Motor torque zero-crossing control method and device, equipment and medium

Abstract

The invention discloses a motor torque zero-crossing control method, device and equipment and a medium, and belongs to the technical field of vehicles. The method comprises the steps that the accelerator pedal state of the automobile is obtained, wherein the accelerator pedal state comprises a treading state and a non-treading state; if the state of the accelerator pedal jumps from the treading state to the non-treading state or jumps from the non-treading state to the treading state, the output torque of the motor is obtained; if the output torque reaches the preset torque threshold value, the output torque is adjusted to be preset tooth leaning torque; if the duration of keeping the output torque as the tooth-leaning torque reaches a preset first duration, adjusting the output torque as a preset buffer torque; if the duration of keeping the output torque as the buffer torque reaches a preset second duration, acquiring the request torque of the motor, and adjusting the output torque as the request torque; wherein the tooth leaning torque is larger than the buffering torque. According to the method, in the motor torque zero-crossing period, the smoothness and the dynamic responsiveness of the automobile can be considered while the gear knocking / pause condition can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and medium for controlling motor torque zero crossing. Background Art

[0002] Electric vehicles are powered by onboard power and use motors to drive wheels. They are favored by more and more consumers due to their advantages of fast power response, good ride quality, low noise, energy saving, environmental protection, and intelligence. Compared with traditional fuel vehicles, electric vehicles lack flexible connectors (i.e., clutches) and energy recovery functions (i.e., allowing the motor to switch between positive and negative torques), which results in the motor knocking / stuttering when the torque passes through zero due to the existence of transmission gaps in the power system.

[0003] In the related art, the zero-crossing slope of the torque is reduced to improve the situation of tooth knocking / stuttering when the torque passes through zero. Although this method can improve the situation of tooth knocking / stuttering when the torque passes through zero and improve the smoothness of the car, it sacrifices the dynamic performance of the vehicle when the torque passes through zero, affecting the dynamic responsiveness of the whole vehicle. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a control method, device, equipment and medium for motor torque zero crossing that solves the above problems. When the motor torque is about to cross zero, a large step of tooth torque can be applied to the rotor in advance and maintained for a first period of time, so that the driving teeth of the transmission system are accelerated to remove the transmission gap, so that the motor torque quickly crosses zero, thereby quickly responding to the power demand of the vehicle; after the transmission gap is completed, that is, when the master and slave tooth surfaces just start to contact, the tooth torque is replaced by a smaller buffer torque to avoid a large impact when the tooth surfaces contact, thereby improving the smoothness of the vehicle.

[0005] In a first aspect, the present invention provides a method for controlling motor torque zero crossing, the method comprising:

[0006] Acquire the state of the accelerator pedal of the vehicle, wherein the accelerator pedal state includes a pressed state and a not pressed state;

[0007] If the accelerator pedal state changes from the depressed state to the undepressed state, or changes from the undepressed state to the depressed state, then acquiring the output torque of the motor;

[0008] If the output torque reaches a preset torque threshold, the output torque is adjusted to a preset gear-relying torque, wherein the gear-relying torque is opposite in direction to the output torque before adjustment;

[0009] If the output torque is maintained as the tooth-relying torque for a preset first time period, the output torque is adjusted to a preset buffer torque, and the buffer torque has the same direction as the tooth-relying torque;

[0010] If the time length during which the output torque is maintained as the buffer torque reaches a preset second time length, obtaining the requested torque of the motor and adjusting the output torque to the requested torque;

[0011] Wherein, the tooth-relying torque is greater than the buffering torque.

[0012] Optionally, if the output torque reaches a preset torque threshold, adjusting the output torque to a preset gear torque includes:

[0013] If the accelerator pedal state changes from the depressed state to the undepressed state, and the output torque is less than or equal to a preset first torque threshold, the output torque is controlled to be a preset first gear torque, the first torque threshold is greater than 0, and the first gear torque is less than 0.

[0014] Optionally, if the output torque reaches a preset torque threshold, adjusting the output torque to a preset gear torque includes:

[0015] If the accelerator pedal state changes from the unpressed state to the pressed state, and the output torque is greater than or equal to a preset second torque threshold, the output torque is controlled to be a preset second gear torque, the second torque threshold is less than 0, and the second gear torque is greater than 0.

[0016] Optionally, the method further includes:

[0017] When the vehicle is stationary, obtaining a transmission clearance of the vehicle under the gear torque;

[0018] Control the output torque of the motor to be the gear torque in the reverse direction

[0019] If the time duration during which the output torque is maintained as the gear-relying torque in the reverse direction reaches a preset third time duration, the output torque is adjusted to the gear-relying torque in the forward direction, and timing is started;

[0020] When the rotor angle change of the motor reaches the transmission gap, stopping the timing;

[0021] The timed time is used as the first duration.

[0022] Optionally, when the vehicle is stationary, obtaining the transmission clearance of the vehicle under the gear torque includes:

[0023] Obtaining the gear position of the transmission, the state of the electronic parking brake system, the vehicle speed, the power mode, and the state of the motor controller of the vehicle;

[0024] If the gear position is the parking gear, the state of the electronic parking brake system is the start state, the vehicle speed is less than a preset vehicle speed threshold, the power mode is the high-voltage power-on mode, and the state of the motor controller is the standby state, then the state of the motor controller is switched from the standby state to the torque control state, and the output torque of the motor is controlled to be a reverse gear torque;

[0025] If the time duration for which the output torque is maintained as the reverse gear-relying torque reaches a preset third time duration, obtaining the first rotor angle of the motor, and adjusting the output torque of the motor to the forward gear-relying torque;

[0026] If the time duration for which the output torque remains as the positive tooth-relying torque reaches the third time duration, obtaining a second rotor angle of the motor;

[0027] The angle difference between the first rotor angle and the second rotor angle is determined as the transmission clearance of the vehicle under the gear torque.

[0028] Optionally, before acquiring the gear position of the transmission of the automobile, the state of the electronic parking brake system, the vehicle speed, the power mode, and the state of the motor controller, the method further includes:

[0029] Obtaining the mileage of the vehicle;

[0030] Each time the mileage increases by a set distance value, the step of obtaining the gear position of the transmission of the automobile, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller is started.

[0031] Optionally, the method further includes:

[0032] Obtaining the vehicle speed and accelerator pedal opening of the vehicle;

[0033] The gear torque corresponding to the vehicle speed and the accelerator pedal opening is determined.

[0034] In a second aspect, the present invention provides a motor torque zero-crossing control device, the device comprising:

[0035] A first acquisition module is used to acquire the state of the accelerator pedal of the vehicle, wherein the accelerator pedal state includes a pressed state and a not pressed state;

[0036] a second acquisition module, configured to acquire the output torque of the motor if the accelerator pedal state changes from the depressed state to the undepressed state, or changes from the undepressed state to the depressed state;

[0037] A first regulating module, configured to adjust the output torque to a preset gear-relying torque if the output torque reaches a preset torque threshold, wherein the gear-relying torque is opposite in direction to the output torque before the adjustment;

[0038] A second regulating module is used for adjusting the output torque to a preset buffer torque if the duration for which the output torque is maintained as the gear-relying torque reaches a preset first duration, wherein the buffer torque has the same direction as the gear-relying torque;

[0039] a third regulating module, configured to obtain a requested torque of the motor and adjust the output torque to the requested torque if the time duration for which the output torque is maintained as the buffer torque reaches a preset second time duration;

[0040] Wherein, the tooth-relying torque is greater than the buffering torque.

[0041] In a third aspect, the present invention provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in the first aspect by executing the computer instructions.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0043] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0044] The embodiments of the present invention provide a method, device, equipment and medium for controlling the zero crossing of a motor torque, which obtains the state of the accelerator pedal of a car, wherein the state of the accelerator pedal includes a depressed state and a non-depressed state, and reflects whether the motor torque is about to cross zero by the change of the accelerator pedal opening; if the accelerator pedal state jumps from a depressed state to a non-depressed state, or from a non-depressed state to a depressed state, it indicates that the motor torque is about to cross zero, and the output torque of the motor is obtained; if the output torque reaches a preset torque threshold, it indicates that the magnitude of the output torque is close to 0, and the output torque is adjusted to a preset tooth-dependent torque in the opposite direction, so that the transmission The driving gear accelerates to remove the transmission gap, and the master and slave gears approach each other quickly; if the output torque remains as the tooth-supporting torque for a preset first time, it means that the master and slave gears begin to contact, and the output torque is adjusted to the preset buffer torque, and the buffer torque is in the same direction as the tooth-supporting torque, and the impact force when the master and slave gear surfaces contact is reduced by a smaller buffer torque; if the output torque remains as the buffer torque for a preset second time, it means that the motor torque ends zero crossing, and the motor's request torque is obtained, and the output torque is adjusted to the request torque, so that the motor outputs according to the user's needs; wherein, the tooth-supporting torque is greater than the buffer torque. This method can not only ensure the smoothness of the car when the motor torque passes zero, but also improve the power responsiveness and the drivability of the vehicle.

[0045] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0047] Figure 1 is a flow chart of a method for controlling motor torque zero crossing provided by an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of the linear relationship between the requested torque and the output torque and time under a TIP OUT condition provided by an embodiment of the present invention;

[0049] Figure 3 A schematic diagram of the linear relationship between the requested torque and the output torque and time under a TIP IN condition provided by an embodiment of the present invention;

[0050] Figure 4It is a structural block diagram of a motor torque zero-crossing control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0052] Figure 1 is a flow chart of a method for controlling motor torque zero crossing provided by an embodiment of the present invention. Figure 1 As shown, the method includes step S110, step S120, step S130, step S140 and step S150.

[0053] Step S110: Acquire the state of the accelerator pedal of the vehicle.

[0054] The accelerator pedal state includes a pressed state and a not pressed state.

[0055] In this embodiment, the state of the accelerator pedal can be collected by a sensor. The state of the accelerator pedal reflects whether the motor torque is about to pass zero. The torque passing zero is essentially a change in the motor working quadrant, from the feedback state to the drive state (TIP IN condition) or from the drive state to the feedback state (TIP OUT condition). Taking the TIP IN condition as an example, at the beginning, the motor is in the feedback state, the torque is negative, and the reverse tooth surface of the transmission component is engaged. Then the motor state changes to the drive state, the torque changes from negative to positive, the reverse tooth surface of the transmission component begins to separate and gradually transitions to the positive tooth surface engagement. In this process, due to the existence of tooth clearance, the active tooth will briefly idle.

[0056] Step S120: If the accelerator pedal state changes from the depressed state to the undepressed state, or changes from the undepressed state to the depressed state, the output torque of the motor is obtained.

[0057] In this embodiment, if the accelerator pedal state changes from the pressed state to the unpressed state, it means that the motor changes from the driving state to the feedback state; if it changes from the unpressed state to the pressed state, it means that the motor changes from the feedback state to the driving state. In both cases, the motor torque must pass zero. At this time, the output torque of the motor is obtained, and the output torque is used to understand how long it will take for the motor torque to pass zero.

[0058] Step S130: If the output torque reaches a preset torque threshold, the output torque is adjusted to a preset gear torque.

[0059] Among them, the direction of the tooth torque is opposite to the output torque before adjustment.

[0060] In this embodiment, if the output torque reaches the preset torque threshold, it means that the output torque is close to 0. At this time, the output torque is adjusted to a tooth torque opposite to the current output torque, so that the driving teeth of the transmission system accelerate to remove the transmission gap. Only by quickly removing the transmission gap can the power demand of the car be quickly responded to. Therefore, the power responsiveness of the vehicle can be improved by adjusting the output torque to the preset tooth torque.

[0061] Step S140: If the time duration during which the output torque is maintained as the tooth-relying torque reaches a preset first time duration, the output torque is adjusted to a preset buffer torque.

[0062] The direction of the buffer torque is the same as the tooth torque.

[0063] In this embodiment, if the output torque remains as the tooth-supporting torque for a preset first time period, it means that the driving gear has completed the transmission gap and the master and slave tooth surfaces have just started to contact. At this time, the output torque is adjusted to a smaller buffer torque in the same direction as the tooth-supporting torque. The buffer torque can reduce the impact force generated when the master and slave tooth surfaces contact, thereby improving the smoothness of the vehicle. Among them, the tooth-supporting torque is greater than the buffer torque.

[0064] Step S150: If the time duration during which the output torque is maintained as the buffer torque reaches a preset second time duration, the requested torque of the motor is obtained, and the output torque is adjusted to the requested torque.

[0065] In this embodiment, if the output torque remains as the buffer torque for a preset second time period, it means that the motor torque has passed through zero. At this time, the output torque is adjusted to the requested torque. The requested torque is the torque determined by the vehicle control unit (VCU) according to the user's power demand. Among them, the motor controller (Motor Control Unit, MCU) is first awakened, and the MCU periodically receives the CAN (Controller Area Network, Controller Local Area Network) bus signal, and the MCU obtains the request torque determined by the vehicle controller (VCU) from the CAN bus signal. If the vehicle does not perform motor torque zero-crossing control, when the accelerator pedal state jumps from the stepped state to the unstepped state, or from the unstepped state to the stepped state, the output torque of the motor is always the requested torque, the active tooth idling acceleration, and finally at the moment of the spur tooth surface meshing due to the large torque, the knocking / stuttering occurs, and the motor torque zero-crossing control method in this application is used. During the period when the motor torque crosses zero, a large tooth-relying torque is applied in advance to carry out tooth-relying, and after the tooth-relying is completed, a small buffer torque is used to reduce the impact force of the tooth-relying, which can reduce the occurrence of knocking / stuttering while taking into account the smoothness and power responsiveness of the car. And there is no need to do additional processing on the zero-crossing slope, and it can cover the zero-crossing condition within the full speed range of the car.

[0066] It should be noted that the rate at which the output torque is adjusted to the tooth torque or the buffer torque can be calibrated in advance.

[0067] Optionally, step S130 includes:

[0068] If the accelerator pedal state changes from the depressed state to the undepressed state, and the output torque is less than or equal to the preset first torque threshold, the output torque is controlled to be the preset first gear torque, the first torque threshold is greater than 0, and the first gear torque is less than 0.

[0069] In this embodiment, if the accelerator pedal state changes from a depressed state to a non-depressed state, it indicates that the motor is in a TIPOUT operating condition. Figure 2 is a schematic diagram of the linear relationship between the requested torque and the output torque and time under the TIP OUT condition provided by an embodiment of the present invention, such as Figure 2 As shown, the horizontal axis is time and the vertical axis is torque. Under the TIP OUT condition, the motor's requested torque T 0 and output torque T 1 It gradually changes from positive to negative. 1 Greater than the first torque threshold T 2 During this period, the output torque T 1 Always equal to the requested torque T 0; At output torque T 1 Drop to the first torque threshold T 2 When 1 The first gear torque T adjusted to negative 3 , and keep the first duration t 1 Next, the first duration t is reached 1 After that, the output torque T 1 Adjust to buffer torque T 4 , and keep the second duration t 2 , when reaching the second duration t 2 After that, the output torque t 2 Adjust back to the requested torque T 0 .

[0070] Among them, the first torque threshold T 2 , Buffer torque T 4 and the second duration t 2 Can be pre-calibrated.

[0071] Optionally, step S130 further includes:

[0072] If the accelerator pedal state changes from the unpressed state to the pressed state, and the output torque is greater than or equal to the preset second torque threshold, the output torque is controlled to be the preset second gear torque, the second torque threshold is less than 0, and the second gear torque is greater than 0.

[0073] In this embodiment, if the accelerator pedal state changes from the unpressed state to the pressed state, it indicates that the motor is in the TIPIN working condition. Figure 3 is a schematic diagram of the linear relationship between the requested torque and the output torque and time under a TIP IN condition provided by an embodiment of the present invention, such as Figure 3 As shown, the horizontal axis is time and the vertical axis is torque. Under the TIP IN condition, the motor's requested torque T 0 ' and output torque T 1 ' is gradually changing from negative to positive. 1 ' is less than the second torque threshold T 2 During this period, the output torque T 1 'Always equal to the requested torque T 0 '; At output torque T 1 'Rise to the second torque threshold T 2 ', the output torque T 1 'Adjust to the second positive gear torque T 3 ', and keep the first duration t 1 Next, the first duration t is reached 1 After that, the output torque T 1 'Adjust to buffer torque T 4 ', and keep the second duration t2 , when reaching the second duration t 2 After that, the output torque t 2 'Reset to requested torque T 0 '.

[0074] Among them, the second torque threshold T 2 ', Buffer torque T 4 ' and the second duration t 2 ' can be pre-calibrated. In order to make the driving experience better, T under TIP OUT condition 4 and T under TIP IN condition 4 ' are in opposite directions and of different magnitudes. t under TIP OUT condition 1 and t 2 and t under TIP IN condition 1 and t 2 equal, the first torque threshold T 2 and the second torque threshold T 2 'The direction is opposite and the magnitude is equal, the first tooth torque T 3 and the second gear torque T 3 'Opposite in direction and equal in magnitude.

[0075] In this embodiment, the first torque threshold T can be set according to the vehicle speed. 2 and the second torque threshold T 2 'Perform differential calibration to obtain the vehicle speed and the first torque threshold T 2 and the second torque threshold T 2 'Relationship table. Among them, the lower the vehicle speed, the higher the first torque threshold T 2 and the second torque threshold T 2 The smaller the absolute value of '.

[0076] Optionally, the method further includes:

[0077] Obtain the vehicle speed and accelerator pedal opening; determine the gear torque corresponding to the vehicle speed and accelerator pedal opening.

[0078] In this embodiment, a corresponding relationship table of vehicle speed, accelerator pedal opening and gear torque can be pre-calibrated. When the motor torque passes through zero, the corresponding gear torque can be found from the corresponding relationship table according to the vehicle speed and accelerator pedal opening. The size of the gear torque is related to the vehicle speed and accelerator pedal opening, which can make the vehicle smoother during the motor torque passing through zero.

[0079] Optionally, the method also includes how to determine the tooth-resting time (first duration), and the specific steps also include steps S131 to S134.

[0080] Step S131: When the vehicle is stationary, obtain the transmission clearance of the vehicle under the gear torque.

[0081] In this embodiment, in order to ensure the accuracy of the data, the first duration is determined when the vehicle is stationary. The transmission clearance under the gear torque can be determined in advance.

[0082] Optionally, step S131 includes steps S1303 to S1307.

[0083] Step S1303: Obtain the gear position of the vehicle's transmission, the state of the electronic parking brake system, the vehicle speed, the power mode, and the state of the motor controller.

[0084] In this embodiment, the gear position of the transmission, the state of the electronic parking brake system and the vehicle speed reflect whether the vehicle is currently in motion or stationary state, and the power mode and the state of the motor controller determine whether the motor is in working state. The MCU obtains the gear position of the transmission, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller from the CAN bus signal.

[0085] Step S1304: If the gear position is the parking gear, the state of the electronic parking brake system is the start state, the vehicle speed is less than the preset vehicle speed threshold, the power mode is the high-voltage power-on mode and the state of the motor controller is the standby state, then the state of the motor controller is switched from the standby state to the torque control state, and the output torque of the motor is controlled to be a reverse gear torque.

[0086] In this embodiment, when the gear is in the parking gear, the state of the electronic parking brake system is in the start state, and the vehicle speed is less than the preset vehicle speed threshold, it means that the vehicle is in a stationary state. When the power mode is in the high-voltage power-on mode and the state of the motor controller is in the standby state, it means that the motor has started. When the vehicle is stationary and the motor is started, the state of the motor controller is switched from the standby state to the torque control state, and the output torque of the motor is controlled to be a reverse gear torque, so that the motor rotor rotates in the reverse direction. When the power mode is in the high-voltage power-on mode, the bus voltage of the motor is greater than or equal to 250VDC.

[0087] Exemplarily, the vehicle speed threshold is 2 km / h.

[0088] Step S1305: If the time duration during which the output torque is maintained as the reverse gear torque reaches a preset third time duration, the first rotor angle of the motor is obtained, and the output torque of the motor is adjusted to the forward gear torque.

[0089] In this embodiment, the output torque is controlled to be maintained as the reverse tooth torque for a third time period, so that the reverse tooth surface of the transmission component is in contact, and the angle of the rotor at this time is recorded as the first rotor angle θ 1Then, the output torque of the motor is controlled to be a positive tooth torque, so that the rotor rotates in the positive direction again. Exemplarily, the third time length is 0.5 seconds.

[0090] Step S1306: If the time duration during which the output torque is maintained as the positive tooth torque reaches a third time duration, the second rotor angle of the motor is obtained.

[0091] In this embodiment, the output torque is controlled to be maintained as the positive tooth torque for a third time period, so that the transmission component changes from negative tooth surface contact to positive tooth surface contact, and the angle of the rotor at this time is recorded as the second rotor angle θ 2 .

[0092] Step S1307: determine the angle difference between the first rotor angle and the second rotor angle as the transmission clearance of the vehicle under the gear torque.

[0093] In this embodiment, the first rotor angle θ is calculated 1 The second rotor angle θ 2 The angle difference Δθ can be used to obtain the gap between the two main teeth of the rotor, which is recorded as the transmission gap Δθ of the car under the tooth torque.

[0094] It can be understood that when the car is stationary and the motor is in working state, the rotor is controlled to rotate alternately in forward and reverse directions under the same magnitude and opposite direction of the tooth torque to measure the transmission clearance. In other words, the order of the above steps S1305 and S1306 can be exchanged, and the rotor is controlled to rotate forward first and then reversely to measure the transmission clearance.

[0095] Optionally, before step S1303, the method further includes step S1301 and step S1302.

[0096] Step S1301: Obtain the mileage of the car.

[0097] Step S1302: Every time the mileage increases by a set distance value, the step of obtaining the gear position of the vehicle's transmission, the state of the electronic parking brake system, the vehicle speed, the power mode, and the state of the motor controller is started.

[0098] In this embodiment, as the mileage of the same car increases, the wear of the transmission system increases, resulting in a gradual increase in the transmission clearance, which will have an adverse effect on the drivability. Therefore, every time the mileage increases by a set mileage value, the transmission clearance is re-determined, that is, steps S1303 to S1307 are re-executed, and then steps S131 to S134 are re-executed to re-determine the new gear-receiving time according to the new transmission clearance. By regularly updating the gear-receiving time, the deterioration of the driving performance of the vehicle caused by driving wear is eliminated. Among them, the mileage value that can be set can be set according to the actual situation. For example, it is 10000km.

[0099] It should be noted that the transmission clearance is first determined when the mileage is 0. At this time, due to the manufacturing deviation of the transmission components, the transmission clearances of different cars are different. Therefore, when the mileage is 0, steps S1303 to S1307 are executed for the first time to determine the first transmission clearance, match the optimal gear engagement time for each factory car, and eliminate the influence of processing and assembly errors on drivability.

[0100] Step S132, controlling the output torque of the motor to be a reverse gear torque.

[0101] In this embodiment, the output torque of the motor is controlled to be a reverse gear torque, so that the motor rotates in the reverse direction.

[0102] Step S133: If the time duration during which the output torque is maintained as the reverse gear-relying torque reaches a preset third time duration, the output torque is adjusted to the forward gear-relying torque, and timing is started.

[0103] In this embodiment, if the output torque is maintained as the reverse tooth torque for a predetermined third time period, it indicates that the reverse tooth surface of the transmission component has been in contact, and the angle of the rotor at this time is recorded as the third rotor angle θ 3 Next, give the motor a positive tooth torque to make the motor rotate in the positive direction and start timing. At this time, the angle of the rotor is θ 3 Increase gradually.

[0104] Step S134: When the rotor angle change of the motor reaches the transmission gap, stop timing.

[0105] In this embodiment, when the angle of the rotor increases by the transmission gap Δθ, it means that the spur tooth surfaces of the transmission components begin to contact, the idling of the active teeth ends, and the timing stops.

[0106] Step S135: taking the timing time as the first duration.

[0107] In this embodiment, the timing time is the time taken for the active tooth to pass through the entire transmission gap, that is, the tooth-relying time, which is taken as the first duration.

[0108] It should be noted that the order of step S132 and step S133 can be swapped, and the motor can be firstly provided with a forward gear torque, and then provided with a reverse gear, and then the gear time can be measured.

[0109] Based on the same inventive concept, an embodiment of the present invention further provides a motor torque zero-crossing control device, Figure 4 is a structural block diagram of a motor torque zero-crossing control device provided by an embodiment of the present invention, such as Figure 4 As shown, the device 400 includes a first acquisition module 401 , a second acquisition module 402 , a first adjustment module 403 , a second adjustment module 404 and a third adjustment module 405 .

[0110] The first acquisition module 401 is used to acquire the state of the accelerator pedal of the vehicle, where the accelerator pedal state includes a pressed state and a not pressed state;

[0111] A second acquisition module 402 is used to acquire the output torque of the motor if the state of the accelerator pedal changes from a depressed state to a non-depressed state, or changes from a non-depressed state to a depressed state;

[0112] The first regulating module 403 is used to regulate the output torque to a preset gear-relying torque if the output torque reaches a preset torque threshold, and the gear-relying torque is opposite in direction to the output torque before regulation;

[0113] The second adjustment module 404 is used to adjust the output torque to a preset buffer torque if the time duration of the output torque being maintained as the gear-relying torque reaches a preset first time duration, and the buffer torque has the same direction as the gear-relying torque;

[0114] A third adjustment module 405 is used to obtain the requested torque of the motor and adjust the output torque to the requested torque if the time duration for which the output torque is maintained as the buffer torque reaches a preset second time duration;

[0115] Among them, the tooth torque is greater than the buffer torque.

[0116] Optionally, the first adjustment module 403 is further configured to:

[0117] If the accelerator pedal state changes from the depressed state to the undepressed state, and the output torque is less than or equal to the preset first torque threshold, the output torque is controlled to be the preset first gear torque, the first torque threshold is greater than 0, and the first gear torque is less than 0.

[0118] Optionally, the first adjustment module 403 is further configured to:

[0119] If the accelerator pedal state changes from the unpressed state to the pressed state, and the output torque is greater than or equal to the preset second torque threshold, the output torque is controlled to be the preset second gear torque, the second torque threshold is less than 0, and the second gear torque is greater than 0.

[0120] Optionally, the device 400 further includes:

[0121] The third acquisition module is used to obtain the transmission clearance of the vehicle under the gear torque when the vehicle is stationary; the control module is used to control the output torque of the motor to be the reverse gear torque

[0122] The fourth adjustment module is used for adjusting the output torque to a positive gear-relying torque and starting timing if the time duration for which the output torque is maintained as a reverse gear-relying torque reaches a preset third time duration;

[0123] The timing module is used to stop timing when the rotor angle change of the motor reaches the transmission gap;

[0124] The first determining module is used to use the timing time as the first duration.

[0125] Optionally, the third acquisition module includes:

[0126] A first acquisition unit, used to acquire the gear position of the transmission of the vehicle, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller;

[0127] A control unit, for switching the state of the motor controller from the standby state to the torque control state, and controlling the output torque of the motor to be a reverse gear torque, if the gear position is the parking gear, the state of the electronic parking brake system is the start state, the vehicle speed is less than a preset vehicle speed threshold, the power mode is the high-voltage power-on mode, and the state of the motor controller is the standby state;

[0128] an adjusting unit, configured to obtain a first rotor angle of the motor and adjust the output torque of the motor to a positive gear-relying torque if the time duration for which the output torque is maintained as a reverse gear-relying torque reaches a preset third time duration;

[0129] A second acquisition unit, configured to acquire a second rotor angle of the motor if the time duration during which the output torque remains as a positive tooth-relying torque reaches a third time duration;

[0130] The determination unit is used to determine the angle difference between the first rotor angle and the second rotor angle as the transmission clearance of the vehicle under the gear torque.

[0131] Optionally, the third acquisition module further includes an execution unit, configured to:

[0132] Get the car's mileage;

[0133] Every time the mileage increases by a set distance value, the step of obtaining the gear position of the transmission of the vehicle, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller is executed.

[0134] Optionally, the apparatus 400 further includes a second determining module, configured to:

[0135] Get the vehicle speed and accelerator pedal opening;

[0136] Determine the gear torque corresponding to vehicle speed and accelerator pedal opening.

[0137] It can be understood that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0138] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0139] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned chips.

[0140] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory may include a removable or non-removable (or fixed) medium. Where appropriate, the memory may be inside or outside the electronic device. In a particular embodiment, the memory may be a non-volatile solid-state memory.

[0141] In one example, the memory may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0142] The processor implements any one of the motor torque zero-crossing control methods in the above embodiments by reading and executing computer program instructions stored in the memory.

[0143] In one example, the electronic device may further include a communication interface and a bus. Among them, the processor, memory, and communication interface are connected through a bus and communicate with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiment of the present application. Where appropriate, the bus may include one or more buses.

[0144] In addition, in combination with the motor torque zero-crossing control method in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any motor torque zero-crossing control method in the above embodiment is implemented.

[0145] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0146] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0147] The embodiments of the present invention provide a method, device, equipment and medium for controlling the zero crossing of a motor torque, which obtains the state of the accelerator pedal of a car, wherein the state of the accelerator pedal includes a depressed state and a non-depressed state, and reflects whether the motor torque is about to cross zero by the change of the accelerator pedal opening; if the accelerator pedal state jumps from a depressed state to a non-depressed state, or from a non-depressed state to a depressed state, it indicates that the motor torque is about to cross zero, and the output torque of the motor is obtained; if the output torque reaches a preset torque threshold, it indicates that the magnitude of the output torque is close to 0, and the output torque is adjusted to a preset tooth-dependent torque in the opposite direction, so that the transmission The driving gear accelerates to remove the transmission gap, and the master and slave gears approach each other quickly; if the output torque remains as the tooth-supporting torque for a preset first time, it means that the master and slave gears begin to contact, and the output torque is adjusted to the preset buffer torque, and the buffer torque is in the same direction as the tooth-supporting torque, and the impact force when the master and slave gear surfaces contact is reduced by a smaller buffer torque; if the output torque remains as the buffer torque for a preset second time, it means that the motor torque ends zero crossing, and the motor's request torque is obtained, and the output torque is adjusted to the request torque, so that the motor outputs according to the user's needs; wherein, the tooth-supporting torque is greater than the buffer torque. This method can not only ensure the smoothness of the car when the motor torque passes zero, but also improve the power responsiveness and the drivability of the vehicle.

[0148] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0149] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0150] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "one" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A method for controlling motor torque zero crossing, characterized in that: The method comprises: Acquire the state of the accelerator pedal of the vehicle, wherein the accelerator pedal state includes a pressed state and a not pressed state; If the accelerator pedal state changes from the depressed state to the undepressed state, or changes from the undepressed state to the depressed state, then acquiring the output torque of the motor; If the output torque reaches a preset torque threshold, the output torque is adjusted to a preset gear-relying torque, wherein the gear-relying torque is opposite in direction to the output torque before adjustment; If the output torque is maintained as the tooth-relying torque for a preset first time period, the output torque is adjusted to a preset buffer torque, and the buffer torque has the same direction as the tooth-relying torque; If the time length during which the output torque is maintained as the buffer torque reaches a preset second time length, obtaining the requested torque of the motor and adjusting the output torque to the requested torque; Wherein, the tooth-relying torque is greater than the buffering torque.

2. The motor torque zero-crossing control method according to claim 1, characterized in that: If the output torque reaches a preset torque threshold, the output torque is adjusted to a preset gear torque, comprising: If the accelerator pedal state changes from the depressed state to the undepressed state, and the output torque is less than or equal to a preset first torque threshold, the output torque is controlled to be a preset first gear torque, the first torque threshold is greater than 0, and the first gear torque is less than 0.

3. The motor torque zero-crossing control method according to claim 1, characterized in that: If the output torque reaches a preset torque threshold, the output torque is adjusted to a preset gear torque, comprising: If the accelerator pedal state changes from the unpressed state to the pressed state, and the output torque is greater than or equal to a preset second torque threshold, the output torque is controlled to be a preset second gear torque, the second torque threshold is less than 0, and the second gear torque is greater than 0.

4. The motor torque zero-crossing control method according to claim 1, characterized in that: The method further comprises: When the vehicle is stationary, obtaining a transmission clearance of the vehicle under the gear torque; Control the output torque of the motor to be the gear torque in the reverse direction If the time duration during which the output torque is maintained as the gear-relying torque in the reverse direction reaches a preset third time duration, the output torque is adjusted to the gear-relying torque in the forward direction, and timing is started; When the rotor angle change of the motor reaches the transmission gap, stopping the timing; The timed time is used as the first duration.

5. The motor torque zero-crossing control method according to claim 4, characterized in that: When the vehicle is stationary, obtaining the transmission clearance of the vehicle under the gear torque comprises: Obtaining the gear position of the transmission, the state of the electronic parking brake system, the vehicle speed, the power mode, and the state of the motor controller of the vehicle; If the gear position is the parking gear, the state of the electronic parking brake system is the start state, the vehicle speed is less than a preset vehicle speed threshold, the power mode is the high-voltage power-on mode, and the state of the motor controller is the standby state, then the state of the motor controller is switched from the standby state to the torque control state, and the output torque of the motor is controlled to be a reverse gear torque; If the time duration for which the output torque is maintained as the reverse gear-relying torque reaches a preset third time duration, obtaining the first rotor angle of the motor, and adjusting the output torque of the motor to the forward gear-relying torque; If the time duration for which the output torque remains as the positive tooth-relying torque reaches the third time duration, acquiring a second rotor angle of the motor; The angle difference between the first rotor angle and the second rotor angle is determined as the transmission clearance of the vehicle under the gear torque.

6. The motor torque zero-crossing control method according to claim 5, characterized in that: Before obtaining the gear position of the transmission of the automobile, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller, the method further includes: Obtaining the mileage of the vehicle; Each time the mileage increases by a set distance value, the step of obtaining the gear position of the transmission of the automobile, the state of the electronic parking brake system, the vehicle speed, the power mode and the state of the motor controller is started.

7. The motor torque zero-crossing control method according to claim 1, characterized in that: The method further comprises: Obtaining the vehicle speed and accelerator pedal opening of the vehicle; The gear torque corresponding to the vehicle speed and the accelerator pedal opening is determined.

8. A motor torque zero-crossing control device, characterized in that: The device comprises: A first acquisition module is used to acquire the state of the accelerator pedal of the vehicle, wherein the accelerator pedal state includes a pressed state and a not pressed state; a second acquisition module, configured to acquire the output torque of the motor if the accelerator pedal state changes from the depressed state to the undepressed state, or changes from the undepressed state to the depressed state; A first regulating module, configured to adjust the output torque to a preset gear-relying torque if the output torque reaches a preset torque threshold, wherein the gear-relying torque is opposite in direction to the output torque before the adjustment; A second regulating module is used for adjusting the output torque to a preset buffer torque if the duration for which the output torque is maintained as the gear-relying torque reaches a preset first duration, wherein the buffer torque has the same direction as the gear-relying torque; a third regulating module, configured to obtain a requested torque of the motor and adjust the output torque to the requested torque if the time duration for which the output torque is maintained as the buffer torque reaches a preset second time duration; Wherein, the tooth-relying torque is greater than the buffering torque.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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