Vehicle motor control method and system, and vehicle

Abstract

Disclosed in the present invention is a vehicle motor control method. The method comprises: acquiring differential sampling signals from a motor rotor position sensor of a vehicle; determining whether an abnormal signal exists among the differential sampling signals; if an abnormal signal exists, performing redundant computation on the abnormal signal on the basis of the remaining normal signals among the differential sampling signals to obtain a backup signal; and determining the motor rotor position of the vehicle on the basis of the backup signal and the remaining normal signals among the differential sampling signals. Further disclosed in the present invention are a system using the method, and a vehicle.

Description

Vehicle motor control methods, systems and vehicles

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411591095.9, filed on November 8, 2024, entitled "Vehicle Motor Control Method, System and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of automotive technology, specifically to a vehicle motor control method, system, and vehicle. Background Technology

[0004] The motor rotor is the rotating part of a vehicle's electric motor, supported by bearings. Its function is to convert electrical energy into mechanical energy or vice versa. The rotor position is crucial for the normal operation of the motor, as it directly affects the motor's output power and efficiency. Inaccurate rotor position can lead to unstable motor operation or even damage to the motor.

[0005] A motor rotor position sensor is a device used to detect the position of a motor rotor. It converts the mechanical position into an electrical signal, which is used by the motor controller to determine when to switch the direction and intensity of the current in the vehicle motor, thereby controlling the motor's rotational speed and torque. In new energy vehicles, the accurate operation of the motor rotor position sensor is crucial to ensuring the safety and stability of the vehicle, especially during critical moments such as emergency braking, acceleration, or steering, where the sensor's response speed and accuracy directly affect the motor's reaction.

[0006] When a motor rotor position sensor fails, existing technologies often use the three-phase back electromotive force of a permanent magnet motor to estimate the rotor position as a redundancy strategy. However, this method suffers from relatively inaccurate rotor position estimation. Accurate rotor position estimation is crucial for improving motor efficiency and performance; therefore, researching and developing more accurate and efficient rotor position estimation methods is of great significance for advancing motor technology.

[0007] The following is a brief explanation of the terms that may be used in this application:

[0008] ADC sampling: A technique that discretizes analog signals at a certain sampling frequency and then converts them into digital signals. Summary of the Invention

[0009] To address the aforementioned technical problems, this disclosure provides the following specific technical solutions.

[0010] This disclosure provides a vehicle motor control method, including the following steps:

[0011] S1, acquire differential sampling signals from the vehicle's motor rotor position sensor;

[0012] S2, determine whether there is an abnormal signal in the differential sampling signal;

[0013] S3, if there is an abnormal signal, then the abnormal signal is redundancy calculated based on the remaining normal signals in the differential sampling signal to obtain a backup signal;

[0014] S4. Based on the backup signal and the remaining normal signals in the differential sampling signal, determine the position of the vehicle's motor rotor.

[0015] Optionally, step S1 includes:

[0016] The motor rotor position sensor acquires four differential sampling signals, including two sinusoidal differential sampling signals and two cosine differential sampling signals.

[0017] Optionally, step S1 includes the following sub-steps:

[0018] S11, the four voltage values ​​of the motor rotor position sensor are acquired through ADC sampling technology;

[0019] S12, convert the four voltage values ​​to the decimal range according to the ratio to obtain the two sinusoidal differential sampling signals and the two cosine differential sampling signals.

[0020] Optionally, step S2 includes the following sub-steps:

[0021] S21, the sum of the two sinusoidal differential sampling signals is determined as the sine sum, and the sum of the two cosine differential sampling signals is determined as the cosine sum;

[0022] S22, based on the four differential sampling signals, the sine sum, and the cosine sum, determine whether there are any abnormal signals in the four differential sampling signals.

[0023] Optionally, sub-step S22 includes the following operations:

[0024] S221, determine whether the four differential sampling signals exceed the preset single-channel signal reference range;

[0025] S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, determine whether the sine sum or cosine sum exceeds the preset summation signal reference range;

[0026] S223, if the execution result of the operation S222 is outside the preset summation signal reference range, then the differential sampling signal that exceeds the single-channel signal reference range is determined to be an abnormal signal.

[0027] Optionally, sub-step S21 further includes the following operations:

[0028] S210, Based on the chip characteristics of the motor rotor position sensor, determine the reference range of the single-channel signal and the reference range of the summed signal.

[0029] Optionally, the operation S222 includes:

[0030] When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, then it is determined whether the cosine sum exceeds the preset summation signal reference range; if the differential sampling signal is a cosine differential sampling signal, then it is determined whether the sine sum exceeds the preset summation signal reference range.

[0031] Optionally, step S3 includes the following sub-steps:

[0032] S31, if there is an abnormal signal, and the abnormal signal is a sinusoidal differential sampling signal, then the difference between the cosine sum and the other sinusoidal differential sampling signal is determined as the backup signal;

[0033] S32, if the abnormal signal is a cosine differential sampling signal, then the difference between the sine signal and the other cosine differential sampling signal is determined as the backup signal.

[0034] In addition, this disclosure also provides a vehicle motor control system, including:

[0035] The differential sampling signal acquisition module is configured to acquire differential sampling signals from the vehicle's motor rotor position sensor;

[0036] An abnormal signal determination module is configured to determine whether an abnormal signal exists in the differential sampling signal;

[0037] The redundancy calculation module is configured to perform redundancy calculation on the abnormal signal based on the remaining normal signals in the differential sampling signal to obtain a backup signal;

[0038] The motor control module is configured to determine the position of the vehicle's motor rotor based on the backup signal and the remaining normal signals in the differential sampling signal.

[0039] In addition, this disclosure also provides a vehicle including the vehicle motor control system described above.

[0040] The above technical solution enables accurate estimation of the motor rotor position when the motor rotor position sensor fails, solving the problem of inaccurate estimation results in the existing method of estimating the motor rotor position using the three back electromotive forces of a permanent magnet motor. This achieves the goal of ensuring stable motor operation and improving motor operating efficiency and performance. Attached Figure Description

[0041] Figure 1 is a schematic flowchart of the vehicle motor control method provided in an embodiment of this disclosure;

[0042] Figure 2 is a schematic diagram of the vehicle motor control system provided in an embodiment of this disclosure. Detailed Implementation

[0043] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. 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.

[0044] The specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0045] Although the steps in the flowcharts of this disclosure are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0046] In the following description, the use of suffixes such as "module" and "device" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module" and "device" can be used interchangeably.

[0047] Although the terms "first," "second," etc., may be used in this document to describe various types of information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0048] Referring to Figure 1, an embodiment of this application provides a vehicle motor control method, including the following steps:

[0049] S1, the vehicle's motor rotor position sensor is communicatively connected to a data processing device, which may be, for example, an on-board computer or other data processing terminal capable of communicating with the motor rotor position sensor, such as a smartphone.

[0050] The data processing device acquires differential sampling signals from the motor rotor position sensor.

[0051] S2, the data processing device determines whether there is an abnormal signal in the differential sampling signal.

[0052] S3. If an abnormal signal is present, the data processing device determines that the motor rotor position sensor has failed. Then, the data processing device performs redundancy calculation on the abnormal signal based on the remaining normal signals in the differential sampling signal to obtain a backup signal.

[0053] S4, the data processing device determines the position of the vehicle's motor rotor based on the backup signal and the remaining normal signals in the differential sampling signal.

[0054] The above technical solution enables accurate estimation of the motor rotor position when the motor rotor position sensor fails, solving the problem of inaccurate estimation results in the existing method of estimating the motor rotor position using the three back electromotive forces of a permanent magnet motor. This achieves the goal of ensuring stable motor operation and improving motor operating efficiency and performance.

[0055] Step S1 may include:

[0056] The data processing device acquires four differential sampling signals from the motor rotor position sensor, including two sinusoidal differential sampling signals and two cosine differential sampling signals.

[0057] The two sinusoidal differential sampling signals can be a positive sinusoidal signal and a negative sinusoidal signal, and the two cosine differential sampling signals can be a positive cosineal signal and a negative cosineal signal.

[0058] Step S1 may include the following sub-steps:

[0059] S11, the data processing device acquires the four voltage values ​​of the motor rotor position sensor through ADC sampling technology.

[0060] S12, the data processing device converts the four voltage values ​​to the decimal range according to the ratio to obtain the two sine differential sampling signals and the two cosine differential sampling signals.

[0061] In this embodiment, the reference range of the four voltage values ​​is preferably 0 to 3.3 volts, and the decimal range is preferably 0 to 4095.

[0062] Step S2 may include the following sub-steps:

[0063] S21, the data processing device determines the sum of the two sinusoidal differential sampling signals as the sine sum and the sum of the two cosine differential sampling signals as the cosine sum. Specifically, the sum of the positive and negative sinusoidal signals is determined as the sine sum, and the sum of the positive and negative cosine signals is determined as the cosine sum.

[0064] S22, the data processing device determines whether there is an abnormal signal in the four differential sampling signals based on the four differential sampling signals, the sine sum, and the cosine sum.

[0065] Sub-step S22 may include the following operations:

[0066] S221, the data processing device determines whether the four differential sampling signals exceed the preset single-channel signal reference range.

[0067] In this embodiment, the data processing device can set corresponding single-channel signal flag bits for the four differential sampling signals respectively. If a single differential sampling signal exceeds the preset single-channel signal reference range, its corresponding single-channel signal flag bit is set to a preset first abnormal value. If a single differential sampling signal does not exceed the preset single-channel signal reference range, its corresponding single-channel signal flag bit is set to a preset first normal value.

[0068] Wherein, the first abnormal value is preferably 0, and the first normal value is preferably 1.

[0069] S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, the data processing device determines whether the sine or cosine sum exceeds the preset summation signal reference range.

[0070] In this embodiment, the data processing device can determine whether only one differential sampling signal exceeds the preset single-channel signal reference range by using the single-channel signal flag bits corresponding to the four differential sampling signals.

[0071] In this embodiment, the data processing device can set corresponding summation signal flag bits for the sine sum and cosine sum respectively. If the sine sum or cosine sum exceeds the preset summation signal reference range, the corresponding summation signal flag bit is set to a preset second abnormal value. If the sine sum or cosine sum does not exceed the preset summation signal reference range, the corresponding summation signal flag bit is set to a preset second normal value.

[0072] The second abnormal value is preferably 0, and the second normal value is preferably 1.

[0073] S223, if the execution result of the operation S222 is outside the preset summation signal reference range, the data processing device determines that the differential sampling signal outside the single-channel signal reference range is an abnormal signal.

[0074] In this embodiment, the data processing device can determine whether the execution result of operation S222 exceeds the preset summation signal reference range by using the summation signal flag bits corresponding to the sine and cosine sums.

[0075] This embodiment, by setting corresponding single-channel signal flag bits for each of the four differential sampling signals, can conveniently and quickly determine whether only one differential sampling signal exceeds the preset single-channel signal reference range; this embodiment, by setting corresponding summation signal flag bits for each of the sine and cosine sums, can conveniently and quickly determine whether the execution result of operation S222 exceeds the preset summation signal reference range, thereby improving the execution efficiency and accuracy of the vehicle motor control method.

[0076] The sub-step S21 may also include the following operations:

[0077] S210, the data processing device determines the single-channel signal reference range and the summed signal reference range based on the chip characteristics of the motor rotor position sensor.

[0078] The chip characteristics of the motor rotor position sensor may include the range of variation and error range of the output signal of the motor rotor position sensor chip within a preset temperature range. In this embodiment, the temperature range is preferably from -40℃ to 140℃.

[0079] The operation S222 may include:

[0080] When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sinusoidal differential sampling signal, the data processing device determines whether the cosine sum exceeds the preset summation signal reference range. If the differential sampling signal is a cosine differential sampling signal, the data processing device determines whether the sine sum exceeds the preset summation signal reference range.

[0081] For example, if only the positive sine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the cosine sum exceeds the preset summation signal reference range.

[0082] Similarly, if only the negative sine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the cosine sum exceeds the preset summation signal reference range. If only the negative cosine signal exceeds the preset single-channel signal reference range, the data processing device determines whether the sine sum exceeds the preset summation signal reference range.

[0083] Step S3 may include the following sub-steps:

[0084] S31, if an abnormal signal exists, and the abnormal signal is a sinusoidal differential sampling signal, the data processing device determines the difference between the cosine sum and the other sinusoidal differential sampling signal as the backup signal.

[0085] For example, if the abnormal signal is a positive sinusoidal signal, the data processing device determines the difference between the cosine sum and the negative sinusoidal signal as the backup signal.

[0086] Similarly, if the abnormal signal is a negative sinusoidal signal, the data processing device determines the difference between the cosine sum and the positive sinusoidal signal as the backup signal.

[0087] S32, if the abnormal signal is a cosine differential sampling signal, the data processing device determines the difference between the sine signal and the other cosine differential sampling signal as the backup signal.

[0088] For example, if the abnormal signal is a positive cosine signal, the data processing device determines the difference between the sine and negative cosine signals as the backup signal.

[0089] Similarly, if the abnormal signal is a negative cosine signal, the data processing device determines the difference between the sine and positive cosine signals as the backup signal.

[0090] Referring to Figure 2, another embodiment of this application provides a vehicle motor control system, including:

[0091] The differential sampling signal acquisition module 1 is communicatively connected to the vehicle's motor rotor position sensor and configured to acquire differential sampling signals from the motor rotor position sensor.

[0092] Abnormal signal judgment module 2 is configured to judge whether there is an abnormal signal in the differential sampling signal.

[0093] Redundancy calculation module 3 is configured to perform redundancy calculation on the abnormal signal based on the remaining normal signals in the differential sampling signal to obtain a backup signal.

[0094] The motor control module 4 is configured to determine the position of the vehicle's motor rotor based on the backup signal and the remaining normal signals in the differential sampling signal.

[0095] The differential sampling signal acquisition module 1 may include the following sub-modules:

[0096] The four-channel signal acquisition submodule is configured to acquire four differential sampling signals from the motor rotor position sensor, including two sinusoidal differential sampling signals and two cosine differential sampling signals.

[0097] The four-channel signal acquisition submodule may include the following units:

[0098] The sampling unit is configured to acquire the four voltage values ​​of the motor rotor position sensor through ADC sampling technology.

[0099] The conversion unit is configured to convert the four voltage values ​​to the decimal range according to the ratio, so as to obtain the two sinusoidal differential sampling signals and the two cosine differential sampling signals.

[0100] The abnormal signal determination module 2 may include the following sub-modules:

[0101] The summation submodule is configured to determine the sine sum by adding the two sinusoidal differential sampling signals and to determine the cosine sum by adding the two cosine differential sampling signals.

[0102] The abnormal signal judgment submodule is configured to determine whether there is an abnormal signal in the four differential sampling signals based on the four differential sampling signals, the sine sum, and the cosine sum.

[0103] The abnormal signal determination submodule may include the following units:

[0104] The first judgment unit is configured to judge whether the four differential sampling signals exceed the preset single-channel signal reference range.

[0105] The second judgment unit is configured to, when only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, determine whether the cosine sum exceeds the preset summation signal reference range; if the differential sampling signal is a cosine differential sampling signal, determine whether the sine sum exceeds the preset summation signal reference range.

[0106] The third judgment unit is configured to determine that the differential sampling signal exceeding the single-channel signal reference range is an abnormal signal when the execution result of the second judgment unit is that the signal exceeds the preset summation signal reference range.

[0107] The redundancy calculation module 3 may include the following sub-modules:

[0108] The first determining submodule is configured to determine the backup signal as the difference between the cosine sum and another sinusoidal differential sampling signal when an abnormal signal exists and the abnormal signal is a sinusoidal differential sampling signal.

[0109] The second determining submodule is configured to determine the backup signal as the difference between the sine signal and the other cosine differential sampling signal when the abnormal signal is a cosine differential sampling signal.

[0110] Another embodiment of this application provides a vehicle including the vehicle motor control system described above.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, which includes not only those elements listed but also other elements not expressly listed.

[0113] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims. Industrial applicability

[0114] The above-mentioned vehicle motor control method, system, and vehicle can accurately estimate the motor rotor position when the motor rotor position sensor fails, solving the problem of inaccurate estimation results in the existing method of estimating the motor rotor position using the three back electromotive forces of a permanent magnet motor. This achieves the goal of ensuring stable motor operation and improving motor operating efficiency and performance.

Claims

1. A vehicle motor control method, characterized in that, Includes the following steps: S1, acquire differential sampling signals from the vehicle's motor rotor position sensor; S2, determine whether there is an abnormal signal in the differential sampling signal; S3, if there is an abnormal signal, then the abnormal signal is redundancy calculated based on the remaining normal signals in the differential sampling signal to obtain a backup signal; S4. Based on the backup signal and the remaining normal signals in the differential sampling signal, determine the position of the vehicle's motor rotor.

2. The vehicle motor control method as described in claim 1, characterized in that, Step S1 includes: The motor rotor position sensor acquires four differential sampling signals, including two sinusoidal differential sampling signals and two cosine differential sampling signals.

3. The vehicle motor control method as described in claim 2, characterized in that, Step S1 includes the following sub-steps: S11, the four voltage values ​​of the motor rotor position sensor are acquired through analog-to-digital converter (ADC) sampling technology; S12, convert the four voltage values ​​to the decimal range according to the ratio to obtain the two sinusoidal differential sampling signals and the two cosine differential sampling signals.

4. The vehicle motor control method as described in claim 3, characterized in that, Step S2 includes the following sub-steps: S21, the sum of the two sinusoidal differential sampling signals is determined as the sine sum, and the sum of the two cosine differential sampling signals is determined as the cosine sum; S22, based on the four differential sampling signals, the sine sum, and the cosine sum, determine whether there are any abnormal signals in the four differential sampling signals.

5. The vehicle motor control method as described in claim 4, characterized in that, Sub-step S22 includes the following operations: S221, determine whether the four differential sampling signals exceed the preset single-channel signal reference range; S222, when only one differential sampling signal exceeds the preset single-channel signal reference range, determine whether the sine sum or cosine sum exceeds the preset summation signal reference range; S223, if the execution result of the operation S222 is outside the preset summation signal reference range, then the differential sampling signal that exceeds the single-channel signal reference range is determined to be an abnormal signal.

6. The vehicle motor control method as described in claim 5, characterized in that, Sub-step S21 further includes the following operations: S210, Based on the chip characteristics of the motor rotor position sensor, determine the reference range of the single-channel signal and the reference range of the summed signal.

7. The vehicle motor control method as described in claim 5, characterized in that, The operation S222 includes: When only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, then it is determined whether the cosine sum exceeds the preset summation signal reference range; if the differential sampling signal is a cosine differential sampling signal, then it is determined whether the sine sum exceeds the preset summation signal reference range.

8. The vehicle motor control method as described in claim 2, characterized in that, Step S3 includes the following sub-steps: S31, if there is an abnormal signal, and the abnormal signal is a sinusoidal differential sampling signal, then the difference between the cosine sum and the other sinusoidal differential sampling signal is determined as the backup signal; S32, if the abnormal signal is a cosine differential sampling signal, then the difference between the sine signal and the other cosine differential sampling signal is determined as the backup signal.

9. A vehicle motor control system, characterized in that, include: The differential sampling signal acquisition module is used to acquire differential sampling signals from the vehicle's motor rotor position sensor; An abnormal signal determination module is used to determine whether there is an abnormal signal in the differential sampling signal; A redundancy calculation module is used to perform redundancy calculation on the abnormal signal based on the remaining normal signals in the differential sampling signal to obtain a backup signal; The motor control module is used to determine the position of the vehicle's motor rotor based on the backup signal and the remaining normal signals in the differential sampling signal.

10. The system according to claim 9, characterized in that, The differential sampling signal acquisition module includes: The four-channel signal acquisition submodule is configured to acquire four differential sampling signals from the motor rotor position sensor, including two sinusoidal differential sampling signals and two cosine differential sampling signals.

11. The system according to claim 10, characterized in that, The four-channel signal acquisition submodule includes: The sampling unit is configured to acquire the four voltage values ​​of the motor rotor position sensor using ADC sampling technology; The conversion unit is configured to convert the four voltage values ​​to the decimal range according to the ratio, so as to obtain the two sinusoidal differential sampling signals and the two cosine differential sampling signals.

12. The system according to claim 9, characterized in that, The abnormal signal detection module includes: The summation submodule is configured to determine the sine sum by adding the two sinusoidal differential sampling signals and to determine the cosine sum by adding the two cosine differential sampling signals. The abnormal signal judgment submodule is configured to determine whether there is an abnormal signal in the four differential sampling signals based on the four differential sampling signals, the sine sum, and the cosine sum.

13. The system according to claim 12, characterized in that, The abnormal signal judgment submodule includes: The first judgment unit is configured to judge whether the four differential sampling signals exceed the preset single-channel signal reference range; The second judgment unit is configured to, when only one differential sampling signal exceeds the preset single-channel signal reference range, if the differential sampling signal is a sine differential sampling signal, determine whether the cosine sum exceeds the preset summation signal reference range; if the differential sampling signal is a cosine differential sampling signal, determine whether the sine sum exceeds the preset summation signal reference range. The third judgment unit is configured to determine that the differential sampling signal exceeding the single-channel signal reference range is an abnormal signal when the execution result of the second judgment unit is that the signal exceeds the preset summation signal reference range.

14. The system according to claim 9, characterized in that, The redundancy calculation module includes: The first determining submodule is configured to determine the difference between the cosine sum and another sinusoidal differential sampling signal as the backup signal when an abnormal signal exists and the abnormal signal is a sinusoidal differential sampling signal. The second determining submodule is configured to determine the backup signal as the difference between the sine signal and the other cosine differential sampling signal when the abnormal signal is a cosine differential sampling signal.

15. A vehicle, characterized in that, Including the vehicle motor control system as described in any one of claims 9-14.

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