Sound production control method, device, program product, storage apparatus and vehicle

Abstract

Provided is a sound production control method. The method can be applied to an electronic device, a program product, a storage apparatus and a vehicle. The method comprises: respectively transmitting corresponding audio signals to a plurality of windings of a motor, wherein the audio signals are used for controlling the windings to produce sounds corresponding to the audio signals; and controlling the plurality of windings to produce sounds, so that a combined torque formed by sound-producing torques corresponding to the windings is within a target combined torque range.

Description

Sound production control method, device, program product, storage device and vehicle

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202411282780.3, filed on September 13, 2024, and entitled "Sound production control method and device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of electric machines, and in particular to a sound production control method, an electronic device, a computer readable storage medium and a vehicle. BACKGROUND

[0004] At present, the audio playback of new energy vehicles is usually limited to the vehicle interior, and the audio signal is usually played through the audio equipment arranged in the vehicle interior when it needs to be played. With the development of new energy vehicles, in terms of sensory interaction, it is developing from single visual interaction to multi-sensory interaction such as visual and auditory interaction, and in terms of spatial interaction, it is developing from in-vehicle interaction to out-of-vehicle interaction. Therefore, some vehicles can already produce sound through the electric machines on the vehicle. However, the current sound production technology through electric machines is not perfect, and there are problems such as disordered and unclear sound, which cannot meet the user's needs. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a sound production control method and device to solve the problems in the prior art, such as the current sound production technology through electric machines is not perfect, and there are problems such as disordered and unclear sound, which cannot meet the user's needs. The specific technical solutions are as follows:

[0006] In a first aspect of the embodiments of the present application, a sound production control method is first provided, comprising:

[0007] transmitting corresponding audio signals to multiple sets of windings of an electric machine, the audio signals being used to control the windings to emit sounds corresponding to the audio signals;

[0008] controlling the multiple sets of windings to produce sound, so that the combined torque formed by the torque for sound production of each set of windings is within a target combined torque range.

[0009] In a second aspect of the embodiments of the present application, an audio playback device is further provided, comprising:

[0010] an audio transmission module configured to transmit corresponding audio signals to multiple sets of windings of an electric machine, the audio signals being used to control the windings to emit sounds corresponding to the audio signals;

[0011] The motor sound generation module is configured to control multiple sets of windings to generate sound, so that a synthesized torque formed by a torque corresponding to each set of windings for sound generation is within a target synthesized torque range.

[0012] In another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform any of the sound generation control methods described above.

[0013] In another aspect of the embodiments of the present application, a computer program product containing instructions is also provided, which, when executed on a computer, causes the computer to perform any of the sound generation control methods described above.

[0014] In another aspect of the embodiments of the present application, a vehicle is also provided, which implements any of the sound generation control methods described above.

[0015] Compared with the related art, the embodiments of the present application have at least the following advantages:

[0016] In the embodiments of the present application, the multiple sets of windings of the motor are respectively transmitted with corresponding audio signals, the audio signals are used to control the windings to generate sound corresponding to the audio signals, and the multiple sets of windings are controlled to generate sound, so that a synthesized torque formed by a torque corresponding to each set of windings for sound generation is within a target synthesized torque range. In the embodiments of the present application, the motor of the vehicle has multiple sets of windings, and the multiple sets of windings are independently controlled. Therefore, the multiple sets of windings of the motor can be respectively transmitted with corresponding audio signals for controlling the windings to generate sound corresponding to the audio signals. When the multiple sets of windings of the motor are controlled to generate sound, since the synthesized torque formed by a torque corresponding to each set of windings for sound generation is within a target synthesized torque range, that is, the torque of the motor is controlled within a relatively small range or even counteracts each other, the vibration influence of the torque on the motor is reduced, and thus the noise when the motor generates sound can be reduced. In addition, the multiple sets of windings of the motor generate sound based on the transmitted audio signals, and thus the sound generated by the motor is clearer, different user needs can be met, and user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below.

[0018] FIG. 1 is a step flowchart of a sound generation control provided in the embodiments of the present application;

[0019] FIG. 2 is a schematic diagram of the rotation direction of n sets of winding vectors according to an embodiment of the present application;

[0020] FIG. 3 is a schematic diagram of the rotation direction of n sets of winding vectors according to another embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the rotation direction of n sets of winding vectors according to an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the injection of current and / or voltage given by an MCU into a dq-axis synchronous rotating coordinate system according to an embodiment of the present application;

[0023] Figure 6 is a schematic diagram of the injection of current and / or voltage given by an MCU into a dq-axis synchronous rotating coordinate system according to an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of the injection of current and / or voltage given by an MCU into a dq-axis synchronous rotating coordinate system according to an embodiment of the present application;

[0025] Figure 8 is a schematic diagram of the injection of current and / or voltage given by an MCU into a dq-axis synchronous rotating coordinate system according to an embodiment of the present application;

[0026] Figure 9 is a schematic diagram of the injection of current and / or voltage given by an MCU into a dq-axis synchronous rotating coordinate system according to an embodiment of the present application;

[0027] Figure 10 is a schematic diagram of audio signal extraction according to an embodiment of the present application;

[0028] Figure 11 is a schematic diagram of audio signal extraction from a music file according to an embodiment of the present application;

[0029] Figure 12 is a schematic diagram of audio signal extraction from a music file according to an embodiment of the present application;

[0030] Figure 13 is a schematic diagram of an audio decoding process according to an embodiment of the present application;

[0031] Figure 14 is a schematic diagram of an audio decoding process according to an embodiment of the present application;

[0032] Figure 15 is a structural block diagram of an audio playing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0034] One of the core ideas of the embodiments of the present application is to provide a sound generation control method and device, which respectively transmit corresponding audio signals to multiple sets of windings of a motor, the audio signals being used to control the windings to generate sounds corresponding to the audio signals, and a resultant torque formed by the torques corresponding to the sound generation of each set of windings being within a target resultant torque range, wherein the target resultant torque range includes zero and can also include 10% of the rated torque of the motor, thereby reducing the noise when the motor generates sound. It should be noted that the target resultant torque range is adapted to the vehicle parameters of the motor, and specifically, the specific setting range of the target resultant torque range is related to the vehicle type, service life, user, etc. of the vehicle parameters of the motor, as long as the noise when the motor generates sound is within the user's acceptable range.

[0035] In the embodiments of the present application, each set of windings has an independently decoupled vector control system (Field-Oriented Control, FOC), which can accurately control the current vector and voltage vector (current control signal and voltage control signal) of the motor. By converting multiple audio signals into multiple electrical control signals (current control signals or voltage control signals) and according to the angle of the vector control system of each set of windings, the multiple electrical control signals can be synthesized on each coordinate axis of the synchronous rotating coordinate system of the motor, so that the amplitude of the resultant vector is within a target resultant amplitude range, for example, the target resultant amplitude range can be zero or a range of a preset resultant amplitude around zero. In this way, when each set of windings controls the motor to generate sound, the electrical control signal is input into the vector control system, which can be converted into a component perpendicular to the rotor magnetic field of the motor and a component parallel to the rotor magnetic field, and then the rotor is controlled according to these components, so that the rotor vibrates to generate sound, and the resultant torque formed by the torque corresponding to the vibration of the rotor for sound generation is within the target resultant torque range, thereby effectively reducing the noise when the motor generates sound and making the sound generated by the motor clearer.

[0036] Referring to FIG. 1, a step flowchart of a sound generation control method provided in the embodiments of the present application is shown in FIG. 1, which can specifically include the following steps:

[0037] Step 101, respectively transmitting corresponding audio signals to multiple sets of windings of a motor, the audio signals being used to control the windings to generate sounds corresponding to the audio signals.

[0038] Step 102, controlling the multiple sets of windings to generate sound so that a resultant torque formed by the torques corresponding to the sound generation of each set of windings is within a target resultant torque range.

[0039] The embodiment of the application can be applied to a motor with two or more sets of windings, and can be controlled by a controller (MCU, Microcontroller Unit) of the motor. The multiple sets of windings of the multi-phase motor can be independently decoupled and controlled.

[0040] Specifically, the motor of the automobile can include but is not limited to a permanent magnet synchronous motor (double three-phase, six-phase, nine-phase, fifteen-phase motor, etc.), an asynchronous motor (double three-phase, six-phase and above, etc.), an electrically excited synchronous motor (double three-phase, six-phase, nine-phase, fifteen-phase motor, etc.), and the number of inverter bridge arms used is configured according to the number of phases of the motor. The motor can include multiple sets of windings: the motor coil includes x sets of windings, where x≥2 and x is an integer.

[0041] The number of phases of the xth set of windings is m x Each phase winding in the xth set of windings includes n x coil branches, and the n x coil branches of each phase winding are connected to form a phase terminal. The n x coil branches in each phase winding of the xth set of windings are connected to form a phase terminal.

[0042] The reversible PWM rectifier includes K groups of M x bridge arms, and the midpoint of at least one bridge arm in a group of M x bridge arms is connected to a phase terminal of a set of m x phase windings, and the bridge arms connected by any two phase terminals are different, where M x ≥m x , K≥x, and K and M x are integers.

[0043] In a specific implementation, the audio signal is a single-channel signal, and the multiple audio signals can be different single-channel signals separated from the same stereo audio, for example, can be audio signals separated from stereo or two-channel audio data into two channels. The separated audio signals can be one left channel or multiple left channels, or one or more right channel audio signals. Then, the separated multiple audio signals are respectively transmitted to the multiple sets of windings of the motor, so that the corresponding windings can emit sound corresponding to the audio signals. In some examples, the audio data can be music, user's voice collected by a microphone, etc. The audio data can be separated by an audio decoding chip in a multimedia system of the vehicle, or can be processed in advance and stored in a readable memory.

[0044] In a specific implementation, the multiple sets of windings of the motor are controlled to produce sound, specifically, multiple sets of windings that are independently decoupled and controlled are arranged in the motor, each set of windings generates a motor air gap magnetic field when powered alone or in combination, the electromagnetic force generated by the motor air gap magnetic field acting on the motor core (rotor) can excite electromagnetic vibration of the motor rotor, and the sound is generated by the vibration, that is, the motor can produce corresponding sound. The air gap magnetic field is determined by the stator winding magnetic motive force and the air gap magnetic permeability, and the size of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field in the air gap of the motor.

[0045] In the embodiments of the present application, the multiple sets of windings of the motor can be controlled to produce sound corresponding to the transmitted audio signals, and the combined torque formed by the torque corresponding to each set of windings for sound production is within a target combined torque range, wherein the target combined torque range includes zero and can also include 10% of the rated torque of the motor, etc., as long as the noise of the motor is within the acceptable range of the user. Therefore, all vibration torques generated by the motor vibration sound production are offset in the whole, so that the motor does not produce noise or large noise due to vibration sound production, and the motor sound production is clearer. It should be noted that the target combined torque range is adapted to the vehicle parameters of the motor, specifically, the specific setting range of the target combined torque range is related to factors such as the vehicle type and series, service life, and user of the vehicle where the motor is located, as long as the noise of the motor sound production is within the acceptable range of the user.

[0046] In the embodiments of the present application, the multiple sets of windings can produce sound synchronously, wherein the multiple sets of windings can start playing simultaneously in response to a playing instruction, in addition, the multiple sets of windings can also produce sound in a predetermined order, or can also be spliced for sound production, etc. Since the audio signals of the present application can be multiple different monaural signals separated from the same stereo audio, the multiple sets of windings can play the sound of multiple channels of the same audio, or even play the stereo sound as a whole to meet various sound production needs.

[0047] In some embodiments of the present application, the multiple sets of windings are controlled to produce sound so that the combined torque formed by the torque corresponding to each set of windings for sound production is within a target combined torque range, comprising:

[0048] The multiple audio signals are respectively converted into multiple electric control signals;

[0049] According to the multiple electric control signals, the multiple sets of windings are vector controlled so that the combined torque formed by the torque corresponding to each set of windings for sound production is within a target combined torque range.

[0050] In the embodiments of the present application, the plurality of audio signals are respectively converted into a plurality of electrical control signals, wherein the electrical control signals can be current control signals or voltage control signals, and the current control signals and the voltage control signals can be converted into each other. Then, the plurality of sets of windings are vector controlled according to the plurality of electrical control signals, so that the resultant torque formed by the vibration torque corresponding to each set of windings for sound generation is within the target resultant torque range.

[0051] In some embodiments of the present application, the plurality of sets of windings are vector controlled according to the plurality of electrical control signals, so that the resultant torque formed by the vibration torque corresponding to each set of windings for sound generation is within the target resultant torque range, comprising:

[0052] According to the angle of the vector control system corresponding to each set of windings, the plurality of electrical control signals are controlled to form a resultant vector on each coordinate axis of the synchronous rotating coordinate system of the motor and within the target vector sum range.

[0053] Each set of windings is controlled to generate sound according to the corresponding electrical control signal.

[0054] Among them, controlling each set of windings to generate sound according to the corresponding electrical control signal includes: inputting the corresponding electrical control signal into the vector control system of each set of windings to control each set of windings to generate sound respectively.

[0055] The embodiments of the present application are a sound generation control solution for a motor with two or more sets of windings, applied to a controller (MCU, Microcontroller Unit) of the motor. The plurality of sets of windings of the multi-phase motor can be independently decoupled and controlled, forming a plurality of independently decoupled vector control systems (FOC, Field-Oriented Control). Each system controls the sound generation of the electric drive system independently, and the plurality of sets of windings and the plurality of systems can generate sound simultaneously, or can generate sound in a preset order, or can splice sound, etc. The plurality of sets of windings and the plurality of systems can play multiple sound channels, or even can play stereo sound as a whole. Specifically, the vector control system is an advanced motor control strategy that can realize independent control of motor torque and magnetic flux, thereby providing high-precision and high-dynamic-response motor performance. The core idea of the vector control system is to convert the three-phase alternating current of the motor into the synchronous rotating coordinate system (usually referred to as the dq-axis coordinate system), so that the torque and magnetic flux of the motor can be regarded as two orthogonal direct current components for control.

[0056] In the embodiments of the present application, each set of winding corresponds to a vector control system with a corresponding audio injection angle (electrical angle, theta). According to the audio injection angle of each set of winding corresponding to the vector control system, the synthesized vector of the multiple electric control signals on each coordinate axis of the synchronous rotating coordinate system of the motor can be controlled within a target vector sum range, where the target vector sum range can be zero or within a preset numerical target vector sum range. The multiple sets of windings are controlled to generate sound according to the multiple electric control signals, so that the synthesized torque formed by the torque of each set of winding corresponding to the sound generation is within the target synthesized torque range, so that the motor does not produce noise or large noise due to vibration (jitter).

[0057] In some embodiments of the present application, the corresponding electric control signals are respectively input into the vector control system of each set of winding to control the sound generation of each set of winding, specifically including:

[0058] Based on the rotor position in the motor, the electric control signals are converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field by the vector control system corresponding to each set of winding,

[0059] According to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, the rotor of the motor is subjected to field-oriented control to produce corresponding vibration to achieve sound generation.

[0060] In a specific implementation, for the vector control system, the electric control signals can be converted into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field in combination with the rotor position in the motor, and then the rotor in the motor can be controlled through the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field, thereby realizing field-oriented control of the motor to produce corresponding vibration to achieve sound generation.

[0061] During the audio signal playing process, x sets of windings adopt x sets of independent d-q coordinate transformation vector control systems. The x sets of windings can combine to produce sound, so that the electromagnetic force generated by the motor air gap magnetic field acting on the motor core excites electromagnetic vibration to produce sound. Meanwhile, the electromagnetic force excited electromagnetic vibration is uniformly distributed in different directions on the rotor, the rotor is uniformly stressed, the resultant force is basically zero, the stator and rotor are protected, and single-direction bearing or stator and rotor wear caused by single-direction vibration torque is prevented. The rotation directions of two vectors of two sets of windings are shown in FIG. 2, the rotation directions of two vectors of three sets of windings are shown in FIG. 3, and the rotation directions of two vectors of four sets of windings are shown in FIG. 4. The vector synthesis amount of the vectors formed by each set of winding sound production is zero, each set of winding can be independently controlled to produce sound, and the synthesized torque of the total vibration torque for sound generation is within the target synthesized torque range.

[0062] The motor is regarded as a whole when the VSD (Variable Speed Drive) coordinate transformation is based on. The six-phase motor is regarded as a combination of two three-phase subsystems when the double-d-q coordinate transformation is based on, and then the traditional three-phase motor d-q coordinate transformation is used for control of each subsystem. The multi-phase motor can be regarded as a combination of multiple three-phase subsystems by using a similar method to establish the multi-d-q coordinate transformation, and then the traditional three-phase motor coordinate transformation is used for control of each subsystem. The above modeling method is applicable to the motor containing two or more sets of windings, for example, the six-phase motor contains two sets of winding systems, the double three-phase motor can contain two sets of winding systems (at this time, each set of winding has three phases), the nine-phase motor can contain three sets of winding systems, the twelve-phase motor can contain four sets of winding systems, for example, the fifteen-phase motor can have five sets of winding systems, and so on. X is the number of sets of windings of the motor used, and the motor used determines x, and the six-phase motor has x = 2 sets of windings. When the motor with six phases or more is used, x > 2.

[0063] The following describes some parameters related to the embodiments of the application:

[0064] Clark transformation: static coordinate transformation, N-phase axis system is transformed into two-phase static coordinate system, generally does not contain zero-axis vector; extended Clark transformation: static coordinate transformation, N-phase axis system is transformed into two-phase static coordinate system, contains zero-axis vector; PARK transformation: synchronous rotating coordinate transformation, two-phase static coordinate system is transformed into synchronous rotating coordinate system, generally does not contain zero-axis vector; extended PARK transformation: synchronous rotating coordinate transformation, two-phase static coordinate system is transformed into synchronous rotating coordinate system, contains zero-axis vector; inverse Clark transformation: inverse transformation of Clark transformation; inverse PARK transformation: inverse transformation of PARK transformation.

[0065] T is the torque output at the shaft end of the motor; p is the number of pole pairs of the motor; (or ) represents the permanent magnet flux linkage of the motor; Ld represents the direct-axis inductance; Lq represents the quadrature-axis inductance; id represents the direct-axis current; iq represents the quadrature-axis current. SVPWM: space vector pulse width modulation algorithm; θ is the included angle between the rotor direct axis of the vehicle power motor and the winding of phase A of the vehicle power motor; ud and uq are respectively the voltage in the d-q axis coordinate system of the stator; id and iq are respectively the current in the d-q axis coordinate system of the stator; Ld and Lq are respectively the winding inductance in the d-q axis coordinate system; Rs is the resistance of the stator winding, the phase resistance; Rsn is the resistance from the N line to the phase line; ωe is the electrical angular velocity, and Pn is the number of pole pairs of the motor; is the permanent magnet flux linkage.

[0066] In practical applications, the harmonic injection method can be used to inject the audio signal (digital quantity corresponding to the music file) into the synchronous rotating coordinate system or the stationary coordinate system of the motor control. Specifically: 1. Harmonic current extraction: the three-phase current is subjected to 5dq and 7dq coordinate transformation, respectively, and then the 5th and 7th harmonic currents are extracted through a low-pass filter; 2. Harmonic voltage calculation: the target harmonic current value is given according to the amplitude and frequency of the music file, and the voltage in the corresponding coordinate system is obtained after PI regulator; 3. Coordinate transformation injection into motor vector control: the voltage in the stationary coordinate system is obtained through inverse PARK transformation and injected into the original FOC closed-loop control system.

[0067] When playing audio signals such as music or microphone collected sounds through the motor of the automobile, the vector control block diagram of the multi-phase motor system refers to Figures 5-9, and the vector control system of d-q coordinate transformation needs to be established. Specifically, for permanent magnet synchronous motors, the rotor field oriented vector control system is established. For asynchronous motors, the rotor field oriented vector control system is established, and the priority is to establish the rotor excitation current, which is necessary for asynchronous motors. Unlike permanent magnet synchronous motors, there is already a rotor magnetic field, otherwise the sound played by the asynchronous motor without rotor excitation current is less than one percent of that with rotor excitation current. Based on the electrically excited synchronous motor, the rotor excitation field oriented vector control system is established, and the establishment of the rotor excitation current is necessary for the electrically excited motor to play audio. Unlike permanent magnet synchronous motors, there is already a rotor magnetic field, otherwise the sound played by the electrically excited motor without rotor excitation current is less than one percent of that with rotor excitation current. Referring to Figures 5-9, the two sets of windings of the six-phase motor are 30 degrees apart in electrical angle, θ1 = θ, θ2 = θ + 30; referring to Figures 5-9, the two sets of windings of the six-phase motor are 60 degrees apart in electrical angle, θ1 = θ, θ2 = θ + 60; referring to Figures 5-9, the two sets of windings of the double three-phase motor are 0 degrees apart in electrical angle, θ1 = θ, θ2 = θ.

[0068] In the embodiments of the present application, the audio signal can be extracted from a voice file / music file collected by a microphone in communication with the vehicle, such as music sung by a user collected by the microphone when the user sings on the vehicle, or a music file transmitted by an external mobile terminal in communication with the vehicle, such as music of the mobile terminal when the user sings on the vehicle, or a sound of a movie of the mobile terminal when the user watches a movie on the vehicle. By way of example, referring to FIG. 10, which is a schematic diagram of audio signal extraction in the embodiments of the present application, the music file can be a song file (a file in various music formats such as mp3, wma, wav, flac, ape), a MIDI file, a song file transmitted by Bluetooth, a digital signal processed by a music chip, an analog signal processed by a chip, an analog signal amplified by a power amplifier, a PCM encoded file, an analog or digital signal input by a microphone, or a music file corresponding to the digital signal, and the like. The music file in various formats is extracted according to the corresponding file encoding rule, is separated by a sound channel, acquires a single-channel music signal, is sampled and discretized or is down-sampled in frequency by interpolation according to a playing frequency, acquires an amplitude value of a corresponding audio signal sampling point (for example, the file such as MP3 adopts a sampling frequency of 44.1 kHz, and the amplitude value of each point at the sampling frequency is acquired as one variable), and is finally converted into a digital signal information and transmitted into a controller.

[0069] In some embodiments of the present application, the plurality of audio signals are respectively subjected to amplitude mapping processing to obtain a plurality of electrical control signals in the amplitude dimension range; and the electrical control signals in the amplitude dimension range are distributed to a synchronous rotating coordinate system or a stationary coordinate system of the motor to obtain the electrical control signals. In actual application, the audio signals can be converted to be in the amplitude dimension range to obtain the electrical control signals controllable by the winding, and the audio signals can be injected into the synchronous rotating coordinate system or the stationary coordinate system of the motor control by using the harmonic injection method.

[0070] In some embodiments of the present application, the audio signal is subjected to normalization processing to obtain a converted audio normalized signal; the amplitude of the converted audio signal is obtained by multiplying the converted audio normalized signal by a preset maximum current amplitude and a volume percentage value, and the amplitude of the converted audio signal is in the amplitude dimension range of the motor; and the audio signal is converted according to the amplitude of the converted audio signal to obtain the electrical control signal in the amplitude dimension range. In actual application, the audio signal can be subjected to normalization processing, the maximum current amplitude in the amplitude dimension range used by the current controller to respond to the audio signal is multiplied by the converted audio normalized signal and the volume percentage value to obtain the audio signal in the amplitude dimension range by conversion processing.

[0071] In some embodiments of the present application, the amplitude of the converted audio signal is assigned to a synchronous rotating coordinate system of a target order to obtain a current control signal in the amplitude dimension range for controlling the motor in the corresponding order rotating coordinate system; and the current control signal is converted into a voltage control signal according to the corresponding equivalent circuit in the synchronous rotating coordinate system of the target order. For the synchronous rotating coordinate system, there are two kinds of synchronous rotating coordinate systems of the same order and high-order synchronous rotating coordinate systems, and the synchronous rotating coordinate system of the same order, the high-order synchronous rotating coordinate system, or the stationary coordinate system can be selected according to the actual situation.

[0072] In the embodiments of the present application, the amplitude of the converted audio signal can be assigned to a synchronous rotating coordinate system of a target order (a synchronous rotating coordinate system of the same order or a high-order synchronous rotating coordinate system) to obtain a current control signal in the amplitude dimension range for controlling the motor in the corresponding order rotating coordinate system, and then the current control signal can be converted into a voltage control signal according to the corresponding equivalent circuit in the synchronous rotating coordinate system of the target order.

[0073] Referring to the audio decoding process of FIG. 13, the controller performs amplitude mapping processing on the audio signal: the extracted audio signal is normalized, and then multiplied by the normalized audio signal and the volume percentage value according to the maximum current amplitude that the current controller can use to respond to the audio signal to obtain the current Is in the amplitude dimension corresponding to the controller, which is distributed to the dq axes of the n-order dq-axis synchronous rotating coordinate system through the angle theta (n is a real number) to obtain the signals isdn and isqn that can be controlled by the motor drive system. The voltage needs to be converted through the current-voltage module to obtain: isdn and isqn are converted into voltage control signals Usdn and Usqn through the current-voltage conversion module, which can be a pure proportional coefficient relationship or a proportional-derivative relationship or converted according to an equivalent circuit model, and the control system block diagram is as shown in FIGS. 5, 6 and 8.

[0074] Is is distributed through the angle theta, as shown in FIG. 13:

[0075] Formula one: Isdn = Is*cos(theta), Isqn = Is*sin(theta), theta = K*theta + theta_init, K e R, theta is the rotor magnetic field electric angle, and theta_init is the initial angle injected, ranging from 0 to 360 degrees.

[0076] The process of converting the audio current Is into the audio voltage Us through the current-voltage conversion module is shown in FIG. 13, and the specific formula is as follows:

[0077] Permanent magnet synchronous motor formula two:

[0078] Usd = [isd * (Rs + s * Ld) - we * Lq * isq] * Kp / Us,

[0079] Usq = [isq * (Rs + s * Lq) + we * Ld * isd + we * Lmd * if] * Kp / Us,

[0080] ψd = * Ld * isd + Lmd * if, ψq = Lq * isq, s is a variable of Laplace transform, and Kp is not equal to zero.

[0081] Formula three of asynchronous motor:

[0082] 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,

[0083] ψsd = Ls * isd + Lm * ird, ψsq = Ls * isq + Lm * irq, ψr = Lm * isd / (1 + s * Lr / Rr)

[0084] Rotor d-axis current ird = -s * ψr / Rr, rotor q-axis current irq = -Lm * isq / Lr, s is a variable of Laplace transform, and Kp is not equal to zero.

[0085] Formula four of electrically excited synchronous motor:

[0086] Usd = [isd * (Rs + s * Ld) - we * Lq * isq] * Kp / Us,

[0087] Usq = [isq * (Rs + s * Lq) + we * Ld * isd + we * Lmd * if] * Kp / Us,

[0088] ψd = * Ld * isd + Lmd * if, ψq = Lq * isq, s is a variable of Laplace transform, and Kp is not equal to zero.

[0089] Alternatively, formula five is used uniformly: Usd = isd * Kp, Usq = isq * Kp, and Kp is not equal to zero.

[0090] Current Is and voltage Us are less than the maximum current and maximum voltage allowed by the system.

[0091] In some embodiments of the present application, the controller of the motor is configured to respond to the maximum voltage amplitude of the audio signal; the converted audio signal is obtained by multiplying the converted audio signal by the preset maximum voltage amplitude and the volume percentage value, and the amplitude of the converted audio signal is within the amplitude dimension range of the motor;

[0092] The audio signal is converted according to the amplitude of the converted audio signal to obtain an electrical control signal within the amplitude dimension range; and the electrical control signal is distributed to the target order synchronous rotating coordinate system for conversion to obtain a voltage control signal within the amplitude dimension range in the target order synchronous rotating coordinate system.

[0093] In the embodiments of the present application, the extracted audio signal is normalized by the audio decoding process shown in FIG. 14, and then the normalized audio signal is multiplied by the volume percentage value to obtain the voltage Us corresponding to the amplitude dimension of the controller of the motor, which is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system through the angle theta (n is a real number), to obtain the signals Usdn and Usqn that can be controlled by the motor drive system. The control system block diagram is shown in FIGS. 7 and 9.

[0094] The formula six is used: Usd=Us*Kp, Usq=Us*Kp, and Kp is not equal to zero.

[0095] The voltage Us is less than the maximum available voltage allowed by the vector control system.

[0096] In some embodiments of the present application, the electrical control signal within the amplitude dimension range is distributed to the corresponding synchronous rotating coordinate system of the motor to obtain the electrical control signal; or the electrical control signal within the amplitude dimension range is distributed to the high-order synchronous rotating coordinate system based on the corresponding synchronous rotating coordinate system of the motor to obtain the electrical control signal; or the electrical control signal within the amplitude dimension range is distributed to the corresponding stationary coordinate system of the winding to obtain the electrical control signal. In the embodiments of the present application, the current control signal and the voltage control signal of each single channel within the amplitude dimension range can be simultaneously input into the corresponding synchronous rotating coordinate system or stationary coordinate system of the winding, or the current control signal or the voltage control signal of each single channel can be individually input into the corresponding synchronous rotating coordinate system or stationary coordinate system of the winding, so as to obtain the electrical control signal.

[0097] In this embodiment of the application, the audio signal is converted to the dq synchronous rotating coordinate system, and the direction can be positive or negative: for example, the audio signal is converted into a current vector Is (current Isd, Isq) on the dq axis and a voltage vector Us (voltage Usd, Usq) on the dq axis in the positive direction, and the current and voltage are injected into the dq axis synchronous rotating coordinate system.

[0098] For example, as shown in Figure 5, the audio signal is converted into a current vector Is on the dq axis in the positive direction (currents Isd1 and Isq1 of the first set of vector control systems, and currents Isd2 and Isq2 of the second set of vector control systems). The audio current is injected separately. At the same time, the audio signal is converted into a voltage vector Us on the dq axis in the positive direction (voltages Usd1 and Usq1 of the first set of vector control systems, and voltages Usd2 and Usq2 of the second set of vector control systems). This allows the audio current and audio voltage to be injected together, which can increase the system's response frequency and achieve a wider system tracking response. This allows for a larger vibration frequency (higher frequency sound) and a larger oscillating current (louder sound).

[0099] Isd1*=Is*cos(theta1), Isq1*=Is*sin(theta1);

[0100] Isd2*=Is*cos(theta2), Isq2*=Is*sin(theta2);

[0101] Usd1*=Kp*Is*cos(theta1), Usq1*=Kp*Is*sin(theta1);

[0102] Usd2*=Kp*Is*cos(theta2), Usq2*=Kp*Is*sin(theta2);

[0103] Theta1 = K*θ + theta_init1, where K ∈ real number, θ is the rotor magnetic field angle, and theta_init1 is the initial injection angle, ranging from 0 to 360 degrees. Controlling theta2 = theta1 + 180 + θ1 - θ2, the amplitude of the combined vector of the current or voltage generated by the two sets of windings controlling audio playback is essentially zero or fluctuates slightly near zero. The torque vector generated by playing music is essentially zero, thus minimizing the vehicle vibration caused by torque fluctuations and allowing for increased music playback volume.

[0104] For example, as shown in Figure 6, the audio signal is converted into a current vector Is on the dq axis in the positive direction (the first set of vector control system currents Isd1 and Isq1, and the second set of vector control system currents Isd2 and Isq2), and the audio current is injected separately.

[0105] Or, as shown in Figure 7, the audio signal is converted into voltage vector Us on the dq axis in the positive direction (the first set of vector control system voltage Usd1, Usq1, the second set of vector control system voltage Usd2, Usq2), audio voltage is injected alone; The advantage is that the audio voltage directly acts on the normal control system of FOC, and the control method is relatively simple.

[0106] The audio signal is converted into current vector Is (current Isdn, Isqn) and voltage vector Us (voltage Usdn, Usqn) on the dq axis of the n-order synchronous rotating coordinate system, n≠1, and is a real number. The direction can be positive or negative (for example, the order can be n=2, 3, 4, 5, 6, 7... in the positive direction, n=0, -1, -2, -3, -4, -5, -6, -7... and so on in the negative direction).

[0107] For example, as shown in Figure 8, the MCU converts the music to the current and voltage given to the -5 and 7-order dq axis synchronous rotating coordinate system as follows, and the audio injection includes three parts: ① harmonic current extraction ② harmonic voltage calculation ③ coordinate transformation injection into motor vector control. ① Harmonic current extraction: The multi-phase phase current of the motor is respectively subjected to -5 dq and +7 dq coordinate transformation, and then the -5th harmonic and +7th harmonic currents are extracted through a low-pass filter; ② Harmonic voltage calculation: Is is distributed to the dq axis of the n-order dq axis synchronous rotating coordinate system through the angle theta, and the given target harmonic current value (current Id5th, Iq5th, Id7th, Iq7th) is obtained. After the PI regulator, the voltage component obtained by converting the music through the current and voltage module is superimposed, so as to obtain the voltage (voltage Ud5th, Uq5th, Ud7th, Uq7th) under the corresponding coordinate system.

[0108] The given target harmonic current value is shown in Figure 13, and the formulas two, three, four and five are:

[0109] Id5th1*=Is*cos(theta1),Iq5th1*=Is*sin(theta1);

[0110] Id7th1*=Is*cos(theta1),Iq7th1*=Is*sin(theta1);

[0111] Id5th2*=Is*cos(theta2),Iq5th2*=Is*sin(theta2);

[0112] Id7th2*=Is*cos(theta2),Iq7th2*=Is*sin(theta2);

[0113] Voltage component of music distribution

[0114] Ud5th1* = Kp*Is*cos(theta1), Uq5th1* = Kp*Is*sin(theta1);

[0115] Ud7th1* = Kp*Is*cos(theta1), Uq7th1* = Kp*Is*sin(theta1);

[0116] Ud5th2* = Kp*Is*cos(theta2), Uq5th2* = Kp*Is*sin(theta2);

[0117] Ud7th2* = Kp*Is*cos(theta2), Uq7th2* = Kp*Is*sin(theta2);

[0118] Kp is not equal to zero, the current Is, voltage Us is less than the maximum current and maximum voltage allowed by the system.

[0119] Theta1 = K1*theta + theta_init1, K1 e real number, theta1 is the rotor magnetic field electric angle, theta_init1 is the initial angle of injection, range 0~360 degrees. Theta2 = K2*theta2 + theta_init2, K2 e real number, theta2 is the rotor magnetic field electric angle, theta_ini2 is the initial angle of injection, range 0~360 degrees.

[0120] The sound pronunciation effect can be optimized by adjusting the angle distribution of theta1 and theta2. Control theta2 = theta1 + 180 + theta1 - theta2, the amplitude of the combined vector of the current vector or voltage vector formed by the control of the two sets of windings is basically zero or in a small range fluctuation near zero value, the torque vector sum generated by playing music is basically zero, basically will not cause the driving jitter problem caused by torque fluctuation, and can improve the volume of music playing, etc.

[0121] In the embodiments of the application, the method for optimizing sound can be that the vector sum of the audio signal on each order coordinate system is zero or within the target vector sum range, and the calculation formula is as follows:

[0122] As shown in FIGS. 11 and 12, the audio signal is converted to draw a music waveform, and the amplitude of the standardization processing at a certain moment is Y_music. According to the method for optimizing sound of FIG. 2, two sets of windings form two sets of independent decoupled vector control systems, and the controller performs amplitude mapping processing on the audio signal, and the amplitude of the injected audio signal is as follows:

[0123] The first set of windings of the vector control system injects a current with an amplitude Ism = Km * Y_music and an angle of angle, and the second set of windings of the vector control system injects a current with an amplitude Isk = Km * Y_music and an angle of angle + 180; Km is less than the maximum current amplitude Ismax that the controller can output.

[0124] The rotation directions of the two vectors of the two sets of windings are shown in Fig. 2, angle = K * θ + angle1, K ∈ real number (for example, K = 2 * π * f * t, t is time, f is frequency which can be negatively related to rotating speed, etc.), θ is the electrical angle of the rotor magnetic field, angle1 is the initial angle of injection, and the range is 0-360 degrees. The angle angle can be a certain frequency or a certain random angle or a fixed value, and the amplitude of the resultant vector of the current vectors injected by the two sets of systems is substantially zero or fluctuates in a small range near zero;

[0125] According to the method for optimizing sound shown in Fig. 3, three sets of windings form three sets of independently decoupled vector control systems, the controller performs amplitude mapping processing on the audio signal, and the amplitude of the injected audio signal is as follows:

[0126] The first set of windings of the vector control system injects a current with an amplitude Ism = Km * Y_music and an angle of angle, and the second set of windings of the vector control system injects a current with an amplitude Isk = Km * Y_music and an angle of angle + 120; the third set of windings of the vector control system injects a current with an amplitude Isl = Km * Y_music and an angle of angle - 120; Km is less than the maximum current amplitude Ismax that the controller can output.

[0127] The rotation directions of the two vectors of the three sets of windings are shown in Fig. 3, the angle angle can be a certain frequency or a certain random angle or a fixed value (for example, K = 2 * π * f * t, t is time, f is frequency which can be negatively related to rotating speed, etc.), and the amplitude of the resultant vector of the current vectors injected by the three sets of systems is within a target amplitude range, wherein the target amplitude range can be that the amplitude of the resultant vector is zero or fluctuates in a small range near zero;

[0128] According to the method for optimizing sound shown in Fig. 4, four sets of windings form four sets of independently decoupled vector control systems, the controller performs amplitude mapping processing on the audio signal, and the amplitude of the injected audio signal is as follows:

[0129] The vector control system of the first set of windings injects current with amplitude Ism=Km*Y_music and angle angle, the vector control system of the second set of windings injects current with amplitude Isk=Km*Y_music and angle angle+180; the vector control system of the third set of windings injects current with amplitude Isl=Km*Y_music and angle angle+a; the vector control system of the fourth set of windings injects current with amplitude Isn=Km*Y_music and angle angle+a+180; a is the angle of one pair of vectors relative to the other pair of vectors, and Km is less than the maximum current amplitude Ismax that the controller can output.

[0130] The rotation direction of the four vectors of the four sets of windings is shown in Fig. 4, angle=K*theta+angle1, K∈real number (for example, K=2*π*f*t, t is time, f is frequency which can be inversely related to rotation speed, etc.), theta is the electrical angle of the rotor magnetic field, angle1 is the initial angle of injection, and the range is 0-360 degrees. The angle angle can be a certain frequency or a certain random angle or a fixed value. The amplitude of the combined vector of the current vectors injected into the four sets of systems is substantially zero or fluctuates in a small range around zero;

[0131] Based on the vector control diagrams in Figs. 5-7, the method for optimizing sound is that the sum of the vectors in the dq-axis synchronous rotating coordinate system is zero: Ism=Isk, which can adjust the volume. The method for optimizing sound in Fig. 5 is to adjust the angle distribution of theta1 and theta2 to optimize the sound pronunciation effect, so that theta1=angle, theta2=angle+180+theta1-theta2;

[0132] Isd1=Ism*cos(theta1), Isq1=Ism*sin(theta1);

[0133] Isd2=Isk*cos(theta2), Isq2=Isk*sin(theta2);

[0134] Usd1*=Kp*Isd1*cos(theta1), Usq1*=Kp*Isq1*sin(theta1);

[0135] Usd2*=Kp*Isd2*cos(theta2), Usq2*=Kp*Isq2*sin(theta2);

[0136] Based on the vector control diagram in FIG. 8-9, the vector sum in the dq axis synchronous rotating coordinate system of the n-th order is zero: Ism=Isk. The volume can be adjusted, and the method for optimizing the sound in FIG. 2: adjusting the angle distribution of theta1 and theta2 can optimize the pronunciation effect of the sound, and let theta1=angle, theta2=angle+180+n*(theta1-theta2).

[0137] Isd5th1=Ism*cos(theta1), Isq5th1=Ism*sin(theta1);

[0138] Isd7th1=Ism*cos(theta1), Isq7th1=Ism*sin(theta1);

[0139] Isd5th2=Isk*cos[theta1+180+(-5theta1)-(-5theta2)];

[0140] Isq5th2=Isk*sin[theta1+180+(-5theta1)-(-5theta2)];

[0141] Isd7th2=Isk*cos[theta1+180+(7theta1)-(7theta2)];

[0142] Isq7th2=Isk*sin[theta1+180+(7theta1)-(7theta2)];

[0143] The controller of the motor controls the signal converted from the audio, the electromagnetic vibration is excited by the electromagnetic force generated by the air gap magnetic field acting on the motor iron core, and the sound is generated by the vibration, that is, the motor can emit corresponding music sound. The air gap magnetic field is determined by the stator winding magnetic motive force and the air gap magnetic conductance. The size of the electromagnetic sound is closely related to the amplitude and frequency of the harmonic magnetic field in the air gap of the motor.

[0144] In some embodiments of the present application, a single sampling and single updating technology is used to determine the control frequency of the motor controller, and the control frequency is used as the sampling frequency; or, a double sampling and double updating technology is used to determine the control frequency of the motor controller, and the control frequency is used as the sampling frequency; the data audio signal transmitted by the multimedia system of the vehicle is sampled according to the sampling frequency, and the audio signal is obtained.

[0145] In the embodiments of the present application, a monophonic signal of a monophonic sound is obtained, sampling points are discretized or interpolation down-sampling frequency is performed according to a playing frequency (sampling frequency), an amplitude of a corresponding monophonic signal sampling point is obtained (for example, an MP3 file uses a sampling frequency of 44.1 kHz, and the amplitude of each point at the sampling frequency is obtained as a variable according to the sampling frequency of 44.1 kHz), and finally converted into digital signal information and transmitted into a controller.

[0146] The monophonic signal is discretized or interpolation down-sampling frequency is performed according to the playing frequency: the focus is on the audio signal down-sampling conversion process, the motor drive system is limited by the switching frequency (3 kHz-20 kHz) of the power device (IGBT, SIC, GAN, MOSFEET, etc.) and the control frequency (3 kHz-30 kHz) of the control chip, which is basically lower than the sampling rate (96 kHz, 48 kHz, 44.1 kHz, 22.05 kHz, etc.) of the music file. The motor controller uses double sampling and double updating technology to improve the control frequency of the electronic control control chip and the sampling frequency of the audio digital signal, so that the control frequency can be higher (20 kHz, 22 kHz, 24 kHz, 32 kHz, etc.) in a switching cycle twice interruption control under a lower switching frequency (10 kHz, 11 kHz, 12 kHz, 16 kHz, etc.), the sampling frequency of the audio digital signal is improved, the audio digital signal sampling distortion is reduced from the source, the audio file music restoration degree is improved, and the effect can reach a higher playing quality.

[0147] The embodiments of the present application use single sampling and single updating technology or double sampling and double updating to improve the control frequency of the electronic control control chip during audio signal playing, improve the audio signal restoration degree, and the effect can reach a higher playing quality.

[0148] In some embodiments of the present application, when the data transmitted by the multimedia system of the vehicle is an analog signal, the data transmitted by the multimedia system of the vehicle is analog-to-digital sampled according to the sampling frequency; when the data transmitted by the multimedia system of the vehicle is a digital signal, a down-sampling frequency after frequency reduction is determined based on the sampling frequency, and the data transmitted by the multimedia system of the vehicle is sampled according to the down-sampling frequency.

[0149] In a specific implementation, the audio signal can include an analog signal and a digital signal.

[0150] For an analog signal: ADC (Analog-to-Digital Converter) sampling is performed according to the control frequency of the control chip, that is, the required audio signal can be obtained by frequency reduction, and the audio signal is de-noised to improve the sound quality. For example, the ADC sampling frequency is 22 kHz, and the audio signal with a sampling rate of 22 kHz can be obtained.

[0151] For digital signal: need to reduce the frequency processing, that is, in the original signal higher sampling rate to obtain lower sampling rate of audio control signal, in the process of frequency reduction, if there is no audio point, the interpolation processing between the last point and the next point is adopted. For example, the sampling rate of 48 kHz audio file is 12 kHz, and one audio is selected every 3 audio points.

[0152] In an embodiment of the present application, the single-channel audio signal is normalized to obtain a converted single-channel audio signal; the converted single-channel audio signal is injected with current amplitude and angle; and the amplitude of the converted single-channel audio signal after injecting the current amplitude and angle is obtained.

[0153] In an embodiment of the present application, the audio signal converted from the music file such as mp3 is read out to draw the music waveform, as shown in the audio signal waveform of the music segment taken from the music file in FIGS. 11-12, the audio signal is normalized between -1 and 1 to obtain the converted music signal Y_music, the current amplitude Is = Km * Y_music is injected to obtain the current amplitude Is corresponding to the audio signal, and the music injection angle theta (electrical angle) is obtained. The music injection angle can change over time or remain unchanged to ensure the best sound effect. For example, in the parking mode, the best theta angle can be maintained after finding the best theta angle. In the driving mode, the best theta can be changed with the increase of torque to ensure that the torque fluctuation verification curve slides on the constant torque curve, to ensure that the torque fluctuation is minimized and no additional noise or other problems are generated. theta = K * theta + theta_init, K ∈ real number, theta is the rotor magnetic field electrical angle, and theta_init is the initial injection angle, ranging from 0 to 360 degrees.

[0154] In an embodiment of the present application, the controller of the motor converts the audio signal to obtain the corresponding amplitude dimension of the controller, to obtain a signal that can be controlled by the motor drive system. The audio signal is injected into the synchronous rotating coordinate system or the stationary coordinate system controlled by the motor in the form of signal injection.

[0155] Referring to FIGS. 13 and 14, the audio digital signal injection is adopted, the MCU gives the current and / or voltage injection to the n-order dq-axis synchronous rotating coordinate system or the stationary coordinate system controlled by the motor, n ∈ real number. The amplitude of the target current harmonic injection of the motor multiple synchronous rotating coordinate system can control the amplitude and frequency of the musical notes played by the motor, and finally control the pitch of the musical notes played by the motor.

[0156] The audio playing solution is proposed based on a multi-winding motor with two or more sets of windings. The multiple sets of windings of the multi-phase motor can be independently decoupled and controlled to form multiple sets of independently decoupled vector control systems, and each set of system controls the sound generation of the electric drive system. No matter driving or parking, each set of subsystem is controlled by the traditional three-phase motor d-q coordinate transformation. Each set of d-q coordinate transformation system of the motor can inject an audio signal into the vector control system, and the audio signal can be independently controlled. In the audio playing process, x sets of windings use x sets of independently d-q coordinate transformation vector control systems to simultaneously play the audio signal. The amplitude of the resultant vector of the current vector or voltage vector formed by the x sets of winding control audio playing is substantially zero or fluctuates in a preset resultant amplitude range. Each set of winding can independently control the sound generation, and the resultant torque formed by the total vibration torque is substantially zero or within 10% of the rated torque of the motor, that is, within the target resultant torque range, which will not cause the whole vehicle to shake and cause abnormal noise.

[0157] The multiple sets of independently decoupled vector control systems form symmetrical current or voltage vectors to play the audio signal, the resultant torque vector of the audio signal playing is substantially zero, which will not cause the driving shaking problem caused by torque fluctuation, and can have the effect of improving the volume of music and other audio signals.

[0158] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the described action sequence, because according to the embodiments of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0159] Referring to FIG. 15, it is a structural block diagram of an audio playing device provided in an embodiment of the present application. The device can specifically include the following modules:

[0160] An audio transmission module 1501 is configured to transmit corresponding audio signals to multiple sets of windings of a motor respectively, and the audio signals are used to control the windings to emit sounds corresponding to the audio signals.

[0161] A motor sound generation module 1502 is configured to control the multiple sets of windings to generate sounds, so that the resultant torque formed by the torque corresponding to the sound generation of each set of winding is within a target resultant torque range.

[0162] In an embodiment of the present application, the target resultant torque range includes zero.

[0163] In an embodiment of the present application, the target resultant torque range is within 10% of the rated torque of the motor.

[0164] In an embodiment of the present application, the target resultant torque range is adapted to the vehicle parameter in which the motor is located.

[0165] In an embodiment of the present application, the audio signals are different monaural signals separated from the same stereo audio.

[0166] In an embodiment of the present application, the motor sound generating module 1502 is configured to:

[0167] convert the audio signals into electric control signals respectively;

[0168] perform vector control on the multiple sets of windings according to the electric control signals, so that the resultant torque formed by the torque for sound generation corresponding to each set of windings is within a target resultant torque range.

[0169] In an embodiment of the present application, the motor sound generating module 1502 is configured to:

[0170] control the electric control signals to form a resultant vector within a target resultant vector range on each coordinate axis of a synchronous rotating coordinate system of the motor according to the angle of the vector control system corresponding to each set of windings;

[0171] control each set of windings to generate sound according to the corresponding electric control signal.

[0172] In an embodiment of the present application, the motor sound generating module 1502 is configured to:

[0173] input the corresponding electric control signals into the vector control system of each set of windings to control each set of windings to generate sound respectively.

[0174] In an embodiment of the present application, the motor sound generating module 1502 is configured to:

[0175] convert the electric control signals into a component perpendicular to the rotor magnetic field and a component parallel to the rotor magnetic field through the vector control system corresponding to each set of windings based on the rotor position in the motor,

[0176] perform field-oriented control on the rotor of the motor according to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field to generate corresponding vibrations to realize sound generation.

[0177] For the above-mentioned device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts can be referred to the part of the method embodiments.

[0178] In a further implementation provided in the present application, a computer readable storage medium is provided, which stores instructions, when executed on a computer, cause the computer to perform the sound production control method according to any one of the above embodiments.

[0179] In a further implementation provided in the present application, a computer program product is provided, which contains instructions, when executed on a computer, cause the computer to perform the sound production control method according to any one of the above embodiments.

[0180] In a further implementation provided in the present application, a vehicle is provided, which implements the sound production control method according to any one of the above embodiments.

[0181] In the above embodiments, the implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented through software, the implementation can be in the form of computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, the computer instructions generate the processes or functions according to the embodiments of the present application entirely or partially. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0182] 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 apparatus 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 apparatus. 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 apparatus that includes said element.

[0183] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0184] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A sound production control method, comprising: transmitting a plurality of audio signals to a plurality of sets of windings of an electric machine respectively, the audio signals being used to control the windings to produce sounds corresponding to the audio signals; controlling the plurality of sets of windings to produce sounds so that a resultant torque formed by the torque for sound production of each set of windings is within a target resultant torque range.

2. The method of claim 1, wherein, The target resultant torque range includes zero.

3. The method of claim 1 or 2, wherein, The target resultant torque range is within 10% of a rated torque of the electric machine.

4. The method of any one of claims 1 to 3, wherein, The target resultant torque range is adapted to parameters of a vehicle in which the electric machine is located.

5. The method of any one of claims 1 to 4, wherein, The plurality of audio signals are different monaural signals separated from a same stereophonic audio.

6. The method of any one of claims 1 to 5, wherein, The controlling the plurality of sets of windings to produce sounds so that a resultant torque formed by the torque for sound production of each set of windings is within a target resultant torque range, comprises: converting the plurality of audio signals into a plurality of electric control signals respectively; controlling the plurality of sets of windings according to the plurality of electric control signals to make a resultant torque formed by the torque for sound production of each set of windings within the target resultant torque range.

7. The method of claim 6, wherein, The controlling the plurality of sets of windings according to the plurality of electric control signals to make a resultant torque formed by the torque for sound production of each set of windings within the target resultant torque range, comprises: controlling the plurality of electric control signals to make a resultant vector in a synchronous rotating coordinate system of the electric machine within a target resultant vector range according to an angle of the vector control system corresponding to each set of windings; controlling each set of windings to produce sounds according to the electric control signal corresponding to the set of windings respectively.

8. The method of claim 7, wherein, The controlling each set of windings to produce sounds according to the electric control signal corresponding to the set of windings respectively, comprises: inputting the electric control signal corresponding to each set of windings into the vector control system of the set of windings respectively to control each set of windings to produce sounds respectively.

9. The method of claim 8, wherein, The inputting the electric control signal corresponding to each set of windings into the vector control system of the set of windings respectively to control each set of windings to produce sounds respectively, comprises: converting the electric control signal into a component perpendicular to a rotor magnetic field and a component parallel to the rotor magnetic field through the vector control system corresponding to each set of windings based on a rotor position in the electric machine, controlling a rotor of the electric machine to produce corresponding vibrations to produce sounds according to the component perpendicular to the rotor magnetic field and the component parallel to the rotor magnetic field.

10. The method of any one of claims 1 to 9, wherein, Before the transmitting a plurality of audio signals to a plurality of sets of windings of an electric machine respectively, further comprising: separating a stereophonic audio to be played into monaural audio signals.

11. An electronic device, comprising: comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication among each other through the communication bus; the memory is used to store a computer program; the processor is used to execute the program stored in the memory to implement the method steps in any one of claims 1-10.

12. A computer program product comprising computer programs / instructions, wherein, The computer program / instruction is executed by the processor to implement the method in any one of claims 1-10.

13. A computer readable storage medium having stored thereon a computer program, wherein, The program is executed by the processor to implement the method in any one of claims 1-10.

14. A vehicle, wherein, The vehicle implements the method as claimed in any one of claims 1-10, or the vehicle comprises the electronic device as claimed in claim 11.

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