vector value.

[0174] Step 504: Based on the rotating coordinate system, the first vector value and the second vector value are superimposed to obtain the pulse width modulation duty cycle.

[0175] In the rotating coordinate system, the first vector value and the second vector value are subjected to open-loop control. The first vector value and the second vector value are directly superimposed on the existing voltage or current in the rotating coordinate system to obtain the corresponding pulse width modulation duty cycle.

[0176] For example, the closed-loop control of the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes:

[0177] Closed-loop control is performed based on the first vector value, the second vector value, and the feedback value to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0178] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system by inverse coordinate transformation to obtain the transformed first voltage vector value and second voltage vector value;

[0179] The transformed first voltage vector value and second voltage vector value are superimposed on the torque control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value.

[0180] Based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0181] Alternatively, the first and second vector values ​​can be inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values; the transformed first and second voltage vector values ​​can be superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values; and the pulse width modulation duty cycle can be obtained by pulse width modulation based on the superimposed first and second voltage vector values.

[0182] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0183] Alternatively, the first voltage vector value and the second voltage vector value are inversely transformed to a stationary coordinate system to obtain the transformed first voltage vector value and second voltage vector value; the transformed first voltage vector value and second voltage vector value are superimposed on the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; the pulse width modulation duty cycle is obtained by pulse width modulation based on the superimposed first voltage vector value and second voltage vector value.

[0184] In some embodiments of this disclosure, the first and second voltage vector values ​​can be combined first and second to determine the corresponding first and second voltage vector values ​​acting on the rotating coordinate system of motor control. Then, the first and second voltage vector values ​​are subjected to inverse coordinate transformation to obtain the control quantity in the stationary coordinate system, i.e., the transformed first and second voltage vector values, to determine the control quantity to be superimposed. The transformed first and second voltage vector values ​​are then superimposed onto the torque control coordinate system to obtain the superimposed first and second voltage vector values. This allows the audio control signal to be superimposed onto the torque control signal. Finally, the superimposed first and second voltage vector values ​​are combined to obtain the pulse width modulation duty cycle.

[0185] Alternatively, the first and second vector values ​​can be inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. The transformed first and second voltage vector values ​​are then superimposed onto the torque control coordinate system to obtain the superimposed first and second voltage vector values. Based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0186] Alternatively, the first and second voltage vector values ​​can be inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. The transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain the superimposed first and second voltage vector values. Based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation.

[0187] To enable those skilled in the art to clearly understand the process of the embodiments disclosed herein, the following example is used for illustration:

[0188] Step 1: Establish a rotor magnetic field-oriented FOC vector control system based on the vehicle motor.

[0189] A rotor field-oriented (FOC) vector control system can be established based on a permanent magnet synchronous motor (PMSM). Alternatively, a rotor field-oriented FOC vector control system can be established based on an asynchronous motor. Unlike PMSMs, which already possess a rotor magnetic field, establishing a rotor excitation current is essential for asynchronous motors.

[0190] When playing music, whether driving or parked, the stator excitation current isd of the asynchronous motor must first be supplied to establish the rotor flux linkage ψr. Even if the torque is zero, the minimum non-zero stator excitation current that the motor can control must be maintained to consistently establish the rotor magnetic field; otherwise, the sound volume will be very low. A rotor excitation field-oriented FOC vector control system can also be established based on an electrically excited synchronous motor.

[0191] Unlike permanent magnet synchronous motors, which already have a rotor magnetic field, electrically excited motors require a rotor excitation current to play audio. When playing music, whether the vehicle is moving or parked, a current (if) must first be supplied to the motor's excitation winding to establish a rotor magnetic field. This rotor excitation magnetic field must be maintained throughout the music playback process; otherwise, the sound volume will be very low.

[0192] Step 2: Extracting the audio signal. As shown in Figure 9, the music file can be a song file (various music formats such as mp3, wma, wav, flac, ape), a MIDI file, a song file transmitted via Bluetooth, a digital signal processed by the music chip, an analog signal processed by the chip, an analog signal amplified by the power amplifier, a PCM encoded file, an analog input from the microphone, or a digital signal corresponding to the music file, etc.

[0193] Files of various formats are extracted according to their corresponding file encoding rules, and then the channels are separated to obtain mono music signals. The sampling points are discretized or downsampled according to the playback frequency to obtain the amplitude of the corresponding audio signal sampling points (for example, MP3 files have a sampling frequency of 44.1kHz, and the amplitude of each point at that sampling frequency is obtained according to the 44.1kHz sampling frequency). Finally, the digital signal information is converted into digital signal information and transmitted to the controller.

[0194] Audio signal conversion process: The motor drive system is limited by the switching frequency of power devices (IGBT, SiC, GAN, MOSFET, etc.) and the control frequency of the control chip, which will generally be lower than the sampling rate of the music file (96kHz, 48kHz, 44.1kHz, 22.05kHz).

[0195] The motor controller uses dual sampling and dual updates to improve the control frequency of the electronic control chip, thereby achieving a higher control frequency (20kHz, 22kHz, 24kHz, 32kHz, etc.) at a lower switching frequency (10kHz, 11kHz, 12kHz, 16kHz, etc.), improving the music reproduction of audio files, and achieving a higher playback quality.

[0196] Step 3: The controller converts and processes the audio signal to obtain the corresponding amplitude dimension, thus obtaining a signal that the motor drive system can control. The audio signal is injected into the synchronous rotating coordinate system or stationary coordinate system controlled by the motor using an audio injection method.

[0197] As shown in Figure 10, by using the audio digital signal injection method, the MCU injects at least one of the given current or voltage into the nth-order dq-axis synchronous rotating coordinate system or stationary coordinate system controlled by the motor.

[0198] As shown in Figures 10 and 11, the controller performs amplitude mapping processing on the audio signal: the extracted audio signal is processed in per-unit format, and then the maximum current amplitude that the current controller can use to respond to music is multiplied with the per-unit processed audio signal and volume value for conversion processing to obtain the current Is in amplitude dimension corresponding to the controller. Is is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system (n is a real number) through the angle theta, to obtain the signals isdn and isqn that the motor drive system can control.

[0199] For example, voltage needs to be converted by a current-voltage module to obtain voltage control signals Usdn and Usqn through the current-voltage conversion module. The current-voltage conversion module can be a pure proportional coefficient relationship or a proportional-derivative relationship, etc.

[0200] Is distributes current through the angle theta:

[0201] Formula 1: Isdn=Is*cos(theta), Isqn=Is*sin(theta), theta=K*θ+theta_init, K∈real number, θ is the electric angle of the rotor magnetic field, and theta_init is the initial angle of injection, ranging from 0 to 360 degrees.

[0202] Current-to-voltage conversion process:

[0203] Formula 2 for permanent magnet synchronous motor: Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us, Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*ψf]*Kp / Us, ψd=*Ld*isd+ψf,ψq=Lq*isq, s is the variable of Laplace transform, Kp is not equal to zero.

[0204] Asynchronous motor formula three: Usd=[(R+s*Ls)*isd-we*Ls*isq+s*Lm*ird-we*Lm*irq]*Kp / Us, Usq=[(R+s*Ls)*isq+we*Ls*isd+we*Lm*ird+s*Lm*irq]*Kp / Us, ψsd=Ls*isd+Lm*ird, ψsq=Ls*isq+Lm*irq, ψr=Lm*isd / (1+s*Lr / Rr),

[0205] The rotor d-axis current ird = -s*ψr / Rr, the rotor q-axis current irq = -Lm*isq / Lr, s is the variable of the Laplace transform, and Kp is not equal to zero.

[0206] Formula 4 for electrically excited synchronous motors: Usd=[isd*(Rs+s*Ld)-we*Lq*isq]*Kp / Us, Usq=[isq*(Rs+s*Lq)+we*Ld*isd+we*Lmd*if]*Kp / Us,

[0207] ψd=*Ld*isd+Lmd*if,ψq=Lq*isq, s is the variable of the Laplace transform, and Kp is not equal to zero.

[0208] Alternatively, Formula 5: Usd = isd * Kp, Usq = isq * Kp, where Kp is not equal to zero.

[0209] The current Is and voltage Us must be less than the maximum allowable current and voltage of the system.

[0210] By controlling the amplitude of at least one of the target current harmonics or voltage harmonics injected into the nth-order synchronous rotating coordinate system of the motor, the amplitude and frequency of the notes played by the motor can be controlled, and ultimately the pitch of the notes played by the motor can be controlled.

[0211] Audio signals can be converted to a dq synchronous rotating coordinate system, with the direction being either positive or negative. For example, in the positive direction, the audio signal can be converted into a current vector Is (current Isd, Isq) and a voltage vector Us (voltage Usd, Usq) on the dq axis. The current and voltage are then injected into the first-order dq-axis synchronous rotating coordinate system. For a permanent magnet synchronous motor control system, the current and voltage are simultaneously injected into the dq-axis synchronous rotating coordinate system to achieve high music playback quality, as shown in Figure 11.

[0212] Audio signals can be converted into current vectors Is (current Isdn, Isqn) and voltage vectors Us (voltage Usdn, Usqn) on the dq axis in an n-order dq-axis synchronous rotating coordinate system, where n ≠ 1 and are real numbers. The directions can be positive or negative (for example, the order can be positive n = 2, 3, 4, 5, 6, 7..., and negative n = 0, -1, -2, -3, -4, -5, -6, -7... etc.).

[0213] For example, the audio signal can be converted into a current vector Is7 (current Isd7, Isq7) on the 7th order dq axis or a voltage vector Us-5 (voltage Usd-5, Usq-5) on the -5th order dq axis, etc., and at least one of the current or voltage is injected into a synchronously rotating coordinate system of the nth order dq axis. Using a higher-order rotating coordinate system increases the control complexity, but the advantage is that it is less likely to cause synchronous vibration of the motor during the sound reproduction process.

[0214] Audio harmonic injection consists of three parts: ① extraction of feedback current in the corresponding coordinate system ② calculation of voltage in the corresponding coordinate system ③ inverse coordinate transformation and injection into motor vector control.

[0215] For example, ① Corresponding coordinate system feedback current extraction: The three-phase current is transformed by 5dq and 7dq times respectively, and then the 5th harmonic and 7th harmonic currents are extracted; ② Corresponding coordinate system voltage calculation: The target harmonic current value is given according to the amplitude and frequency of the note, and the voltage in the corresponding coordinate system is obtained after passing through the PI regulator; ③ Inverse coordinate transformation is injected into motor vector control: Then the voltage in the stationary coordinate system is obtained by inverse PARK transformation and injected into the original FOC closed-loop control system.

[0216] The audio signal can also be directly converted into a voltage vector Uαβ (voltages Usα, Usβ) on the αβ axis and injected into the original FOC closed-loop control system. The control method is relatively simple, but the disadvantage is that the audio signal creates current vectors in two directions on the αβ axis, which can affect the motor torque under driving conditions, causing excessive torque fluctuations. For parking conditions, the influence of the current vectors in two directions on the αβ axis is related to the rotor; when perpendicular to the rotor, it can easily produce loud motor noise, but the motor is also prone to severe vibration.

[0217] Step 4: The controller controls the audio-converted signal. The electromagnetic force generated by the air gap magnetic field acting on the motor core excites electromagnetic vibration. Sound is produced by vibration, thus allowing the motor to emit corresponding musical sounds. The air gap magnetic field is determined by the magnetomotive force of the stator and rotor windings and the air gap permeability. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field within the motor's air gap.

[0218] Some embodiments of this disclosure also provide a method for generating sound from a motor. Referring to FIG16, the method may include the following steps 1601-1603.

[0219] Step 1601: Perform per-unit processing on the audio data to be played to generate per-unit values.

[0220] In some embodiments of this disclosure, the host assembly can be debugged to collect corresponding audio data to be played from the host audio lines of various music playback systems. Based on the performance of the motor, the audio data can be processed to generate per-unit values.

[0221] Step 1602: Obtain the pulse width modulation duty cycle based on the per-unit value and the coordinate system of the motor.

[0222] For example, by combining the per-unit value with the motor's coordinate system, the motor can be controlled to generate a pulse width modulation duty cycle.

[0223] Step 1603: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0224] For example, the motor controller can control the motor speed, air gap magnetic field, etc. based on the pulse width modulation duty cycle, so that the motor makes a sound.

[0225] Some embodiments of this disclosure generate per-unit values ​​by performing per-unit processing on the audio data to be played; the pulse width modulation duty cycle is obtained based on the per-unit value and the motor's coordinate system; and the motor is controlled to produce sound based on the pulse width modulation duty cycle. By performing per-unit processing on the audio data to be played, the audio data is mapped to a dimensionless control signal, ensuring that the audio control scalar based on the per-unit value is within a controllable range, preventing overvoltage or overcurrent, and keeping the motor's sound production within a controllable range, thus guaranteeing continuous sound from the motor.

[0226] In some embodiments, referring to FIG17, the method may include the following steps 1701-1705:

[0227] Step 1701: Obtain the audio data to be played;

[0228] In some embodiments of this disclosure, the audio signal to be played can be obtained from the main frequency signal of the multimedia entertainment system through a signal interface with the multimedia entertainment system. This multimedia entertainment system can be any multimedia entertainment system with a motor, such as an in-vehicle multimedia entertainment system, which can control the vehicle's drive motor to produce sound through user operation.

[0229] In some embodiments of this disclosure, the acquisition of audio signals from the multimedia system may include: music files (various music format files MP3, wma, flac), MIDI files, Bluetooth-transmitted song files, digital signals processed by the chip, analog signals processed by the chip, analog signals amplified by the power amplifier, PCM encoded files, analog or digital signals input from the microphone, etc.; files of various formats are extracted and finally converted into digital signal information according to the corresponding file encoding rules and then transmitted to the controller.

[0230] Since audio signals come from different sources in practical applications, including both analog and digital signals, they can be sampled and converted accordingly.

[0231] In some embodiments of this disclosure, acquiring the audio data to be played includes: determining a target conversion frequency; acquiring the analog output of the multimedia entertainment system; performing analog-to-digital conversion on the analog output based on the target conversion frequency to generate audio data; and acquiring the audio data.

[0232] For analog signals, the target conversion frequency can be determined directly based on the controller's own sampling frequency. The analog output signal of a multimedia entertainment system can be sampled to obtain the analog output quantity. This analog output quantity is then converted from analog to digital according to the target conversion frequency to obtain a digital signal, i.e., audio data; this audio data is then used for motor control.

[0233] In some embodiments of this disclosure, acquiring the audio data to be played includes: acquiring the digital output of the multimedia entertainment system; down-converting the digital output to generate audio data; and acquiring the audio data.

[0234] For digital signals, since the controller's frequency is lower than the signal frequency in the multimedia system, the digital output of the in-vehicle multimedia entertainment system can be directly obtained. This digital output is then down-converted to obtain a signal that the controller can recognize—audio data. This audio data is then used for motor control.

[0235] For example, the step of down-converting the digital output to generate audio data to be played includes: determining a target sampling frequency; and sampling the digital output based on the target sampling frequency to generate audio data.

[0236] In some embodiments of this disclosure, the digital output can be sampled according to the target sampling frequency, thereby downsampling the digital output to generate audio data. When encountering missing audio data points during downsampling, interpolation between the previous and next points is used. For example, for an audio file with a sampling rate of 48kHz, selecting one audio point every three audio data points yields audio data with a sampling rate of 12kHz.

[0237] The corresponding audio can be acquired from the audio circuitry of the electric vehicle's multimedia system, and the signal output from the multimedia system can be converted into audio data that the drive motor controller can recognize. This includes the following signal acquisition schemes:

[0238] 1. Power amplifier analog signal ADC sampling

[0239] The analog signal output from the power amplifier to the audio system in the vehicle environment is connected to the ADC sampling port of the MCU. The MCU performs ADC sampling and converts the analog signal from the power amplifier into a digital signal by debugging the underlying drive function of the electric drive system.

[0240] 2. I2S-CANFD

[0241] The system acquires the I2S (Inter-IC Sound, integrated circuit built-in audio bus) signal source from the external power amplifier in the vehicle environment. By debugging the corresponding low-level drive function on the electric drive system, the I2S signal on the main unit is converted into a digital signal, and the digital signal is sent to the MCU through the CANFD bus.

[0242] 3. A2B-I2S-CANFD

[0243] The system acquires the A2B (Automotive Audio Bus) signal source from the external power amplifier in the vehicle environment. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller. The digital signal is then sent to the MCU via the CANFD bus.

[0244] 4. A2B-I2S-MCU

[0245] The A2B signal source from the external power amplifier in the vehicle environment is obtained. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal is converted into an I2S signal and then into a digital signal that can be recognized by the drive motor controller.

[0246] In some embodiments of this disclosure, the method further includes: during the acquisition of audio signals, performing down-sampling on analog signals in the multimedia system of the electric vehicle according to the control frequency of the controller; or, during the acquisition of audio signals, performing down-sampling on digital signals in the multimedia system of the electric vehicle according to the control frequency of the controller, and performing interpolation processing between some audio points during the down-sampling process.

[0247] In practical applications, electric drive systems are limited by the switching frequency of power devices (such as IGBTs, SiC, GANs, and MOSFETs) and the control frequency of the control chip, which are generally lower than the sampling rate of music files (such as 96kHz, 48kHz, 44.1kHz, and 22.05kHz). However, motor controllers use dual sampling and dual updates to increase the control frequency of the electronic control chip, thereby achieving a higher control frequency (such as 20kHz, 22kHz, 24kHz, and 32kHz) at a lower switching frequency (such as 10kHz, 11kHz, 12kHz, and 16kHz), improving the music reproduction of audio files and achieving higher playback quality.

[0248] For example, referring to Figure 18, in a music motor application scenario, the main control chip needs to receive high-speed, real-time external audio signals. Hardware connection scheme 1: Vehicle head unit A2B—Amplifier A2B (e.g., external amplifier assembly)—Rear drive assembly A2B (e.g., rear drive control board)—Front drive assembly A2B (e.g., front drive control board). Hardware connection scheme 2: Vehicle head unit A2B—Amplifier A2B—Front drive assembly A2B—Rear drive assembly A2B.

[0249] For example, either the front drive control board or the rear drive control board includes: an MCU, a digital-to-digital converter (DPC), and an A2B transceiver. The DPC is connected to both the MCU and the A2B transceiver.

[0250] For example, the MCU of the front drive control board is connected to the right front motor through the right front drive module and to the left front motor through the left front drive module.

[0251] For example, the MCU of the rear drive control board is connected to the right rear motor through the right rear drive module and to the left rear motor through the left rear drive module.

[0252] The solution is described as follows:

[0253] 1. Users interact with the in-vehicle computer (such as a PAD) or other devices to transmit information to the host computer;

[0254] 2. The vehicle-mounted unit performs music scene recognition;

[0255] 3. The host computer confirms the music scene and sends out the corresponding audio data;

[0256] 4. The front and rear drive electronic control systems receive A2B signals via the AD2428 transceiver and parse them into I2S signals;

[0257] 5. Digital conversion chips (Complex Programmable Logic Devices (CPLDs), AD21489, etc.) receive I2S signals and forward them to the main MCU chip via Serial Peripheral Interface (SPI) signals.

[0258] 6. The MCU main chip receives SPI signals to realize the data transmission of audio data from the user interface to the electronic control.

[0259] 7. The main control chip executes a hybrid PWM algorithm to drive the motor to play audio.

[0260] Audio acquisition using the above method reduces development costs. Leveraging the characteristics of the A2B bus, new downstream nodes can be added directly. It also reduces cable costs, requiring only a single twisted-pair cable. Furthermore, it offers good synchronization stability, with deterministic data latency between nodes.

[0261] For analog signals in the multimedia system of an electric vehicle, the ADC can be used to sample the signal according to the control frequency of the control chip, thereby reducing the frequency to obtain the desired audio signal. Then, the audio signal can be denoised to improve sound quality. For example, an ADC sampling frequency of 22kHz can produce an audio signal with a sampling rate of 22kHz.

[0262] Within a carrier cycle, audio data is sampled at multiple extreme points of the carrier signal. The extreme points of the carrier signal represent the highest and lowest points of the carrier signal count value in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can stably control the motor operation to update the comparison value.

[0263] Furthermore, by sampling at these extreme points, changes in the audio signal are captured in a timely manner, and further processed in a timely manner to become the duty cycle of the motor control signal. The duty cycle is updated in a timely manner at the most recent extreme point to reduce noise and accents caused by control delay. The natural rhythm synchronization between sampling at extreme points and updating the control signal at the most recent extreme point helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes in the original audio signal.

[0264] At the current extreme point, the audio signal is sampled and the duty cycle of the control signal is calculated. By updating and adjusting the duty cycle of the control signal at the next extreme point of the carrier signal, the control signal can be adjusted in a timely manner according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampled data of the audio signal, reducing audio distortion that may be caused by signal update delay. This ensures that the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound. The sampling of the audio signal and the calculation of the duty cycle of the control signal at each extreme point, along with timely updates of the duty cycle at the most recent extreme point, increase the sampling and control frequency of the audio signal, improve the system bandwidth, increase the response frequency of the audio signal, and improve the sound reproduction.

[0265] Step 1702: Perform per-unit processing on the audio data to be played to generate per-unit values;

[0266] For example, the audio data to be played can be processed in per-unit format to calculate its corresponding per-unit value. By converting and processing the audio signal, the corresponding amplitude dimension of the controller can be obtained to ensure that the control signal is not over-voltage or over-current.

[0267] For example, the step of performing per-unit processing on the audio data to generate per-unit values ​​includes: performing per-unit processing on the audio data based on the audio amplitude values ​​to obtain per-unit values.

[0268] For example, audio data can be processed in per-unit format based on the audio data amplitude, so that the amplitude dimension can be mapped based on the maximum volume value of the audio processing corresponding to the controller, and the extracted audio data can be processed in per-unit format to obtain per-unit values.

[0269] Step 1703: Obtain the audio control scalar based on the per-unit value, and obtain the pulse width modulation duty cycle based on the audio control scalar.

[0270] For example, per-unit values ​​can be converted to obtain audio control scalars; then, the audio control scalars can be injected to obtain pulse width modulation duty cycle.

[0271] For example, obtaining the audio control scalar based on the per-unit value includes: determining the audio control scalar based on the product of the per-unit value, the volume value, and the maximum target parameter value.

[0272] For example, the per-unit value and the maximum target parameter value can be multiplied together, and the product can be used to determine the audio control scalar.

[0273] For example, the maximum target parameter value is the maximum current amplitude or the maximum voltage amplitude, and the step of determining the audio control scalar based on the product of the per-unit value, the volume value, and the maximum target parameter value includes: determining that the product of the maximum current amplitude, the volume value, and the per-unit value is the audio control scalar.

[0274] The audio data processed in per-unit format (i.e., the per-unit value) is multiplied by the maximum current amplitude for conversion, resulting in a mapping of the maximum current amplitude during audio playback by the controller. This yields an audio control scalar, ensuring that subsequent volume control operates at the same level, thus guaranteeing stable sound volume. The audio control scalar includes at least one of an audio current control scalar or an audio voltage control scalar.

[0275] In some embodiments of this disclosure, obtaining the audio control scalar based on the per-unit value and obtaining the pulse width modulation duty cycle based on the audio control scalar includes: establishing a rotor excitation current; establishing a coordinate system of the motor based on the rotor excitation current; obtaining the audio control scalar based on the per-unit value; and injecting the audio control scalar into the coordinate system to obtain the pulse width modulation duty cycle.

[0276] In this embodiment, a rotor excitation current can be established for the motor rotor to ensure the sound output of the motor. Preferably, the rotor excitation current is greater than or equal to the rated excitation current and less than the maximum excitation current;

[0277] For example, establishing the rotor excitation current includes determining the excitation current value based on the amplitude of the motor's sound output; and establishing the rotor excitation current corresponding to the excitation current value.

[0278] For example, the amplitude of the motor's sound output can be determined first, as this amplitude is related to the motor's operating performance. The excitation current value is then determined based on the magnitude of the sound output amplitude, establishing a mapping relationship between the excitation current and the sound output amplitude. Finally, the rotor excitation current corresponding to the excitation current value is established.

[0279] For example, determining the excitation current value based on the sound volume amplitude includes: determining the excitation current value by multiplying the sound volume amplitude by a preset volume ratio.

[0280] For example, the volume amplitude can be multiplied by a preset volume ratio, and the product of the volume amplitude and the preset volume ratio can be used to determine the excitation current value. The preset volume ratio can be determined based on the motor's sound performance; the louder the sound, the larger the preset volume ratio.

[0281] The coordinate system of the motor can be established based on the rotor excitation current. This coordinate system can be a field-oriented control coordinate system and its corresponding synchronous rotating and stationary coordinate systems.

[0282] For example, obtaining the coordinate system of the motor includes: establishing a rotor magnetic field orientation vector control system for the motor; and obtaining at least one of the rotating coordinate system or the stationary coordinate system in the rotor magnetic field orientation vector control system as the coordinate system of the motor.

[0283] To establish a rotor field-oriented vector control system for an electric motor, the three-phase current of the motor can be obtained. The rotor field-oriented vector control system is then established based on the current.

[0284] For example, establishing the field-oriented control coordinate system based on the three-phase current of the motor includes: converting the three-phase current of the motor to a two-phase stationary coordinate system current; converting the two-phase stationary coordinate system current to a synchronous rotating coordinate system current; and fitting the field-oriented control coordinate system based on the synchronous rotating coordinate system current.

[0285] The three-phase currents ia, ib, and ic of the motor can be obtained through current sensors. The Clarke transformation (stationary coordinate transformation) is used to convert the three-phase currents into iα and iβ in a two-phase stationary coordinate system. Then, the Park transformation (synchronous rotating coordinate transformation) is used to convert iα and iβ into iq and id in a dq coordinate system that rotates synchronously with the rotor magnetic field of the synchronous motor. The current is then fitted into a field-oriented control coordinate system based on this synchronous rotating coordinate system.

[0286] For example, in some embodiments of this disclosure, the rotating coordinate system includes at least one n-order rotating coordinate system in the rotor magnetic field orientation vector control system.

[0287] Corresponding to the coordinate system described above, the audio control scalar is injected to obtain the pulse width modulation duty cycle. Audio data can be injected into the coordinate system to obtain the pulse width modulation duty cycle for controlling the motor.

[0288] For example, injecting the audio control scalar to obtain the pulse width modulation duty cycle includes: based on the audio data, the audio injection angle, and the coordinate system.

[0289] The pulse width modulation duty cycle is obtained by injecting audio data into the coordinate system based on the audio injection angle.

[0290] In some embodiments of this disclosure, obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system includes: determining a first vector value and a second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle, wherein the first vector value corresponds to a first coordinate axis of the coordinate system and the second vector value corresponds to a second coordinate axis of the coordinate system; obtaining a feedback value corresponding to the rotating coordinate system based on the position of the phase current and magnetic field of the motor; and performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle.

[0291] For motor control determination, the audio control scalar can first be decomposed on the two coordinate axes of the rotating coordinate system based on the audio injection angle to obtain the first vector value and the second vector value on the rotating coordinate system. The first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system.

[0292] Then, based on the phase current and magnetic field position of the motor, feedback values ​​corresponding to the corresponding order rotating coordinate system are obtained; the torque control requirements of the motor are determined through the synchronous coordinate system feedback values. Finally, based on the corresponding order rotating coordinate system, closed-loop control is performed on the first vector value, the second vector value, and the corresponding order feedback value. The sound generation control and torque control are integrated through closed-loop control to obtain the pulse width modulation duty cycle.

[0293] For example, the audio vector includes an audio control scalar and an audio injection angle. Determining the first vector value and the second vector value on the rotating coordinate system based on the audio control scalar and the audio injection angle includes: allocating the audio current scalar to the rotating coordinate system using the audio injection angle to generate the first vector value and the second vector value.

[0294] The first and second vector values ​​can be determined by assigning the audio current vector to the upper coordinate system of the rotating coordinate system based on the audio injection angle.

[0295] In addition, the audio vector includes an audio control scalar and an audio injection angle. The step of injecting the audio control scalar into the coordinate system based on the audio injection angle to obtain a first vector value and a second vector value also includes: converting the audio current vector into an audio voltage vector.

[0296] In some embodiments of this disclosure, control can also be performed using an audio current vector or an audio voltage vector. The audio voltage vector can be determined by converting the audio current vector into an audio voltage vector.

[0297] In some embodiments, converting the audio current vector into an audio voltage vector includes: obtaining an audio voltage vector based on the audio current vector and equivalent circuit parameters of the motor of the same order; or, combining the audio current vector with a preset scaling factor to generate an audio voltage vector. For converting an audio current vector into an audio voltage vector, the impedance model of the motor is determined using equivalent circuit parameters of the motor of the same order, and then the audio current vector is converted into a voltage-current vector based on the impedance model of the motor to obtain the audio voltage vector.

[0298] Alternatively, a preset proportionality coefficient can be used for conversion between voltage and current. This preset proportionality coefficient is determined based on parameters such as motor performance, and this disclosure does not limit its application. An audio current vector can be generated by multiplying the preset proportionality coefficient.

[0299] After obtaining the audio scalar, the step of assigning the audio scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value includes: assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system using the audio injection angle to generate a first vector value and a second vector value. Using the audio injection angle, the audio voltage scalar and the audio current scalar can be respectively assigned to the two coordinate axes of the rotating coordinate system to obtain the first vector value and the second vector value.

[0300] For example, the step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system by means of the audio injection angle to generate a first vector value and a second vector value includes: injecting the audio voltage scalar and the audio current scalar into at least one rotating coordinate system of order n to obtain the first vector value and the second vector value.

[0301] By injecting audio voltage and current scalars into at least an nth-order rotating coordinate system, a first vector value and a second vector value can be obtained. By simultaneously injecting voltage and current, the audio response bandwidth can be increased, thereby improving the sound quality of audio playback.

[0302] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a first-order rotating coordinate system to obtain a first vector value (voltage vector value and current vector value) corresponding to the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a first-order rotating coordinate system to obtain a second vector value (voltage vector value and current vector value) corresponding to the second perpendicular axis.

[0303] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least an n-order rotating coordinate system to obtain a first vector value and a second vector value includes: injecting the audio current scalar and the audio voltage scalar into a first perpendicular axis of a higher-order rotating coordinate system to obtain a first vector value corresponding to the first perpendicular axis; and injecting the audio current scalar and the audio voltage scalar into a second perpendicular axis of a higher-order rotating coordinate system to obtain a second vector value corresponding to the second perpendicular axis.

[0304] To avoid motor vibration caused by the addition of signals at the same frequency, audio current and audio voltage scalars can be injected into a higher-order rotating coordinate system. First, the audio frequencies of the audio current and audio voltage scalars can be determined, and then frequencies higher than the motor vibration frequency can be identified.

[0305] A higher-order rotating coordinate system can be determined for the target frequency; audio current scalars and audio voltage scalars are injected into the first perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding first vector value on the first perpendicular axis; audio current scalars and audio voltage scalars are injected into the second perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis.

[0306] Since high-frequency signals are combined in a low-frequency coordinate system, the audio voltage scalar and audio current scalar can be filtered and divided. The vectors with frequencies higher than a preset frequency value are high-frequency vectors, and those with frequencies lower than the preset frequency value are low-frequency vectors. The high-frequency vectors are injected into a synchronous rotating coordinate system to obtain the first vector value; the low-frequency vectors are injected into a higher-order rotating coordinate system to obtain the second vector value.

[0307] Alternatively, the high-frequency scalar can be injected into the synchronous rotating coordinate system through injection angle allocation to obtain the first vector value, and the corresponding vector values ​​on the first straight axis and the second cross axis can be obtained to solve the NVH problems of low-frequency vibration of motor and gear grinding caused by the audio current of the whole vehicle.

[0308] Alternatively, the high-frequency scalar can be directly injected into the second cross-axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the second cross-axis; the low-frequency vector can be injected into the first straight axis of the synchronous rotating coordinate system to obtain the corresponding vector value on the first straight axis, which is used to solve the NVH problems of low-frequency vibration of motor and gear grinding caused by the vehicle audio current. The preset frequency value can be determined according to the actual situation, and this disclosure does not limit it.

[0309] Using a higher-order rotating coordinate system increases control complexity, but the advantage is that it reduces the likelihood of motor vibrations at the same frequency during sound reproduction. Low-frequency vibrations or jitter that may occur with low-frequency audio signals on a first-order dq-axis synchronous rotating coordinate system are mitigated in a higher-order dq-axis synchronous rotating coordinate system. Because the rotation frequency is faster than in the first-order dq-axis synchronous rotating coordinate system, the duration of vibration points is dispersed. With multiple rotations along one rotor revolution, the corresponding vibration point time becomes shorter and the duration is reduced, almost eliminating jitter and resolving the jitter problem caused by low-frequency audio signals.

[0310] Furthermore, this solution can address the NVH (Noise, Vibration, and Harshness) issues caused by high-order currents in the vehicle. By extracting NVH noise and injecting it back into the nth-order dq-axis synchronous rotating coordinate system, the motor emits sound to eliminate NVH noise.

[0311] In some embodiments of this disclosure, injecting the audio voltage scalar and the audio current scalar into at least one n-order rotating coordinate system to obtain a first vector value and a second vector value includes: filtering and dividing the audio voltage scalar and the audio current scalar to generate a high-frequency vector and a low-frequency vector; injecting the high-frequency vector into the intersection axis of at least one n-order rotating coordinate system to obtain a second vector value; and injecting the low-frequency vector into the direct axis of at least one n-order rotating coordinate system to obtain a first vector value.

[0312] In some embodiments, the audio voltage scalar and audio current scalar can be filtered and divided to obtain a high-frequency vector with frequencies higher than a preset frequency value and a low-frequency vector with frequencies not higher than the preset frequency value. The high-frequency vector is injected into the intersection axis of at least one n-order rotating coordinate system to obtain a second vector value; the low-frequency vector is injected into the direct axis of at least one n-order rotating coordinate system to obtain a first vector value. This eliminates motor vibration.

[0313] In one embodiment of this disclosure, the step of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes: performing closed-loop control based on the first vector value, the second vector value, and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; transforming the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain transformed first voltage vector value and second voltage vector value; superimposing the transformed first voltage vector value and second voltage vector value onto the torque control coordinate system to obtain superimposed first voltage vector value and second voltage vector value; and obtaining the pulse width modulation duty cycle based on the feedback value and the superimposed first voltage vector value and second voltage vector value.

[0314] In some embodiments of this disclosure, closed-loop control can be performed first based on the first vector value and the second vector value to determine the corresponding first voltage vector value and second voltage vector value when acting on the rotating coordinate system of motor control. Then, the first voltage vector value and the second voltage vector value are subjected to inverse coordinate transformation to obtain the control quantity in the stationary coordinate system, that is, to obtain the transformed first voltage vector value and second voltage vector value, so as to determine the control quantity that needs to be superimposed.

[0315] The transformed first and second voltage vector values ​​are then superimposed onto the torque control coordinate system to obtain the superimposed first and second voltage vector values. This allows the audio control signal to be superimposed onto the torque control signal, enabling the motor to be driven and sounded simultaneously.

[0316] Finally, the feedback value, the superimposed first voltage vector value, and the second voltage vector value are combined to obtain the pulse width modulation duty cycle.

[0317] In some embodiments of this disclosure, obtaining the pulse width modulation duty cycle based on the feedback value, the first voltage vector value, and the second voltage vector value includes:

[0318] The first and second vector values ​​(voltage vector values) are inversely transformed to a stationary coordinate system to obtain the transformed first and second voltage vector values. These transformed first and second voltage vector values ​​are then superimposed onto the torque vector control coordinate system to obtain the superimposed first and second voltage vector values. Finally, the pulse width modulation duty cycle is obtained using pulse width modulation based on these superimposed first and second voltage vector values.

[0319] Alternatively, closed-loop control can be performed based on the first vector value, the second vector value, and the feedback value. The closed-loop control output value is superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system.

[0320] Transform the first voltage vector value and the second voltage vector value to the stationary coordinate system in reverse coordinates to obtain the transformed first voltage vector value and second voltage vector value; superimpose the transformed first voltage vector value and second voltage vector value onto the torque vector control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; and obtain the pulse width modulation duty cycle based on the superimposed first voltage vector value and second voltage vector value through pulse width modulation.

[0321] Step 1704: Control the motor to produce sound according to the pulse width modulation duty cycle.

[0322] For example, after obtaining the pulse width modulation duty cycle, the operating state of the motor can be controlled based on the pulse width modulation duty cycle, so that the motor can emit sound.

[0323] Step 1705: When the motor makes an abnormal noise, release the rotor excitation current.

[0324] For example, during motor operation, the input current or voltage of the motor can be detected to determine if the motor's operation is normal and to ascertain its operating state. The operating state is the condition in which the motor operates. When an abnormal state occurs, the rotor excitation current can be released, allowing the motor to release the energy required for operating control and preventing the abnormal operation from affecting the motor's normal drive of the vehicle.

[0325] Some embodiments of this disclosure provide a method for generating sound from a motor, which can be applied to a terminal and executed by hardware or software in the terminal.

[0326] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets that have a touch-sensitive surface (e.g., at least one of a touchscreen display or a touchpad).

[0327] It should be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., at least one of a touchscreen display or a touchpad).

[0328] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0329] The present disclosure provides a method for generating sound from a motor, in which the subject executing the method can be an electronic device or a functional module or entity within an electronic device capable of implementing the method. The electronic devices mentioned in the embodiments of the present disclosure may include, but are not limited to, ECU (Electronic Control Unit), MCU (Microcontroller Unit), or other controllers. The following description uses an electronic device as the subject of execution to illustrate the method for generating sound from a motor provided in some embodiments of the present disclosure.

[0330] In some embodiments, as shown in Figure 19, the motor can be a motor, an asynchronous motor, an electrically excited motor, or other types of motors. The motor can be used in new energy vehicles, as well as in other fields, such as home appliances, electric bicycles, and electric bicycles.

[0331] The method for generating sound using this motor includes steps 110 to 140.

[0332] Step 110: Obtain the audio sampling signal. The audio sampling signal is obtained by sampling the audio data.

[0333] Step 120: Determine the audio injection signal based on the audio sampling signal. The audio injection signal includes at least one of the voltage vector or current vector in the target vector coordinate system of the motor.

[0334] Step 130: Determine the control signal for the motor to produce sound based on the audio injection signal.

[0335] Step 140: Control the motor according to the control signal to make the motor make a sound.

[0336] According to some embodiments of the present disclosure, a method for generating sound from a motor involves acquiring an audio sampling signal and determining an audio injection signal based on the audio sampling signal. The audio injection signal includes at least one of a voltage vector or a current vector in the target vector coordinate system of the motor. A control signal for generating sound from the motor is determined based on the audio injection signal, and the motor is controlled based on the control signal. That is, the audio sampling signal is transformed based on the target vector coordinate system of the motor, and the control signal for the motor is determined based on the transformed signal. This enables the control of the vibration amplitude and frequency of the motor based on the audio signal, thereby controlling the volume and pitch of the motor sound, making the audio signal accurately reproduced, and improving the quality of the motor sound generation.

[0337] The following will provide a detailed explanation of steps 110 to 140 above.

[0338] Step 110: Obtain the audio sampling signal. The audio sampling signal is obtained by sampling the audio data.

[0339] In some embodiments of this disclosure, the audio data includes information such as the frequency, amplitude, and waveform of the sound. The audio data can be an analog signal or a digital signal, or it can be various types of audio files.

[0340] For example, audio data includes, but is not limited to: files in various music formats such as mp3, wma, wav, flac, ape, MIDI files, Bluetooth-transmitted song files, PCM encoded files, digital signals processed by the music chip, analog signals processed by the chip, analog signals amplified by the power amplifier, analog signals input from the microphone, or digital signals corresponding to music files, etc.

[0341] For example, for audio data from different sources, sampling channels that match the signal source can be used for sampling, so that the sampling process can adapt to the characteristics of different source signals, capture the details of the audio signal more accurately, reduce distortion and noise interference, and thus obtain a clearer audio record.

[0342] In some embodiments, the sampling channel includes at least one of the following: acquiring an analog signal input to the audio system and sampling the analog signal through an ADC sampling port; acquiring an I2S signal from a port of the in-vehicle entertainment system and sampling the I2S signal; acquiring an A2B signal from a port of the in-vehicle entertainment system, converting the A2B signal into an I2S signal, and then sampling the I2S signal; or acquiring data packets on the Ethernet in the vehicle, parsing the data packets, and then sampling the parsed data.

[0343] An in-vehicle entertainment system is a multi-functional electronic device primarily designed to enhance the driving and passenger experience. By providing audio, video, navigation, communication, and other entertainment features, in-vehicle entertainment systems make journeys more comfortable and enjoyable. The system's main unit includes various ports such as USB, HDMI, RCA, and Bluetooth ports, allowing connection to external devices like audio systems and amplifiers.

[0344] Data packets can include various types of music files, which need to be decoded and separated into mono channels to extract the parsed data.

[0345] As shown in Figure 9, which is a schematic diagram of the music file parsing process provided in some embodiments of this disclosure, music files of different formats can be decoded according to the encoding rules of the corresponding music files. The decoded data is then separated into channels to obtain a mono audio signal. The sampling points are discretized or downsampled according to the playback frequency to obtain the amplitude of the corresponding audio signal sampling points. For example, MP3 files have a sampling rate of 44.1kHz. The amplitude of each point at that sampling frequency is obtained according to the 44.1kHz sampling rate, and finally converted into a digital signal.

[0346] In some embodiments, as shown in FIG3, when the motor is the vehicle's drive motor, the main unit assembly of the in-vehicle entertainment system can be debugged, corresponding audio data can be collected from the main unit's audio line, and the data output by the multimedia entertainment system can be converted into digital signals that the motor controller can recognize.

[0347] In one embodiment, as shown in Scheme 1 of Figure 3, the analog signal output from the power amplifier or other devices in the vehicle to the audio system can be connected to the ADC sampling port of the MCU. The MCU performs ADC sampling and converts the power amplifier analog signal into a digital signal by debugging the underlying drive function of the electric drive system.

[0348] In one embodiment, as shown in Scheme 2 of Figure 3, the I2S signal from the port of the external power amplifier device or the port of the main unit in the vehicle can be acquired. By debugging the corresponding low-level drive function on the electric drive system, the I2S signal on the main unit can be converted into a digital signal. The converted digital signal can be sent to other MCU units, such as the MCU in the motor controller, via the CANFD bus for further processing.

[0349] In one embodiment, as shown in Scheme 3 of Figure 3, the A2B signal from the port of the external power amplifier in the vehicle can be acquired. By debugging the underlying drive function of the corresponding electric drive system, the A2B signal can be converted into an I2S signal and then into a digital signal recognizable by the drive motor controller. The converted digital signal can be sent to other MCUs for further processing via the CANFD bus, such as the MCU in the motor controller.

[0350] In one embodiment, as shown in Figure 20, the fourth scheme can acquire data packets on the Ethernet in the vehicle environment, and convert the data packets into digital signals that can be recognized by the drive motor controller by debugging the underlying drive function of the corresponding electric drive system. The converted digital signals can be sent to other MCUs for further processing via the CANFD bus, such as the MCU in the motor controller.

[0351] Option 1 samples the analog signal output from the amplifier to the audio system in the vehicle environment, which can capture the signal directly related to the final audio output. This sampling method can improve the accuracy and integrity of the audio data.

[0352] Option 2 reduces noise and distortion that may be introduced during signal conversion by sampling the I2S digital signal in the vehicle environment.

[0353] Option 3 involves sampling the A2B signal after converting it into an I2S signal. The A2B bus is a high-bandwidth, bidirectional, digital audio bus for vehicles, using a daisy-chain structure. The maximum distance between a single node is 15m, which can reduce wiring complexity. A2B can achieve long-distance I2S, reducing noise and distortion that may be introduced during signal conversion. The A2B bus is very suitable for long-distance synchronous audio signal transmission between the front and rear electric drives of the whole vehicle.

[0354] Option 4 transmits audio to the front and rear electric drive assemblies via Ethernet bus. Its advantages include large and fast data transmission, which can shorten the electric drive program upgrade time, be used for big data calibration and analysis, and improve user experience. It also takes advantage of the Ethernet transmission of audio data, which can reduce wiring complexity and enable flexible transmission of audio data in the vehicle's internal network.

[0355] In some embodiments, the drive system design of electric vehicles varies, and can be configured with a single motor or multiple motors. Single-motor configurations are simple and relatively inexpensive, suitable for small or economy electric vehicles. The motor is typically mounted on the rear or front axle, providing direct drive force. Multi-motor configurations are more complex, typically including a rear-drive motor and a front-drive motor. The rear-drive motor primarily drives the rear wheels, providing the main thrust and acceleration; the front-drive motor drives the front wheels, enhancing traction and stability.

[0356] In some embodiments, the method for generating sound by the motor further includes: sampling the audio data multiple times within one carrier cycle to obtain an audio sampling signal.

[0357] For example, the carrier period refers to the time required for the carrier signal to complete a full transition from zero to its maximum value and back to zero in a pulse width modulation (PWM) signal. The carrier signal is typically a continuous waveform, such as a sine wave, triangle wave, or square wave, used to modulate the duty cycle of the output signal.

[0358] For example, within a carrier cycle Ts, the acquired audio data can be sampled at different time points to obtain an audio sampling signal. By sampling the audio data multiple times within each carrier cycle, more sampling points are collected to capture subtle changes in the audio signal. Increasing the sampling frequency improves the fidelity of the audio signal and enhances the quality of the motor's sound.

[0359] In some embodiments, the above step "sampling audio data multiple times within a carrier cycle" includes: sampling audio data at multiple extreme points of the carrier signal within a carrier cycle.

[0360] An extreme point includes at least one of a peak or a trough. For a three-phase synchronous motor, the extreme points of each carrier cycle can include one peak and one trough, for a total of two extreme points.

[0361] Within a carrier cycle Ts, if sampling is performed only at the peaks and troughs, two samplings can be performed. For a three-phase bridge arm uniform phase-shifting motor control, within each carrier cycle, the carrier signal of each bridge arm contains one peak and one trough, and the phase bridge arm has a total of 6 extreme points. If sampling is performed only at the peaks and troughs, six samplings can be performed.

[0362] The extreme points of the carrier signal represent the highest and lowest points of the control signal in each cycle. The extreme points of the carrier signal are also the points where the comparison value of each bridge arm register is updated, that is, the points where the duty cycle can be updated. By sampling at these extreme points, the changes in the audio signal are captured in time, and further processed in time to become the duty cycle of the motor control signal. Timely updating of the duty cycle reduces noise and accents caused by control delay. Sampling at extreme points and synchronizing with the natural rhythm of the control signal helps to maintain the time consistency between the audio signal and the motor control signal, so that the sound signal output by the motor closely follows the changes of the original audio signal.

[0363] Step 120: Determine the audio injection signal based on the audio sampling signal. The audio injection signal includes at least one of the voltage vector or current vector in the target vector coordinate system of the motor.

[0364] In some embodiments of this disclosure, the target vector coordinate system is a mathematical model used to describe the magnetic field state of a motor. This target vector coordinate system can be a rotating coordinate system (i.e., a dq-axis rotating coordinate system, hereinafter referred to as the dq coordinate system) or a stationary coordinate system (i.e., an α-β coordinate system).

[0365] For example, a field-oriented control (FOC) system based on rotor field orientation (RFO) can be established. FOC is an advanced motor control strategy. FOC typically uses rotor field orientation, treating the motor control as two orthogonal components that can be adjusted independently.

[0366] For example, the dq coordinate system decomposes the motor's magnetic field into two orthogonal components: one related to the motor's rotation direction (d-axis) and the other perpendicular to the rotation direction (q-axis). The α-β coordinate system decomposes the motor's magnetic field into two stationary components, the α component and the β component. In this way, the motor's control can be simplified to two independent components, thus simplifying the control algorithm.

[0367] In some embodiments of this disclosure, for audio sampling signals, it is necessary to convert and process the audio sampling signals to obtain the amplitude dimension corresponding to the motor controller, and then map them to the target vector coordinate system to obtain the audio injection signal.

[0368] The amplitude can be measured in units of current, voltage, or both. Converting the audio sample signal to current or voltage simplifies the process of controlling the motor to produce sound. Converting it to voltage and current increases the bandwidth of the audio response, allowing for higher sound frequencies and improved sound fidelity.

[0369] In some embodiments, step 120 includes: acquiring an amplitude signal corresponding to an audio sampling signal; and determining an audio injection signal based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor, wherein the injection angle is determined based on the electrical angle of the motor rotor.

[0370] For example, the above step "obtaining the amplitude signal corresponding to the audio sampling signal" includes: obtaining the per-unit value corresponding to the audio sampling signal; and obtaining the amplitude signal based on the per-unit value and at least one of the maximum current amplitude or the maximum voltage amplitude used by the motor controller to respond to the sound.

[0371] For example, audio sampled signals can be normalized to obtain per-unit values. Normalization is the process of scaling the values ​​of a digital signal to a uniform range, such as -1 to 1.

[0372] For example, per-unit scaling can be achieved by dividing each sample value of an audio sample signal by the maximum possible amplitude value of the signal, thus obtaining a per-unit value.

[0373] In some embodiments, after obtaining the per-unit value, the per-unit value can be converted according to at least one of the maximum current amplitude or the maximum voltage amplitude used by the motor controller to respond to the sound, to obtain the amplitude signal.

[0374] For example, if the maximum current amplitude of the motor controller used to respond to sound is 2A, then multiplying the per-unit value by 2 gives the current Is in the amplitude dimension of the motor controller. If the maximum current amplitude of the motor controller used to respond to sound is 5V, then multiplying the per-unit value by 5 gives the voltage Us in the amplitude dimension of the motor controller.

[0375] In some embodiments, standardizing the audio sampling signal helps to achieve signal consistency across different systems and devices. By taking into account the maximum audio response capability of the motor controller, the amplitude signal can be optimized within the dynamic range of the motor, enabling the motor to output a sound intensity that matches the audio sampling signal, maintaining the sound quality emitted by the motor, and achieving more accurate sound reproduction.

[0376] For example, when the target vector coordinate system includes a stationary coordinate system, the amplitude signal includes voltage. In this case, the above step "determine the audio injection signal based on the amplitude signal, injection angle, and the target vector coordinate system of the motor" includes:

[0377] Based on the injection angle, the vectors of the amplitude signal along each coordinate axis in the stationary coordinate system are obtained to obtain the audio injection signal.

[0378] When the target vector coordinate system is a stationary coordinate system (α-β coordinate system), the amplitude signal, including the voltage Us, can be mapped to the α-β coordinate system by injecting the angle theta, as shown in the following formulas: Uαth=Us*cos(theta); Uβth=Us*sin(theta);

[0379] Where theta = K*θ + theta_init, K is a real number, θ is the electrical angle of the rotor magnetic field, and theta_init is the initial angle injected, ranging from 0 to 360 degrees. For example, K = 2*π*f*t, where t is time and f is frequency, which can be negatively correlated with the rotational speed.

[0380] For example, when the target vector coordinate system includes a rotating coordinate system, and the amplitude signal includes at least one of voltage or current, the above step "determine the audio injection signal based on the amplitude signal, the injection angle and the target vector coordinate system of the motor" includes: obtaining the vectors of each coordinate axis of the amplitude signal in the nth order rotating coordinate system according to the injection angle, and obtaining the audio injection signal, where n is a real number.

[0381] For example, at least one of the current Is or the voltage Us can be transformed to an n-order dq coordinate system in either a positive or negative direction. The direction can be positive or negative, and the order n can be n = 1, 2, 3, 4, 5, 6, 7, etc. for the positive direction, and n = -1, -2, -3, -4, -5, -6, -7, etc. for the negative direction.

[0382] For example, please refer to Figure 21. When the target vector coordinate system is the dq coordinate system, n is 1, and the amplitude signal includes the current Is, Is can be mapped to the first-order dq coordinate system by injecting the angle theta, as shown in the formula:

[0383] in, This represents the d-axis current vector in a first-order rotating coordinate system. The q-axis current vector in a first-order rotating coordinate system is represented by theta = K*θ + theta_init, where K is a real number, θ is the electrical angle of the rotor magnetic field, and theta_init is the initial injection angle, ranging from 0 to 360 degrees. The magnitude of the injection angle is used to adjust the noise level of the motor.

[0384] After calculating the d-axis current vector and q-axis current vector, the current can be converted into voltage using a current-to-voltage conversion module to obtain the d-axis voltage vector in a first-order rotating coordinate system. q-axis voltage vector

[0385] For example, please refer to Figure 22. When the target vector coordinate system is the dq coordinate system, n is 1, and the amplitude signal includes voltage Us, Us can be mapped to the first-order dq coordinate system by injecting the angle theta, as shown in the formula:

[0386] theta = K*θ + theta_init, where K is a real number, θ is the electrical angle of the rotor magnetic field, and theta_init is the initial angle injected, ranging from 0 to 360 degrees.

[0387] In some embodiments of this disclosure, by simultaneously transforming the voltage and current in the amplitude signal into the target vector coordinate system, and then controlling the motor based on the transformed signal, the bandwidth of the motor's response to audio signals can be improved, enabling it to respond to higher sound frequencies and improve the sound reproduction accuracy.

[0388] Furthermore, when n is of a higher order (i.e., the absolute value of n is greater than 1), such as 2, 3, 4, -2, -3, etc., by converting at least one of the voltage or current in the amplitude signal to at least one of the current vector or voltage vector in the higher-order dq coordinate system, the use of a higher-order rotating coordinate system increases the control complexity. Compared to the low-frequency vibration or jitter problem that may exist for low-frequency audio signals in the first-order dq coordinate system, in the higher-order dq coordinate system, because the rotation frequency is faster than in the first-order dq coordinate system, the duration of the vibration point is dispersed. With multiple rotations along the rotor, the corresponding vibration point time becomes shorter and the duration becomes less, which hardly causes jitter. Solving the jitter problem caused by low-frequency audio signals helps to suppress motor jitter during music playback and improve the music playback quality.

[0389] For example, when the target vector coordinate system includes a rotating coordinate system, and the amplitude signal includes at least one of voltage or current, the above step "determine the audio injection signal based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor" includes: obtaining the vectors of each coordinate axis of the amplitude signal in the first-order coordinate system and the second-order coordinate system according to the injection angle, and obtaining the audio injection signal. The first-order coordinate system and the second-order coordinate system are rotating coordinate systems of different orders.

[0390] At least one of the current Is or voltage Us can be transformed to a dq coordinate system of different orders, such as first order and higher order, in either the positive or negative direction. Thus, the low-frequency part of the audio sampling signal can be injected into the first-order dq coordinate system, and the high-frequency part of the audio sampling signal can be injected into the higher-order dq coordinate system.

[0391] For example, transforming the current Is to the -5th and 7th order dq coordinate systems yields... And / or transform the voltage Us to the -5th and 7th order dq coordinate systems to obtain Furthermore, in order to filter out other frequencies of sound in the audio sampling signal, at least one of the current Is or voltage Us can be filtered first to obtain the low-frequency and high-frequency components, and then converted to the target vector coordinate system.

[0392] In some embodiments, by converting the amplitude signal to different orders of dq coordinate systems, the electromagnetic driving force of the motor can be precisely matched with the corresponding audio signal, which can smooth the operation of the motor, reduce torque ripple and noise during motor operation, and improve the audio playback quality. Furthermore, if the amplitude signal includes voltage and current, the bandwidth of the audio signal response can be increased, allowing for a response to higher sound frequencies and improving sound fidelity.

[0393] 130. Determine the control signal for the motor to produce sound based on the audio injection signal.

[0394] In some embodiments of this disclosure, the motor control signal can be updated based on the audio injection signal, such as updating the duty cycle of the pulse width modulation (PWM) signal. A PWM signal waveform is generated based on the updated duty cycle, and the motor's power electronic devices, such as IGBTs, are controlled according to the PWM signal waveform to adjust the motor current. This causes the electromagnetic force generated by the motor's air gap magnetic field acting on the motor core to excite electromagnetic vibration, thus making the motor emit corresponding musical sounds. The air gap magnetic field is determined by the magnetomotive force of the stator and rotor windings and the air gap permeability. The magnitude of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field within the motor's air gap.

[0395] In some embodiments, step 130 includes: determining the phase voltage of the motor based on the audio injection signal; and adjusting the duty cycle of the control signal for the phase bridge arm of the motor based on the phase voltage.

[0396] In some embodiments, the above step "adjusting the duty cycle of the control signal of the phase bridge arm of the motor according to the phase voltage" includes: adjusting the duty cycle of the control signal of the phase bridge arm of the motor according to the phase voltage at the time when the extreme point of the carrier signal is located.

[0397] For example, extreme points include at least one of peaks or troughs. By determining and adjusting the duty cycle at the extreme points of the carrier signal, the update of the control signal can be synchronized with the audio sampling data, which helps to reduce audio distortion that may occur due to signal update delays.

[0398] In some embodiments, the above step "adjusting the duty cycle of the control signal of the phase bridge arm of the motor according to the phase voltage at the time of the extreme point of the carrier signal" includes: at time t1 of the carrier signal, adjusting the duty cycle of the control signal of the phase bridge arm of the motor according to the phase voltage; t1 is the extreme point, and 0 < t1 - tm < Ts, where Ts is the carrier period and tm is the time when the current sampling is completed.

[0399] In other words, after this sampling, the duty cycle is adjusted based on the phase voltage determined by the audio sampling signal obtained in this sampling at the closest extreme point to this sampling. For example, the duty cycle is obtained by dividing the phase voltage by the bus voltage, and a comparison value is calculated based on the ratio of the carrier signal peak value to the duty cycle. The duty cycle of the motor control signal is obtained by using the comparison value and the carrier signal to output the bridge arm switch action.

[0400] By updating and adjusting the duty cycle of the control signal based on the digital signal obtained from the current sampling at the next extreme point of the carrier wave after each sampling, the control signal can be adjusted according to the new audio signal characteristics in each carrier cycle of the motor. This minimizes the time difference between the update of the control signal and the latest sampling data of the audio signal, reducing audio distortion that may be caused by signal update delay. As a result, the sound signal output by the motor closely follows the changes of the original audio signal, improving the dynamic response and accuracy of the sound, reproducing the sound more accurately, and improving the quality of the motor's sound output.

[0401] For example, the step "determine the phase voltage of the motor based on the audio injection signal" includes: acquiring the phase sampling current of the motor; and determining the phase voltage of the motor based on the phase sampling current and the audio injection signal.

[0402] In some embodiments, the step of "determining the phase voltage of the motor based on the phase sampling current and the audio injection signal" includes: obtaining a first phase current vector corresponding to the phase sampling current, wherein the first phase current vector is a current vector in a stationary coordinate system; and determining the phase voltage of the motor based on the audio injection signal and the first phase current vector.

[0403] For example, for a p-phase motor, the phase sampling currents i1 / i2...ip need to be transformed using Clark coordinates to obtain the first phase current vectors iα and iβ, and then the phase voltages U1\U2\...Up are determined based on iα and iβ and the audio injection signal.

[0404] In some embodiments of this disclosure, the motor can emit sound when the vehicle is stationary or when the vehicle is in motion. When the sound is emitted when the vehicle is stationary, the step of determining the phase voltage does not require the further superposition of the torque signal. However, if the sound is emitted when the vehicle is in motion, the step of determining the phase voltage requires the further superposition of the torque signal.

[0405] In this case, the above step "determine the phase voltage of the motor based on the audio injection signal" further includes: determining the motor torque output command, motor speed, battery voltage and phase sampling current; and determining a given current vector based on the torque output command, motor speed and battery voltage, wherein the given current vector is a current vector in a first-order rotating coordinate system.

[0406] In this case, the above step "determine the phase voltage of the motor based on the phase sampling current and the audio injection signal" includes: determining the phase voltage of the motor based on the given current vector, the phase sampling current, and the audio injection signal.

[0407] The current vector includes a d-axis component id* and a q-axis component iq*. When the motor emits sound while the vehicle is in motion, the final phase voltages U1\U2\...Up need to be determined based on iα, iβ, id*, iq* and the audio injection signal. When the motor emits sound while the vehicle is stationary, the final phase voltages U1\U2\...Up need to be determined based on iα, iβ and the audio injection signal.

[0408] The following example, using the motor producing sound when the vehicle is stationary, illustrates the process of determining the phase voltage.

[0409] In some embodiments, when the audio injection signal includes a voltage vector in a stationary coordinate system or a voltage vector in an m-order rotating coordinate system, and m is a real number not equal to 1, the above step "determine the phase voltage of the motor based on the audio injection signal and the first phase current vector" includes: acquiring a second phase current vector corresponding to the phase sampling current, wherein the second phase current vector is a current vector in a first-order rotating coordinate system; determining a target voltage vector based on the second phase current vector, wherein the target voltage vector is a voltage vector in a stationary coordinate system; and determining the phase voltage of the motor based on the audio injection signal and the target voltage vector.

[0410] When the audio injection signal includes a voltage vector in the stationary coordinate system, for a p-phase motor, the first phase current vectors iα and iβ can be transformed using Park coordinates to obtain the second phase current vectors id and iq. Then, based on the second phase current vectors id and iq and the audio injection signal, Uα and Uβ (i.e., the target voltage vectors) in the stationary coordinate system can be determined. After that, the phase voltages U1\U2\...Up of the motor can be obtained by performing an inverse Clark coordinate transformation on Uα and Uβ, and then input into the FOC control system to adjust the duty cycle of the control signal.

[0411] When the audio injection signal includes a voltage vector in an m-order rotating coordinate system, as shown in Figure 23, taking the audio injection signal as a voltage, with m including -5 and 7 as an example, the harmonic voltage obtained after -5 and 7-order transformations is... (i.e., the audio injection signal), after inverse Park transform, yields the voltage vector U in the stationary coordinate system. α7th U β7th U α5th and U β5th Simultaneously, the phase sampling currents i1 / i2…ip are subjected to Clark and Park coordinate transformations to obtain the second phase current vectors id and iq. Based on id and iq, the voltage vectors Uα and Uβ in the stationary coordinate system are obtained after passing through a PID controller and inverse Park transformation. Then, U… α7th U β7th U α5th U β5th The phase voltages U1\U2\...Up of the motor are obtained by performing inverse Clark coordinate transformation on Uα and Uβ, and then input into the FOC control system to adjust the duty cycle of the control signal.

[0412] In some embodiments, when the audio injection signal includes at least one of a voltage vector or a current vector in a first-order rotating coordinate system, the above step "determining the phase voltage of the motor based on the audio injection signal and the first phase current vector" includes:

[0413] Obtain the second phase current vector corresponding to the phase sampling current. The second phase current vector is the current vector in the first-order rotating coordinate system.

[0414] The target voltage vector is determined based on the second phase current vector and the audio injection signal. The target voltage vector is the voltage vector in the stationary coordinate system.

[0415] The phase voltage of the motor is determined based on the target voltage vector.

[0416] As shown in Figure 24, if the audio injection signal includes the d-axis current vector in the first-order dq coordinate system... and q-axis current vector and the d-axis voltage vector in the first-order dq coordinate system and q-axis voltage vector Furthermore, the second phase current vectors obtained by performing Clark and Park coordinate transformations on the phase sampling currents i1 / i2…ip are id and iq. Therefore, first, based on id, iq… and The system uses a PID controller and inverse Park coordinate transformation to obtain voltage vectors Uα and Uβ (i.e., target voltage vectors) in the stationary coordinate system. Then, it performs inverse Clark coordinate transformation on Uα and Uβ to obtain the phase voltages U1\U2\...Up of the motor, and inputs them into the FOC control system to adjust the duty cycle of the control signal.

[0417] As shown in Figure 25, if the audio injection signal includes the d-axis current vector in the first-order dq coordinate system... and q-axis current vector Furthermore, the second phase current vectors obtained by performing Clark and Park coordinate transformations on the phase sampling currents i1 / i2…ip are id and iq. Therefore, first, based on id, iq… and In addition to the PID controller and inverse Park coordinate transformation, Uα and Uβ (i.e., the target voltage vector) in the stationary coordinate system are determined. Then, inverse Clark coordinate transformation is performed on Uα and Uβ to obtain the phase voltages U1\U2\...Up of the motor, which are then input into the FOC control system to adjust the duty cycle of the control signal.

[0418] As shown in Figure 26, if the audio injection signal includes the d-axis voltage vector in the first-order dq coordinate system... and q-axis voltage vector Furthermore, the second phase current vectors obtained by performing Clark and Park coordinate transformations on the phase sampling currents i1 / i2…ip are id and iq. Therefore, first, based on id, iq… and In addition to the PID controller and inverse Park coordinate transformation, Uα and Uβ (i.e., the target voltage vector) in the stationary coordinate system are determined. Then, inverse Clark coordinate transformation is performed on Uα and Uβ to obtain the phase voltages U1\U2\...Up of the motor, which are then input into the FOC control system to adjust the duty cycle of the control signal.

[0419] In some embodiments, when the audio injection signal includes a current vector in an m-order rotating coordinate system, and m is a real number not equal to 1, the above step "determining the phase voltage of the motor based on the audio injection signal and the first phase current vector" includes:

[0420] Obtain the second phase current vector and the third phase current vector corresponding to the phase sampling current. The second phase current vector is the current vector in the first-order rotating coordinate system, and the third phase current vector is the current vector in the m-order rotating coordinate system.

[0421] The target voltage vector is determined based on the second phase current vector, the third phase current vector, and the audio injection signal. The target voltage vector is the voltage vector in the stationary coordinate system.

[0422] The phase voltage of the motor is determined based on the target voltage vector.

[0423] As shown in Figure 27, taking the audio injection signal as the current, with m including -5 and 7 as an example, firstly, the phase sampling currents i1 / i2…ip of the motor can be transformed into dq coordinate systems of order -5 and 7 respectively. Then, the -5th order harmonic current and the +7th order harmonic current are extracted through a filter. Afterwards, the current vector Is, after transformation into dq coordinate systems of order -5 and 7 respectively... The current is distributed to the d-axis and q-axis to obtain the target harmonic current. After passing through a PID controller and inverse Park transform, the voltage vector U in the stationary coordinate system is obtained. α7th U β7th U α5th and U β5th Simultaneously, the phase sampling currents i1 / i2…ip are subjected to Clark and Park coordinate transformations to obtain the second phase current vectors id and iq. Based on id and iq, the voltage vectors Uα and Uβ in the stationary coordinate system are obtained after passing through a PID controller and inverse Park transformation. Then, U… α7th U β7th U α5th U β5th The phase voltages U1, U2, ..., Up of the motor are obtained by performing inverse Clark transformation on Uα and Uβ, and then injected into the FOC control system to adjust the duty cycle of the control signal.

[0424] In addition, the motor can be a motor with an excitation winding, which is used to generate the magnetic field required by the motor. The motor may include a stator, a rotor, and an excitation winding. The excitation winding is typically mounted on the motor rotor and can be, for example, a set of coils or an electromagnet.

[0425] By supplying a current of a specific magnitude and direction to the excitation winding, known as the excitation current, a magnetic field is generated around the rotor according to Ampere's circuital law. This magnetic field is the rotor excitation magnetic field. By adjusting the magnitude and phase of the excitation current, the strength and characteristics of the magnetic field can be controlled to meet different operational requirements.

[0426] In some embodiments, the excitation current may also vary in response to the audio sampling signal. That is, the method for generating sound in this motor further includes adjusting the duty cycle of the control signal for the excitation bridge arm of the motor according to the audio sampling signal.

[0427] In some embodiments, the above step of "adjusting the duty cycle of the control signal of the excitation bridge arm of the motor according to the audio sampling signal" includes: determining the excitation current of the motor magnetic field according to the audio sampling signal; obtaining the excitation voltage corresponding to the excitation current; and adjusting the duty cycle of the control signal of the excitation bridge arm of the motor according to the excitation voltage.

[0428] For example, the above step "determine the excitation current of the motor magnetic field based on the audio sampling signal" includes: obtaining the per-unit value corresponding to the audio sampling signal; and determining the excitation current of the motor magnetic field based on the peak value, the excitation current bias, and the per-unit value of the excitation current of the motor magnetic field.

[0429] Since the amplitude changes of the audio sampling signal reflect the strength and pitch of the sound, the excitation current can be adjusted in real time to respond to these changes. For example, as the amplitude of the audio sampling signal increases, the excitation current can also be increased, thereby changing the strength of the motor's magnetic field. This allows the strength of the motor's magnetic field to change with the amplitude of the music, thereby enhancing the motor's sound intensity and frequency range, enabling the motor to accurately reproduce the music and sound details in the audio signal.

[0430] For example, the formula for determining the excitation current is as follows: if = if bias +if peak ·|x|;

[0431] Where if represents the excitation current, if bias Indicates excitation current bias, if peak It equals the peak excitation current minus the excitation current bias, where x represents the per-unit value, which can be taken as the absolute value. The audio sampling signal is normalized so that the maximum absolute value of the audio sampling signal is equal to 1 and the minimum absolute value is equal to 0, thus ensuring that the absolute value of the per-unit value is between 0 and 1.

[0432] Of course, in some embodiments, the excitation current if can also be made equal to the excitation current bias if. bias if bias The current is greater than 0 and less than the maximum excitation current. That is, the excitation current does not change with the audio sampling signal, but only adjusts the duty cycle of the control signal of the motor phase bridge arm according to the audio injection signal. This can also ensure the normal sound production of the motor, but the intensity and texture range of the sound are slightly different from the excitation current adjusted by the above formula.

[0433] The method for generating sound from a motor provided in some embodiments of this disclosure can be executed by an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device may include, but is not limited to, an ECU (Electronic Control Unit), an MCU (Microcontroller Unit), or other controllers, etc., and this disclosure does not limit the scope of the invention.

[0434] In some embodiments, as shown in FIG28, some embodiments of this disclosure also provide an electronic device 300. The electronic device 300 includes a processor 310, a memory 320, and a computer program stored in the memory 320 and executable on the processor 310. When the program is executed by the processor 310, it implements the above-mentioned method for generating sound from a motor and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0435] It should be noted that the electronic devices in some embodiments of this disclosure include the mobile electronic devices and non-mobile electronic devices described above.

[0436] In some embodiments, as shown in FIG29, some embodiments of this disclosure also provide a vehicle 1000, including a memory 1001, a processor 1002, and a computer program stored in the memory 1001 and executable on the processor. When the processor 1002 executes the computer program, it implements the sound-generating method of the motor as described above.

[0437] Some embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for generating sound from a motor.

[0438] For example, the processor is the processor in the electronic device described in the above embodiments. A readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0439] Some embodiments of this disclosure also provide a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for generating sound from a motor.

[0440] For example, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0441] Some embodiments of this disclosure also provide a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the above-described method for generating sound from a motor.

[0442] It is understood that the chips mentioned in some embodiments of this disclosure may also be referred to as system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0443] As the product implementation examples are basically similar to the method implementation examples, the descriptions are relatively simple, and relevant details can be found in the descriptions of the method implementation examples.

[0444] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0445] Those skilled in the art will understand that embodiments of some of the embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, some embodiments of this disclosure can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, some embodiments of this disclosure can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0446] Some embodiments of this disclosure are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to some embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0447] These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal equipment to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal equipment, produce means for implementing the functions specified in one or more flows in a flowchart and / or one or more blocks in a block diagram.

[0448] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more processes in a flowchart and / or one or more blocks in a block diagram.

[0449] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0450] Although some embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including all changes and modifications within the scope of some embodiments of this disclosure.

[0451] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0452] The foregoing has provided a detailed description of a method for generating sound from a motor, a vehicle, a storage medium, and a program product according to some embodiments of this disclosure. The embodiments have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the embodiments above are merely for the purpose of helping to understand the methods and core ideas of this disclosure. Furthermore, those skilled in the art will recognize that, based on the ideas of this disclosure, there will be changes in specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A method for generating sound using an electric motor, comprising: Get the audio data to be played; The pulse width modulation duty cycle is obtained based on the audio data and the audio injection angle. as well as The motor is controlled to produce sound based on the pulse width modulation duty cycle.

2. The method according to claim 1, wherein, The step of obtaining the pulse width modulation duty cycle based on the audio data and the audio injection angle includes: Obtain the coordinate system of the motor; and The pulse width modulation duty cycle is obtained based on the audio data, the audio injection angle, and the coordinate system.

3. The method according to claim 2, wherein, The step of obtaining the pulse width modulation duty cycle based on the audio data, the audio injection angle, and the coordinate system includes: The audio control scalar is determined based on the audio data, volume value, and maximum target parameter value; and The pulse width modulation duty cycle is obtained based on the audio control scalar, the audio injection angle, and the coordinate system.

4. The method according to claim 3, wherein, Determining the audio control scalar based on the audio data, volume value, and maximum target parameter value includes: Perform per-unit processing on the audio data to generate per-unit values; and The audio control scalar is determined based on the product of the per-unit value, the volume value, and the maximum target parameter value.

5. The method according to any one of claims 2-4, wherein, The step of obtaining the coordinate system of the motor includes: Establish a rotor magnetic field orientation vector control system for the motor; and The coordinate system of the motor is determined by at least one of the rotating coordinate system or the stationary coordinate system in the rotor field orientation vector control system.

6. The method according to claim 5, wherein, The rotating coordinate system includes at least one n-order rotating coordinate system established based on the rotor magnetic field orientation vector control system.

7. The method according to any one of claims 3-6, wherein, The step of obtaining the pulse width modulation duty cycle based on the audio control scalar, the audio injection angle, and the coordinate system includes: Based on the audio control scalar and the audio injection angle, a first vector value and a second vector value are determined in the rotating coordinate system; wherein the first vector value corresponds to the first coordinate axis of the coordinate system, and the second vector value corresponds to the second coordinate axis of the coordinate system; Based on the phase current and magnetic field position of the motor, feedback values ​​corresponding to the rotating coordinate system are obtained; and Based on the rotating coordinate system, closed-loop control is performed on the first vector value, the second vector value, and the feedback value to obtain the pulse width modulation duty cycle.

8. The method according to claim 7, wherein, The step of determining the first vector value and the second vector value in the rotating coordinate system based on the audio control scalar and the audio injection angle includes: Based on the audio injection angle, the audio control scalar is injected into the rotating coordinate system to obtain the first vector value and the second vector value.

9. The method according to claim 8, wherein, The audio control scalar includes an audio current scalar; determining the first vector value and the second vector value in the rotating coordinate system based on the audio control scalar and the audio injection angle further includes: The audio current scalar is assigned to the rotating coordinate system by the audio injection angle, generating the first vector value and the second vector value.

10. The method according to claim 9, wherein, The step of injecting the audio control scalar into the rotating coordinate system based on the audio injection angle to obtain the first vector value and the second vector value includes: By using the audio injection angle, the audio voltage scalar and the audio current scalar are assigned to the rotating coordinate system to generate the first vector value and the second vector value; wherein, the audio voltage scalar is obtained by conversion based on the audio current scalar.

11. The method according to claim 10, wherein, The audio voltage scalar is obtained by converting the audio current scalar, including one of the following: The audio voltage scalar is obtained based on the audio current scalar and the equivalent circuit parameters of the motor of the same order; or... The audio voltage scalar is obtained by combining the audio current scalar with a preset scaling factor.

12. The method according to claim 10, wherein, The step of assigning the audio voltage scalar and the audio current scalar to the rotating coordinate system through the audio injection angle to generate the first vector value and the second vector value includes: By injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle, the first vector value and the second vector value are obtained.

13. The method according to claim 12, wherein, The step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain the first vector value and the second vector value includes: By using the audio injection angle, the audio current scalar and audio voltage scalar are injected into the first perpendicular axis of the first-order rotating coordinate system, obtaining the corresponding first vector value on the first perpendicular axis; and The audio current scalar and audio voltage scalar are injected into the second perpendicular axis of the first-order rotating coordinate system through the audio injection angle to obtain the corresponding second vector value on the second perpendicular axis; wherein, the audio injection angle is used to allocate the magnitude of the first vector value and the second vector value.

14. The method according to claim 12, wherein, The step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain the first vector value and the second vector value includes: By using the audio injection angle, the audio current scalar and the audio voltage scalar are injected into the first perpendicular axis of a higher-order rotating coordinate system, resulting in a first vector value corresponding to the first perpendicular axis; and By using the audio injection angle, the audio current scalar and the audio voltage scalar are injected into the second perpendicular axis of the higher-order rotating coordinate system to obtain the corresponding second vector value on the second perpendicular axis.

15. The method according to claim 14, wherein, The first vector value and the second vector value are filtered and divided to generate a high-frequency vector and a low-frequency vector; the high-frequency vector is assigned to the synchronous rotating coordinate system, and the low-frequency vector is assigned to the higher-order synchronous rotating coordinate system.

16. The method according to claim 12, wherein, The step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain the first vector value and the second vector value includes: By using the audio injection angle, the audio voltage scalar and the audio current scalar are filtered and divided to generate high-frequency vectors and low-frequency vectors. The high-frequency vector is injected into the synchronous rotating coordinate system to obtain the first vector value. The first vector value is then distributed among the synchronous rotating coordinate system to obtain vector values ​​for the first and second perpendicular axes. The low-frequency vector is injected into a higher-order rotating coordinate system to obtain the second vector value. The second vector value is then assigned to the higher-order rotating coordinate system to obtain the vector values ​​of the first perpendicular axis and the second perpendicular axis.

17. The method according to claim 12, wherein, The step of injecting the audio voltage scalar and the audio current scalar into at least an nth-order rotating coordinate system through the audio injection angle to obtain the first vector value and the second vector value includes: By using the audio injection angle, the audio voltage scalar and the audio current scalar are filtered and divided to generate high-frequency vectors and low-frequency vectors; The high-frequency vector is injected into the intersection axis of the at least one n-order rotating coordinate system to obtain the first vector value; The low-frequency vector is injected into the direct axis of the at least n-order rotating coordinate system to obtain the second vector value.

18. The method according to any one of claims 7-17, wherein, The method of performing closed-loop control on the first vector value, the second vector value, and the feedback value based on the rotating coordinate system to obtain the pulse width modulation duty cycle includes one of the following: Closed-loop control is performed based on the first vector value, the second vector value, and the feedback value to obtain a first voltage vector value and a second voltage vector value corresponding to the rotating coordinate system; the first voltage vector value and the second voltage vector value are inversely transformed to the stationary coordinate system to obtain the transformed first voltage vector value and second voltage vector value; the transformed first voltage vector value and second voltage vector value are superimposed on the torque control coordinate system to obtain the superimposed first voltage vector value and second voltage vector value; based on the superimposed first voltage vector value and second voltage vector value, the pulse width modulation duty cycle is obtained through pulse width modulation. The first and second vector values ​​are inversely transformed to the stationary coordinate system to obtain the transformed first and second voltage vector values; the transformed first and second voltage vector values ​​are superimposed on the torque control coordinate system to obtain the superimposed first and second voltage vector values; based on the superimposed first and second voltage vector values, the pulse width modulation duty cycle is obtained through pulse width modulation. Closed-loop control is performed based on the first vector value, the second vector value, and the feedback value to obtain a closed-loop control output value. The closed-loop control output value is then superimposed with the first voltage vector value and the second voltage vector value obtained by injecting the audio injection angle and the audio voltage scalar into the rotating coordinate system to obtain the first voltage vector value and the second voltage vector value corresponding to the rotating coordinate system. or, The first voltage vector value and the second voltage vector value are transformed to the stationary coordinate system by inverse coordinate transformation to obtain the transformed first voltage vector value and the second voltage vector value; the transformed first voltage vector value and the second voltage vector value are superimposed on the torque vector control coordinate system to obtain the superimposed first voltage vector value and the second voltage vector value; based on the superimposed first voltage vector value and the second voltage vector value, the pulse width modulation duty cycle is obtained by pulse width modulation.

19. The method according to claim 18, wherein, The step of obtaining the pulse width modulation duty cycle based on the feedback value and the superimposed first voltage vector value and second voltage vector value includes: The pulse width modulation duty cycle is determined by performing proportional-integral-differential calculations on the feedback value, the superimposed first voltage vector value, and the second voltage vector value.

20. The method according to any one of claims 1-19, wherein, The acquisition of the audio data to be played includes: Determine the target conversion frequency, and within one carrier cycle, sample and convert the audio data through at least one extreme point of the carrier signal of the bridge arm of the motor, wherein the extreme point includes at least one of a peak or a trough. Obtain the analog output of the multimedia entertainment system; Based on the target conversion frequency, the analog output is converted from analog to digital to generate the audio data; and Obtain the audio data.

21. The method according to any one of claims 1-19, wherein, The acquisition of the audio data to be played includes: Obtain the digital output of the multimedia entertainment system; The digital output is down-converted, and within one carrier cycle, the audio data is sampled and converted using at least one extreme point of the carrier signal of the motor's bridge arm, wherein the extreme point includes at least one of a peak or a trough, to generate the audio data; and Obtain the audio data.

22. The method according to claim 21, wherein, The step of down-converting the digital output, within one carrier cycle, involves sampling and converting the audio data through at least one extreme point of the carrier signal on the bridge arm of the motor, including: Determine the target sampling frequency, and sample the audio data through the extreme points of the carrier signals of at least one bridge arm of the motor within one carrier cycle; and Based on the target sampling frequency, the digital output is sampled to generate the audio data.

23. A method for generating sound using an electric motor, comprising: Perform per-unit processing on the audio data to be played to generate per-unit values; The pulse width modulation duty cycle is obtained based on the per-unit value and the coordinate system of the motor. as well as The motor is controlled to produce sound based on the pulse width modulation duty cycle.

24. The method according to claim 23, wherein, The step of performing per-unit processing on the audio data to be played to generate per-unit values ​​includes: The audio data is processed to per-unit value based on the audio data amplitude.

25. The method according to claim 23, wherein, The step of obtaining the pulse width modulation duty cycle based on the per-unit value and the coordinate system of the motor includes: The audio control scalar is obtained from the per-unit value, and the pulse width modulation duty cycle is obtained from the audio control scalar.

26. The method of claim 25, wherein, The process of obtaining the audio control scalar based on the per-unit value includes: The audio control scalar is determined by multiplying the per-unit value, the volume value, and the maximum target parameter value; wherein the volume value is determined according to user settings, and the maximum target parameter value is determined according to the motor operating parameters.

27. The method according to claim 26, wherein, The maximum target parameter value is either the maximum current value or the maximum voltage value; determining the audio control scalar based on the product of the per-unit value, the volume value, and the maximum target parameter value includes one of the following: The product of the maximum current value, the volume value, and the per-unit value is determined as the audio current control scalar; or, The product of the maximum voltage value, the volume value, and the per-unit value is determined as the audio voltage control scalar.

28. The method according to claim 25, wherein, The step of obtaining the audio control scalar based on the per-unit value and obtaining the pulse width modulation duty cycle based on the audio control scalar includes: Establish rotor excitation current; The coordinate system of the motor is established based on the rotor excitation current; The audio control scalar is obtained based on the per-unit value; and In the coordinate system, the audio control scalar is injected to obtain the pulse width modulation duty cycle.

29. The method according to claim 28, wherein, The establishment of the rotor excitation current includes: The excitation current value is determined based on the amplitude of the sound emitted by the motor; and Establish the rotor excitation current corresponding to the excitation current value.

30. The method according to claim 29, wherein, Determining the excitation current value based on the amplitude of the emitted sound includes: The product of the sound volume amplitude and the preset volume ratio is determined as the excitation current value.

31. The method of claim 28, further comprising: When the motor makes an abnormal noise, the rotor excitation current is released.

32. A method for generating sound using an electric motor, comprising: Acquire an audio sampling signal; wherein the audio sampling signal is obtained by sampling audio data; An audio injection signal is determined based on the audio sampling signal, and the audio injection signal includes at least one of a voltage vector or a current vector in the target vector coordinate system of the motor. The control signal for the motor to produce sound is determined based on the audio injection signal; and The motor is controlled according to the control signal to make the motor produce sound.

33. The method of claim 32, further comprising: The duty cycle of the control signal for adjusting the excitation bridge arm of the motor is adjusted based on the audio sampling signal.

34. The method according to claim 33, wherein, The step of adjusting the duty cycle of the control signal for the excitation bridge arm of the motor based on the audio sampling signal includes: The excitation current of the motor's magnetic field is determined based on the audio sampling signal; Obtain the excitation voltage corresponding to the excitation current; and The duty cycle of the control signal for the excitation bridge arm of the motor is adjusted according to the excitation voltage.

35. The method according to claim 34, wherein, The step of determining the excitation current of the motor magnetic field based on the audio sampling signal includes: Obtain the per-unit value corresponding to the audio sampling signal; and The excitation current of the motor magnetic field is determined based on the peak value of the excitation current, the excitation current bias, and the per-unit value of the motor magnetic field.

36. The method according to any one of claims 32-35, wherein, Determining the control signal for the motor based on the audio injection signal includes: The duty cycle of the motor control signal is adjusted according to the audio injection signal.

37. The method according to claim 36, wherein, The step of adjusting the duty cycle of the motor control signal according to the audio injection signal includes: The phase voltage of the motor is determined based on the audio injection signal; and The duty cycle of the control signal for the phase bridge arm of the motor is adjusted according to the phase voltage.

38. The method according to claim 37, wherein, The step of adjusting the duty cycle of the control signal for the phase bridge arm of the motor according to the phase voltage includes: At the moment when the carrier signal reaches its extreme point, the duty cycle of the control signal for the phase bridge arm of the motor is adjusted according to the phase voltage.

39. The method according to claim 38, wherein, The step of adjusting the duty cycle of the control signal for the phase bridge arm of the motor according to the phase voltage at the time of the extreme point of the carrier signal includes: At time t1 of the carrier signal, the duty cycle of the control signal for the phase bridge arm of the motor is adjusted according to the phase voltage; Where t1 is the extreme point, and 0 < t1 - tm < Ts, Ts is the carrier period, and tm is the time when the current sampling is completed.

40. The method according to claim 39, wherein, Determining the phase voltage of the motor based on the audio injection signal includes: Obtain the phase sampling current of the motor; and The phase voltage of the motor is determined based on the phase sampling current and the audio injection signal.

41. The method according to claim 40, wherein, The step of determining the phase voltage of the motor based on the audio injection signal further includes: Determine the motor's torque output command, motor speed, battery voltage, and phase sampling current; and Based on the torque output command, the motor speed, and the battery voltage, a given current vector is determined; wherein, the given current vector is a current vector in a first-order rotating coordinate system; Determining the phase voltage of the motor based on the phase sampling current and the audio injection signal includes: determining the phase voltage of the motor based on the given current vector, the phase sampling current, and the audio injection signal.

42. The method according to claim 40, wherein, Determining the phase voltage of the motor based on the phase sampling current and the audio injection signal includes: Obtain the first phase current vector corresponding to the phase sampling current; wherein, the first phase current vector is a current vector in a stationary coordinate system; The phase voltage of the motor is determined based on the audio injection signal and the first phase current vector.

43. The method according to claim 42, wherein, When the audio injection signal includes a voltage vector in a stationary coordinate system or a voltage vector in an m-order rotating coordinate system, and m is a real number not equal to 1, determining the phase voltage of the motor based on the audio injection signal and the first phase current vector includes: Obtain the second phase current vector corresponding to the phase sampling current; wherein, the second phase current vector is a current vector in a first-order rotating coordinate system; The target voltage vector is determined based on the second phase current vector; wherein the target voltage vector is the voltage vector in the stationary coordinate system; and The phase voltage of the motor is determined based on the audio injection signal and the target voltage vector.

44. The method according to claim 42, wherein, When the audio injection signal includes at least one of a voltage vector or a current vector in a first-order rotating coordinate system, determining the phase voltage of the motor based on the audio injection signal and the first phase current vector includes: Obtain the second phase current vector corresponding to the phase sampling current; wherein, the second phase current vector is a current vector in a first-order rotating coordinate system; The target voltage vector is determined based on the second phase current vector and the audio injection signal; wherein the target voltage vector is the voltage vector in the stationary coordinate system; and The phase voltage of the motor is determined based on the target voltage vector.

45. The method according to claim 42, wherein, When the audio injection signal includes a current vector in an m-order rotating coordinate system, and m is a real number not equal to 1, determining the phase voltage of the motor based on the audio injection signal and the first phase current vector includes: Obtain the second phase current vector and the third phase current vector corresponding to the phase sampling current; wherein, the second phase current vector is the current vector in a first-order rotating coordinate system, and the third phase current vector is the current vector in an m-order rotating coordinate system; A target voltage vector is determined based on the second phase current vector, the third phase current vector, and the audio injection signal; wherein the target voltage vector is the voltage vector in the stationary coordinate system; and The phase voltage of the motor is determined based on the target voltage vector.

46. ​​The method according to any one of claims 32-45, wherein, Determining the audio injection signal based on the audio sampling signal includes: Obtain the amplitude signal corresponding to the audio sampling signal; and The audio injection signal is determined based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor; wherein the injection angle is determined based on the electrical angle of the motor rotor.

47. The method according to claim 46, wherein, The step of obtaining the amplitude signal corresponding to the audio sampling signal includes: Obtain the per-unit value corresponding to the audio sampling signal; and The amplitude signal is obtained based on the per-unit value and at least one of the maximum current amplitude or the maximum voltage amplitude of the motor controller for responding to sound.

48. The method according to claim 46, wherein, When the target vector coordinate system includes a stationary coordinate system, the amplitude signal includes voltage. Determining the audio injection signal based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor includes: Based on the injection angle, the vectors of the amplitude signal along each coordinate axis in the stationary coordinate system are obtained to obtain the audio injection signal.

49. The method according to claim 46, wherein, When the target vector coordinate system includes a rotated coordinate system, the amplitude signal includes at least one of voltage or current. Determining the audio injection signal based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor includes: Based on the injection angle, the vectors of each coordinate axis of the amplitude signal in the nth-order rotating coordinate system are obtained to obtain the audio injection signal; where n is a real number.

50. The method of claim 46, wherein, When the target vector coordinate system includes a rotated coordinate system, the amplitude signal includes at least one of voltage or current. Determining the audio injection signal based on the amplitude signal, the injection angle, and the target vector coordinate system of the motor includes: Based on the injection angle, the vectors of each coordinate axis of the amplitude signal in the first-order coordinate system and the second-order coordinate system are obtained to obtain the audio injection signal; wherein, the first-order coordinate system and the second-order coordinate system are rotating coordinate systems of different orders.

51. The method according to any one of claims 32-50, further comprising: The audio data is sampled multiple times within one carrier cycle to obtain the audio sample signal.

52. The method according to claim 51, wherein, The step of sampling the audio data multiple times within one carrier cycle includes: Within one carrier cycle, the audio data is sampled at multiple extreme points of the carrier signal.

53. A vehicle comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when executed by the processor, the computer program implements a method for generating sound from a motor according to any one of claims 1 to 22; or, implements a method for generating sound from a motor according to any one of claims 23 to 31; or implements a method for generating sound from a motor according to any one of claims 32 to 52.

54. A computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for generating sound from a motor according to any one of claims 1 to 22; or, implements a method for generating sound from a motor according to any one of claims 23 to 31; or, implements a method for generating sound from a motor according to any one of claims 32 to 52.

55. A computer program product comprising a computer program, which, when executed by a processor, implements a method for generating sound from a motor according to any one of claims 1 to 22; or, implements a method for generating sound from a motor according to any one of claims 23 to 31; or implements a method for generating sound from a motor according to any one of claims 32 to 52.

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