Vehicle torque control system and control method thereof

Abstract

The embodiment of the present invention discloses a vehicle torque control system and a control method thereof. The system includes: an enable judgment circuit, which detects the vehicle's enable judgment signal and generates an enable judgment result based on the received enable judgment signal; a torque calculation circuit, which is in communication with the enable judgment circuit, receives the enable judgment result, and calculates the active damping control torque based on the enable judgment result; a torque control circuit, which is in communication with the torque calculation circuit, receives the original torque and the active damping control torque, and controls the vehicle torque based on the adjustment result of the original torque by the active damping control torque. The technical solution of the embodiment of the present invention can make additional adjustments to the original torque based on the active damping control torque, thereby achieving a smooth change in the longitudinal acceleration signal of the vehicle and reducing the driving impact caused by tire vibration. In this way, even if encountering uneven roads, the vehicle can still achieve comfortable and smooth driving.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automobile control technology, and in particular to a vehicle torque control system and a control method thereof. Background Art

[0002] With increasing energy shortages and stricter requirements for air pollution control, electric vehicles have become a major trend in current automotive development. Compared to traditional vehicles, electric vehicles are more responsive to motor torque. To achieve a better driving experience, motor torque control technology has become a key research area in electric vehicle control technology.

[0003] Similar to traditional vehicles, electric vehicles calculate the driver's desired motor torque based on input from various sensors, the system's current state, and the vehicle's operating conditions. Torque filtering then ensures that the control torque sent to the motor is smooth and free of glitches, thereby ensuring safe, reliable, and comfortable vehicle operation. However, when electric vehicles travel over rough roads or speed bumps, uneven surfaces or gear play in the transmission system can cause torsional vibrations between the transmission and motor shafts. This vibration is transmitted from the tires to the motor output shaft, which is felt by the driver and reduces driving pleasure.

[0004] It should be noted that during driving, the vehicle's operating conditions are strongly correlated with road conditions, and are unpredictable and difficult to repeat. Traditional torque filtering is only activated under dynamic conditions of acceleration and deceleration, and the motor torque takes some time to achieve the expected change, which cannot quickly compensate for the impact of tire vibration. Summary of the Invention

[0005] The embodiment of the present invention provides a vehicle torque control system and a control method thereof, so as to achieve a smooth change of the vehicle longitudinal acceleration signal and compensate for the driving influence caused by tire vibration.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle torque control system, which may include: an enable judgment circuit, which detects an enable judgment signal of the vehicle and generates an enable judgment result based on the received enable judgment signal; a torque calculation circuit, which is communicated with the enable judgment circuit, receives the enable judgment result, and calculates the active damping control torque based on the enable judgment result; a torque control circuit, which is communicated with the torque calculation circuit, receives the original torque and the active damping control torque, adjusts the original torque based on the active damping control torque, and controls the vehicle torque based on the adjustment result.

[0007] Optionally, the torque calculation circuit may include: a first torque calculation circuit that receives an enable determination result and, if the enable determination result indicates an enabled state, calculates the active damping control torque; a second torque calculation circuit that receives the enable determination result and, if the enable determination result indicates a disabled state, sets the active damping control torque to zero. Furthermore, the first torque calculation circuit may include: a parameter detection circuit that, if the enable determination result indicates an enabled state, detects torque calculation parameters of the vehicle, wherein the torque calculation parameters include moment of inertia and mass, and the speed difference between the motor output shaft speed and the transmission input shaft speed; and a parameter calculation circuit that is in communication with the parameter detection circuit, receives the torque calculation parameters, and calculates the active damping control torque based on the torque calculation parameters.

[0008] Optionally, the torque control circuit may include: an original torque calculation circuit, which calculates the original torque based on the sensor output, the current state of the system and the vehicle operating condition, wherein the original torque is the torque after filtering; a torque adjustment circuit, which is communicatively connected to the original torque calculation circuit and the torque calculation circuit, receives the active damping control torque and the original torque, and adjusts the original torque based on the active damping control torque to obtain the motor control torque; a motor torque control circuit, which is communicatively connected to the torque adjustment circuit, receives the motor control torque, and controls the motor torque on the vehicle according to the motor control torque.

[0009] Optionally, the communication connection may include an electrical connection or a remote connection. Further, the remote connection may include a Bluetooth connection, a WiFi connection, or a base station connection; and / or, the electrical connection may include CAN communication; and / or, the enable determination circuit and the torque control circuit are disposed in the vehicle, the torque calculation circuit is disposed in the electronic device, the torque calculation circuit is remotely connected to the enable determination circuit, and the torque control circuit is remotely connected to the torque calculation circuit; or, the enable determination circuit, the torque control circuit, and the torque calculation circuit are disposed in the vehicle, the torque calculation circuit is electrically connected to the enable determination circuit, and the torque control circuit is electrically connected to the torque calculation circuit.

[0010] Optionally, the enable judgment circuit may include: a speed difference calculation circuit that detects the motor output shaft speed and the transmission input shaft speed, and calculates the speed difference based on the motor output shaft speed and the transmission input shaft speed; an enable judgment signal detection circuit that is in communication with the speed difference calculation circuit, receives the speed difference and detects the vehicle enable judgment signal; an enable judgment result generation circuit that is in communication with the enable judgment signal detection circuit, receives the speed difference and the enable judgment signal, and compares the speed difference and the enable judgment signal with a preset enable judgment condition to generate an enable judgment result. Further, the speed difference calculation circuit may include: a transmission input shaft speed calculation circuit that detects the vehicle speed signal and the transmission coefficient ratio, and calculates the transmission input shaft speed based on the vehicle speed signal and the transmission coefficient ratio; a first speed difference calculation circuit that is in communication with the transmission input shaft speed calculation circuit, receives the transmission input shaft speed and detects the motor output shaft speed, and calculates the speed difference based on the motor output shaft speed and the transmission input shaft speed. And / or, the enabling judgment signal detection circuit may include: a speed difference detection circuit, which detects the speed difference between the vehicle's motor output shaft speed and the gearbox input shaft speed; accordingly, the enabling judgment result generation circuit may include: a speed difference comparison circuit, which receives a preset speed difference threshold and a speed difference, and if the speed difference is greater than the preset speed difference threshold, the enabling judgment result is an enabled state.

[0011] Optionally, the enable determination signal may include at least one of the following: current transmission clutch state, acceleration signal, vehicle speed signal, transmission type, and raw torque. Alternatively, the enable determination signal detection circuit may include: a first CAN communication circuit for detecting the current transmission clutch state; accordingly, the enable determination result generation circuit may include: a current transmission clutch state determination circuit for receiving the current transmission clutch state, and determining an enable state if the current transmission clutch state is in a grinding state or an engaged state. Alternatively, the enable determination signal detection circuit may include: an acceleration sensor for detecting a vehicle acceleration signal; accordingly, the enable determination result generation circuit may include: an acceleration signal comparison circuit for receiving a preset acceleration threshold and the acceleration signal, and determining an enable state if the acceleration signal is greater than the preset acceleration threshold. And / or, the enable determination signal detection circuit may include: a vehicle speed sensor for detecting a vehicle speed signal; accordingly, the enable determination result generation circuit may include: a vehicle speed signal comparison circuit for receiving a preset vehicle speed threshold and the vehicle speed signal, and if the vehicle speed signal is greater than the preset vehicle speed threshold, the enable determination result is an enable state. And / or, the enable determination signal detection circuit may include: a second CAN communication circuit for detecting the vehicle's transmission type; accordingly, the enable determination result generation circuit may include: a transmission type determination circuit for receiving the transmission type, and if the transmission type is MT, DCT, or AMT, the enable determination result is an enable state. And / or, the enable determination signal detection circuit may include: a raw torque detection circuit for detecting the vehicle's raw torque; accordingly, the enable determination result generation circuit may include: a raw torque comparison circuit for receiving a preset torque threshold and the raw torque, and if the raw torque is less than the preset torque threshold, the enable determination result is an enable state.

[0012] In a second aspect, an embodiment of the present invention also provides a method for controlling vehicle torque, which may include: obtaining an enable judgment signal of the vehicle and generating an enable judgment result based on the enable judgment signal; calculating the active damping control torque based on the enable judgment result; obtaining the original torque of the vehicle, adjusting the original torque based on the active damping control torque, and controlling the vehicle torque based on the adjustment result.

[0013] Optionally, calculating the active damping control torque based on the enable judgment result may include: if the enable judgment result is an enabled state, calculating the active damping control torque; if the enable judgment result is a disabled state, setting the active damping control torque to 0. Further, if the enable judgment result is an enabled state, calculating the active damping control torque may include: if the enable judgment result is an enabled state, obtaining the torque calculation parameters of the vehicle, the torque calculation parameters including the moment of inertia and mass, and the speed difference between the motor output shaft speed and the gearbox input shaft speed; calculating the active damping control torque based on the torque calculation parameters. Further, calculating the active damping control torque based on the torque calculation parameters may include: calculating the active damping control torque based on the active damping control torque calculation formula, wherein the active damping control torque calculation formula may include:

[0014]

[0015] Among them, F anti jerk is the active damping control torque, k is the coefficient, , is the moment of inertia, m is the mass, and Δn is the speed difference between the motor output shaft speed and the gearbox input shaft speed. Furthermore, the speed difference between the motor output shaft speed and the gearbox input shaft speed can be calculated according to the following formula:

[0016]

[0017] Among them, n motor is the motor output shaft speed, v is the vehicle speed signal, i0 is the main reduction ratio, i g is the gearbox ratio, and r is the tire radius.

[0018] Optionally, the original torque of the vehicle is obtained, the original torque is adjusted according to the active damping control torque, and the vehicle torque is controlled based on the adjustment result, including: calculating the original torque according to the sensor output, the current state of the system and the vehicle operating condition, wherein the original torque is the torque after filtering; adjusting the original torque based on the active damping control torque to obtain the motor control torque; and controlling the motor torque on the vehicle according to the motor control torque.

[0019] The technical solution of the embodiment of the present invention is to detect the vehicle's enable determination signal through an enable determination circuit and generate an enable determination result based on the received enable determination signal. The enable determination result can be used to determine whether the vehicle needs to enter the active damping control mode; the enable determination result is received by a torque calculation circuit in communication with the enable determination circuit and the active damping control torque is calculated based on the enable determination result. This is because different calculation methods are used when entering or not entering the active damping control mode; and further, the original torque and the active damping control torque are received by a torque control circuit in communication with the torque calculation circuit, and the original torque is adjusted based on the active damping control torque, and the vehicle torque is controlled based on the adjustment result. The above technical solution can make additional adjustments to the original torque based on the active damping control torque, that is, make additional adjustments to the original torque based on the change trend of the torque signal, thereby achieving a smooth change in the vehicle's longitudinal acceleration signal, compensating for sudden changes in the speed signal and acceleration signal, and reducing the driving impact caused by tire vibration. In this way, even when encountering uneven roads, the vehicle can still achieve comfortable and smooth driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a vehicle torque control system according to an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of another vehicle torque control system in an embodiment of the present invention;

[0022] Figure 3 is a schematic structural diagram of another vehicle torque control system in an embodiment of the present invention;

[0023] Figure 4 This is a first working schematic diagram of a vehicle torque control system according to an embodiment of the present invention;

[0024] Figure 5 This is a second working schematic diagram of a vehicle torque control system according to an embodiment of the present invention;

[0025] Figure 6 1 is a flow chart of a method for controlling vehicle torque according to an embodiment of the present invention;

[0026] Figure 7 2 is a flow chart of another method for controlling vehicle torque in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0028] Figure 1 This is a schematic diagram of a vehicle torque control system provided in an embodiment of the present invention. This embodiment is applicable to controlling vehicle torque according to road conditions, and is particularly applicable to adjusting the motor control torque of electric vehicles according to road conditions. Figure 1 The vehicle torque control system of an embodiment of the present invention may specifically include: an enable judgment circuit 10, which detects an enable judgment signal of the vehicle and generates an enable judgment result based on the received enable judgment signal; a torque calculation circuit 20, which is communicatively connected to the enable judgment circuit 10, receives the enable judgment result, and calculates the active damping control torque based on the enable judgment result; and a torque control circuit 30, which is communicatively connected to the torque calculation circuit 20, receives the original torque and the active damping control torque, and controls the vehicle torque based on the adjustment result of the active damping control torque on the original torque.

[0029] The enablement determination circuit 10 can detect the vehicle's enablement determination signal. These enablement determination signals can be used to determine whether the vehicle is passing through a rough road or speed bump. This is because when a vehicle passes through a rough road or speed bump, the vehicle's tires often vibrate, and this tire vibration can cause a change in the enablement determination signal. Optionally, the enablement determination signal can be the speed difference between the motor output shaft speed and the transmission input shaft speed, or can be at least one of the current transmission clutch state, acceleration signal, vehicle speed signal, transmission type, and raw torque.

[0030] Furthermore, the enablement determination circuit 10 can generate an enablement determination result based on the received enablement determination signal. This enablement determination result can be used to determine whether the vehicle enters the active damping control mode. For example, if the enablement determination result is an enabled state, the active damping control mode is entered; if the enablement determination result is a disabled state, the existing mode is maintained. Alternatively, the enablement determination result can be expressed as true or false. For example, if the enablement determination signal determines that the enablement condition needs to be activated, the enablement condition is set to true, making the enablement determination result true; if the enablement determination signal determines that the enablement condition does not need to be activated, the enablement condition is set to false, making the enablement determination result false.

[0031] It should be noted that the significance of the enable judgment circuit configuration lies in its ability to determine in real time whether the vehicle needs to enter active damping control mode based on the enable judgment signal. Active damping control mode is not the commonly used mode in vehicles that controls vehicle torque through various sensor inputs, the current system status, and vehicle operating conditions. This type of vehicle torque can be called raw torque. Instead, it is a mode in which active damping control torque is calculated based on the vehicle's torque calculation parameters and the raw torque is adjusted based on the active damping control torque. In this way, the raw torque can be adjusted in a timely manner according to road conditions, thereby reducing the impact of tire vibration caused by poor road conditions and enhancing the driver's driving pleasure.

[0032] The torque calculation circuit 20 can be in communication with the enable determination circuit 10, and can receive the enable determination result sent by the enable determination circuit 10 and calculate the active damping control torque based on the enable determination result. Specifically, as described above, the enable determination result can be used to determine whether the vehicle has entered the active damping control mode, which will directly affect the calculation result of the torque calculation circuit 20. For example, if the vehicle enters the active damping control mode, the active damping control torque can be calculated based on the vehicle's torque calculation parameters. Optionally, the torque calculation parameters can be the moment of inertia, mass, the speed difference between the motor output shaft speed and the transmission input shaft speed, etc.; if the vehicle does not enter the active damping control mode, the active damping control torque output by the torque calculation circuit 20 can be directly set to 0, because the original torque at this time does not need to be adjusted.

[0033] It should be noted that the communication connection described above may include an electrical connection or a remote connection. Furthermore, the remote connection may include a Bluetooth connection, a WiFi connection, or a base station connection, while the electrical connection may include a CAN communication, which can be configured according to actual circumstances. For example, if the enable judgment circuit 10 is provided in a vehicle and the torque calculation circuit 20 is provided in an electronic device, the torque calculation circuit 20 and the enable judgment circuit 10 may be remotely connected; if the enable judgment circuit 10 and the torque control circuit 30 are both provided in the vehicle, the enable judgment circuit 10 and the torque control circuit 30 may be electrically connected.

[0034] Among them, the torque control circuit 30 can be communicatively connected with the torque calculation circuit 20, and it can receive the original torque and the active damping control torque sent by the torque calculation circuit 20, and then adjust the original torque according to the active damping control torque, and control the vehicle torque based on the adjustment result. For example, the active damping control torque can be used as a reverse correction and added to the filtered original torque to obtain the motor control torque, and then the motor control torque is sent to the bus system (Controller Area Network, CAN), thereby realizing speed control of the vehicle motor.

[0035] Based on this, an optional solution is that the torque control circuit 30 may specifically include a raw torque calculation circuit, a torque adjustment circuit, and a motor torque control circuit. The raw torque calculation circuit can calculate the ideal raw torque required by the driver based on sensor output, the current system state, and the vehicle operating conditions. The raw torque is filtered to eliminate sudden changes and glitches in the raw torque. The filtered raw torque further ensures safe, reasonable, and comfortable vehicle operation. Accordingly, the torque adjustment circuit can be communicatively connected to the raw torque calculation circuit and the torque calculation circuit 20. It can receive the raw torque transmitted by the raw torque calculation circuit and the active damping control torque transmitted by the torque calculation circuit 20, and adjust the raw torque based on the active damping control torque to obtain the motor control torque. The motor control torque can be considered a reverse torque that can be used to offset the loss of motor torque on the vehicle caused by tire vibration. Correspondingly, the motor torque control circuit can be communicatively connected with the torque adjustment circuit. It can receive the motor control torque sent by the torque adjustment circuit and control the motor torque on the vehicle according to the motor control torque. In this way, when the vehicle encounters an uneven road surface, the filtered original torque can be additionally reversed, thereby ensuring a smooth change in the vehicle's longitudinal acceleration signal.

[0036] The technical solution of the embodiment of the present invention is to detect the vehicle's enable determination signal through an enable determination circuit and generate an enable determination result based on the received enable determination signal. The enable determination result can be used to determine whether the vehicle needs to enter the active damping control mode; the enable determination result is received by a torque calculation circuit in communication with the enable determination circuit and the active damping control torque is calculated based on the enable determination result. This is because different calculation methods are used when entering or not entering the active damping control mode; and further, the original torque and the active damping control torque are received by a torque control circuit in communication with the torque calculation circuit, and the original torque is adjusted based on the active damping control torque, and the vehicle torque is controlled based on the adjustment result. The above technical solution can make additional adjustments to the original torque based on the active damping control torque, that is, make additional adjustments to the original torque based on the change trend of the torque signal, thereby achieving a smooth change in the vehicle's longitudinal acceleration signal, compensating for sudden changes in the speed signal and acceleration signal, and reducing the driving impact caused by tire vibration. In this way, even when encountering uneven roads, the vehicle can still achieve comfortable and smooth driving.

[0037] It should be noted that the enable judgment circuit 10 and the torque control circuit 30 can be set in a vehicle, and the torque calculation circuit 20 can be set in an electronic device, thereby, the torque calculation circuit 20 and the enable judgment circuit 10 can be remotely connected, and the torque control circuit 30 and the torque calculation circuit 20 can also be remotely connected. Alternatively, the enable judgment circuit 10, the torque control circuit 30 and the torque calculation circuit 20 are set in a vehicle, thereby, the torque calculation circuit 20 and the enable judgment circuit 10 can be electrically connected, and the torque control circuit 30 and the torque calculation circuit 20 can be electrically connected. On this basis, in order to facilitate the explanation of the specific structure of the torque control circuit 30 and the enable judgment circuit 10, Figure 2 and Figure 3 These are all schematic diagrams that take the example of the enable determination circuit 10 , the torque control circuit 30 and the torque calculation circuit 20 being arranged in a vehicle, and they are not specific limitations on the vehicle torque control system.

[0038] Figure 2 FIG. 1 is a schematic diagram of another vehicle torque control system provided by an embodiment of the present invention. Figure 2 As shown, the torque calculation circuit 20 may include: a first torque calculation circuit 201, which receives the enable determination result and, if the enable determination result indicates an enabled state, calculates the active damping control torque; and a second torque calculation circuit 202, which receives the enable determination result and, if the enable determination result indicates a disabled state, sets the active damping control torque to 0. It should be noted that the first torque calculation circuit 201 and the second torque calculation circuit 202 may operate in various ways:

[0039] For example, regardless of whether the enable judgment result is an enabled state or a disabled state, the first torque calculation circuit 201 will calculate the active damping control torque and output the active damping control torque. At the same time, the second torque calculation circuit 202 will also output an active damping control torque with a value of 0. Then, according to the enable judgment result, one of the two active damping control torques is selected as the final active damping control torque. For example, if it is an enabled state, the active damping control torque output by the first torque calculation circuit 201 is used as the final active damping control torque; if it is a disabled state, the active damping control torque output by the second torque calculation circuit 202 is used as the final active damping control torque. Or,

[0040] For another example, both the first torque calculation circuit 201 and the second torque calculation circuit 202 receive the enable judgment result. If the enable judgment result is an enabled state, the first torque calculation circuit 201 calculates the active damping control torque and outputs the active damping control torque. Accordingly, the second torque calculation circuit 202 does not have any output. If the enable judgment result is a disabled state, the second torque calculation circuit 202 outputs an active damping control torque with a value of 0. Accordingly, the first active damping control torque does not have any output. Alternatively,

[0041] For another example, if the enable judgment result is an enabled state, the vehicle enters the active damping control mode, and the bus system uses the enabled state as the input of the first torque calculation circuit 201. The first torque calculation circuit 201 will calculate the active damping control torque and output the active damping control torque; if the enable judgment result is a disabled state, the vehicle does not enter the active damping control mode, and the bus system uses the disabled state as the input of the second torque calculation circuit 202. The second torque calculation circuit 202 will output an active damping control torque with a value of 0.

[0042] The advantage of this arrangement is that the torque calculation circuit calculates the active damping control torque through different calculation methods based on the enable judgment result. In this way, if the vehicle encounters uneven road conditions, such as bad roads and / or speed bumps, the original torque can be adjusted according to the active damping control torque output by the first torque calculation circuit; if the vehicle does not encounter uneven road conditions, the original torque can be adjusted according to the active damping control torque output by the second torque calculation circuit. In this case, it is equivalent to not adjusting the original torque, that is, under any road conditions, the smooth change of the vehicle's longitudinal acceleration signal can be guaranteed, thereby ensuring the smooth operation of the vehicle.

[0043] On this basis, the first torque calculation circuit 201 may optionally include a parameter detection circuit and a parameter calculation circuit. If the enable determination result indicates an enabled state, the parameter detection circuit may detect the vehicle's torque calculation parameters and send the torque calculation parameters to the parameter calculation circuit in communication therewith. The torque calculation parameters may include moment of inertia and mass, as well as the speed difference between the motor output shaft speed and the transmission input shaft speed. Furthermore, the parameter calculation circuit may calculate the active damping control torque based on the received torque calculation parameters. The specific structure of the parameter calculation circuit is related to the calculation method of the active damping control torque. For example, if the active damping control torque is calculated based on the active damping control torque calculation formula, the specific structure of the parameter calculation circuit and the input and output of each specific structure may be determined based on the operational relationship between the various torque calculation parameters in the active damping control torque calculation formula. For example, the parameter calculation circuit may be composed of one or more adders, logic units, and comparators.

[0044] It should be noted that there is no formula for calculating active damping control torque in the field of automotive control technology. However, research has shown that it can be derived using dimensionless mathematical expressions. Specifically, when the torque calculation parameters include the moment of inertia and mass, as well as the speed difference between the motor output shaft speed and the transmission input shaft speed, the active damping control torque can be expressed as:

[0045] F anti jerk =F(I,m,Δn)=k*I a *m b *Δn c

[0046] Among them, F anti jerk is the active damping control torque, k, a, b and c are coefficients, m is the mass in kg including the mass conversion part of the rotating parts, and I is in kgm 2 The moment of inertia is Δn, and the speed difference between the motor output shaft speed and the gearbox input shaft speed. If the above expression is analyzed based on dimensionless mathematics, the expanded expression can be:

[0047] M*L*T -2 =(M*L 2 ) a *M b *T -c

[0048] From this we get c=2, so the calculation formula of active damping control torque can be expressed as:

[0049]

[0050] Among them, λ(Δn) is a function related to Δn, which requires calibration of the entire vehicle to obtain.

[0051] On this basis, optionally, the speed difference Δn between the motor output shaft speed and the gearbox input shaft speed can be calculated according to the following formula:

[0052]

[0053] Among them, n motor is the motor output shaft speed, v is the vehicle speed signal, i0 is the main reduction ratio, i g is the gearbox ratio, and r is the tire radius.

[0054] Figure 3 FIG. 1 is a schematic diagram of another vehicle torque control system provided by an embodiment of the present invention. Figure 3As shown, the enable judgment circuit 10 may include a speed difference calculation circuit 101, an enable judgment signal detection circuit 102 and an enable judgment result generation circuit 103, wherein the speed difference calculation circuit 101 can calculate the speed difference according to the detected motor output shaft speed and the gearbox input shaft speed. For example, the enable judgment circuit 10 can be a subtractor, a difference circuit, etc.; the enable judgment signal detection circuit 102 is connected to the speed difference calculation circuit 101 in communication, and can receive the speed difference sent by the speed difference calculation circuit 101, and detect the enable of the vehicle. The discrimination signal, optionally, enables the discrimination signal to include at least one of the current transmission clutch state, acceleration signal, vehicle speed signal, transmission type and original torque; the enable discrimination result generating circuit 103 is communicatively connected to the enable discrimination signal detecting circuit 102, and can receive the speed difference and the enable discrimination signal sent by the enable discrimination signal detecting circuit 102, and compare the speed difference and the enable discrimination signal with the preset enable discrimination condition to generate an enable discrimination result. For example, the enable discrimination result generating circuit 103 can be a comparator, a logic gate, etc.

[0055] This setup is motivated by the fact that, on the one hand, when a vehicle traverses rough roads or speed bumps, uneven ground or backlash in the transmission gears can cause torsional vibration between the transmission input shaft and the motor output shaft. Therefore, the speed difference calculated from the motor output shaft speed and the transmission input shaft speed serves as a reference factor for enabling the vehicle. Furthermore, the enabling judgment signal represents the configuration of various current mainstream powertrains, and one or more of these can be selected as reference factors based on different vehicle configurations. This means that the receiving channels for certain reference factors can be enabled or disabled based on the vehicle configuration. This enables the resulting enabling judgment result to accurately determine whether adjustments to the original torque are necessary, thereby ensuring safe, rational, and comfortable vehicle operation.

[0056] On this basis, further, the speed difference calculation circuit 101 may include a transmission input shaft speed calculation circuit, which detects the vehicle speed signal and the transmission coefficient ratio, and calculates the transmission input shaft speed based on the vehicle speed signal and the transmission coefficient ratio; the first speed difference calculation circuit 101 is communicatively connected to the transmission input shaft speed calculation circuit, and can receive the transmission input shaft speed output by the transmission input shaft speed calculation circuit and detect the motor output shaft speed. In this way, the speed difference between the two can be calculated based on the motor output shaft speed and the transmission input shaft speed.

[0057] In an optional solution, the enable judgment signal detection circuit 102 may include: a speed difference detection circuit that detects the speed difference between the vehicle's motor output shaft speed and the transmission input shaft speed; accordingly, the enable judgment result generation circuit 103 may include: a speed difference comparison circuit that is in communication with the speed difference detection circuit, receives a preset speed difference threshold and a speed difference value sent by the speed difference detection circuit, compares the preset speed difference threshold and the speed difference value, and if the speed difference value is greater than the preset speed difference threshold, the enable judgment result is enabled; otherwise, the enable judgment result is disabled. In this case, the speed difference value can represent the changing trend and gradient of the speed signal. When the speed difference value is greater than the preset speed difference threshold, it indicates that the vehicle tire is experiencing sudden vibration, and the enable judgment result should be set to enabled, thereby entering the active damping control mode.

[0058] In an optional solution, the enabling judgment signal detection circuit 102 may include: a first CAN communication circuit, detecting the current transmission clutch state; correspondingly, the enabling judgment result generation circuit 103 may include: a current transmission clutch state judgment circuit, communicatively connected to the first CAN communication circuit, receiving the current transmission clutch state sent by the first CAN communication circuit, and if the current transmission clutch state is a grinding state or a coupled state, the enabling judgment result is an enabling state.

[0059] In an optional solution, the enabling judgment signal detection circuit 102 may include: an acceleration sensor, which detects the acceleration signal of the vehicle; accordingly, the enabling judgment result generation circuit 103 may include: an acceleration signal comparison circuit, which is communicatively connected to the acceleration sensor, receives a preset acceleration threshold and an acceleration signal sent by the acceleration sensor, and compares the magnitude of the preset acceleration threshold and the acceleration signal. If the acceleration signal is greater than the preset acceleration threshold, the enabling judgment result is an enabled state, otherwise it is a disabled state.

[0060] In an optional solution, the enable judgment signal detection circuit 102 may include a vehicle speed sensor that detects the vehicle's speed signal. Accordingly, the enable judgment result generation circuit 103 may include a vehicle speed signal comparison circuit that is in communication with the vehicle speed sensor, receives a preset vehicle speed threshold and the vehicle speed signal sent by the vehicle speed sensor, compares the preset vehicle speed threshold with the vehicle speed signal, and determines that the enable judgment result is enabled if the vehicle speed signal is greater than the preset speed threshold; otherwise, the enable judgment result is disabled. At this point, the changing trend and gradient of the vehicle speed signal are detected. If the speed difference is greater than the preset speed threshold, it indicates that the vehicle tires are experiencing sudden vibration, and the enable judgment result should be set to enabled, thereby entering active damping control mode.

[0061] In an optional solution, the enable judgment signal detection circuit 102 may include: a second CAN communication circuit, which detects the vehicle's transmission type; accordingly, the enable judgment result generation circuit 103 may include: a transmission type judgment circuit, which is communicatively connected to the second CAN communication circuit and receives the transmission type sent by the second CAN communication circuit. If the transmission type is MT, DCT or AMT, the enable judgment result is an enabled state; otherwise, it is a disabled state.

[0062] In an optional solution, the enabling judgment signal detection circuit 102 may include: an original torque detection circuit, which detects the original torque of the vehicle; accordingly, the enabling judgment result generation circuit 103 may include: an original torque comparison circuit, which is communicatively connected to the original torque detection circuit, receives a preset torque threshold and the original torque sent by the original torque detection circuit, compares the preset torque threshold and the original torque, and if the original torque is less than the preset torque threshold, the enabling judgment result is an enabled state, otherwise it is a disabled state.

[0063] In order to better understand the specific working process of the above circuit, the vehicle torque control system of this embodiment is described below with reference to specific examples. Figure 4 The signals inputted by the vehicle's hardware input unit may include vehicle velocity and longitudinal acceleration signals, which may be obtained through various sensors. The signals received by the CAN message receiving unit may include motor output shaft speed and current transmission clutch status. These hardware input signals and CAN received signals may be directly inputted into the input bus.

[0064] For example, see Figure 5, the longitudinal acceleration signal, the current gearbox clutch state, the motor output shaft speed and the vehicle speed signal can be obtained through the input bus, and at the same time, the original torque can be obtained through the original torque output unit (filtered torque output unit); further, the original torque, the longitudinal acceleration signal, the current gearbox clutch state, the motor output shaft speed and the vehicle speed signal are input into the enable condition output unit (Enable condition output unit) to obtain the enable condition, which is the enable judgment result. The enable judgment result is input into the Multiport Switch. This is the working diagram of the enable judgment circuit 10. On this basis, the vehicle speed signal and the motor output shaft speed are input into the active damping control torque computing unit (Anti jerk torque computing unit) to calculate the active damping control torque (F anti jerk ), which is the working diagram of the first torque calculation circuit 201; at the same time, the active damping control torque can be directly set to 0 via the zero torque output unit (Zero torque output unit), which is the working diagram of the second torque calculation circuit 202. Then, F anti jerk and 0 will be directly input to the Multiport Switch.

[0065] It should be noted that Multiport Switch can be used to determine which input data from multiple input ports is passed to the output port, where the first input data is the control input and the remaining input data are data inputs. It is based on the control input that the data input is selected to pass to the output port. Specifically, if the enable judgment result is the control input, F anti jerk and 0 are data inputs, so that the result of the enable judgment can be obtained from F anti jerk and 0 as the final active damping control torque, and the active damping control torque is used as the reverse torque to adjust the original torque. Finally, the adjustment result is input to the motor output shaft speed (Motor torque input unit) to control the motor torque.

[0066] The technical solution of an embodiment of the present invention applies motor-controlled torque to an electric vehicle. When the tire detects uneven road conditions, the electric vehicle's filtered raw torque, longitudinal acceleration signal, speed signal (i.e., speed difference), vehicle speed signal, and current transmission clutch state are collected. If the changing trend and gradient of the speed signal and vehicle speed signal exceed a preset change threshold, the electric vehicle can be controlled to enter active damping control mode. In active damping control mode, an additional reverse correction can be made to the filtered raw torque, i.e., torque is reduced when the speed deviates positively, and torque is increased when the speed deviates negatively. The above technical solution can compensate for sudden changes in the speed and acceleration signals, reducing the driving impact caused by tire vibration. This can enhance the driver's driving pleasure and improve passenger comfort, and can also improve the durability of the motor and transmission system.

[0067] The embodiment of the present invention further provides a method for controlling vehicle torque, which can be executed by the vehicle torque control system of the above embodiment. Figure 6 A flow chart of a method for controlling vehicle torque according to an embodiment of the present invention is provided. Figure 6 The method of the embodiment of the present invention may specifically include the following steps:

[0068] S110: Acquire an enable determination signal of the vehicle, and generate an enable determination result according to the enable determination signal.

[0069] The enable determination signal can be used to determine whether the vehicle is passing through a rough road or speed bump. This is because when a vehicle passes through a rough road or speed bump, the vehicle tires often vibrate, which can cause a change in the enable determination signal. Alternatively, the enable determination signal can be the speed difference between the motor output shaft speed and the transmission input shaft speed, or at least one of the current transmission clutch state, an acceleration signal, a vehicle speed signal, a transmission type, and raw torque.

[0070] Furthermore, an enablement determination result can be generated based on the enablement determination signal. This enablement determination result can be used to determine whether the vehicle enters the active damping control mode. For example, if the enablement determination result indicates an enabled state, the vehicle enters the active damping control mode; if the enablement determination result indicates a disabled state, the vehicle maintains the existing mode. Alternatively, the enablement determination result can be represented by true or false. For example, if the enablement determination signal determines that the enablement condition needs to be activated, the enablement condition is set to true, resulting in a true enablement determination result. If the enablement determination signal determines that the enablement condition does not need to be activated, the enablement condition is set to false, resulting in a false enablement determination result.

[0071] S120: Calculate the active damping control torque according to the enable determination result.

[0072] The enablement determination result can be used to determine whether the vehicle has entered active damping control mode, which directly affects the calculation method of the active damping control torque. For example, if the vehicle has entered active damping control mode, the active damping control torque can be calculated based on the vehicle's torque calculation parameters. Optionally, the torque calculation parameters can include the moment of inertia, mass, the speed difference between the motor output shaft speed and the transmission input shaft speed, etc. If the vehicle has not entered active damping control mode, the active damping control torque can be directly set to 0 because the original torque does not need to be adjusted.

[0073] S130 : Acquire original torque of the vehicle, adjust the original torque according to the active damping control torque, and control the vehicle torque based on the adjustment result.

[0074] Among them, after the original torque is adjusted according to the active damping control torque, the vehicle torque can be controlled based on the adjustment result. For example, the active damping control torque can be used as a reverse correction to adjust the filtered original torque, and then the adjustment result is sent to the bus system (Controller Area Network, CAN), thereby realizing the speed control of the vehicle motor.

[0075] On this basis, optionally, calculating the active damping control torque according to the enable judgment result may include: if the enable judgment result is an enabled state, calculating the active damping control torque; if the enable judgment result is a disabled state, setting the active damping control torque to 0. Further, if the enable judgment result is an enabled state, calculating the active damping control torque may include: if the enable judgment result is an enabled state, obtaining the torque calculation parameters of the vehicle, the torque calculation parameters including the moment of inertia and mass, and the speed difference between the motor output shaft speed and the gearbox input shaft speed; calculating the active damping control torque according to the torque calculation parameters. Further, calculating the active damping control torque according to the torque calculation parameters may include: calculating the active damping control torque based on the active damping control torque calculation formula, wherein the active damping control torque calculation formula may include:

[0076]

[0077] Among them, F anti jerk is the active damping control torque, k is the coefficient, I is the moment of inertia, m is the mass, and Δn is the speed difference between the motor output shaft speed and the gearbox input shaft speed. Furthermore, the speed difference between the motor output shaft speed and the gearbox input shaft speed can be calculated according to the following formula:

[0078]

[0079] Among them, n motoris the motor output shaft speed, v is the vehicle speed signal, i0 is the main reduction ratio, i g is the gearbox ratio, and r is the tire radius.

[0080] Optionally, the original torque of the vehicle is obtained, the original torque is adjusted according to the active damping control torque, and the vehicle torque is controlled based on the adjustment result, including: calculating the original torque according to the sensor output, the current state of the system and the vehicle operating condition, wherein the original torque is the torque after filtering; adjusting the original torque based on the active damping control torque to obtain the motor control torque; and controlling the motor torque on the vehicle according to the motor control torque.

[0081] The technical solution of an embodiment of the present invention generates an enable determination result based on the vehicle's enable determination signal. This enable determination result can be used to determine whether the vehicle needs to enter the active damping control mode; the active damping control torque is calculated based on the enable determination result, because different calculation methods are used when entering or not entering the active damping control mode; and then, the vehicle's original torque is obtained, the original torque is adjusted based on the active damping control torque, and the vehicle torque is controlled based on the adjustment result. The above technical solution can make additional adjustments to the original torque based on the active damping control torque, that is, make additional adjustments to the original torque based on the changing trend of the torque signal, thereby achieving a smooth change in the vehicle's longitudinal acceleration signal, compensating for sudden changes in the speed signal and acceleration signal, and reducing the driving impact caused by tire vibration. Even on uneven roads, the vehicle can still achieve comfortable and smooth driving.

[0082] In order to better understand the specific implementation process of the above steps, the vehicle torque control method of this embodiment is exemplarily described below with reference to specific examples. Figure 7 ,

[0083] First, obtain the vehicle's enable judgment signal, which may include the vehicle's motor output shaft speed, current transmission clutch state, acceleration signal, vehicle speed signal, transmission type and original torque; calculate the transmission input shaft speed based on the motor output shaft speed and the transmission coefficient ratio; calculate the speed difference based on the motor output shaft speed and the transmission input shaft speed, and use the speed difference as the enable judgment signal.

[0084] Secondly, determine whether the enable judgment signal meets the preset enable judgment condition, which can include at least one of the following: the speed difference is greater than the preset speed difference threshold, the current transmission clutch state is a grinding state or an engaged state, the acceleration signal is greater than the preset acceleration threshold, the vehicle speed signal is greater than the preset vehicle speed threshold, the transmission type is MT, DCT or AMT, and the original torque is less than the preset torque threshold; if it is met, the enable judgment result is the enable state, that is, it is determined according to the enable judgment signal that the enable condition needs to be activated, and the enable condition is set to true; if it is not met, the enable judgment result is the disenabled state, that is, it is determined according to the enable judgment signal that the enable condition does not need to be activated, and the enable condition is set to false.

[0085] Again, if the enable judgment result is the enabled state, the active damping control torque is calculated according to the vehicle's torque calculation parameters, wherein the torque technical parameters may include moment of inertia, mass and speed difference, and the calculation formula of the active damping control torque may include Among them, F anti jerk is the active damping control torque, k is the coefficient, I is the moment of inertia, m is the mass, Δn is the speed difference between the motor output shaft speed and the gearbox input shaft speed, and the speed difference calculation formula can include Among them, n motor is the motor output shaft speed, v is the vehicle speed signal, i0 is the main reduction ratio, i g is the gearbox ratio, and r is the tire radius; accordingly, if the enable judgment result is the disabled state, the active damping control torque is set to 0.

[0086] Finally, the original torque is adjusted based on the active damping control torque. For example, the active damping control torque is used as a reverse correction and added to the original torque after filtering to obtain the motor control torque; then, the motor control torque is sent to the bus system (Controller Area Network, CAN), thereby realizing the speed control of the vehicle motor.

[0087] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle torque control system, characterized in that: include: An enabling judgment circuit detects an enabling judgment signal of the vehicle and generates an enabling judgment result according to the received enabling judgment signal; a torque calculation circuit, communicatively connected to the enable judgment circuit, receiving the enable judgment result, and calculating the active damping control torque according to the enable judgment result; a torque control circuit, communicatively connected to the torque calculation circuit, receiving the original torque and the active damping control torque, adjusting the original torque according to the active damping control torque, and controlling the vehicle torque based on the adjustment result; Wherein, the enabling judgment circuit includes: A speed difference calculation circuit detects the motor output shaft speed and the gearbox input shaft speed, and calculates the speed difference according to the motor output shaft speed and the gearbox input shaft speed; an enable judgment signal detection circuit, communicatively connected to the speed difference calculation circuit, receiving the speed difference and detecting an enable judgment signal of the vehicle; an enable determination result generating circuit, communicatively connected to the enable determination signal detecting circuit, receiving the speed difference and the enable determination signal, and comparing the speed difference and the enable determination signal with a preset enable determination condition to generate an enable determination result; The torque control circuit comprises: a raw torque calculation circuit, which calculates raw torque based on sensor output, current system status, and vehicle operating conditions, wherein the raw torque is torque after filtering; a torque adjustment circuit, communicatively connected to the original torque calculation circuit and the torque calculation circuit, receiving the active damping control torque and the original torque, and adjusting the original torque based on the active damping control torque to obtain a motor control torque; The motor torque control circuit is in communication with the torque adjustment circuit, receives the motor control torque, and controls the motor torque on the vehicle according to the motor control torque.

2. The system according to claim 1, wherein: The torque calculation circuit includes: a first torque calculation circuit, receiving the enable judgment result, and calculating the active damping control torque if the enable judgment result is an enable state; The second torque calculation circuit receives the enable judgment result, and if the enable judgment result is a disabled state, sets the active damping control torque to 0.

3. The system according to claim 2, characterized in that The first torque calculation circuit includes: a parameter detection circuit, if the enable determination result is an enabled state, detecting torque calculation parameters of the vehicle, wherein the torque calculation parameters include moment of inertia and mass, and a speed difference between a motor output shaft speed and a gearbox input shaft speed; The parameter calculation circuit is in communication with the parameter detection circuit, receives the torque calculation parameter, and calculates the active damping control torque according to the torque calculation parameter.

4. The system according to claim 1, wherein: The communication connection includes an electrical connection or a remote connection; The remote connection includes a Bluetooth connection, a WiFi connection or a base station connection; and / or, The electrical connection includes CAN communication; and / or, The enable determination circuit and the torque control circuit are provided in the vehicle, the torque calculation circuit is provided in an electronic device, the torque calculation circuit and the enable determination circuit are remotely connected, and the torque control circuit and the torque calculation circuit are remotely connected; or, The enable judgment circuit, the torque control circuit, and the torque calculation circuit are arranged in the vehicle. The torque calculation circuit is electrically connected to the enable judgment circuit, and the torque control circuit is electrically connected to the torque calculation circuit.

5. The system according to claim 1, wherein: The speed difference calculation circuit includes: a transmission input shaft speed calculation circuit, detecting a vehicle speed signal and a transmission coefficient ratio, and calculating the transmission input shaft speed according to the vehicle speed signal and the transmission coefficient ratio; The first speed difference calculation circuit is in communication with the transmission input shaft speed calculation circuit, receives the transmission input shaft speed and detects the motor output shaft speed, and calculates the speed difference according to the motor output shaft speed and the transmission input shaft speed.

6. The system according to claim 1, wherein: The enabling judgment signal detection circuit includes: a speed difference detection circuit, which detects the speed difference between the motor output shaft speed of the vehicle and the speed of the gearbox input shaft speed; Correspondingly, the enable judgment result generating circuit includes: a speed difference comparison circuit, which receives a preset speed difference threshold and the speed difference, and if the speed difference is greater than the preset speed difference threshold, the enable judgment result is an enable state.

7. The system according to claim 1, wherein: The enable determination signal includes at least one of the following: a current transmission clutch state, an acceleration signal, a vehicle speed signal, a transmission type, and a raw torque; The enabling judgment signal detection circuit includes: a first CAN communication circuit, detecting the current transmission clutch state; correspondingly, the enabling judgment result generating circuit includes: a current transmission clutch state judgment circuit, receiving the current transmission clutch state, and if the current transmission clutch state is a grinding state or an engaged state, the enabling judgment result is an enabling state; and / or, The enabling judgment signal detection circuit includes: an acceleration sensor, detecting an acceleration signal of a vehicle; Accordingly, the enabling judgment result generating circuit includes: an acceleration signal comparison circuit, receiving a preset acceleration threshold and the acceleration signal, and if the acceleration signal is greater than the preset acceleration threshold, the enabling judgment result is an enabling state; and / or, The enabling judgment signal detection circuit includes: a vehicle speed sensor, detecting a vehicle speed signal; correspondingly, the enabling judgment result generation circuit includes: a vehicle speed signal comparison circuit, receiving a preset vehicle speed threshold and the vehicle speed signal, and if the vehicle speed signal is greater than the preset vehicle speed threshold, the enabling judgment result is an enabling state; and / or, The enabling judgment signal detection circuit includes: a second CAN communication circuit for detecting the transmission type of the vehicle; correspondingly, the enabling judgment result generation circuit includes: a transmission type judgment circuit for receiving the transmission type, and if the transmission type is MT, DCT or AMT, the enabling judgment result is an enabling state; and / or, The enable judgment signal detection circuit includes: an original torque detection circuit, which detects the original torque of the vehicle; accordingly, the enable judgment result generation circuit includes: an original torque comparison circuit, which receives a preset torque threshold and the original torque. If the original torque is less than the preset torque threshold, the enable judgment result is an enabled state.

8. A method for controlling vehicle torque, characterized in that: include: Obtaining an enabling judgment signal of the vehicle, and generating an enabling judgment result according to the enabling judgment signal; Calculating active damping control torque according to the enable judgment result; obtaining an original torque of the vehicle, adjusting the original torque according to the active damping control torque, and controlling the vehicle torque based on the adjustment result; The obtaining of the vehicle's enabling judgment signal and generating an enabling judgment result according to the enabling judgment signal include: Detecting the speed of the motor output shaft and the speed of the gearbox input shaft, and calculating the speed difference according to the speed of the motor output shaft and the speed of the gearbox input shaft; receiving the speed difference and detecting an enabling determination signal of the vehicle; The speed difference and the enable determination signal are received, and the speed difference and the enable determination signal are compared with a preset enable determination condition to generate an enable determination result.

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