CN118611524B - Motor position verification method, electronic equipment, vehicle suspension and vehicle - Google Patents
Motor position verification method, electronic equipment, vehicle suspension and vehicle Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 18
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
本公开涉及一种电机位置校验方法、电子设备、车辆悬架及车辆，本公开中，获取角度传感器输出的对待测电机采集的多个信号，利用角度传感器的第一组合信号确定所述待测电机的初始位置，所述第一组合信号包括所述多个信号中的至少二个信号，对所述初始位置进行校验，并于校验通过后根据所述初始位置驱动所述待测电机转动。然后，在所述待测电机转动过程中，利用所述角度传感器的第二组合信号对所述待测电机的当前位置进行校验，所述第二组合信号包括所述多个信号中的至少二个信号，且所述第二组合信号与所述第一组合信号不同。通过上述技术方案，本公开可以提高电机位置校验的准确性和全面性，并降低校验的复杂性。
The present disclosure relates to a motor position verification method, an electronic device, a vehicle suspension and a vehicle. In the present disclosure, a plurality of signals collected from a motor to be tested output by an angle sensor are obtained, and the initial position of the motor to be tested is determined using a first combination signal of the angle sensor, the first combination signal includes at least two of the multiple signals, the initial position is verified, and after the verification is passed, the motor to be tested is driven to rotate according to the initial position. Then, during the rotation of the motor to be tested, the current position of the motor to be tested is verified using a second combination signal of the angle sensor, the second combination signal includes at least two of the multiple signals, and the second combination signal is different from the first combination signal. Through the above technical scheme, the present disclosure can improve the accuracy and comprehensiveness of motor position verification and reduce the complexity of verification.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a motor position verification method, electronic equipment, a vehicle suspension and a vehicle.
Background
In a dry active suspension of a vehicle, the quality of the motor's angular position signal will directly affect the performance and reliability of the active suspension, and thus the vehicle's driving safety. The angle sensor is generally used for detecting the rotation angle position of the motor, and a plurality of angle sensors are arranged for checking the rotation angle signals so as to realize signal redundancy.
However, the redundancy of the signal can be improved by checking with a plurality of angle sensors, but the complexity and cost are increased, the real-time performance is difficult to be ensured, and the signal abnormality cannot be immediately processed when the signal abnormality is detected. Although there are also sensors available that can check a set of rotation angle signals simultaneously, the comprehensiveness and accuracy of the check are still poor due to the limitation of the signal type.
Disclosure of Invention
The embodiment of the disclosure provides a motor position verification method, electronic equipment, a vehicle suspension and a vehicle, which improve the accuracy and comprehensiveness of motor position verification, reduce the complexity of verification and at least partially solve the technical problems.
To achieve the above object, according to a first aspect of the present disclosure, there is provided a motor position verification method including:
Acquiring a plurality of signals which are output by an angle sensor and are acquired by a motor to be tested;
Determining an initial position of the motor to be measured by using a first combined signal of an angle sensor, wherein the first combined signal comprises at least two signals of the plurality of signals;
checking the initial position, and driving the motor to be tested to rotate according to the initial position after the initial position passes the checking;
And in the process of rotating the motor to be tested, checking the current position of the motor to be tested by utilizing a second combined signal of the angle sensor, wherein the second combined signal comprises at least two signals in the plurality of signals, and the second combined signal is different from the first combined signal.
Optionally, after the current position of the motor to be tested is checked by using the second combined signal of the angle sensor, if the current position passes the check, the motor to be tested is driven to continue to rotate, and if the current position does not pass the check, signal fault information is sent.
Optionally, the determining the initial position of the motor to be measured by using the first combined signal of the angle sensor includes:
Analyzing the first combined signal to obtain angle data of the motor to be tested;
and determining the initial position of the motor to be tested according to the angle data of the motor to be tested.
Optionally, the first combined signal includes a first detection signal and a second detection signal, and the verifying the initial position includes:
Calculating a first difference value between a first detection signal and a second detection signal at the current moment;
if the first difference value is smaller than or equal to a first threshold value, the initial position is checked to pass;
And if the first difference value is larger than the first threshold value, continuing to check the initial position according to the adjacent signals of the first combined signal to obtain a first check result.
Optionally, the verifying the initial position according to the adjacent signal of the first combined signal further includes:
Sequentially calculating a second difference value between every two adjacent first detection signals according to the plurality of first detection signals;
Calculating a third difference value between two adjacent second difference values, and if the third difference value is smaller than or equal to a second threshold value, the first verification result is that the initial position verification passes;
and if the third difference value is larger than the second threshold value, continuing to check the initial position according to the second detection signal to obtain a second check result.
Optionally, the verifying the initial position according to the second detection signal further includes:
according to the plurality of second detection signals, sequentially calculating a fourth difference value between every two adjacent second detection signals;
Calculating a fifth difference value between two adjacent fourth difference values, and if the fifth difference value is smaller than or equal to a third threshold value, the second checking result is that the initial position checking is passed;
And if the fifth difference value is larger than the third threshold value, the second checking result is that the initial position is not checked to pass, and the signal fault information is sent out.
Optionally, the second combined signal includes a third detection signal and a fourth detection signal, and the verifying the current position of the motor to be tested by using the second combined signal of the angle sensor includes:
calculating a sixth difference value of the third detection signal and the fourth detection signal at the current moment;
if the sixth difference value is smaller than or equal to a fourth threshold value, the current position is checked to pass;
And if the sixth difference value is larger than the fourth threshold value, continuing to check the current position according to the adjacent signals of the second combined signal to obtain a third check result.
Optionally, the verifying the current position according to the adjacent signal of the second combined signal further includes:
sequentially calculating a seventh difference value between every two adjacent third detection signals according to the plurality of third detection signals;
calculating an eighth difference value between two adjacent seventh difference values, and if the eighth difference value is smaller than or equal to a fifth threshold value, determining that the second checking result is that the current position passes the checking;
And if the eighth difference value is larger than the fifth threshold value, continuing to check the current position according to the fourth detection signal to obtain a fourth check result.
Optionally, the verifying the current position according to the fourth detection signal to obtain a fourth verification result includes:
sequentially calculating a ninth difference value between every two adjacent fourth detection signals according to the fourth detection signals;
Calculating a tenth difference value between two adjacent ninth difference values, and if the tenth difference value is smaller than or equal to a sixth threshold value, determining that the second checking result is that the current position passes checking;
and if the tenth difference value is larger than the sixth threshold value, the second checking result is that the current position is not checked to pass, and the signal fault information is sent out.
Optionally, the first detection signal is an SPI signal, the second detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the first detection signal and the second detection signal.
Optionally, the third detection signal is an ABZ signal, the fourth detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the third detection signal and the fourth detection signal.
According to a second aspect of the present disclosure, there is also provided an electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the motor position verification method as described above.
According to a third aspect of the present disclosure, there is also provided a vehicle suspension comprising a suspension body, a motor and an electronic device as described above.
According to a fourth aspect of the present disclosure there is also provided a vehicle comprising an electronic device as described above or a vehicle suspension as described above.
In summary, according to the motor position verification method disclosed by the embodiment of the disclosure, the single angle sensor is used to verify and detect faults of the motor position through multiple groups of rotation angle signals, so that the problems of complex verification process, poor instantaneity, high cost and the like caused by using multiple angle sensors in the traditional verification method can be solved. Secondly, the initial position of the motor is determined and checked based on the first signal combination through the angle sensor, the current position of the motor is determined and continuously checked through the second model combination of different types, and more comprehensive checking is realized through the signal combinations of multiple types, so that the accuracy of motor position checking can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely examples of some of the embodiments of the present disclosure and that other drawings may be made from these drawings without the exercise of inventive faculty.
For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numerals represent like parts throughout the following description.
FIG. 1 is a flow chart of a motor position verification method provided in an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic illustration of an application scenario of the present disclosure provided in an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a first sense signal SPI signal provided in an exemplary embodiment of the present disclosure;
Fig. 4 is a schematic diagram of a second detection signal PWM signal provided in an exemplary embodiment of the present disclosure
FIG. 5 is a schematic diagram of a third detection signal ABZ signal provided in an exemplary embodiment of the present disclosure
FIG. 6 is a flow chart diagram of motor position detection provided in an exemplary embodiment of the present disclosure;
FIG. 7 is a flow chart of detection signal verification provided in an exemplary embodiment of the present disclosure;
FIG. 8 is another flow diagram of detection signal verification provided in an exemplary embodiment of the present disclosure;
FIG. 9 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure;
FIG. 10 is a block diagram of a vehicle suspension provided in an exemplary embodiment of the present disclosure;
FIG. 11 is a block diagram of a vehicle provided in an exemplary embodiment of the present disclosure;
Fig. 12 is a block diagram of a vehicle provided in an exemplary embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. All other embodiments, which can be made by one skilled in the art based on the embodiments in this disclosure without inventive effort, are intended to be within the scope of this disclosure.
In the related motor rotation angle position detection technology, a plurality of angle sensors, such as rotary encoders and position sensors, are usually installed on a motor, and the angle sensors work simultaneously to provide redundant signals, and by comparing the outputs of the plurality of angle sensors, the position signals of the angle sensors can be checked and detected.
However, the cumulative cost of installing multiple angle sensors is high, increasing the manufacturing and maintenance costs of the overall system, and additional circuitry and processing units are required to compare and calibrate the signals, increasing the design and maintenance difficulties of the system. And depending on the plurality of sensors to provide signals, the system may not react immediately when detecting signal anomalies, and the process of comparing and calibrating the signals may also require a certain time, resulting in a reduced response speed of the system.
While sensors now have the ability to verify a set of corner signals simultaneously, the integrity and accuracy of the verification remains a challenge due to the limitations of the signal type. For example, current detection methods can utilize SPI and ABZ signals to verify the rotational angle position of the motor, thereby improving the reliability of the signals. However, upon power-up, the ABZ signal becomes meaningless, which results in an effective verification of the initial rotational angle position signal that cannot be obtained through the SPI, with a certain risk.
On the other hand, with respect to brushless motors, conventional detection methods use PWM and UVW signals to improve the reliability of the signals. However, the accuracy of the UVW signal is low, and if the PWM signal is disturbed to cause an angle deviation, but the angle deviation does not exceed the range of the UVW current angle, the actual angle signal cannot be accurately verified.
In the scheme, firstly, a single angle sensor is used for checking and detecting faults of the motor through a plurality of groups of corner signals, and the problems that the checking process is complex, the instantaneity is poor, the cost is high and the like caused by the fact that a plurality of angle sensors are used in the traditional checking method can be solved. Secondly, the initial position of the motor is determined and checked based on the first signal combination through the angle sensor, the current position of the motor is determined and continuously checked through the second model combination of different types, and more comprehensive checking is realized through the signal combinations of multiple types, so that the accuracy of motor position checking can be improved.
The present disclosure is described below in connection with specific embodiments.
Fig. 1 is a schematic diagram of a motor position verification method provided in an embodiment of the present disclosure, as shown in fig. 1, the method may include the following steps S101 to S104:
Step S101, acquiring a plurality of signals which are output by an angle sensor and are acquired by a motor to be tested.
In some embodiments, after the system is powered on, the controller may send a control command, and set the angle sensor to a mode of outputting a combination of multiple types of signals, so that the angle sensor may read a magnetic field direction signal of a rotor attached magnet of the motor to be tested, convert the magnetic field direction signal into multiple signals representing angles, and then send the multiple signals obtained to the controller through an interface corresponding to the signals.
Step S102, determining the initial position of the motor to be tested by using the first combined signal of the angle sensor.
The first combined signal may include at least two signals of the plurality of signals, for example, the first combined signal may include a first detection signal and a second detection signal, the first detection signal may be an SPI (SERIAL PERIPHERAL INTERFACE ) signal as shown in fig. 3, and the second detection signal may be a PWM (Pulse Width Modulation ) signal as shown in fig. 4.
The SPI signal is a synchronous serial communication protocol for short-range communications, primarily for use in embedded systems, and may include four main signal lines MISO (MASTER IN SLAVE Out), MOSI (Master Out Slave In), SCLK (Serial Clock), and CS (Chip Select). The MISO line is used for a signal line for transmitting data from a slave device to a master device, the MOSI line is used for a signal line for transmitting data from the master device to the slave device, the SCLK line is used as a clock signal line, the master device provides a clock signal for synchronizing data transmission, and the CS line is used as a chip selection signal line which is controlled by the master device and used for selecting which slave device is used for communication.
Among them, the PWM signal is a method of controlling an analog quantity by adjusting a pulse width. It will be appreciated that the SPI signal may be used to perform data transmission between the controller and the motor angle sensor, ensuring that an accurate rotational angle position signal is obtained. The encoder may encode the angle signal in the form of a PWM pulse width so that the PWM signal may be used as an input signal to the controller. The motor position detection device and the motor position detection method are combined, so that efficient detection and control of the motor position are realized, and the performance and reliability of the system are improved.
In some embodiments, the angle sensor may be provided with a communication interface for transmitting various detection signals, as described in particular in connection with fig. 2. Fig. 2 is a schematic diagram of an application scenario of the present disclosure, and as shown in fig. 2, the application scenario may include three parts including an execution controller, a motor angle sensor, and an execution motor, which are connected to each other by a plurality of signal lines.
The execution controller is a core control unit for receiving and processing signals of the motor angle sensor and controlling the operation of the execution motor according to the processing result. The motor angle sensor is called an angle sensor for short, can be used for detecting the corner position of the motor, and transmits detected position signals to the execution controller, and the angle sensor can be arranged at the coaxial position of the motor rotor. Wherein, executing motor is referred to as "motor", and the controller can be according to the corner position signal that angle sensor provided, adjusts the running state of motor.
The signal lines indicated in fig. 2 are various communication interfaces between the angle sensor and the controller, specifically, the controller can select the motor angle sensor to communicate through the CS signal, the controller can provide the SCLK signal to ensure the data transmission synchronization with the motor angle sensor, the controller can send a control command or request data to the motor angle sensor through the MOSI line, and the angle sensor can send the detected rotation angle position signal to the controller through the MISO line.
When the method disclosed by the invention is executed, the angle sensor can receive the magnetic field direction signal of the magnet attached to the motor rotor, and convert the magnetic field direction signal into various electric signals representing angles, so as to obtain various angle signals. And then, various angle signals are sent to the controller through various corresponding communication interfaces, the controller can mutually check the received various angle signals, check whether the angle signals are available or not, and determine the position of the motor according to the values of the angle signals passing the check.
To better implement the method of the embodiment of the present application, in one possible example, step S102 may include:
Firstly, analyzing the first combined signal to obtain angle data of the motor to be tested;
and then, determining the initial position of the motor to be tested according to the angle data of the motor to be tested.
Wherein the angle data may be the relative angle of the rotor of the motor and the angle sensor, which angle data may be used to indicate the motor position, e.g. a motor position of 30 ° indicates a relative angle between the rotor of the motor and the angle sensor of 30 °.
In some embodiments, the angle sensor may be set to a mode of outputting the first combined signal, and the SPI signal of the angle sensor is read and parsed through the SPI interface to obtain digital angle data of the motor. In some embodiments, the duty cycle may also be analyzed to obtain angular position data of the motor by monitoring the duty cycle of the PWM signal.
It should be noted that, in the present disclosure, examples of specific angle values related to motor positions are only used as references, and in practical application, the accuracy of angle values calculated by using the checksum of the present disclosure may reach two decimal places. For example only, the first detection signal may correspond to a first initial position of the motor of 25.31 ° and the second detection signal may correspond to a second initial position of the motor of 25.22 °.
And step 103, checking the initial position, and driving the motor to be tested to rotate according to the initial position after the checking is passed.
It can be understood that after the initial position of the angle data is obtained by the two detection signals of the first combined signal, the initial position can be checked to determine an initial position passing the checking in order to ensure the accuracy of the position determination of the motor.
In some embodiments, a difference value of angle data corresponding to the two detection signals may be calculated, and whether an abnormal signal exists may be checked based on the calculated difference value. It can be understood that if the difference value is within a reasonable range, the difference value of the initial position determined by the two detection signals is smaller, the numerical value of the initial position is accurate and reliable, and if the difference value exceeds the reasonable range, at least one abnormal signal can be analyzed temporarily, and the rationality of the initial position needs to be further checked.
In order to better implement the method of the embodiment of the present application, in one possible example, step S103 may include:
firstly, calculating a first difference value between a first detection signal and a second detection signal at the current moment;
then, if the first difference value is smaller than or equal to a first threshold value, the initial position is checked to pass;
And finally, if the first difference value is larger than the first threshold value, continuing to check the initial position according to the adjacent signals of the first combined signal to obtain a first check result.
As shown in fig. 6 and 7, first and second detection signals at the current time may be obtained, and since the first and second detection signals may be equivalent to angle data transmitted through the SPI and the PWM, a first difference value representing an angle value may be obtained by calculating a difference value of the above two detection signals.
By way of example only, assuming that the first detected signal at the current time corresponds to a value of 25.3 °, and the second detected signal at the current time corresponds to a value of 25.1 °, the first difference may be calculated to be=0.2°. Then, a first threshold value which is defined in advance can be obtained, the first threshold value is used for representing the allowable error range of corresponding numerical values of the two detection signals, and the initial positions of the two detection signals are checked by comparing the first difference value with the first threshold value. As shown in fig. 7, assuming that the first threshold is 0.5 °, the first difference is smaller than the first threshold, and it is determined that the current initial position check passes, which indicates that the motor position data measured by the two detection signals are reasonable.
It should be noted that, although the first detection signal and the second detection signal at the same time are theoretically collected, in the actual verification process, since different types of signals have different transmission delays, it cannot be completely guaranteed that two identical times are collected, and therefore after the initial position verification is passed, the position signal at the latest time, that is, the value of the detection signal closest to the current time, may be determined as the actual initial position of the motor, for example, it is confirmed that the current detected initial position is 25.3 ° and is accurate motor position data.
Correspondingly, if all the first difference values are larger than the first threshold value, the angle data measured by the current two detection signals are considered to have signal abnormality, and further verification is needed. For example, if the first difference 1 ° is greater than the first threshold value 0.5 °, as shown in fig. 7, the verification determination is not made for the initial position temporarily, and the subsequent verification operation is continued.
By the method, the difference value of the first detection signal and the second detection signal at the current moment is calculated, and compared with the preset threshold value, so that the verification of the initial position of the motor is realized. Under the condition that the verification is not passed, the accuracy of the signals is determined by further analyzing the adjacent signals, and finally, the reliability of the initial position data of the motor is ensured, so that a solid foundation is provided for the follow-up motor control.
In some embodiments, the first verification result may be determined by:
firstly, sequentially calculating a second difference value between every two adjacent first detection signals according to a plurality of first detection signals;
Then, calculating a third difference value between two adjacent second difference values, and if the third difference value is smaller than or equal to a second threshold value, the first verification result is that the initial position verification passes;
And finally, if the third difference value is larger than the second threshold value, continuing to check the initial position according to the second detection signal to obtain a second check result.
In some embodiments, a plurality of first detection signals recorded in succession may be acquired first, and the difference between every two adjacent first detection signals is calculated in turn, and recorded as a second difference. For example only, assuming that the first detection signals recorded at a plurality of consecutive times are 25.3 °, 25.4 °, 25.5 °, 25.6 °, respectively, the second differences between every two adjacent first detection signals may be calculated as:
|25.4 - 25.3| = 0.1°;
|25.5 - 25.4| = 0.1°;
|25.6 - 25.5| = 0.1°。
After calculating the plurality of second differences, a third difference between two adjacent second differences may be further calculated, specifically as follows:
|0.1 - 0.1| = 0°;
|0.1 - 0.1| = 0°。
Similarly to the first threshold, a preset second threshold may be obtained, which is used to represent the allowable range of the third difference, and the magnitude between the third difference and the second threshold is compared. Assuming that the second threshold is 0.05 °, if it is satisfied that a third difference is smaller than or equal to the second threshold, the initial position of the current two detection signals is determined to pass verification, for example, if the third difference is smaller than the second threshold by 0 °, the current detected initial position is determined to be accurate motor position data, for example, 25.3 °, and then the motor is driven to rotate based on the initial position.
Correspondingly, if all the third differences are larger than the second threshold, it is considered that the angle data measured by the current two detection signals may have signal anomalies, and further verification needs to be made. For example, if the third difference 0.1 ° is greater than the second threshold 0.05 ° as shown in fig. 7, the verification determination is not made for the initial position temporarily, and the subsequent verification operation is continued.
Through the mode, the method and the device perform difference value calculation and verification on the first detection signals recorded continuously, and further verification on the initial position is achieved. And under the condition that the initial verification is not passed, the second detection signal is used for continuing the verification, so that the reliability and the accuracy of the initial position data of the motor are ensured, and a reliable basis is provided for the subsequent motor control.
In some embodiments, the second test result may be determined by:
firstly, according to a plurality of second detection signals, sequentially calculating a fourth difference value between every two adjacent second detection signals;
Then, calculating a fifth difference value between two adjacent fourth difference values, and if the fifth difference value is smaller than or equal to a third threshold value, the second checking result is that the initial position checking is passed;
And finally, if the fifth difference value is larger than the third threshold value, the second checking result is that the initial position is not checked to pass, and the signal fault information is sent out.
In some embodiments, a plurality of second detection signals recorded in succession may be acquired, and the difference between every two adjacent second detection signals is calculated in turn, and recorded as a fourth difference. By way of example only, assuming that the consecutively recorded second detection signals are 25.2 °, 25.3 °, 25.5 ° and 25.6 °, a fourth difference between every two adjacent second detection signals may be calculated as:
|25.3 - 25.2| = 0.1°;
|25.5 - 25.3| = 0.2°;
|25.6 - 25.5| = 0.1°。
After calculating the plurality of fourth differences, a difference between two adjacent fourth differences may be further calculated, which is referred to as a fifth difference. The specific calculation is as follows:
|0.2 - 0.1| = 0.1°;
|0.1 - 0.2| = 0.1°。
it will be appreciated that, similar to the first and second thresholds, a preset third threshold may be obtained to represent the allowable range of the fifth difference, and then the magnitude between the fifth difference and the third threshold may be compared. For example only, assuming that the third threshold is 0.15 °, if there is a fifth difference less than or equal to the third threshold, then determining that the initial position check passes, e.g., the fifth difference is 0.1 ° less than the third threshold, and the initial position check passes, it may be determined that the currently detected initial position, e.g., 25.2 °, is accurate motor position data. Accordingly, if all the fifth differences are greater than the third threshold, the signal is considered to be abnormal, for example, if the fifth difference is 0.3 ° greater than the third threshold, the initial position check is not passed.
In the above way, the method and the device realize further verification of the initial position by performing difference calculation and verification on the second detection signals recorded in succession. And under the condition that the initial verification is not passed, performing deep signal verification by calculating a fourth difference value and a fifth difference value, and ensuring the reliability and the accuracy of the initial position data of the motor. If the verification is still not passed, signal fault information is sent out, so that the system can respond in time when detecting signal abnormality, and the safety and reliability of the system are improved.
Step S104, continuously checking the current position of the motor to be tested by using the second combined signal of the angle sensor in the rotating process of the motor to be tested.
The second combined signal includes at least two signals of the plurality of signals, and the second combined signal is different from the first combined signal, and the second combined signal may include a third detection signal and a fourth detection signal, and the fourth detection signal may be the same as the second detection signal and both be PWM signals. The third detection signal may be an ABZ signal as shown in fig. 5. ABZ is an incremental encoder output format, an encoder is a device for measuring the position or angle of an object by converting positional information into electrical signals. ABZ signal is a common encoder output signal type, meaning in particular as follows:
For the phase a, B, phase a (or channel a) is used to output a sine wave signal and the phase B (or channel B) is used to output a cosine wave signal. The waveforms of the above two signals are 90 degrees out of phase, from which the direction and speed of movement of the object can be determined. The Z-phase signal is also referred to as a zero signal or pointer pulse. The Z-phase signal is typically a square wave signal that is used to mark a particular point of the object over a complete rotation period.
It will be appreciated that although the initial position of the motor to be measured is verified and the motor is driven to operate according to the initial position. But in order to guarantee the accuracy of motor position detection, can adopt multiple detection signal combination to carry out the continuous check to the current position of treating the motor that surveys in the scene of this disclosure, if the check passes then drive the motor that awaits measuring and continue to rotate according to current position, if the check does not pass then send signal fault information.
When the current position of the motor is verified, the angle sensor can be set to output a second combined signal, the ABZ signal and the PWM signal output by the angle sensor are continuously received and analyzed, and the current motor position is verified by using a verification algorithm. In some embodiments, the same verification operation as the initial position may be performed with respect to the third detection signal and the fourth detection signal. If the verification is passed, the system drives the motor to rotate according to the currently confirmed position information, and if the verification is not passed, the system can send out signal fault information which indicates that the motor position signal is abnormal, and data inconsistency or unreliability possibly caused by interference or other factors can be caused.
As shown in fig. 8, the current position of the motor to be measured may be checked by:
calculating a sixth difference value of the third detection signal and the fourth detection signal at the current moment;
if the sixth difference value is smaller than or equal to a fourth threshold value, the current position is checked to pass;
And if the sixth difference value is larger than the fourth threshold value, continuing to check the current position according to the adjacent signals of the second combined signal to obtain a third check result.
In some embodiments, the third verification result may be obtained by:
sequentially calculating a seventh difference value between every two adjacent third detection signals according to the plurality of third detection signals;
calculating an eighth difference value between two adjacent seventh difference values, and if the eighth difference value is smaller than or equal to a fifth threshold value, determining that the second checking result is that the current position passes the checking;
And if the eighth difference value is larger than the fifth threshold value, continuing to check the current position according to the fourth detection signal to obtain a fourth check result.
In some embodiments, the fourth verification result may be obtained by:
sequentially calculating a ninth difference value between every two adjacent fourth detection signals according to the fourth detection signals;
Calculating a tenth difference value between two adjacent ninth difference values, and if the tenth difference value is smaller than or equal to a sixth threshold value, determining that the second checking result is that the current position passes checking;
and if the tenth difference value is larger than the sixth threshold value, the second checking result is that the current position is not checked to pass, and the signal fault information is sent out.
It can be understood that the specific calculation details of the verification of the current position of the motor to be tested by the second signal combination may refer to the relevant content of the verification of the initial position of the motor to be tested by the first signal combination in step S103, which is not described herein.
In order to ensure the verification effect on the motor position, one of the third detection signal and the fourth detection signal may be the same as one of the first detection signal and the second detection signal, which is not limited in this embodiment.
It should be further noted that, in order to ensure the verification effect on the motor position, the signals of the first signal combination and the second signal combination mentioned in the above embodiment are preferably adopted, but the present disclosure may also select a plurality of different signal combinations from the collected plurality of signals to form the first signal combination and the second signal combination, for example, the plurality of signals may include incremental signals such as ABZ signals, UVW signals, etc., and absolute signals such as PWM signals, SPI signals, IIC signals, SSI signals, etc., which are not limited in this embodiment.
In some embodiments, signaling a failure message if the verification fails. When the current position is verified to be not passed, the signal fault information is sent, and corresponding function degradation can be executed on the motor, so that the motor can be ensured to normally operate as much as possible when the position signal of the motor is abnormal. For example, in order to prevent malfunction of the motor control, the electric power steering function angle of the vehicle may be reduced or turned off.
Through the mode, the motor position checking and abnormality processing mechanism can be continuously executed, the detection precision and reliability of the system to the motor position can be improved, and the safety and reliability of the dry-type drive-by-wire active suspension system can be further improved.
The motor position verification is performed in practical application by the method disclosed by the invention, and is mainly used for judging whether the controller has executed the motor position verification method disclosed by the invention.
It can be appreciated that when the deviation of angle data analyzed by two different types of detection signals is too large, the corresponding angular acceleration is calculated by a plurality of continuous angle data, so as to determine whether the angle data exceeds a set threshold value, thereby being capable of determining whether the detection signals are interfered. To verify whether the controller has adopted the motor position verification method of the present disclosure, the following steps may be performed:
S1, simulating signals of an angle sensor by using an MCU, connecting the signals to an angle signal interface of a controller, and simultaneously connecting the controller and a motor;
s2, simulating an angle signal 1 and an angle signal 2 to enable angles of the two signals to be equal, gradually increasing from 0 to 360 degrees at the same speed and circulating, so that the motor is in a uniform rotation state;
S3, simultaneously applying the same angular acceleration to the angle signal 1 and the angle signal 2, and observing the rotation speed change of the motor. If the motor rotation speed is gradually reduced and no fault response or alarm action occurs, the condition and phenomenon that the first difference value is smaller than a first threshold value and the initial position is checked to pass in the checking method according to the present disclosure;
and S4, under the condition that the speed of the angle signal 2 is kept unchanged, increasing the angular acceleration of the angle signal 1 so as to gradually increase the angular acceleration. If the motor can still rotate at a constant speed and no fault response or alarm action exists, the condition and phenomenon that the third difference value is smaller than the second threshold value and the initial position passes the verification in the verification method accord with the present disclosure;
And S5, under the condition that the speed of the angle signal 1 is kept unchanged, increasing the angular acceleration of the angle signal 2 so as to gradually increase the angular acceleration. If the motor can still rotate at a constant speed and no fault response or alarm action exists, the condition and phenomenon that the fifth difference value is smaller than a third threshold value and the initial position is checked to pass in the checking method according to the present disclosure are met;
S6, jumping the angle signal 1 by a certain angle, and simultaneously applying certain angular acceleration to the angle signal 1 and the angle signal 2 to observe the response of the motor. If the motor rotation speed is gradually reduced, and finally the rotation is stopped, and a fault response or alarm action occurs, the condition and phenomenon that the fifth difference value is larger than a third threshold value and the initial position verification is not passed in the verification method accord with the present disclosure.
Through the steps and the observation conditions, whether the controller adopts the motor position verification method disclosed by the disclosure can be accurately verified, so that the stability and the reliability of the system are ensured.
Through the technical scheme, firstly, the single angle sensor is used for checking and detecting faults of the motor through a plurality of groups of corner signals, and the problems that the checking process is complex, the instantaneity is poor, the cost is high and the like caused by the fact that a plurality of angle sensors are used in the traditional checking method can be solved. Secondly, the initial position of the motor is determined and checked based on the first signal combination through the angle sensor, the current position of the motor is determined and continuously checked through the second model combination of different types, and more comprehensive checking is realized through the signal combinations of multiple types, so that the accuracy of motor position checking can be improved.
Fig. 9 is a block diagram of an electronic device 300, according to an example embodiment. As shown in fig. 9, the electronic device 300 may include a processor 301 and a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input/output (I/O) component 304, and a communication component 305.
The processor 301 is configured to control the overall operation of the electronic device 300 to perform all or part of the steps in the motor position verification method described above. The memory 302 is used to store various types of data to support operation at the electronic device 300, which may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data, such as contact data, transceived messages, pictures, audio, video, and the like. The Memory 302 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 302 or transmitted through the communication component 305. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O component 304 provides an interface between the processor 301 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC) for short, 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The communication component 305 accordingly may comprise a Wi-Fi module, a bluetooth module, an NFC module, etc.
In an exemplary embodiment, the electronic device 300 may be implemented by one or more Application-specific integrated circuits (ASIC), digital signal Processor (DIGITAL SIGNAL Processor, DSP), digital signal processing device (DIGITAL SIGNAL Processing Device, DSPD), programmable logic device (Programmable Logic Device, PLD), field programmable gate array (Field Programmable GATE ARRAY, FPGA), controller, microcontroller, microprocessor, or other electronic component for performing the above-described motor position verification method.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the motor position verification method described above. For example, the computer readable storage medium may be the memory 302 described above including program instructions executable by the processor 301 of the electronic device 300 to perform the steps of:
Acquiring a plurality of signals which are output by an angle sensor and are acquired by a motor to be tested;
Determining an initial position of the motor to be measured by using a first combined signal of an angle sensor, wherein the first combined signal comprises at least two signals of the plurality of signals;
checking the initial position, and driving the motor to be tested to rotate according to the initial position after the initial position passes the checking;
And in the process of rotating the motor to be tested, checking the current position of the motor to be tested by utilizing a second combined signal of the angle sensor, wherein the second combined signal comprises at least two signals in the plurality of signals, and the second combined signal is different from the first combined signal.
Fig. 10 is a block diagram of a vehicle suspension provided in an embodiment of the present disclosure, which may include a suspension body, a motor, and an electronic device 300, as shown in fig. 10.
Fig. 11 is a block diagram of a vehicle provided in an embodiment of the disclosure, and as shown in fig. 11, the vehicle 400 includes the electronic device 300 described above.
Fig. 12 is a block diagram of a vehicle provided in an embodiment of the present disclosure, as shown in fig. 12, the vehicle 400 including the vehicle suspension described above.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (14)
1. A motor position verification method, comprising:
Acquiring a plurality of signals which are output by an angle sensor and are acquired by a motor to be tested;
Determining an initial position of the motor to be measured by using a first combined signal of an angle sensor, wherein the first combined signal comprises at least two signals of the plurality of signals;
The initial position is verified, and the motor to be tested is driven to rotate according to the initial position after verification is passed, wherein the initial position is verified preliminarily, if the initial verification is not passed, a signal difference value between adjacent signals of the first combined signal is obtained, and the initial position is verified continuously according to the difference value between the signal difference values;
And in the process of rotating the motor to be tested, checking the current position of the motor to be tested by utilizing a second combined signal of the angle sensor, wherein the second combined signal comprises at least two signals in the plurality of signals, and the second combined signal is different from the first combined signal.
2. The motor position verification method according to claim 1, wherein after the current position of the motor to be tested is verified by using the second combined signal of the angle sensor, if the verification is passed, the motor to be tested is driven to continue rotating according to the current position, and if the verification is not passed, signal fault information is sent.
3. The motor position verification method according to claim 1, wherein determining the initial position of the motor to be measured using the first combined signal of the angle sensor includes:
Analyzing the first combined signal to obtain angle data of the motor to be tested;
and determining the initial position of the motor to be tested according to the angle data of the motor to be tested.
4. The motor position verification method according to claim 2, wherein the first combined signal includes a first detection signal and a second detection signal, and the preliminary verification of the initial position includes:
Calculating a first difference value between a first detection signal and a second detection signal at the current moment;
if the first difference value is smaller than or equal to a first threshold value, the initial position is checked to pass;
and if the first difference value is larger than the first threshold value, continuing to check the initial position according to the difference value between the signal difference values to obtain a first check result.
5. The motor position verification method according to claim 4, wherein the continuing to verify the initial position according to the difference between the signal differences, to obtain a first verification result, includes:
Sequentially calculating a second difference value between every two adjacent first detection signals according to the plurality of first detection signals;
Calculating a third difference value between two adjacent second difference values, and if the third difference value is smaller than or equal to a second threshold value, the first verification result is that the initial position verification passes;
and if the third difference value is larger than the second threshold value, continuing to check the initial position according to the second detection signal to obtain a second check result.
6. The motor position verification method according to claim 5, wherein the continuing to verify the initial position according to the second detection signal, to obtain a second verification result, includes:
according to the plurality of second detection signals, sequentially calculating a fourth difference value between every two adjacent second detection signals;
Calculating a fifth difference value between two adjacent fourth difference values, and if the fifth difference value is smaller than or equal to a third threshold value, the second checking result is that the initial position checking is passed;
And if the fifth difference value is larger than the third threshold value, the second checking result is that the initial position is not checked to pass, and the signal fault information is sent out.
7. The motor position verification method according to claim 5, wherein the second combined signal includes a third detection signal and a fourth detection signal, and wherein verifying the current position of the motor to be detected using the second combined signal of the angle sensor includes:
calculating a sixth difference value of the third detection signal and the fourth detection signal at the current moment;
if the sixth difference value is smaller than or equal to a fourth threshold value, the current position is checked to pass;
And if the sixth difference value is larger than the fourth threshold value, continuing to check the current position according to the adjacent signals of the second combined signal to obtain a third check result.
8. The motor position verification method according to claim 7, wherein the continuing to verify the current position according to the adjacent signal of the second combined signal, to obtain a third verification result, includes:
sequentially calculating a seventh difference value between every two adjacent third detection signals according to the plurality of third detection signals;
calculating an eighth difference value between two adjacent seventh difference values, and if the eighth difference value is smaller than or equal to a fifth threshold value, determining that the second checking result is that the current position passes the checking;
And if the eighth difference value is larger than the fifth threshold value, continuing to check the current position according to the fourth detection signal to obtain a fourth check result.
9. The motor position verification method according to claim 8, wherein the continuing to verify the current position according to the fourth detection signal, to obtain a fourth verification result, includes:
sequentially calculating a ninth difference value between every two adjacent fourth detection signals according to the fourth detection signals;
Calculating a tenth difference value between two adjacent ninth difference values, and if the tenth difference value is smaller than or equal to a sixth threshold value, determining that the second checking result is that the current position passes checking;
and if the tenth difference value is larger than the sixth threshold value, the second checking result is that the current position is not checked to pass, and the signal fault information is sent out.
10. The motor position verification method according to any one of claims 4 to 6, wherein the first detection signal is an SPI signal, the second detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the first detection signal and the second detection signal.
11. The motor position verification method according to any one of claims 7 to 9, wherein the third detection signal is an ABZ signal, the fourth detection signal is a PWM signal, and the angle sensor is provided with a communication interface for transmitting the third detection signal and the fourth detection signal.
12. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the motor position verification method of any one of claims 1-11.
13. A vehicle suspension comprising a suspension body, a motor, and the electronic device of claim 12.
14. A vehicle comprising an electronic device as claimed in claim 12 or a vehicle suspension as claimed in claim 13.
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| CN110971155A (en) * | 2019-12-13 | 2020-04-07 | 株洲易力达机电有限公司 | PMSM (permanent magnet synchronous motor) control method for redundant position signals |
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