阅读说明：本技术 基于旋***解码的电机位置确定方法、装置及存储介质 (Motor position determining method and device based on rotation soft decoding and storage medium ) 是由 李芝炳 王韶涵 李帅 刘亚川 李伟亮 陈晓娇 李岩 潘忠亮 苏瑞涛 于 2019-10-24 设计创作，主要内容包括：本发明公开了一种基于旋变软解码的电机位置确定方法、装置及存储介质,该方法包括：获取旋转变压器根据输入的原始正弦信号以及电机的位置确定的输出差分正弦信号和输出差分余弦信号,根据DSADC模块、输出差分正弦信号以及输出差分余弦信号,获取与电机的位置相关的参考正弦信号和参考余弦信号,根据参考正弦信号、参考余弦信号以及基于锁相环的双PI控制器,获取电机的位置以及电机的转速,根据延时、转速以及位置,确定电机的修正后的位置。本实施例提供的基于旋变软解码的电机位置确定方法成本较低,精度较高,并且,具备良好的动态性能和稳态性能。(The invention discloses a motor position determining method, a motor position determining device and a storage medium based on rotation soft decoding, wherein the method comprises the following steps: the method comprises the steps of obtaining an output differential sine signal and an output differential cosine signal which are determined by a rotary transformer according to an input original sine signal and the position of a motor, obtaining a reference sine signal and a reference cosine signal which are related to the position of the motor according to a DSADC module, the output differential sine signal and the output differential cosine signal, obtaining the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double PI controller based on a phase-locked loop, and determining the corrected position of the motor according to time delay, the rotating speed and the position. The motor position determining method based on the rotation soft decoding provided by the embodiment has the advantages of low cost, high precision, good dynamic performance and good steady-state performance.)

1. A method for motor position determination based on soft-transcoding, wherein a resolver is provided on a motor, a controller of the motor includes a delta-sigma analog-to-digital converter (DSADC) module, the method comprising:

acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to an input original sine signal and the position of the motor;

acquiring a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal and the output differential cosine signal;

acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double proportional integral PI controller based on a phase-locked loop;

and determining the corrected position of the motor according to the time delay, the rotating speed and the position.

2. The method of claim 1, wherein prior to obtaining the output differential sine signal and the output differential cosine signal determined by the resolver from the input raw sine signal and the position of the motor, the method further comprises:

inputting the original sinusoidal signal generated by the carrier generator of the DSADC module into the rotary transformer.

3. The method of claim 2, wherein obtaining a reference sine signal and a reference cosine signal related to the position of the motor from the DSADC module, the output differential sine signal, and the output differential cosine signal comprises:

inputting the output differential sinusoidal signal into a first processing channel in the DSADC module to obtain the reference sinusoidal signal; wherein the reference sinusoidal signal is a standard sinusoidal signal;

inputting the output differential cosine signal into a second processing channel in the DSADC module to obtain the reference cosine signal; wherein the reference cosine signal is a standard cosine signal;

wherein the processing channel comprises: the rectifier is also connected with the carrier generator, the rectifier reversely shapes the signal input into the rectifier according to the phase of the original sine signal, and the output signal of the rectifier becomes a standard sine signal or a standard cosine signal after passing through the integrator.

4. The method of claim 3, wherein said determining a corrected position of said motor based on said time delay, said speed of rotation, and said position comprises:

determining a position deviation according to the time delay and the rotating speed;

and determining the corrected position according to the position deviation and the position.

5. The method of claim 4, wherein the delay comprises a first delay and a second delay;

the first latency comprises a processing latency in the processing lane;

the second delay time comprises: and the execution program acquires a first time of the position of the motor and a time deviation between a second time when a carrier frequency task of the controller of the motor is executed and the position of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop.

6. The method of any of claims 2-5, wherein inputting the raw sinusoidal signal generated by the carrier generator of the DSADC module into the rotary transformer comprises:

inputting an original sinusoidal signal generated by a carrier generator of the DSADC module to the resolver via an excitation circuit.

7. The method according to any one of claims 2-5, wherein said obtaining an output differential sine signal and an output differential cosine signal determined by the resolver from the input raw sine signal and the position of the motor comprises:

and acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to the input original sine signal and the position of the motor and are output through a return buffer circuit.

8. A soft-resolver decoding-based motor position determining apparatus, wherein a resolver is provided on a motor, a controller of the motor includes a delta-sigma analog-to-digital converter (DSADC) module, the apparatus comprising:

the first acquisition module is used for acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to an input original sine signal and the position of the motor;

a second obtaining module, configured to obtain a reference sine signal and a reference cosine signal related to a position of the motor according to the DSADC module, the output differential sine signal, and the output differential cosine signal;

the third acquisition module is used for acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double proportional integral PI controller based on a phase-locked loop;

and the fourth acquisition module is used for determining the corrected position of the motor according to the time delay, the rotating speed and the position.

9. A vehicle, characterized in that the vehicle comprises:

one or more processors;

a memory for storing one or more programs;

a rotary transformer;

a motor;

when executed by the one or more processors, cause the one or more processors to implement a method of motor position determination based on soft-rotation decoding as claimed in any one of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for determining a position of a motor based on soft-switching decoding according to any one of claims 1 to 7.

Technical Field

The embodiment of the invention relates to the field of motor control, in particular to a motor position determining method and device based on rotation soft decoding and a storage medium.

Background

The permanent magnet synchronous motor has good low-speed performance, stable and reliable operation, capability of realizing weak magnetic flux expansion control, wider speed regulation range and higher efficiency, and is the first choice in the field of new energy automobiles at present. The position and the speed of the rotor of the permanent magnet synchronous motor are acquired by a position sensor, and the position and the speed of the rotor are accurately and reliably sampled with high precision, so that the high-performance accurate control of the permanent magnet synchronous motor can be ensured.

At present, a rotary transformer (abbreviated as rotary transformer) is adopted to acquire the position of a permanent magnet synchronous motor, and then the output signal of the rotary transformer is decoded through rotary hardening decoding or rotary softening decoding to acquire the rotor position of the permanent magnet synchronous motor. At present, the rotation soft decoding mostly adopts a second-order position tracking algorithm or a Coordinate rotation digital Computer (CORDIC) algorithm to solve the rotor position information.

However, the spin-hardening decoding needs a special spin-hardening decoding chip for position calculation, and the cost is high; under the condition that the speed change of the permanent magnet synchronous motor is large, static error exists in position solving of the second-order position tracking algorithm, the dynamic performance of the CORDIC algorithm is weak, and the anti-interference capability is weak.

Disclosure of Invention

The invention provides a motor position determining method and device based on rotation soft decoding and a storage medium, and aims to solve the technical problems of high cost and low precision in the current motor position determining process.

In a first aspect, an embodiment of the present invention provides a method for determining a position of a motor based on soft resolver decoding, where a resolver is disposed on the motor, a controller of the motor includes a DSADC module, and the method includes:

acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to an input original sine signal and the position of the motor;

acquiring a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal and the output differential cosine signal;

acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double PI controller based on a phase-locked loop;

and determining the corrected position of the motor according to the time delay, the rotating speed and the position.

In the method as described above, before the obtaining of the output differential sine signal and the output differential cosine signal determined by the resolver according to the input original sine signal and the position of the motor, the method further includes:

inputting the original sinusoidal signal generated by the carrier generator of the DSADC module into the rotary transformer.

In the method as shown above, the obtaining a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal, and the output differential cosine signal includes:

inputting the output differential sinusoidal signal into a first processing channel in the DSADC module to obtain the reference sinusoidal signal; wherein the reference sinusoidal signal is a standard sinusoidal signal;

inputting the output differential cosine signal into a second processing channel in the DSADC module to obtain the reference cosine signal; wherein the reference cosine signal is a standard cosine signal;

wherein the processing channel comprises: the rectifier is also connected with the carrier generator, the rectifier reversely shapes the signal input into the rectifier according to the phase of the original sine signal, and the output signal of the rectifier becomes a standard sine signal or a standard cosine signal after passing through the integrator.

In the method as described above, the determining the corrected position of the motor based on the time delay, the rotational speed, and the position includes:

determining a position deviation according to the time delay and the rotating speed;

and determining the corrected position according to the position deviation and the position.

In the method as shown above, the delay includes a first delay and a second delay;

the first latency comprises a processing latency in the processing lane;

the second delay time comprises: and the execution program acquires a first time of the position of the motor and a time deviation between a second time when a carrier frequency task of the controller of the motor is executed and the position of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop.

As in the method shown above, inputting the original sinusoidal signal generated by the carrier generator of the DSADC module into the resolver includes:

inputting an original sinusoidal signal generated by a carrier generator of the DSADC module to the resolver via an excitation circuit.

In the method as shown above, the obtaining an output differential sine signal and an output differential cosine signal determined by the resolver according to the input original sine signal and the position of the motor includes:

and acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to the input original sine signal and the position of the motor and are output through a return buffer circuit.

In a second aspect, an embodiment of the present invention provides a device for determining a position of a motor based on soft resolver decoding, where a resolver is disposed on the motor, a controller of the motor includes a DSADC module, and the device includes:

the first acquisition module is used for acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to an input original sine signal and the position of the motor;

a second obtaining module, configured to obtain a reference sine signal and a reference cosine signal related to a position of the motor according to the DSADC module, the output differential sine signal, and the output differential cosine signal;

the third acquisition module is used for acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop;

and the fourth acquisition module is used for determining the corrected position of the motor according to the time delay, the rotating speed and the position.

In a third aspect, an embodiment of the present invention further provides a vehicle, including:

one or more processors;

a memory for storing one or more programs;

a rotary transformer;

a motor;

when executed by the one or more processors, cause the one or more processors to implement a method for motor position determination based on soft-run decoding as provided in the first aspect.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining a motor position based on soft-switching decoding as provided in the first aspect.

The embodiment provides a motor position determining method, a motor position determining device and a storage medium based on rotation soft decoding, wherein the method comprises the following steps: the method comprises the steps of obtaining an output differential sine signal and an output differential cosine signal determined by a rotary transformer according to an input original sine signal and the position of a motor, obtaining a reference sine signal and a reference cosine signal related to the position of the motor according to a DSADC module, the output differential sine signal and the output differential cosine signal, obtaining the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double PI controller based on a phase-locked loop, and determining the corrected position of the motor according to time delay, rotating speed and position, wherein on one hand, the DSADC module is used for obtaining the position of the motor without additionally arranging hardware, so that the cost is reduced, on the other hand, the double PI controller based on the phase-locked loop can more accurately track the position of a motor rotor, and has good dynamic performance and steady-state performance, and on the other hand, the position compensation measure based on time, the accuracy of the determined motor position is improved. Therefore, the method for determining the position of the motor based on the soft rotation decoding provided by the embodiment has the advantages of low cost, high precision, good dynamic performance and good steady-state performance.

Drawings

Fig. 1 is a schematic structural diagram of a resolver involved in a method for determining a position of a motor based on soft resolver decoding provided by the present invention;

FIG. 2 is a schematic flow chart of an embodiment of a motor position determining method based on rotation soft decoding according to the present invention;

FIG. 3 is a schematic diagram of the connection relationship between the resolver and a main control chip of a controller of the motor in the embodiment shown in FIG. 2;

FIG. 4 is a schematic diagram of a dual PI controller based on a phase locked loop in the embodiment shown in FIG. 2;

FIG. 5 is a schematic diagram of the reference sine signal, the reference cosine signal, and the corrected position of the motor in the embodiment of FIG. 2;

FIG. 6 is a schematic structural diagram of an embodiment of a motor position determining apparatus based on soft rotation decoding according to the present invention;

fig. 7 is a schematic structural diagram of a vehicle according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 1 is a schematic structural diagram of a resolver involved in the motor position determining method based on soft resolver decoding provided by the present invention. The motor related to the present invention may be a permanent magnet synchronous motor, and of course, may also be other types of motors, which is not limited in this embodiment. A resolver is an electromagnetic position sensor that is used primarily to measure the angular position and speed of a rotating object's shaft. The sampling device has the advantages of simple structure, high precision and strong anti-interference capability, so the sampling device is widely applied to the position and speed sampling of the permanent magnet synchronous motor. The schematic diagram of the rotary transformer is shown in fig. 1, and a main excitation winding of the rotary transformer is used as an input excitation signal winding and is arranged on a rotor of a permanent magnet synchronous motor and rotates along with the rotor; two secondary windings are fixedly arranged on a permanent magnet synchronous motor stator as sine and cosine output signal windings, and the two stator windings are mechanically staggered by 90 degrees, so that the phase difference of modulation output signals of the two stator windings is ensured to be 90 degrees. The input signal of the rotary transformer is an excitation signal given by a main control chip or a rotary transformer decoding chip of a controller of the motor, and the output signal is two paths of differential sine and cosine signals with amplitude values changing along with the position of a rotor of the motor. How to calculate the high-precision motor rotor position through two paths of differential sine and cosine signals containing rotor position information is of great importance to motor position sampling. Currently, most of the devices use a dedicated resolver decoding chip to analyze sine and cosine signals obtained through feedback of a resolver, so as to obtain accurate position information. The special position decoding chip can obtain higher decoding precision, but the price is higher, and the product development cost is increased. With the main control chip of the controller of the motor gradually supporting the function of the Delta-Sigma Analog-to-Digital Converter (DSADC), the present embodiment may perform the position decoding of the resolver in a soft-to-rotary decoding manner, where the decoding manner has good precision and dynamic performance, and can save the hardware development cost of the decoding chip and perform high-integration development of the controller of the motor.

Fig. 2 is a schematic flowchart of an embodiment of a motor position determining method based on rotation soft decoding according to the present invention. The embodiment is suitable for a scene of acquiring the position of the motor and subsequently controlling the motor according to the position of the motor. The present embodiment may be implemented by a soft-decoding resolver-based motor position determining apparatus, which may be implemented by software and/or hardware, and may be integrated into a controller of a motor, which may be provided in a vehicle. As shown in fig. 2, the method for determining a motor position based on soft rotation decoding provided by this embodiment includes the following steps:

step 201: and acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to the input original sine signal and the position of the motor.

Specifically, the resolver in the present embodiment is provided on the motor in the manner described above with respect to fig. 1. The controller of the motor in this embodiment includes a DSADC module.

Fig. 3 is a schematic diagram of a connection relationship between the resolver and a main control chip of a controller of the motor in the embodiment shown in fig. 2. As shown in fig. 3, the raw sinusoidal signal may optionally be generated by a carrier generator in the DSADC module. More specifically, after the carrier generator in the DSADC module generates an original sinusoidal signal, the signal is input to the resolver through the excitation circuit, specifically, to the primary excitation winding of the resolver. After passing through the excitation circuit, the original sinusoidal signal becomes a high-frequency sinusoidal signal.

The rotary transformer can determine a differential sine signal and output a differential cosine signal according to an input original sine signal and the position of the motor. The controller of the motor acquires the output differential sine signal and the output differential cosine signal. Alternatively, as shown in fig. 3, the controller of the motor acquires an output differential sine signal and an output differential cosine signal output via the return buffer circuit, which are determined by the resolver from the input original sine signal and the position of the motor.

It should be noted that the position of the motor in the present embodiment refers to the rotor position of the motor.

Step 202: and acquiring a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal and the output differential cosine signal.

Specifically, the output differential sinusoidal signal is input into a first processing channel in a DSADC module, and a reference sinusoidal signal is obtained; and inputting the output differential cosine signal into a second processing channel in the DSADC module to obtain a reference cosine signal. The reference sine signal is a standard sine signal, and the reference cosine signal is a standard cosine signal.

The DSADC module in this embodiment may include 6 parallel processing channels, and in this embodiment, the two processing channels are used to obtain the reference sine signal and the reference cosine signal. The first processing channel and the second processing channel have the same structure. As shown in fig. 3, the processing channel in this embodiment includes: the digital signal processing device comprises a comparator, a delta-sigma modulator, a first Finite long single impulse response (FIR) filter, a second FIR filter, a third FIR filter, an offset compensator, a rectifier and an integrator which are connected in sequence. The rectifier is also connected to the carrier generator. The rectifier inversely shapes the signal input to the rectifier according to the phase of the original sinusoidal signal. The output signal of the rectifier becomes a standard sine signal or a standard cosine signal after passing through the integrator.

The following describes a process of outputting a differential sinusoidal signal in a first processing channel by taking the output of the differential sinusoidal signal as an example. A comparator in the first processing channel differens and amplifies the differential sinusoidal signal. The delta-sigma modulator modulates the output signal of the comparator into a digital signal. The first FIR filter, the second FIR filter and the third FIR filter output high-resolution digital signals after filtering the output signals of the delta-sigma modulator. The high-resolution digital signal still contains the information of the original sinusoidal signal generated by the carrier generation module. In order to obtain a sinusoidal signal directly related to the rotor position of the motor, the signal output by the third filter needs to be demodulated after offset compensation. And the rectifier reversely shapes the signal output by the frequency offset compensator according to the phase of the original sinusoidal signal. The integrator extracts the envelope curve of the output signal of the rectifier to realize the demodulation of the digital signal. The demodulated signal is a standard sinusoidal signal.

And demodulating the output differential sine signal and the output differential cosine signal of which the amplitude changes in a sine rule, which are fed back by the rotary transformer, into a reference sine signal and a reference cosine signal which are associated with the rotor position of the motor through the processing of the first processing channel and the second processing channel. The reference sine signal and the reference cosine signal are input to a rotation-change soft decoding algorithm. Determining the corrected position of the motor is accomplished in a subsequent step based on the reference sine signal, the reference cosine signal, and a Proportional-Integral (PI) controller.

Step 203: and acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop.

Fig. 4 is a schematic structural diagram of a dual PI controller based on a phase-locked loop in the embodiment shown in fig. 2. The dual PI controller in this embodiment may also be referred to as a third order position observer. Referring to fig. 4 and fig. 3, the dual PI controller based on the pll is disposed in a core of a main control chip of a controller of the motor.

As shown in FIG. 4, the signal sin (θ) is input_ref) To reference a sinusoidal signal, cos (θ)_ref) Is a reference cosine signal. The expression of the position deviation epsilon obtained by the phase-locked loop link is as follows:

wherein the content of the first and second substances,

error of the third order position observer, theta_refThe position of the motor at the sampling moment after the filtering processing,

to observe the angle value. If it is

Infinitely small, then

When ε is equal to 0, then

Therefore, in the embodiment, the observation angle value output by the dual PI controller based on the phase-locked loop can be used

As the position of the motor.

With continued reference to fig. 4, the position deviation epsilon is processed by the dual PI controller to obtain the rotation speed w of the motor. The rotation speed of the motor is integrated to obtain an observation angle value

By adjusting the proportional parameter and the integral parameter in the third-order position observer, the output observation angle value and the rotating speed can be smoother, and the real-time position of the motor can be obtained without static error even under the working condition that the rotating speed of the motor is changed violently. Through a three-order position observer closed-loop system based on a phase-locked loop, the observation error of the system can be minimized on the premise of proper parameter adjustment, and the characteristics are not possessed by a CORDIC decoding algorithm.

Referring to fig. 4, the transfer function of the third order position observer can be obtained by calculation as follows:

wherein, K₁Is an integral parameter of an internal PI controller, K₂As proportional parameter of the internal PI controller, K₃Is the proportional parameter of the external PI controller. K₃、K₂And K₁Are all greater than zero, and K₃＞K₁，K₂＞K₁。

Its characteristic equation is λ³+K₃λ²+K₂λ+K ₁0, with a negative real part. According to the requirements of the rapid performance and the stability of the third-order position observer, 3 characteristic roots of the characteristic equation can be selected first, and then the gain coefficient K of each link of the third-order position observer is solved and determined according to a undetermined coefficient method₃、K₂And K₁。

After the gain coefficient selection of each link is completed, according to a final value theory:

if theta_ref＝a/s³And then:

where a represents an arbitrary constant.

Thus, it can be seen that: the third order position observer is able to resolve the rotor position without a static error even if there is acceleration of the motor.

Step 204: and determining the corrected position of the motor according to the time delay, the rotating speed and the position.

Specifically, the angle calculated by the third-order position observer based on the phase-locked loop does not take into account the position deviation caused by the phase delay, so the method provided by this embodiment further compensates for the position deviation caused by the phase delay, and determines the corrected position of the motor according to the time delay, the rotation speed, and the position determined in step 203.

Optionally, the delay here includes a first delay and a second delay. The first delay comprises a processing delay in the processing path. The time delay is the time used by the DSADC module to process the input output differential sine signal and the input output differential cosine signal to obtain a reference sine signal and a reference cosine signal. The first delay mainly comprises the delay caused by the FIR filter, the delay caused by the delta-sigma modulator and the delay caused by the integrator. The delay is relatively fixed, and the first delay can be determined after the design of the link parameters of the filter and the integrator is finished.

The specific calculation method is as follows: t is_DSADCDelay＝T_Mod+T_FIR1+T_FIR2+T_FIR3+T_INT；

Wherein, T_ModThe delay caused for the delta-sigma modulator;

T_FIR1the delay caused for the first FIR filter;

T_FIR2the delay caused for the second FIR filter;

T_FIR3the delay caused for the third FIR filter;

T_INTdelay time for integrator links.

The second delay includes: and the execution program acquires a first time of the position of the motor and a time deviation between a second time when a carrier frequency task of the controller of the motor is executed and the position of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop.

The second delay is substantially the time taken by the DSADC sampling register to wait for the master chip master core carrier frequency task of the controller of the motor to read the position of the motor. The method is mainly caused by the fact that the position signal sampling period (9.76K) of the motor is inconsistent with the carrier frequency period (10K). This delay is mainly compensated by the form of a time difference. The time difference is different with different running periods of the main control program of the main control chip.

The specific calculation method is as follows: t is_{TimeStampDelay}＝T_PWMTimeStamp-T_{DSADCTimeStamp}；

Wherein, T_PWMTimeStampThe second time, namely the time of executing the carrier frequency task;

T_{DSADCTimeStamp}is the first time instant, i.e., the time instant when the DSADC module completes the position sampling.

Therefore, the delay T in the present embodiment_TimeDelay＝T_DSADCDelay+T_{TimeStampDelay}。

In step 204, determining a position deviation according to the time delay and the rotating speed; and determining the corrected position of the motor according to the position deviation and the position of the motor determined in the step 203.

Based on the above description, the positional deviation is: theta_c＝T_TimeDelay.ω＝(T_DSADCDelay+T_{TimeStampDelay}).ω。

Thus, the corrected position of the motor output by the soft-decoding system for rotation is:

FIG. 5 is a schematic diagram of the reference sine signal, the reference cosine signal and the corrected position of the motor in the embodiment shown in FIG. 2. As shown in fig. 5, is based on the reference sine signal sin (theta)_ref) And a reference cosine signal cos (theta)_ref) A corrected position theta of the motor is determined.

The corrected position of the motor determined by the embodiment takes the filtering group delay of the rotary-change soft decoding DSADC module and the time delay factor caused by the inconsistency of the sampling period of the position signal and the carrier frequency period into consideration, so that the accuracy of the determined position of the motor is improved, and the position information used by a motor control algorithm can be ensured to be closest to the position information at the control moment. Accurate position information of the motor is important for Field Oriented Control (FOC) of the motor, and directly influences the Control performance of the motor.

Furthermore, because the rotation soft decoding and the hard decoding are independent, the rotation position information acquired by the rotation hard component code chip is compared with the corrected position of the motor solved by the rotation soft decoding module in real time, and the method can be used for developing the functional safety of the position decoding module.

The method for determining the position of the motor based on the soft rotation decoding provided by the embodiment comprises the following steps: the method comprises the steps of obtaining an output differential sine signal and an output differential cosine signal determined by a rotary transformer according to an input original sine signal and the position of a motor, obtaining a reference sine signal and a reference cosine signal related to the position of the motor according to a DSADC module, the output differential sine signal and the output differential cosine signal, obtaining the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double PI controller based on a phase-locked loop, and determining the corrected position of the motor according to time delay, rotating speed and position, wherein on one hand, the DSADC module is used for obtaining the position of the motor without additionally arranging hardware, so that the cost is reduced, on the other hand, the double PI controller based on the phase-locked loop can more accurately track the position of a motor rotor, and has good dynamic performance and steady-state performance, and on the other hand, the position compensation measure based on time, the accuracy of the determined motor position is improved. Therefore, the method for determining the position of the motor based on the soft rotation decoding provided by the embodiment has the advantages of low cost, high precision, good dynamic performance and good steady-state performance.

Fig. 6 is a schematic structural diagram of an embodiment of a motor position determining apparatus based on soft rotation decoding according to the present invention. The soft-rotation decoding based motor position determining apparatus may be integrated into a controller of the motor. The resolver in this embodiment is provided in a motor, and a controller of the motor includes a DSADC module. As shown in fig. 6, the present embodiment provides a motor position determining apparatus based on soft-rotation decoding, including: a first obtaining module 61, a second obtaining module 62, a third obtaining module 63 and a fourth obtaining module 64.

The first obtaining module 61 is configured to obtain an output differential sine signal and an output differential cosine signal, which are determined by the resolver according to the input original sine signal and the position of the motor.

Optionally, the first obtaining module 61 is specifically configured to: and acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to the input original sine signal and the position of the motor and are output through the return buffer circuit.

And a second obtaining module 62, configured to obtain a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal, and the output differential cosine signal.

And a third obtaining module 63, configured to obtain a position of the motor and a rotation speed of the motor according to the reference sine signal, the reference cosine signal, and the double proportional integral PI controller based on the phase-locked loop.

And a fourth obtaining module 64, configured to determine the corrected position of the motor according to the time delay, the rotation speed, and the position.

Optionally, the apparatus further comprises: and the generation input module is used for inputting the original sinusoidal signal generated by the carrier generator of the DSADC module into the rotary transformer.

Further, the generation input module is specifically configured to: the original sinusoidal signal generated by the carrier generator of the DSADC module is input to the resolver via the excitation circuit.

Optionally, the second obtaining module 62 is specifically configured to: inputting the output differential sinusoidal signal into a first processing channel in a DSADC module to obtain a reference sinusoidal signal; and inputting the output differential cosine signal into a second processing channel in the DSADC module to obtain a reference cosine signal. The reference sine signal is a standard sine signal, and the reference cosine signal is a standard cosine signal.

Wherein, the processing channel includes: the system comprises a comparator, a delta-sigma modulator, a first FIR filter, a second FIR filter, a third FIR filter, an offset frequency compensator, a rectifier and an integrator which are connected in sequence. The rectifier is also connected with the carrier generator, the rectifier carries out reverse shaping on signals input into the rectifier according to the phase of the original sine signals, and the output signals of the rectifier become standard sine signals or standard cosine signals after passing through the integrator.

Optionally, the fourth obtaining module 64 is specifically configured to: determining the position deviation according to the time delay and the rotating speed; and determining the corrected position according to the position deviation and the position.

In one implementation, the delay includes a first delay and a second delay.

Wherein the first delay comprises a processing delay in the processing path.

The second delay includes: the execution program acquires first time of a reference sine signal and a reference cosine signal, and the execution program starts to execute the time delay between second time of acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and the double PI controller based on the phase-locked loop.

The device for determining the position of the motor based on the rotation-change soft decoding provided by the embodiment of the invention can execute the method for determining the position of the motor based on the rotation-change soft decoding provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Fig. 7 is a schematic structural diagram of a vehicle according to the present invention. As shown in fig. 7, the vehicle includes a processor 70, a memory 71, a resolver 72, and a motor 73. The number of processors 70 in the vehicle may be one or more, and one processor 70 is taken as an example in fig. 7; the processor 70 and memory 71 of the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 7. The resolver 72 is provided to the motor 73. The resolver 72 is connected to both the processor 70 and the memory 71. The motor 73 is connected to both the processor 70 and the memory 71.

The memory 71 serves as a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions and modules corresponding to the motor position determining method based on the soft-rotation decoding in the embodiment of the present invention (for example, the first acquiring module 61, the second acquiring module 62, the third acquiring module 63, and the fourth acquiring module 64 in the motor position determining device based on the soft-rotation decoding). The processor 70 executes various functional applications of the vehicle and data processing, i.e., implements the above-described motor position determining method based on the soft-spinning decoding, by running software programs, instructions, and modules stored in the memory 71.

The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The present invention also provides a storage medium containing computer executable instructions for performing a method for motor position determination based on soft-spinning decoding when executed by a computer processor, a resolver being provided on a motor, a controller of the motor comprising a DSADC module, the method comprising:

acquiring an output differential sine signal and an output differential cosine signal which are determined by the rotary transformer according to an input original sine signal and the position of the motor;

acquiring a reference sine signal and a reference cosine signal related to the position of the motor according to the DSADC module, the output differential sine signal and the output differential cosine signal;

acquiring the position of the motor and the rotating speed of the motor according to the reference sine signal, the reference cosine signal and a double PI controller based on a phase-locked loop;

and determining the corrected position of the motor according to the time delay, the rotating speed and the position.

Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for determining a motor position based on the soft rotation decoding provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.

It should be noted that, in the embodiment of the motor position determining apparatus based on the soft rotation decoding, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.