CN115580199A - Resolver zero calibration method, device, electronic equipment and storage medium - Google Patents

Abstract

Embodiments of the present application provide a resolver zero calibration method, device, electronic equipment, and storage medium, wherein the method includes: driving the motor rotor to rotate and controlling its speed; controlling the motor stator winding to be entered by the three-phase AC inverter ASC Three-phase short circuit, when the speed of the motor rotor is greater than the speed threshold and the fluctuation state value of the speed is less than the fluctuation threshold, obtain the three-phase current value of the three-phase AC motor; obtain the zero position of the resolver according to the three-phase current value ; Write the resolver zero bit into the read-only memory. Implementing the above-mentioned embodiment can reduce errors, so that the obtained resolver zero position has higher precision.

Description

Resolver zero calibration method, device, electronic equipment and storage medium

technical field

The present application relates to the technical field of motors, in particular, to a resolver zero calibration method, device, electronic equipment and storage medium.

Background technique

At present, there are several methods for the zero position calibration of the resolver of the electric vehicle motor: 1. Manually adjust the zero position method, by manually adjusting the position of the resolver, the phase voltage is consistent with the voltage direction of the resolver transformer. 2. Static voltage adjustment zero position method. By giving a voltage command to the phase voltage of the motor, the electronic rotor rotates an angle under the influence of electromagnetic torque, and the resolver rotates accordingly. Record this angle as the zero position angle of the resolver transformer. 3. The rotary voltage deviation calibration method, the rotary motor and the rotary transformer, calculate the zero position of the motor resolver by comparing the deviation angle between the peak point of the three-phase voltage and the zero point of the resolver voltage, but the voltage calibration method is mainly difficult to obtain accurately The peak point of the voltage waveform.

All of the above methods require personnel or testing equipment to record, calculate, and write the zero position of the resolver. It requires personnel or testing equipment to have the ability to record, calculate, and write correctly. The requirements for personnel or equipment are relatively high. Certain training or commissioning is required before they can be used. Moreover, manual operation may also easily lead to misrecording, miswriting, and missing writing of the resolver zero position, which may easily cause errors and bring certain potential risks to the use of subsequent electric drives.

Contents of the invention

The purpose of the embodiments of the present application is to provide a resolver zero calibration method, device, electronic equipment and storage medium, which can automatically avoid errors.

In the first aspect, the embodiment of the present application provides a resolver zero calibration method, including:

Drag the motor rotor to rotate and control its speed;

Control the stator winding of the motor to enter the three-phase short circuit from the three-phase AC inverter ASC;

When the rotational speed of the motor rotor is greater than the rotational speed threshold and the fluctuation state value of the rotational speed is less than the fluctuation threshold, acquire the three-phase current value of the three-phase AC motor;

Obtaining the zero position of the resolver according to the three-phase current value;

Write the resolver zero position into the read-only memory.

In the above implementation process, when the speed of the motor rotor is greater than the speed threshold and the fluctuation state value of the speed is less than the fluctuation threshold, the three-phase current value of the three-phase AC motor is obtained, and the zero position of the resolver is obtained according to the three-phase current value , which can reduce the error, so that the obtained resolver zero position has higher precision.

Further, the step of obtaining the three-phase current value of the three-phase AC motor includes:

When the time during which the motor rotor rotates at the rotational speed is greater than the time threshold, multiple sets of the three-phase current values are acquired within a preset time range.

In the above implementation process, when the time for which the motor rotor rotates at the rotational speed is greater than the time threshold, multiple sets of the three-phase current values are obtained within the preset time range, which can ensure that the obtained three-phase current values are comparable Accurate, the variance is small, so that the zero position of the resolver can be obtained more accurately.

Further, the step of obtaining the zero position of the resolver according to the three-phase current value includes:

Obtain the temporary resolver zero position corresponding to each group of three-phase current values, and obtain multiple temporary resolver zero positions;

The resolver zero position is acquired according to the plurality of temporary resolver zero positions.

In the above implementation process, multiple temporary resolver zero positions are obtained, and obtaining the resolver zero position based on the multiple temporary resolver zero positions can overcome the large error risk caused by a single resolver zero position.

Further, the step of obtaining the temporary resolver zero position corresponding to each set of three-phase current values includes:

Performing CLARK transformation on each group of the three-phase current values to obtain the first transformed current values in the ab fixed coordinate system;

Obtain the preset resolver zero position;

performing PARK transformation on the first converted current value according to the preset zero position of the resolver to obtain a second converted current value in the dq rotating coordinate system;

Flipping the second converted current value on the q axis to obtain a third converted current value in the dq rotating coordinate system;

Obtain a first angle of the third transformed current value in the dq rotating coordinate system;

The sum of the preset zero position of the resolver and the first angle is obtained to obtain the temporary zero position of the resolver.

In the above implementation process, a method for obtaining temporary resolver zero positions is provided. Based on the above method, multiple temporary resolver zero positions can be accurately obtained based on multiple sets of three-phase current values.

Further, the step of writing the zero position of the resolver into the read-only memory includes:

writing the temporary resolver zero to a random access memory;

Responding to the rising edge signal of the completion flag, writing the resolver zero bits acquired according to the plurality of temporary resolver zero bits into the read-only memory.

In the above implementation process, the zero position of the resolver is written into the read-only memory, which can prevent the zero position of the resolver from being tampered with.

Further, after the step of writing the resolver zero bit into the random access memory, it also includes:

Responding to the rising edge signal of the completion flag, obtaining the average value and variance of multiple temporary resolver zero positions;

It is judged whether the average value and the variance exceed the preset value, and if so, an alarm message is issued.

In the above implementation process, if the average value and variance of multiple temporary resolver zero positions exceed the preset values, it means that the error of the obtained resolver zero position is relatively large, and an alarm message is issued.

Further, the rotational speed threshold is the rotational speed when the three-phase AC inverter corresponding to the motor enters the ASC rotation.

In the second aspect, the embodiment of the present application provides a resolver zero calibration device, including:

The drag and speed control module is used to drive the motor rotor to rotate and control its speed;

The three-phase AC inverter control module is used to control the ASC to make the stator winding of the motor enter a three-phase short circuit;

A current numerical value acquisition module, configured to obtain the three-phase current value of the three-phase AC motor when the rotational speed of the motor rotor is greater than the rotational speed threshold and the fluctuation state value of the rotational speed is less than the fluctuation threshold;

A zero position acquisition module, configured to acquire the resolver zero position according to the three-phase current value;

The writing module is used for writing the zero position of the resolver into the read-only memory.

In a third aspect, an electronic device provided by an embodiment of the present application includes: a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the computer program When implementing the steps of the method described in any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are run on a computer, the computer is made to perform any of the tasks described in the first aspect. one of the methods described.

Other features and advantages disclosed in the present application will be described in the subsequent description, or some of the features and advantages can be deduced or unambiguously determined from the description, or can be known by implementing the above-mentioned technology disclosed in the present application.

In order to make the above-mentioned purpose, features and advantages of the present application more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that need to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so It should not be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings according to these drawings without creative work.

Fig. 1 is a schematic flow chart of the resolver zero calibration method provided by the embodiment of the present application;

Fig. 2 is a schematic structural diagram of a resolver zero calibration device provided in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

detailed description

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

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

Example 1

Referring to Fig. 1, the embodiment of the present application provides a resolver zero calibration method, which is applied to the electric drive assembly. The electric drive assembly includes: three-phase AC inverter, motor stator, electronic rotor and other components. The method includes:

S1: Drag the motor rotor to rotate and control its speed;

S2: Control the stator winding of the motor to enter the three-phase short circuit from the three-phase AC inverter ASC;

In the above embodiments, the three-phase AC inverter is the motor controller of the electric drive assembly to be calibrated.

S3: When the rotational speed of the motor rotor is greater than the rotational speed threshold and the fluctuation state value of the rotational speed is less than the fluctuation threshold, obtain the three-phase current value of the three-phase AC motor;

S4: Acquire the zero position of the resolver according to the three-phase current value;

S5: Write the zero position of the resolver into the read-only memory.

In the above implementation process, when the speed of the motor rotor is greater than the speed threshold and the fluctuation state value of the speed is less than the fluctuation threshold, the three-phase current value of the three-phase AC motor is obtained, and the zero position of the resolver is obtained according to the three-phase current value, which can reduce the error , so that the obtained resolver zero position accuracy is higher.

In a possible implementation manner, the rotational speed threshold is the rotational speed when the three-phase AC inverter corresponding to the motor starts to rotate in the ASC.

It should be noted that at this moment, the motor controller controls the lower switching tube of the three-phase bridge arm of the drive circuit to enter the ASC. The ASC state means that the upper switching tube of the three-phase bridge arm of the motor controller or the lower three bridges of the switching tube of the three-phase bridge arm are fully open (conducted), so that the stator winding of the motor forms a closed loop.

At this time, the motor controller enters the ASC, and the motor rotor is dragged to rotate, and the motor stator winding is subjected to electromagnetic induction to generate electromotive force, and then generate current in the three phases.

In a possible implementation manner, S2 includes:

When the time for which the motor rotor rotates at a rotational speed is greater than the time threshold, multiple sets of three-phase current values are acquired within a preset time range.

In the above implementation process, when the time for the motor rotor to rotate at a rotational speed is greater than the time threshold, multiple sets of three-phase current values are obtained within the preset time range, which can ensure that the obtained three-phase current values are relatively accurate and have a small variance, thereby enabling This makes the obtained resolver zero position more accurate.

In a possible implementation manner, the step of obtaining the zero position of the resolver according to the three-phase current value includes:

Obtain the temporary resolver zero position corresponding to each group of three-phase current values, and obtain multiple temporary resolver zero positions;

Obtains a resolver null from a plurality of temporary resolver nulls.

In the above implementation process, multiple temporary resolver zero positions are obtained, and obtaining the resolver zero position based on the multiple temporary resolver zero positions can overcome the large error risk caused by a single resolver zero position.

In a possible implementation manner, the step of obtaining the temporary resolver zero position corresponding to each set of three-phase current values includes:

Perform CLARK transformation on each three-phase current value to obtain the first transformed current value in the ab fixed coordinate system;

Obtain the preset resolver zero position;

performing PARK transformation on the first converted current value according to the preset zero position of the resolver to obtain the second converted current value in the dq rotating coordinate system;

Flip the second converted current value on the q axis to obtain a third converted current value in the dq coordinate system;

Obtain the first angle of the third transformed current value in the dq rotating coordinate system;

The sum of the preset zero position of the resolver and the first angle is obtained to obtain the temporary zero position of the resolver.

In the above embodiments, the temporary resolver zero position is the deviation angle of the resolver relative to the U-phase of the motor.

In the above implementation process, a method for obtaining the zero position of the resolver is provided. Based on the above method, multiple temporary zero positions of the resolver can be accurately obtained based on the current value.

In a possible implementation manner, the step of writing the resolver zero bit into the read-only memory includes:

write temporary resolver zero bits to random access memory;

Responding to the rising edge signal of the completion flag, writing the resolver zeros obtained according to the plurality of temporary resolver zeros into the read-only memory.

In the above implementation process, the zero position of the resolver is written into the read-only memory, which can prevent the zero position of the resolver from being tampered with.

In a possible implementation, after detecting the rising edge, it is also necessary to judge whether the current motor controller is in the resolver calibration mode and the factory mode. Only when the three conditions are met, the motor controller software will record The zero value of the resolver is written into the read-only memory.

In a possible implementation manner, after the step of writing the resolver zero bit into the random access memory, it also includes:

Responding to the rising edge signal of the completion flag, obtaining the average value and variance of multiple temporary resolver zero positions;

Determine whether the average value and variance exceed the preset value, and if so, send an alarm message.

In the above implementation process, if the average value and variance of multiple temporary resolver zero positions exceed the preset values, it means that the error of the obtained resolver zero position is relatively large, and an alarm message is issued.

In summary, the motor controller first obtains the deviation angle of the resolver relative to the U-phase of the motor, and judges whether the stable operation speed threshold and the data recording time threshold are satisfied. When the motor rotor speed is within the target speed fluctuation range and continues to reach the stable operation When the time threshold is reached, the motor controller starts to automatically record the value of the deviation angle. When the motor rotor is within the target speed fluctuation range and continues to reach the time threshold of data recording, the motor controller calculates the average value of the recorded deviation angle and sends a rotation Change the zero bit to record the completion flag, and record the average value to the RAM of the motor controller.

In a possible implementation, the motor controller communicates with the bench or the host computer through the CAN line, and the method further includes: when a resolver operation is required, sending a prompt message to the host computer to remind the bench operator to adjust The motor speed, so that the motor speed reaches the speed threshold.

In a possible implementation, after the resolver zero position is written into the read-only memory, a reminder message is sent to the host computer to remind the platform operator that the test has been completed, and subsequent power-off and recovery work can be performed.

In a possible implementation, the method further includes: checking whether the switchover of the resolver calibration mode is successful, including checking the bus voltage and the relay, checking the self-test of the motor controller, and reporting if it fails to enter fault and prompt the cause of the fault.

In a possible implementation manner, the method further includes: checking the conditions for calculating the zero position of the resolver, if the motor speed fails to reach the speed threshold and the duration exceeds the preset unstable running time threshold, the motor controller reports Fault and prompt.

In a possible implementation manner, the method further includes: when the motor speed fails to reach the target speed threshold range and the duration exceeds the unrecorded data time threshold, the motor controller reports a fault and prompts.

In a possible implementation manner, the method further includes: after the rising edge of the resolver zero recording completion flag is sent, if the writing completion flag fails to be received beyond a certain time threshold, the motor controller reports a fault and hint.

Example 2

Referring to Figure 2, the embodiment of the present application provides a resolver zero calibration device, including:

The control module 1 is used to drive the rotor of the motor to rotate and control its speed;

The three-phase AC inverter control module 2 is used to control the ASC to make the stator winding of the motor enter a three-phase short circuit;

The current value acquisition module 3 is used to obtain the three-phase current value of the three-phase AC motor when the speed of the motor rotor is greater than the speed threshold and the fluctuation state value of the speed is less than the fluctuation threshold;

The zero position acquisition module 4 is used to obtain the resolver zero position according to the three-phase current value;

Writing module 5 is used to write the zero position of the resolver into the read-only memory.

In a possible implementation, the current value acquisition module 3 is also used to acquire multiple sets of three-phase current values within a preset time range when the motor rotor rotates at a rotational speed greater than a time threshold.

In a possible implementation, the zero position acquisition module 4 is also used to obtain the temporary resolver zero position corresponding to each group of three-phase current values to obtain multiple temporary resolver zero positions; Resolver zero position.

In a possible implementation manner, the zero position acquisition module 4 is also used to perform CLARK transformation on each group of three-phase current values to obtain the first converted current value in the ab fixed coordinate system; obtain the pre-resolver zero position;

Perform PARK transformation on the first transformation current value according to the preset zero position of the resolver to obtain the second transformation current value in the dq rotating coordinate system; flip the second transformation current value on the q axis to obtain the dq rotation coordinate system The third transformation current value; obtain the first angle of the third transformation current value in the dq rotating coordinate system; obtain the preset resolver zero position and the sum of the first angle to obtain the temporary resolver zero position.

In a possible implementation manner, the writing module 5 writes the temporary resolver zero bits into the random access memory; in response to the rising edge signal of the completion flag, the Resolver zero bit is written to ROM.

In a possible implementation manner, the device further includes: a reminder module, configured to obtain the average value and variance of multiple temporary resolver zero positions in response to the rising edge signal of the completion flag; determine whether the average value and variance exceed the preset Set the value, if so, send an alarm message.

In a possible implementation manner, the rotational speed threshold is the rotational speed when the three-phase AC inverter corresponding to the motor starts to rotate in the ASC.

The present application also provides an electronic device, please refer to FIG. 3 , and FIG. 3 is a structural block diagram of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 31 , a communication interface 32 , a memory 33 and at least one communication bus 34 . Wherein, the communication bus 34 is used to realize the direct connection and communication of these components. Wherein, the communication interface 32 of the electronic device in the embodiment of the present application is used for signaling or data communication with other node devices. The processor 31 may be an integrated circuit chip, which has a signal processing capability.

Above-mentioned processor 31 can be general-purpose processor, comprises central processing unit (Central Processing Unit, CPU), network processor (Network Processor, NP) etc.; Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC) , off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general processor can be a microprocessor or the processor 31 can also be any conventional processor or the like.

Memory 33 can be, but not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable Read-only memory (Erasable Programmable Read-Only Memory, EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Computer-readable instructions are stored in the memory 33 , and when the computer-readable instructions are executed by the processor 31 , the electronic device can execute various steps involved in the foregoing method embodiments.

Optionally, the electronic device may further include a storage controller and an input/output unit.

The components of the memory 33 , storage controller, processor 31 , peripheral interface, and input/output unit are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 34 . The processor 31 is used to execute executable modules stored in the memory 33 , such as software function modules or computer programs included in the electronic device.

The input and output unit is used for creating a task for the user and creating an optional start-up time period or preset execution time for the task to realize the interaction between the user and the server. The input and output unit can be, but not limited to, mouse and keyboard and so on.

It can be understood that the structure shown in FIG. 3 is only for illustration, and the electronic device may also include more or less components than those shown in FIG. 3 , or have a configuration different from that shown in FIG. 3 . Each component shown in FIG. 3 may be implemented by hardware, software or a combination thereof.

The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores instructions. When the instructions are run on the computer, the computer program is executed by the processor to implement the method of the method embodiment. In order to avoid repetition, I won't repeat them here.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and possible implementations of devices, methods and computer program products according to multiple embodiments of the present application. operate. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more executable instruction. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other various media that can store program codes. .

The above are only examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application. It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

The above is only the specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application, and should cover Within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

Claims (10)

1. A method for calibrating a rotary zero position is characterized by comprising the following steps:

dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;

controlling a motor stator winding to enter a three-phase short circuit from a three-phase alternating current inverter (ASC);

when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is smaller than a fluctuation threshold value, acquiring a three-phase current value of the three-phase alternating current motor;

acquiring a rotary transformer zero position according to the three-phase current value;

writing the rotated zero bits to a read only memory.

2. The method for calibrating a resolver zero according to claim 1, wherein the step of obtaining three-phase current values of the three-phase ac motor comprises:

and when the time that the motor rotor rotates at the rotating speed is greater than a time threshold, acquiring a plurality of groups of three-phase current values within a preset time range.

3. The method for calibrating the resolver zero position according to claim 2, wherein the step of obtaining the resolver zero position according to the three-phase current values comprises:

acquiring temporary rotary transformer zero positions corresponding to each group of three-phase current values to obtain a plurality of temporary rotary transformer zero positions;

and acquiring the rotational change zero position according to the plurality of temporary rotational change zero positions.

4. The method for calibrating the rotational-deformation zero position according to claim 3, wherein the step of obtaining the temporary rotational-deformation zero position corresponding to each group of three-phase current values comprises the following steps:

performing CLARK conversion on each group of three-phase current values to obtain a first conversion current value under an ab fixed coordinate system;

acquiring a preset rotation zero position;

performing PARK conversion on the first conversion current value according to the preset rotation zero position to obtain a second conversion current value under a dq rotation coordinate system;

turning the second conversion current value on a q axis to obtain a third conversion current value under a dq rotation coordinate system;

acquiring a first angle of the third conversion current value in the dq rotation coordinate system;

and acquiring the sum of the preset rotation zero position and the first angle to obtain the temporary rotation zero position.

5. The method of claim 4, wherein the step of writing the rotated zero to a read only memory comprises:

writing the temporary rotated zero bits to random access memory;

and responding to a rising edge signal of the identification bit, and writing the acquired rotation zero position according to the plurality of temporary rotation zero positions into the read-only memory.

6. The method of claim 1, wherein the step of writing the rotated zero to a random access memory is followed by the step of writing the rotated zero to a random access memory further comprising:

responding to a rising edge signal of the completion identification bit, and acquiring the average value and the variance of a plurality of temporary rotation zero positions;

and judging whether the average value and the variance exceed preset values, and if so, sending alarm information.

7. The method for calibrating a resolver zero position according to any one of claims 1 to 6, wherein the rotation speed threshold is a rotation speed when a three-phase ac inverter corresponding to the motor enters an ASC.

8. A rotary zero calibration device is characterized by comprising:

the dragging and rotating speed control module is used for dragging the motor rotor to rotate and controlling the rotating speed of the motor rotor;

the three-phase alternating-current inverter control module is used for controlling the ASC to enable the motor stator winding to enter a three-phase short circuit;

the current value acquisition module is used for acquiring a three-phase current value of the three-phase alternating current motor when the rotating speed of the motor rotor is greater than a rotating speed threshold value and the fluctuation state value of the rotating speed is less than a fluctuation threshold value;

the zero position acquisition module is used for acquiring a rotary transformer zero position according to the three-phase current value;

and the writing module is used for writing the rotary zero position into the read-only memory.

9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-7 when executing the computer program.

10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-7.

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