Motor torque control method, device, equipment, storage medium and product

Abstract

The application discloses a motor torque control method, device, equipment, storage medium and product, relates to the motor technical field, and the motor torque control method comprises the following steps: when the vehicle is in the battery active heating mode, the motor is controlled to be switched between two preset working points to maintain the torque accuracy in the battery heating process, wherein one of the two working points is used for calibrating the magnetic field orientation angle, and the other working point is used for keeping the heating power based on the calibrated magnetic field orientation angle. The application realizes that the torque accuracy of the vehicle can be guaranteed while the battery is heated.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a motor torque control method, device, equipment, storage medium, and computer program product. Background Technology

[0002] Electric vehicles are prone to problems such as limited charging and discharging in low-temperature environments, which can affect the vehicle's range and lifespan. Active heating technology of the motor can raise the battery temperature before starting the vehicle or during driving, reduce battery wear, and enable the vehicle to maintain good acceleration performance and climbing ability in low-temperature environments.

[0003] Currently, the main method for heating the battery in asynchronous motors is through a field weakening heating scheme. This scheme increases the torque current and reduces the excitation current to achieve greater heating power for the same torque. However, when heating the battery in a deep field weakening zone, the magnetic field orientation of the current or voltage model is inaccurate due to temperature changes, resulting in poor torque accuracy.

[0004] Therefore, a motor torque control scheme needs to be proposed to ensure the torque accuracy of the vehicle while heating the battery, so as to improve the range, lifespan and power performance of electric vehicles.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this application is to provide a motor torque control method, device, equipment, storage medium, and computer program product, aiming to solve the technical problem of poor torque accuracy when heating a motor in a deep magnetic weakening zone using a magnetic weakening heating scheme in related technologies.

[0007] To achieve the above objectives, this application proposes a motor torque control method, which includes:

[0008] When the vehicle is in active battery heating mode, the control motor cycles between two preset operating points to maintain torque accuracy during battery heating. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain heating power based on the calibrated magnetic field orientation angle.

[0009] In one embodiment, before the step of controlling the motor to cyclically switch between two preset operating points, the method further includes:

[0010] Receive heating level requests from vehicles;

[0011] Based on the heating level requirements, the motor operating point is selected.

[0012] In one embodiment, the operating points include a first operating point and a second operating point. When the vehicle is in the active battery heating mode, the step of controlling the motor to cyclically switch between the two preset operating points includes:

[0013] When the vehicle is in the active battery heating mode, the control motor runs at the first operating point for a first preset time and then switches to the second operating point. The first operating point is used to calibrate the magnetic field orientation angle, and the second operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0014] After running for a second preset duration at the second working point, the system switches to the first working point. The first and second preset durations are obtained through calibration.

[0015] In one embodiment, the step of controlling the motor to cyclically switch between two preset operating points includes:

[0016] If the current operating point is the first operating point, the preset voltage model is used to calibrate the preset current model, and after the running time of the first operating point exceeds the first preset duration, the system switches to the second operating point.

[0017] If the current operating point is the second operating point, the preset current model calibrated at the previous operating point is used for magnetic field orientation. After running at the second operating point for more than the second preset time, the system switches to the first operating point, where the first preset time is less than the second preset time.

[0018] In one embodiment, if the current operating point is the first operating point, the step of calibrating the preset current model using a preset voltage model includes:

[0019] If the current operating point is the first operating point, the preset voltage model is used for magnetic field orientation;

[0020] After the magnetic field orientation is completed, the rotor resistance parameters of the preset current model are calibrated using the preset voltage model in order to calibrate the magnetic field orientation angle.

[0021] In one embodiment, if the current operating point is the second operating point, the step of using a preset current model calibrated at the previous operating point for magnetic field orientation includes:

[0022] If the current operating point is the second operating point, the rotor resistance parameters calibrated at the previous operating point will be substituted into the preset current model.

[0023] Based on a preset current model, magnetic field orientation is performed at the second operating point. The preset current model is a processing model for deep weak magnetic fields.

[0024] In one embodiment, the torque at the first operating point is the same as the torque at the second operating point.

[0025] Furthermore, to achieve the above objectives, this application also proposes a motor torque control device, which includes:

[0026] The control module is used to control the motor to cycle between two preset operating points when the vehicle is in the active battery heating mode, so as to maintain the torque accuracy during the battery heating process. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0027] In addition, to achieve the above objectives, this application also proposes a motor torque control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor torque control method described above.

[0028] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the motor torque control method described above.

[0029] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the motor torque control method described above.

[0030] This application proposes a motor torque control method, device, equipment, storage medium, and computer program product. When the vehicle is in the active battery heating mode, this application controls the motor to cyclically switch between two preset operating points. Since one operating point is used to maintain the heating power, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle, this ensures that the magnetic field orientation process will not be inaccurate due to temperature changes. This ensures that the motor can accurately orient the magnetic field when running at both operating points, thereby ensuring the torque accuracy of the battery heating process and improving the range, lifespan, and power performance of the electric vehicle. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating an embodiment of the motor torque control method of this application.

[0034] Figure 2 This is a schematic diagram of the motor working trajectory involved in the motor torque control method of this application;

[0035] Figure 3 This is a schematic diagram of the alternating working process of the two operating points involved in the motor torque control method of this application;

[0036] Figure 4 This is a flowchart illustrating Embodiment 2 of the motor torque control method of this application;

[0037] Figure 5 This is a schematic diagram of the overall implementation process of the motor torque control method in this application;

[0038] Figure 6 This is a schematic diagram of the module structure of the motor torque control device according to an embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the motor torque control method in this application embodiment.

[0040] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0042] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0043] The main solution in this application embodiment is:

[0044] When the vehicle is in active battery heating mode, the control motor cycles between two preset operating points to maintain torque accuracy during battery heating. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain heating power based on the calibrated magnetic field orientation angle.

[0045] In related technologies, battery heating is mainly achieved through a magnetic weakening heating scheme. This scheme increases the torque current and reduces the excitation current to achieve greater heating power for the same torque. However, when heating the battery in a deep magnetic weakening zone, the magnetic field orientation of the current or voltage model is inaccurate due to temperature changes, resulting in poor torque accuracy.

[0046] This application proposes a motor torque control method, device, equipment, storage medium, and computer program product. When the vehicle is in the active battery heating mode, this application controls the motor to cyclically switch between two preset operating points. Since one operating point is used to maintain the heating power, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle, this ensures that the magnetic field orientation process will not be inaccurate due to temperature changes. This ensures that the motor can accurately orient the magnetic field when running at both operating points, thereby ensuring the torque accuracy of the battery heating process and improving the range, lifespan, and power performance of the electric vehicle.

[0047] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device, motor torque control device, or motor controller capable of performing the above functions. The following description uses a motor controller as an example to illustrate this embodiment and the subsequent embodiments.

[0048] Based on this, the embodiments of this application provide a motor torque control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the motor torque control method of this application.

[0049] In this embodiment, the motor torque control method includes step S10:

[0050] Step S10: When the vehicle is in the active battery heating mode, the control motor cycles between two preset operating points to maintain torque accuracy during the battery heating process. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0051] It should be noted that in the vehicle's active heating mode, the battery is primarily heated actively by an asynchronous motor. By rationally controlling the distribution of excitation current and torque current corresponding to the operating current, the heating requirements of the power battery in low-temperature environments can be met regardless of whether the vehicle is driving at low or high speeds. Existing asynchronous motor vehicle heating solutions are mainly divided into two categories:

[0052] 1. Magnetization heating scheme where the excitation current is greater than the torque current:

[0053] This solution achieves greater heating power under the same torque by increasing the excitation current, making it suitable for heating in medium and low-speed vehicles. However, as the speed increases, the motor cannot operate at the preset current operating point due to the limitation of the voltage limit circle, thus limiting the heating power.

[0054] 2. Magnetic weakening heating scheme where the torque current is greater than the excitation current:

[0055] This solution achieves greater heating power under the same torque by increasing the torque current and decreasing the excitation current; it is applicable to the entire speed range; however, in the existing technical solutions, the torque accuracy is poor when working in the deep magnetic weakening heating zone.

[0056] The solution disclosed in this embodiment addresses the technical problem of poor torque accuracy in the weak magnetic heating scheme.

[0057] It should be noted that the operating point trajectory of the asynchronous motor is as follows: Figure 2 As shown, the running curve on the dq axis exhibits the aforementioned problem of poor torque accuracy when the operating point is in the deep magnetic weakening region. To address this issue, this application sets the deep magnetic weakening region crane heating mode to two operating points (e.g., Figure 2 As shown in S1 and S2, at point S1, the heating power is large, but the magnetic field orientation is greatly affected by temperature changes; at point S2, the heating power is small, but accurate magnetic field orientation can be achieved, ensuring torque accuracy.

[0058] Specifically, Figure 2 The vertical axis (Iq) in the figure represents the q-axis component of the asynchronous motor current, measured in amperes (A). The q-axis component is usually related to the motor's torque output.

[0059] Horizontal axis (Id): Represents the d-axis component of the asynchronous motor current, measured in amperes (A). The d-axis component is usually related to the orientation of the motor's magnetic field.

[0060] Isotor lines: indicate that two operating points are under the same torque.

[0061] MTPA-MTPV curve: This curve represents the operating trajectory of the motor at maximum torque per ampere (MTPA) and maximum torque-to-voltage ratio (MTPV). It shows the maximum torque output the motor can achieve under different current conditions.

[0062] Deep field weakening zone: This represents the operating region of the motor under deep field weakening conditions. This curve is used to evaluate the performance and stability of the motor under high speed and low torque conditions.

[0063] It should be noted that magnetic field orientation is performed at both operating points. At operating point S1, magnetic field orientation is performed using the current model, while at operating point S2, magnetic field orientation is performed using the voltage model. When calibrating the magnetic field orientation angle at operating point S2, the rotor resistance in the current model can be calibrated using the voltage model to ensure that there is no orientation error in the current observation model.

[0064] The reason for the poor torque accuracy is that temperature affects the rotor resistance. When the temperature rises, the rotor resistance increases. In the deep weak magnetic field region, magnetic field orientation control is performed through a current observation model. When the rotor resistance changes significantly, it will cause inaccurate magnetic field orientation.

[0065] Therefore, when controlling the motor to switch between two operating points, accurate magnetic field orientation can be achieved by calibrating the rotor resistance at one operating point and using the calibrated rotor resistance at the other operating point. Then, magnetic field orientation can be performed in the deep weak magnetic field region through the current observation model, thereby avoiding the influence of temperature on the rotor resistance and ensuring torque accuracy.

[0066] In one feasible implementation, before step S10 of controlling the motor to cyclically switch between two preset operating points, the method further includes:

[0067] Receive heating level requests from vehicles;

[0068] It should be noted that when the vehicle needs to actively heat the battery, it can send a heating level request to the motor controller. The heating level request can be level 1, level 2, etc., and can be changed according to user needs. There is no specific limitation.

[0069] Based on the heating level requirements, the motor operating point is selected.

[0070] It should be noted that, based on the heating level requirements, you can select the corresponding working point. When the working point corresponding to the heating level requirement is the S1 working point, the battery can be heated directly. After running at the S1 working point for a period of time, switch to the S2 working point. Similarly, you can also directly select the S2 working point. The actual adjustment will be made according to the specific heating level requirements.

[0071] In one feasible implementation, the operating points include a first operating point and a second operating point. When the vehicle is in the active battery heating mode, the step S10 of controlling the motor to cyclically switch between the two preset operating points includes:

[0072] When the vehicle is in the active battery heating mode, the control motor runs at the first operating point for a first preset time and then switches to the second operating point. The first operating point is used to calibrate the magnetic field orientation angle, and the second operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0073] It should be noted that the first working point corresponds to Figure 2 The second working point corresponds to S2. Figure 2 In the S1 working point, when the vehicle is in the active battery heating mode, the control motor runs at the first working point for a first preset time. After the running time exceeds the first preset time, it switches to the second working point.

[0074] It should be noted that the first preset duration can be 1ms, 5ms, 10ms, etc., and there is no specific limitation.

[0075] After running for a second preset duration at the second working point, the system switches to the first working point. The first and second preset durations are obtained through calibration.

[0076] It should be noted that after running for a second preset time at the second operating point, the system switches back to the first operating point, and then cycles between the two operating points during the subsequent battery heating process.

[0077] It should be noted that the second preset duration can be 10 seconds, 30 seconds, 5 minutes, etc., and there is no specific limitation. The second working point is the main working point used for battery heating, and the working time is much longer than the first working point used for calibrating the resistor. The first and second preset durations can be calibrated through multiple experiments, and both are preset values.

[0078] It should be noted that the schematic diagram of the cyclical alternation of operating points S1 and S2 is as follows: Figure 3 As shown, by Figure 3 It can be seen that T10 represents the working time of working point S2, and T11 represents the working time of working point S1. The two working points alternate in a cycle and continuously switch during the battery heating process. Since the temperature changes slowly, T1 is divided into two time periods T10 and T11 with time T1 as the period.

[0079] Within time T10, the asynchronous motor operates at the same torque S2 within the MTPV curve. At this time, the voltage model is less affected by stator resistance and dead zone, and accurate magnetic field orientation can be achieved.

[0080] During time T11, the asynchronous motor operates at point S1 on the deep magnetic weakening heating curve, where the heating power is high, ensuring the heating needs of the entire vehicle.

[0081] When operating at time T10, the voltage model is used for magnetic field orientation, and the rotor resistance of the current model is calibrated using the voltage model for use in time T11, ensuring the accuracy of the rotor resistance during time T11. When operating at time T11, the current model is used for magnetic field orientation, and the rotor resistance remains unchanged using the calibration value from time T10. Since the period T1 is much smaller than the temperature change time, the impact of rotor resistance changes on the accuracy of the current model's magnetic field orientation is negligible during time T1. During time T11, the current model with a fixed rotor resistance calibrated at time T10 can still achieve accurate magnetic field orientation, ensuring torque accuracy.

[0082] The working cycle T1, which alternates between S1 and S2, and the working intervals T10 and T11 are all calibrable quantities. By calibration, appropriate T1 / T10 / T11 can be obtained to meet the torque accuracy requirements in the deep magnetic weakening zone and ensure heating power.

[0083] In one feasible implementation, the torque at the first operating point is the same as the torque value at the second operating point.

[0084] It should be noted that the torque at the first operating point corresponds to the torque at the second operating point. To ensure the torque accuracy at both operating points, the torque remains the same during the switching process between the two operating points.

[0085] This application proposes a motor torque control method, device, equipment, storage medium, and computer program product. When the vehicle is in the active battery heating mode, this application controls the motor to cyclically switch between two preset operating points. Since one operating point is used to maintain the heating power, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle, this ensures that the magnetic field orientation process will not be inaccurate due to temperature changes. This ensures that the motor can accurately orient the magnetic field when running at both operating points, thereby ensuring the torque accuracy of the battery heating process and improving the range, lifespan, and power performance of the electric vehicle.

[0086] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 Step S10, which controls the motor to cycle between two preset operating points, further includes:

[0087] Step S11: If the current operating point is the first operating point, the preset voltage model is used to calibrate the preset current model, and after the running time of the first operating point exceeds the first preset duration, the system switches to the second operating point.

[0088] It should be noted that when selecting the operating point to be run, if the current operating point is the first operating point, the preset current model needs to be calibrated by the preset voltage model so that the magnetic field can be oriented by the calibrated preset current model at the second operating point. When the running time of the first operating point exceeds the first preset time, the system switches to the second operating point.

[0089] It should be noted that the preset voltage model can be a voltage observation model, and the calculation formula for the voltage observation model is as follows:

[0090]

[0091] Among them, u sα u sβ For the α-β axis voltage, i sα i sβ For α-β axis currents; ψ rα ψ rβ For α-β axis magnetic flux linkage, L r L m L s These represent the rotor self-inductance, mutual inductance, and stator self-inductance, respectively, where δ is the leakage inductance coefficient, and R... s Let be the stator resistance, and p be the differential operator.

[0092] When the motor operates in the deep field weakening region, and the operating point is close to the q-axis, the total voltage is small, the stator resistance voltage drop is large, and the voltage model observation accuracy is greatly affected by the stator resistance. Stator temperature changes affect the stator resistance, which in turn affects the voltage model observation accuracy. Furthermore, due to the dead zone, the voltage observation model has a large orientation error, which makes it impossible to guarantee torque accuracy. Therefore, the voltage observation model is used for magnetic field orientation at the S2 operating point, which is not in the deep field weakening region, to eliminate this effect.

[0093] It should be noted that the preset current model can be a current observation model, and the calculation formula for the current observation model is as follows:

[0094]

[0095] Among them, i sα i sβ For α-β axis currents; ψ rα ψ rβ For α-β axis magnetic flux linkage, L m For mutual inductance, R s ω is the stator resistance. r T is the rotor angular frequency. r is the rotor time constant.

[0096] If a current observation model is used for field-oriented control, it is severely affected by rotor resistance, which is greatly affected by temperature. In this case, the rotor resistance cannot be accurately corrected by the voltage model, resulting in a large orientation error of the current observation model and the torque accuracy cannot be guaranteed. Therefore, it is necessary to calibrate the rotor resistance at the previous operating point before using the current observation model for field orientation.

[0097] It should be noted that the α-β axis and Figure 2 The angle between the dq axis and the coordinate system is θ. The angle of θ can be 30 degrees, 40 degrees, etc., and there is no specific limitation.

[0098] Step S12: If the current operating point is the second operating point, the preset current model calibrated at the previous operating point is used for magnetic field orientation. After running at the second operating point for more than the second preset time, the system switches to the first operating point, wherein the first preset time is less than the second preset time.

[0099] It should be noted that if the current operating point is the second operating point, the preset current model calibrated at the previous operating point is used for magnetic field orientation. The preset current model is calibrated at the previous operating point using the preset voltage model, and then the calibrated preset current model parameters are sent to the second operating point to ensure accurate magnetic field orientation at the current operating point.

[0100] It should be noted that after running at the second working point for more than the second preset time, the current working point will be switched to the first working point, and then the system will continue to switch between the two working points.

[0101] It should be noted that the first operating point is mainly used to calibrate the preset current model, while the second operating point is used to maintain the heating power. During the battery heating process, the heating power should not be lost in order to ensure torque accuracy. Therefore, the calibration time should be shorter than the battery heating time, so as to meet the heating power required by the whole vehicle while ensuring torque accuracy.

[0102] In one feasible implementation, if the current operating point is the first operating point, step S11, which calibrates the preset current model using the preset voltage model, includes:

[0103] If the current operating point is the first operating point, the preset voltage model is used for magnetic field orientation;

[0104] It should be noted that at the first operating point, a preset voltage model is used for magnetic field orientation. The preset voltage model calculates various parameters such as resistance, current and inductance to obtain the magnetic flux, thereby determining the magnetic field orientation angle at the current operating point.

[0105] After the magnetic field orientation is completed, the rotor resistance parameters of the preset current model are calibrated using the preset voltage model in order to calibrate the magnetic field orientation angle.

[0106] It should be noted that the magnetic field orientation and rotor resistance calibration processes can be performed simultaneously, or the magnetic field orientation can be performed first, followed by the calibration of the rotor resistance parameters.

[0107] It is important to understand that the rotor resistance can be calibrated in the following ways:

[0108] Get current data: Read data from voltage, current, and temperature sensors.

[0109] Calculation error: Based on the dynamic equations in the voltage model, calculate the error between the actual current and the estimated current.

[0110] Update rotor resistance: Based on error feedback, update rotor resistance Rr using an adaptive algorithm (such as RLS, EKF).

[0111] Verification of results: Record the system performance indicators (such as torque accuracy, speed response, etc.) after each calibration to evaluate the calibration effect.

[0112] After obtaining the calibrated rotor resistance, the calibrated rotor resistance is sent to the second operating point for use by the preset current model.

[0113] In one feasible implementation, if the current operating point is the second operating point, step S12, which uses a preset current model calibrated at the previous operating point for magnetic field orientation, includes:

[0114] If the current operating point is the second operating point, the rotor resistance parameters calibrated at the previous operating point will be substituted into the preset current model.

[0115] It should be noted that the rotor time constant Tr = Lr / Rr in the preset current model, where Rr is the calibrated rotor resistance parameter. After calibrating the rotor resistance parameter, substitute the calibrated rotor resistance parameter into the preset current model and then perform magnetic field orientation to ensure accurate magnetic field orientation in the deep weak magnetic field region.

[0116] Based on a preset current model, magnetic field orientation is performed at the second operating point. The preset current model is a processing model for deep weak magnetic fields.

[0117] It should be noted that after calibrating the rotor resistance parameters corresponding to the preset current model at the previous operating point, the magnetic field orientation is performed at the first operating point using the calibrated preset current model. This ensures that the magnetic field orientation of the preset current model in the deep field weakening region is accurate, thereby ensuring the torque accuracy in the deep field weakening region.

[0118] In this embodiment, by dynamically adjusting the motor's operating point, the heating power required by the entire vehicle is met while ensuring torque accuracy, thereby improving the electric vehicle's range, lifespan, and power performance.

[0119] For example, to help understand the implementation flow of the motor torque control method obtained by combining this embodiment with the above embodiment one, please refer to... Figure 5 , Figure 5 A schematic diagram of the overall implementation process of a motor torque control method is provided, specifically including the following steps:

[0120] 1. Receive heating mode requests and heating level requirements from the vehicle;

[0121] 2. Select the appropriate S1 and S2 operating points according to the heating level;

[0122] 3. The time between the preset working points S2 (T10) and S1 (T11) alternates cyclically.

[0123] 3-1) At the S2 operating point, the voltage model is used for magnetic field orientation, and the rotor resistance of the current model is calibrated using the voltage model;

[0124] 3-2) When the working time of S2 meets T10, switch to working point S1;

[0125] 3-3) At point S1, the current model is used for magnetic field orientation. The rotor resistance of the current model is the value calibrated within time T10 to ensure torque accuracy.

[0126] 3-4) Once the working time of point S1 meets T11, switch to working point S2;

[0127] 3-5) Repeat steps 3-1) to 3-4.

[0128] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the motor torque control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0129] This application also provides a motor torque control device; please refer to [reference needed]. Figure 6 The motor torque control device includes:

[0130] The control module 10 is used to control the motor to cycle between two preset operating points when the vehicle is in the active battery heating mode, so as to maintain the torque accuracy during the battery heating process. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0131] Optionally, the device further includes:

[0132] The receiving module is used to receive the heating level requirements issued by the vehicle.

[0133] The selection module is used to select the motor operating point based on the heating level requirements.

[0134] Optionally, the control module includes:

[0135] The control unit is used to control the motor to run at a first operating point for a first preset time and then switch to a second operating point when the vehicle is in the active battery heating mode. The first operating point is used to calibrate the magnetic field orientation angle, and the second operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

[0136] The switching unit is used to switch to the first working point after running at the second working point for a second preset duration, wherein the first preset duration and the second preset duration are obtained through calibration.

[0137] Optionally, the control module also includes:

[0138] The calibration unit is used to calibrate the preset current model using the preset voltage model when the current operating point is the first operating point, and to switch to the second operating point after the operating time of the first operating point exceeds the first preset duration.

[0139] The magnetic field orientation unit is used to perform magnetic field orientation using a preset current model calibrated at the previous operating point when the current operating point is the second operating point. After running at the second operating point for more than a second preset time, it switches to the first operating point, wherein the first preset time is less than the second preset time.

[0140] Optionally, the calibration unit includes:

[0141] The first magnetic field orientation subunit is used to perform magnetic field orientation using a preset voltage model when the current operating point is the first operating point.

[0142] The calibration subunit is used to calibrate the rotor resistance parameters of the preset current model using the preset voltage model after the magnetic field orientation is completed, so as to calibrate the magnetic field orientation angle.

[0143] Optionally, the magnetic field orientation unit includes:

[0144] Substitute into the sub-unit, which is used to substitute the rotor resistance parameters calibrated at the previous operating point into the preset current model if the current operating point is the second operating point;

[0145] The second magnetic field orientation subunit is used to orient the magnetic field at the second operating point based on a preset current model, wherein the preset current model is a processing model in the deep weak magnetic region.

[0146] The motor torque control device provided in this application, employing the motor torque control method in the above embodiments, can solve the technical problem of motor torque control. Compared with the prior art, the beneficial effects of the motor torque control device provided in this application are the same as those of the motor torque control method provided in the above embodiments, and other technical features in the motor torque control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0147] This application provides a motor torque control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the motor torque control method in the above embodiment 1.

[0148] The following is for reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing the motor torque control device of the embodiments of this application. The motor torque control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The motor torque control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0149] like Figure 7As shown, the motor torque control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the motor torque control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the motor torque control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show motor torque control devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0150] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0151] The motor torque control device provided in this application, employing the motor torque control method in the above embodiments, can solve the technical problem of motor torque control. Compared with the prior art, the beneficial effects of the motor torque control device provided in this application are the same as those of the motor torque control method provided in the above embodiments, and other technical features of the motor torque control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0152] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0153] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0154] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the motor torque control method in the above embodiments.

[0155] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0156] The aforementioned computer-readable storage medium may be included in the motor torque control device; or it may exist independently and not assembled into the motor torque control device.

[0157] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the motor torque control device, cause the motor torque control device to:

[0158] When the vehicle is in active battery heating mode, the control motor cycles between two preset operating points to maintain torque accuracy during battery heating. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain heating power based on the calibrated magnetic field orientation angle.

[0159] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0160] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0161] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0162] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described motor torque control method, thereby solving the technical problem of motor torque control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the motor torque control method provided in the above embodiments, and will not be repeated here.

[0163] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor torque control method described above.

[0164] The computer program product provided in this application can solve the technical problem of motor torque control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the motor torque control method provided in the above embodiments, and will not be repeated here.

[0165] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A motor torque control method, characterized in that, Applied to a motor controller, the method includes: When the vehicle is in active battery heating mode, the control motor cycles between two preset operating points to maintain torque accuracy during battery heating. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain heating power based on the calibrated magnetic field orientation angle.

2. The method as described in claim 1, characterized in that, Before the step of controlling the motor to cyclically switch between two preset operating points, the method further includes: Receive heating level requests from vehicles; Based on the heating level requirements, the operating point of the motor is selected.

3. The method as described in claim 1, characterized in that, The operating points include a first operating point and a second operating point. The step of controlling the motor to cyclically switch between the two preset operating points when the vehicle is in active battery heating mode includes: When the vehicle is in the active battery heating mode, the control motor runs at the first operating point for a first preset time and then switches to the second operating point. The first operating point is used to calibrate the magnetic field orientation angle, and the second operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle. After running for a second preset duration at the second working point, the system switches to the first working point, wherein the first preset duration and the second preset duration are obtained through calibration.

4. The method according to any one of claims 1-3, characterized in that, The step of controlling the motor to cyclically switch between two preset operating points includes: If the current operating point is the first operating point, the preset voltage model is used to calibrate the preset current model, and after the running time of the first operating point exceeds the first preset duration, the system switches to the second operating point. If the current operating point is the second operating point, the preset current model calibrated at the previous operating point is used for magnetic field orientation. After running at the second operating point for more than a second preset time, the system switches to the first operating point, wherein the first preset time is less than the second preset time.

5. The method as described in claim 4, characterized in that, The step of calibrating the preset current model using a preset voltage model when the current operating point is the first operating point includes: If the current operating point is the first operating point, the magnetic field orientation is performed using a preset voltage model; After the magnetic field orientation is completed, the rotor resistance parameters of the preset current model are calibrated using the preset voltage model in order to calibrate the magnetic field orientation angle.

6. The method as described in claim 4, characterized in that, The step of using the preset current model calibrated at the previous operating point for magnetic field orientation when the current operating point is the second operating point includes: If the current operating point is the second operating point, the rotor resistance parameters calibrated at the previous operating point will be substituted into the preset current model. Based on the preset current model, magnetic field orientation is performed at the second operating point, wherein the preset current model is a processing model in a deep weak magnetic field region.

7. The method as described in claim 3, characterized in that, The torque at the first operating point is the same as the torque at the second operating point.

8. A motor torque control device, characterized in that, The device includes: The control module is used to control the motor to cycle between two preset operating points when the vehicle is in the active battery heating mode, so as to maintain the torque accuracy during the battery heating process. One of the two operating points is used to calibrate the magnetic field orientation angle, and the other operating point is used to maintain the heating power based on the calibrated magnetic field orientation angle.

9. A motor torque control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor torque control method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the motor torque control method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the motor torque control method as described in any one of claims 1 to 7.

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