阅读说明：本技术 电机零点调校方法、电子设备和计算机可读存储介质 (Motor zero point adjusting method, electronic device and computer readable storage medium ) 是由 许心一 尹国慧 任邹弘 程诚 王洪涛 于 2021-07-19 设计创作，主要内容包括：本申请实施例公开了一种电机零点调校方法、电子设备和计算机可读存储介质,该电机零点调校方法包括：以预设控制参数,控制标准件电机工作；获取标准件电机的电流幅值,作为对标电流；以预设控制参数,控制待测电机工作；调整待测电机的零点值,直到待测电机的电流幅值与对标电流相差小于第一阈值,获取零点值调整量；基于零点值调整量,确定制待测电机的实际零点值。本申请通过相同的控制参数控制标准件电机和待测电机工作,可基于零点值调整量和标准件电机的零点值来确定待测电机的零点值,能够大大提高零点调校的检测精度,且易于操作,能够提高零点调校效率。(The embodiment of the application discloses a motor zero point adjusting method, electronic equipment and a computer readable storage medium, wherein the motor zero point adjusting method comprises the following steps: controlling a standard component motor to work according to preset control parameters; acquiring a current amplitude of a standard component motor as a calibration current; controlling the motor to be tested to work according to preset control parameters; adjusting a zero value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the benchmarking current is smaller than a first threshold value, and acquiring zero value adjustment quantity; and determining the actual zero value of the motor to be tested based on the zero value adjustment quantity. The motor zero value of the motor to be detected can be determined based on the zero value adjustment quantity and the zero value of the standard part motor, the detection precision of zero adjustment can be greatly improved, the operation is easy, and the zero adjustment efficiency can be improved.)

1. A motor zero point adjustment method, characterized in that the vehicle control method comprises:

controlling a standard component motor to work according to preset control parameters;

acquiring the current amplitude of the standard component motor to be used as a calibration current;

controlling the motor to be tested to work according to the preset control parameters;

adjusting the zero value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the benchmarking current is smaller than a first threshold value, and acquiring the zero value adjustment amount;

and determining the actual zero value of the motor to be measured based on the zero value adjustment amount.

2. The motor zero-point adjusting method according to claim 1,

the step of controlling the standard component motor to work according to the preset control parameters comprises the following steps:

controlling the standard component motor to work according to a preset voltage vector and a preset control angle;

the step of controlling the work of the motor to be tested according to the preset control parameters comprises the following steps:

and controlling the motor to be tested to work according to the preset voltage vector and the preset control angle.

3. The motor zero-point adjusting method according to claim 2, wherein the step of controlling the standard component motor to operate at a preset voltage vector and a preset control angle comprises:

carrying out vector decomposition on the preset voltage vector to obtain a first vector of the preset voltage vector on a straight shaft of the standard component motor and a second vector of the preset voltage vector on a quadrature shaft of the standard component motor;

processing the first vector and the second vector based on park conversion to obtain a first rotation vector and a second rotation vector;

obtaining a plurality of paths of PWM waves through space vector pulse width modulation based on the first rotating vector and the second rotating vector;

and outputting three-phase current based on the multiple paths of PWM waves through a three-phase inverter to control the standard component motor to work.

4. The motor zero-point adjusting method according to claim 3, wherein the step of obtaining the current amplitude of the standard component motor as a target current comprises:

collecting three-phase current between the three-phase inverter and the standard motor;

and acquiring a standard component current amplitude value based on the three-phase current value, and taking the standard component current amplitude value as a calibration current.

5. The motor zero-point adjustment method according to claim 1, wherein the step of adjusting the zero point value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the calibration current value is smaller than a first threshold value, and the step of obtaining the zero point value adjustment amount comprises:

adjusting a zero value of the motor to be measured;

acquiring a first difference value between the current amplitude value of the motor to be detected and the calibration current value;

and when the ratio of the absolute value of the first difference value to the calibration current value is smaller than a first threshold value, stopping adjusting the zero value of the motor to be measured, and acquiring the zero value adjustment quantity.

6. The motor zero-point adjusting method according to claim 5,

the value of the first threshold is less than or equal to 3%.

7. The motor zero-point adjustment method according to claim 1, wherein the step of determining the actual zero-point value of the motor to be measured based on the zero-point value adjustment amount comprises:

acquiring a standard part zero value of the standard part motor;

and determining the actual zero value of the motor to be measured based on the zero value adjustment quantity and the standard part zero value.

8. The motor zero-point adjusting method according to claim 7, wherein the step of determining the actual zero-point value of the motor to be measured based on the zero-point value adjustment amount and the standard component zero-point value comprises:

acquiring a second current amplitude value of the motor to be detected working under the condition of the preset control parameter, and taking the second current amplitude value as a comparison current value;

taking the difference value between the zero value of the standard component and the zero value adjustment amount as the actual zero value under the condition that the comparison current is larger than the comparison standard current;

and taking the sum of the zero value of the standard component and the zero value adjustment amount as the actual zero value when the comparison current is smaller than the comparison standard current.

9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor being configured to carry out the steps of the method for zero-point adjustment of a motor according to one of claims 1 to 8 when executing the computer program stored in the memory.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for zero-point tuning of an electric motor according to any one of claims 1 to 8.

Technical Field

The embodiment of the application relates to the technical field of vehicle control, in particular to a motor zero point adjusting method, electronic equipment and a computer readable storage medium.

Background

Because the permanent magnet synchronous motor has the advantages of high efficiency, low temperature rise, small volume, large starting torque and the like, all large automobile manufacturers use the permanent magnet synchronous motor as the first choice of the driving motor of the new energy automobile. In order to realize the accurate control of the permanent magnet synchronous motor, the position of a motor rotor must be accurately detected in real time. At present, the industry generally adopts a rotary transformer as a position sensor for measuring the position of a motor rotor. When installed, the resolver is coaxial with the rotor of the machine, but at an angular offset, we refer to as a zero point. Inaccurate zero point measurement can cause the torque control precision to be reduced, the smoothness of the whole vehicle to be reduced, and discomfort to passengers; meanwhile, the torque precision of the motor 0 is difficult to achieve the target, and the sliding test is difficult to pass; further, the motor system efficiency and maximum output capability may also be affected.

At present, the mainstream motor zero setting methods mainly comprise two methods, namely static measurement and dynamic measurement.

The static measurement of zero offset is the most widely used mode in China, and the method is characterized in that low-voltage direct current is firstly conducted to a motor winding, a U phase is connected with a positive pole, a V phase or a VW phase is connected with a negative pole, and at the moment, a motor rotor is pulled to a position where magnetic steel of the motor rotor is symmetrical to the axis of a stator tooth, namely, the motor control zero is achieved. And reading the angle at the moment through the rotary transformer, namely the zero point of the motor. However, because the motor rotor has inertia and friction resistance during sliding, the magnetic steel of the stator and the rotor is difficult to be ensured to be aligned with the teeth of the stator during adsorption, so that zero point offset can be caused; secondly, the stator and the rotor are difficult to ensure complete symmetry of the structure in the production process, so that the final stop position of the rotor has certain deviation from the expected position; moreover, in order to ensure the adsorption effect of the stator and the rotor, the stator and the rotor need to be communicated with each other by a larger current, the requirement on the operating condition is high, and the problem of large heat productivity is caused.

The principle of the dynamic measurement method is that the back electromotive force can correctly reflect the position state of the rotor of the motor. By comparing the counter electromotive force waveform with the angle waveform decoded by the rotary transformer, the angle deviation between the zero position of the motor rotor and the rotary transformer is measured under the rotary power generation state of the tested motor. The defects of the mode are that a dynamometer is required to drag a motor to idle, manual work is required to measure, read and compare waveforms through an oscilloscope, the test difficulty is high, and the operation is complex.

At present, the zero electrical angle precision of the motor during batch coil inserting is insufficient, and the calibration precision of the zero calibration equipment is difficult to improve.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, the first aspect of the present invention provides a motor zero point adjusting method.

A second aspect of the invention provides an electronic device.

A third aspect of the invention provides a computer-readable storage medium.

In view of this, according to a first aspect of embodiments of the present application, there is provided a motor zero point calibration method, the vehicle control method including:

controlling a standard component motor to work according to preset control parameters;

acquiring the current amplitude of the standard component motor to be used as a calibration current;

controlling the motor to be tested to work according to the preset control parameters;

adjusting the zero value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the benchmarking current is smaller than a first threshold value, and acquiring the zero value adjustment amount;

and determining the actual zero value of the motor to be measured based on the zero value adjustment amount.

In one possible embodiment, the step of controlling the standard component motor to operate according to the preset control parameters includes:

controlling the standard component motor to work according to a preset voltage vector and a preset control angle;

the step of controlling the work of the motor to be tested according to the preset control parameters comprises the following steps:

and controlling the motor to be tested to work according to the preset voltage vector and the preset control angle.

In a possible embodiment, the step of controlling the standard component motor to operate at a preset voltage vector and a preset control angle includes:

carrying out vector decomposition on the preset voltage vector to obtain a first vector of the preset voltage vector on a straight shaft of the standard component motor and a second vector of the preset voltage vector on a quadrature shaft of the standard component motor;

processing the first vector and the second vector based on park conversion to obtain a first rotation vector and a second rotation vector;

obtaining a plurality of paths of PWM waves through space vector pulse width modulation based on the first rotating vector and the second rotating vector;

and outputting three-phase current based on the multiple paths of PWM waves through a three-phase inverter to control the standard component motor to work.

In a possible embodiment, the step of obtaining the current amplitude of the standard component motor as the target current comprises:

collecting three-phase current between the three-phase inverter and the standard motor;

and acquiring a standard component current amplitude value based on the three-phase current value, and taking the standard component current amplitude value as a calibration current.

In a possible implementation manner, the adjusting the zero value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the calibration current value is smaller than a first threshold, and the obtaining the zero value adjustment amount includes:

adjusting a zero value of the motor to be measured;

acquiring a first difference value between the current amplitude value of the motor to be detected and the calibration current value;

and when the ratio of the absolute value of the first difference value to the calibration current value is smaller than a first threshold value, stopping adjusting the zero value of the motor to be measured, and acquiring the zero value adjustment quantity.

In a possible embodiment, the value of the first threshold is less than or equal to 3%.

In a possible embodiment, the step of determining the actual zero value of the motor to be measured based on the zero value adjustment amount includes:

acquiring a standard part zero value of the standard part motor;

and determining the actual zero value of the motor to be measured based on the zero value adjustment quantity and the standard part zero value.

In a possible embodiment, the step of determining the actual zero value of the motor to be measured based on the zero value adjustment amount and the standard part zero value includes:

acquiring a second current amplitude value of the motor to be detected working under the condition of the preset control parameter, and taking the second current amplitude value as a comparison current value;

taking the difference value between the zero value of the standard component and the zero value adjustment amount as the actual zero value under the condition that the comparison current is larger than the comparison standard current;

and taking the sum of the zero value of the standard component and the zero value adjustment amount as the actual zero value when the comparison current is smaller than the comparison standard current.

According to a second aspect of embodiments of the present application, there is provided an electronic device, including: the present invention relates to a motor zero-point calibration method, and more particularly, to a motor zero-point calibration method for calibrating a motor zero-point, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor.

According to a third aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the motor zero-point adjusting method according to any one of the above-mentioned technical solutions.

Compared with the prior art, the invention at least comprises the following beneficial effects: according to the motor zero point adjusting method provided by the embodiment of the application, the standard part motor and the motor to be detected are controlled to work through the same preset control parameter, then the current amplitude of the standard part motor is detected to obtain the benchmarking current, and the zero point value of the motor to be detected is adjusted, so that the current amplitude of the motor to be detected is close to the actual zero point value of the motor to be detected based on the adjustment quantity of the zero point value under the condition that the benchmarking current is adjusted. The motor zero-point value of the motor to be detected can be determined based on the zero-point value adjustment quantity and the zero-point value of the motor to be detected, so that the zero-point value of the motor to be detected can be obtained in the whole detection process in a variable control mode, the friction resistance of the rotor can not influence the zero-point adjustment result, the two phases of the rotor are not required to be provided with larger currents in the detection process, overlarge zero-point adjustment heat of the motor can be avoided, waveforms do not need to be read manually in the detection process, the detection precision of the zero-point adjustment can be greatly improved, the operation is easy, and the zero-point adjustment efficiency can be improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flowchart illustrating steps of a method for adjusting a zero point of a motor according to an embodiment of the present disclosure;

fig. 2 is a flowchart illustrating steps of a method for adjusting a zero point of a motor according to another embodiment of the present disclosure;

FIG. 3 is a schematic block diagram of a control system for an electric machine according to one embodiment provided herein;

FIG. 4 is a block diagram of an electronic device according to an embodiment of the disclosure;

fig. 5 is a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure.

Detailed Description

In order to better understand the technical solutions described above, the technical solutions of the embodiments of the present application are described in detail below with reference to the drawings and the specific embodiments, and it should be understood that the specific features of the embodiments and the embodiments of the present application are detailed descriptions of the technical solutions of the embodiments of the present application, and are not limitations of the technical solutions of the present application, and the technical features of the embodiments and the embodiments of the present application may be combined with each other without conflict.

As shown in fig. 1, according to a first aspect of an embodiment of the present application, a method for adjusting a zero point of a motor is provided, and a vehicle control method includes:

step 101: and controlling the standard component motor to work according to preset control parameters. It will be appreciated that the zero value of the standard component motor is a known quantity and can be measured by a variety of zero value measurement methods known in the art.

Step 102: and acquiring the current amplitude of the standard component motor as a calibration current. It can be understood that there is a correlation between the preset control parameter and the current amplitude, and in the case that the preset control parameter is fixed, the current amplitude of the motor is different if the zero value of the motor is different.

Step 103: and controlling the motor to be tested to work according to preset control parameters. And controlling the standard component motor and the motor to be tested to work by using the same preset control parameters, so that the parameters influencing the current amplitude of the motor are the zero value of the motor.

Step 104: and adjusting the zero value of the motor to be measured until the difference between the current amplitude of the motor to be measured and the benchmarking current is less than a first threshold value, and acquiring the zero value adjustment amount. It can be understood that, when the difference between the current amplitude of the motor to be measured and the benchmarking current is smaller than the first threshold, it can be said that the current amplitude of the motor to be measured and the benchmarking current are relatively close, that is, the zero value of the motor to be measured can be determined based on the zero value adjustment amount and the zero value of the standard component motor.

Step 105: and determining the actual zero value of the motor to be tested based on the zero value adjustment quantity.

According to the motor zero point adjusting method provided by the embodiment of the application, the standard part motor and the motor to be detected are controlled to work through the same preset control parameter, then the current amplitude of the standard part motor is detected to obtain the benchmarking current, and the zero point value of the motor to be detected is adjusted, so that the current amplitude of the motor to be detected is close to the actual zero point value of the motor to be detected based on the adjustment quantity of the zero point value under the condition that the benchmarking current is adjusted. The zero-point value of the motor to be tested can be determined based on the zero-point value adjustment quantity and the zero-point value of the motor to be tested, so that the zero-point value of the motor to be tested can be obtained in a variable control mode in the whole detection process, the rotor friction resistance can not affect the zero-point adjustment result, the two phases of the motor do not need to be subjected to larger current in the detection process, the excessive zero-point adjustment heat of the motor can be avoided, the waveform does not need to be read manually in the detection process, the detection precision of the zero-point adjustment can be greatly improved, the operation is easy, and the zero-point adjustment efficiency can be improved.

In some examples, the zero value of the motor to be measured may be adjusted by a resolver, and the adjustment amount of the zero value may be 0.1 ° to 0.5 ° at a time to improve the accuracy of the actual zero value acquisition.

In some examples, the step of controlling the operation of the standard part motor at preset control parameters comprises: controlling a standard component motor to work according to a preset voltage vector and a preset control angle; the step of controlling the work of the motor to be tested by using the preset control parameters comprises the following steps: and controlling the motor to be tested to work by using a preset voltage vector and a preset control angle.

The preset control parameters can comprise a preset voltage vector and a preset control angle, the voltage vector can be a motor vector control device, a rotating vector synthesized by three-phase sinusoidal voltage, and basic parameters of motor control are not provided for the voltage vector and the control angle.

In some examples, the step of controlling the standard component motor to operate at a preset voltage vector and a preset control angle comprises: carrying out vector decomposition on the preset voltage vector to obtain a first vector of the preset voltage vector on a direct axis of the standard component motor and a second vector of the preset voltage vector on a quadrature axis of the standard component motor; processing the first vector and the second vector based on park conversion to obtain a first rotation vector and a second rotation vector; obtaining a plurality of paths of PWM waves through space vector pulse width modulation based on the first rotating vector and the second rotating vector; and outputting three-phase current based on the multi-path PWM waves through a three-phase inverter to control the standard component motor to work.

When the standard component motor is controlled through a preset voltage vector and a preset control angle, the preset voltage vector synthesized by three-phase sinusoidal voltage can be decomposed into a first vector and a second vector on static direct-axis and quadrature-axis systems (DQ shafting); the first vector and the second vector are converted into a first rotation vector and a second rotation vector on a rotation axis through park conversion; the first rotating Vector and the second rotating Vector acquire multiple paths of PWM waves through Space Vector Pulse Width Modulation (SVPWM), and the multiple paths of PWM waves can be inverted into three-phase current through the three-phase inverter, so that the standard component motor is driven to work.

As shown in FIG. 3, wherein in FIG. 3, U_sFor a predetermined voltage vector, θ_controlIs a preset control angle; u shape_dIs a first vector; u shape_qIs a second vector; u shape_αIs a first rotation vector; u shape_βIs a second rotation vector; PWM 1-PWM 6 are multi-path PWM waves; i.e. i_a、i_bAnd i_cThree-phase current; i is the current amplitude.

In motor vector control, as shown in fig. 3, three-phase sinusoidal voltages may be synthesized into a rotating vector U_sVector U_sCan be decomposed into U on a static DQ shafting_d、U_qPosition detecting device (rotary)Transformer) can detect the control angle theta in real time_control. The variables have the following relationships:

U_d＝U_s·sinθ·θ_control

U_q＝U_s·cosθ·θ_control

the components of the voltage Vector Us are converted into two components U α and U β on the rotating shaft system through park conversion, converted into 6-channel PWM waves through Space Vector Pulse Width Modulation 301 (SVPWM), and inverted into three-phase currents through a three-phase inverter 302, thereby driving the permanent magnet synchronous motor 303.

As shown in FIG. 3, the actual three-phase current i of PMSM can be measured according to the three-phase current sensor_a、i_bAnd i_cThe current amplitude I is obtained through the amplitude calculation module 304.

Considering that the motor can be equivalently inductive during the re-operation process, a given U is given when the excitation is constant, i.e. at the rated voltage_sModulus and control angle theta_controlAnd at the moment, the output variable I is a fixed value, so that the preset voltage vector, the preset control angle and the current amplitude value have correlation, the standard component motor and the motor to be detected are controlled to work through the same preset voltage vector and the preset control angle, the parameter influencing the current amplitude value of the motor can be the zero point value of the motor, the current amplitude values of the standard component motor and the motor to be detected are enabled to be close by adjusting the zero point value of the motor to be detected, and the zero point value of the motor to be detected can be determined based on the zero point value adjustment quantity and the zero point value of the standard component motor.

It can be understood that the step of controlling the motor to be tested to work through the preset voltage vector and the preset control angle may be the same as the step of controlling the motor of the standard component to work through the preset voltage vector and the preset control angle, and is not described herein again.

In some examples, obtaining the current magnitude of the standard component motor as the target current comprises: collecting three-phase current between a three-phase inverter and a standard motor; and acquiring the current amplitude of the standard component based on the three-phase current value, and taking the current amplitude of the standard component as a calibration current.

When the method is understood, the current amplitude can be obtained by collecting the three-phase current and further based on the three-phase current value. As shown in FIG. 3, the actual three-phase current i of the three-phase inverter can be measured by the three-phase current sensor_a、i_bAnd i_cAnd obtaining the current amplitude I through an amplitude calculation module.

In some examples, the zero point value of the motor to be measured is adjusted until the difference between the current amplitude of the motor to be measured and the calibration current value is smaller than a first threshold, and the step of obtaining the zero point value adjustment amount includes: adjusting a zero value of the motor to be measured; acquiring a first difference value between a current amplitude value of a motor to be detected and a calibration current value; and when the ratio of the absolute value of the first difference value to the calibration current value is smaller than a first threshold value, stopping adjusting the zero value of the motor to be measured, and acquiring the zero value adjustment quantity.

The method comprises the steps of firstly obtaining a first difference value between the current amplitude value of the motor to be detected and a calibration current value, then obtaining a ratio between an absolute value based on the first difference value and the calibration current value, judging whether the current amplitude value of the motor to be detected is close to or the same as the calibration current value through a ratio comparison mode, and facilitating data processing of a computer or a processor, so that the first threshold value can be set in a percentage mode, the processing steps of the processor are greatly simplified, and meanwhile, the selection of the first threshold value is facilitated.

In some examples, the first threshold value takes on a value less than or equal to 3%.

The value of the first threshold is less than or equal to 3%, and through selection of the threshold, zero value adjustment quantity can be collected under the condition that the current amplitudes of the standard component motor and the motor to be detected are similar or identical, so that the accuracy of determining the actual zero value is guaranteed.

In some examples, the step of determining the actual zero value of the motor under test based on the zero value adjustment amount includes: acquiring a standard part zero value of a standard part motor; and determining the actual zero value of the motor to be tested based on the zero value adjustment quantity and the zero value of the standard component.

Under the condition that the current amplitudes of the standard part motor and the motor to be detected are similar or identical, the zero point position of the motor to be detected can be adjusted to the zero point position, and under the condition, the actual zero point position of the motor to be detected and the zero point position of the standard part motor have correlation, so that the actual zero point value of the motor to be detected can be determined based on the zero point value adjustment quantity and the zero point value of the standard part motor. So set up whole testing process and through the mode of control variable, obtain the zero point value of the motor that awaits measuring for rotor frictional resistance can not exert an influence to zero point timing result and need not two communicating great electric currents of stator equally in the inspection process, can avoid motor zero point timing heat too big, and need not the manual work among the testing process and read the wave form, can improve the detection precision of zero point timing greatly, and easily operation, can improve zero point timing efficiency.

In some examples, the step of determining the actual zero value of the motor under test based on the zero value adjustment and the standard zero value includes:

acquiring a second current amplitude value of the motor to be detected working under the condition of preset control parameters, and taking the second current amplitude value as a comparison current value;

taking the difference value between the zero value of the standard component and the zero value adjustment quantity as an actual zero value under the condition that the comparison current is larger than the comparison standard current;

and taking the sum of the zero value of the standard component and the zero value adjustment quantity as an actual zero value when the comparison current is smaller than the comparison target current.

When the comparison current value of the motor to be measured is larger than the comparison standard current, the difference value between the zero value of the standard component and the zero value adjustment amount is used as the actual zero value; and when the comparison current value of the motor to be measured is smaller than the comparison current, taking the sum of the zero value of the standard part and the zero value adjustment amount as the actual zero value, further defining the determination mode of the actual zero value of the motor to be measured, and ensuring that the determination of the actual zero value of the motor to be measured is more accurate and convenient.

As shown in fig. 2, in some examples, the steps of the motor zero calibration method include:

step 201: and (3) judging whether the motor to be tested runs to the working condition of the whole fixed vehicle, if so, executing step 202, and if not, executing step 201. Zero point adjustment is carried out under the condition that the motor to be measured is in the fixed whole vehicle working condition, the influence of other interference items on the acquisition of the actual zero value of the motor to be measured can be avoided, the accuracy of the acquisition of the actual zero value can be greatly improved, and the fixed whole vehicle working condition can be rated voltage 350 +/-1V and 5000 +/-10 r/min.

Step 202: and responding to the zero point adjustment instruction of the motor to be measured.

Step 203: and controlling the motor to be tested to work through a preset voltage vector and a preset control angle.

Step 204: it is determined whether the ratio of the absolute value of the first difference to the normalized current value is greater than the first threshold, if yes, step 205 is executed, and if no, step 210 is executed.

Step 205: and judging whether the adjusting time length exceeds the preset time length, if so, executing a step 206, and if not, executing a step 207.

Step 206: and generating an alignment failure instruction. It can be understood that if the calibration time is too long, it may indicate that the calibration current value corresponding to the standard component motor may be incorrect, in which case, the zero-value calibration may be exited, and then the zero-value calibration is performed again after the calibration current value is calibrated.

Step 207: and judging whether the current amplitude of the motor to be tested is smaller than the calibration current, if so, executing a step 208, and if not, executing a step 209.

Step 208, increase the current zero value by the adjustment step.

Step 209, subtract the adjustment step size from the current zero value. In some examples, the zero value may be adjusted based on a resolver having 4096 steps, corresponding to 360 °, it is understood that the smaller the adjustment step value is, the more accurate the final actual zero value is, and the larger the adjustment step value is, the higher the tuning efficiency is, and in some examples, the tuning wavelength may be 0.1 ° to 0.5 °

Step 210: and determining the actual zero value of the motor to be tested based on the zero value adjustment quantity.

And the first difference value is the difference value between the current amplitude of the motor to be detected and the calibration current value.

According to the motor zero point adjusting method provided by the embodiment of the application, the standard part motor and the motor to be detected are controlled to work through the same preset control parameter, then the current amplitude of the standard part motor is detected to obtain the benchmarking current, and the zero point value of the motor to be detected is adjusted, so that the current amplitude of the motor to be detected is close to the actual zero point value of the motor to be detected based on the adjustment quantity of the zero point value under the condition that the benchmarking current is adjusted. The zero-point value of the motor to be tested can be determined based on the zero-point value adjustment quantity and the zero-point value of the motor to be tested, so that the zero-point value of the motor to be tested can be obtained in a variable control mode in the whole detection process, the rotor friction resistance can not affect the zero-point adjustment result, the two phases of the motor do not need to be subjected to larger current in the detection process, the excessive zero-point adjustment heat of the motor can be avoided, the waveform does not need to be read manually in the detection process, the detection precision of the zero-point adjustment can be greatly improved, the operation is easy, and the zero-point adjustment efficiency can be improved.

After the actual zero value of the motor to be measured is accurately obtained, the control precision of the vehicle torque can be improved, and the smoothness and the comfort of the vehicle are improved.

As shown in fig. 4, according to a second aspect of the embodiments of the present application, there is provided an electronic device, including: a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor, where the processor 402 is configured to implement the steps of the motor zero-point adjusting method according to any one of the above-mentioned technical solutions when the processor 402 executes the computer program stored in the memory 401.

In the electronic device provided in the embodiment of the present application, since the electronic device implements the step of the motor zero point adjustment method according to any one of the above technical solutions, the electronic device has all the beneficial effects of the motor zero point adjustment method, which are not repeated herein.

As shown in fig. 5, according to a third aspect of the embodiments of the present application, a computer-readable storage medium 501 is provided, on which a computer program 502 is stored, and when the computer program 502 is executed by a processor, the steps of the motor zero-point adjusting method according to any one of the above-mentioned technical solutions are implemented.

In the computer-readable storage medium 501 provided in this embodiment, since the computer program 502 implements the steps of the motor zero point calibration method according to any one of the above technical solutions, the computer-readable storage medium 501 has all the beneficial effects of the motor zero point calibration method, and details are not repeated here.

It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable flow management apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable flow management apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.