Motor control method, device, equipment, medium and vehicle

Abstract

The present invention provides a motor control method, device, equipment, medium and vehicle, the method comprising: when it is determined that the number of current sensors that have not failed successfully matches the preset value, the motor speed, motor target torque and bus voltage at the current moment are obtained; based on the motor speed, when the motor torque is controlled to change to the motor target torque, a first change rate within a first preset time period is satisfied to be less than a first preset rate, so as to obtain a torque to be used; based on the torque to be used, the motor speed and the bus voltage, a target current value is obtained; the target current value is input into a preset calculation formula to obtain the control voltage of the motor. The present invention is used to solve the defects of the prior art in solving the problem of motor failure, which leads to increased costs or hardware damage, and to achieve a low-cost, safe and effective solution to the problem of motor failure.

Description

Technical Field

[0001] The present invention relates to the field of vehicle safety technology, and in particular to a motor control method, device, equipment, medium and vehicle. Background Art

[0002] With the development of electrification, the reliable and safe operation of the vehicle has attracted much attention. The main drive motor is a key assembly of the car. Motor failure or shutdown will directly cause the vehicle to stop running, bring safety hazards, and seriously affect the driving experience.

[0003] At present, motor control adopts magnetic oriented vector control (FOC) control or direct torque control, in which both FOC control and direct torque control require current signals as closed-loop control. When the current sensor fails, the whole vehicle cannot perform normally, whether it is FOC control or direct torque control. At this time, the vehicle usually reports a level 3 shutdown fault, the motor no longer works, and the vehicle cannot drive normally.

[0004] In order to solve the above problems, the existing technology adopts the redundant design of current sensors to solve the problem of current sensor failure, but there is a problem of increased cost. Alternatively, the current open-loop vector control method is adopted to realize the motor control after the current sensor fails. This method may generate impact current, which is easy to cause hardware overcurrent and there is a risk of hardware damage. Summary of the invention

[0005] The present invention provides a motor control method, device, equipment, medium and vehicle, which are used to solve the defects of the prior art in solving the problem of motor failure, such as increased cost or hardware damage, and to achieve a low-cost, safe and effective solution to the problem of motor failure.

[0006] The present invention provides a motor control method, comprising:

[0007] When it is determined that the number of current sensors that have not failed successfully matches the preset value, the current speed of the motor, the motor target torque and the bus voltage are obtained;

[0008] When controlling the torque of the motor to change to the motor target torque, a first change rate within a first preset time period is satisfied to be less than a first preset rate, so as to obtain a torque to be used;

[0009] Obtaining a target current value based on the torque to be used, the rotation speed of the motor and the bus voltage;

[0010] The target current value is input into a preset calculation formula to obtain the control voltage of the motor.

[0011] According to a motor control method provided by the present invention, the target current value includes a D-axis current value and a Q-axis current value;

[0012] The preset calculation formula includes: a first calculation formula and a second calculation formula;

[0013] The control voltage includes: a D-axis control voltage and a Q-axis control voltage;

[0014] The step of inputting the target current value into a preset calculation formula to obtain the control voltage of the motor includes:

[0015] Inputting the D-axis current value and the Q-axis current value into a first calculation formula to obtain the D-axis control voltage;

[0016] The D-axis current value and the Q-axis current value are input into a second calculation formula to obtain the Q-axis control voltage.

[0017] According to a motor control method provided by the present invention, before inputting the target current value into a preset calculation formula to obtain the control voltage, the method further includes:

[0018] Determining whether a second change rate of the target current value within a second preset time period is less than a second preset rate;

[0019] When it is determined that the second change rate is less than the second preset rate, taking the current value at the current moment as the target current value;

[0020] When it is determined that the second change rate is greater than or equal to the second preset rate, the current value corresponding to the second preset rate is used as the target current value.

[0021] According to a motor control method provided by the present invention, before obtaining the control voltage of the motor, the method further includes:

[0022] Obtaining the rotation angle of the motor;

[0023] After obtaining the control voltage of the motor, the method further includes:

[0024] Performing Park transformation on the control voltage and the rotation angle of the motor to obtain a conversion voltage;

[0025] The conversion voltage is subjected to space vector pulse width modulation processing so that the processing result controls the motor.

[0026] According to a motor control method provided by the present invention, when it is determined that the number of current sensors that have not failed successfully matches the preset value, before obtaining the motor speed, motor target torque and bus voltage at the current moment, the method further includes:

[0027] Obtaining a voltage value corresponding to each of the current sensors;

[0028] Based on the voltage value, determining whether each of the current sensors fails;

[0029] Based on the determination result, the number of the current sensors that have not failed is determined.

[0030] According to a motor control method provided by the present invention, after determining the number of the current sensors that have not failed based on the judgment result, the method further includes:

[0031] Determine whether the quantity and the preset value can be matched successfully;

[0032] If yes, determine the vehicle required torque required for the operation of the vehicle, use the vehicle required torque as the motor target torque, and execute the step of obtaining the motor speed, motor target torque and bus voltage at the current moment;

[0033] Otherwise, the current value of the motor and the required current value of the motor at the current moment are obtained, and the control voltage of the motor is obtained based on the current value and the required current value.

[0034] The present invention also provides a motor control device, comprising:

[0035] An acquisition module, used for acquiring the current speed of the motor, the motor target torque and the bus voltage when it is determined that the number of current sensors that have not failed successfully matches the preset value;

[0036] A first control module, configured to control the torque of the motor to change to the motor target torque, satisfying that a first change rate within a first preset time period is less than a first preset rate, so as to obtain a torque to be used;

[0037] A calculation module, configured to obtain a target current value based on the torque to be used, the rotation speed of the motor and the bus voltage;

[0038] The second control module is used to input the target current value into a preset calculation formula to obtain the control voltage of the motor.

[0039] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the motor control methods described above is implemented.

[0040] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the motor control method described above is implemented.

[0041] An embodiment of the present invention further provides a vehicle, comprising: a vehicle body and a controller, wherein the controller is used to execute any of the motor control methods described above.

[0042] The motor control method, device, equipment, medium and vehicle provided by the present invention obtain the motor speed, motor target torque and bus voltage at the current moment when it is determined that the number of current sensors that have not failed successfully matches the preset value; based on the motor speed, the motor torque is controlled to change to the motor target torque, and the first change rate within the first preset time period is less than the first preset rate to obtain the torque to be used. It can be seen that the present invention uses the motor speed to limit the change rate of the torque required by the whole vehicle, ensuring that the actual current of the motor does not change suddenly when the control voltage is output, solving the problem that impact current may be generated in the prior art and hardware damage is caused, and improving the service life of the hardware; further, based on the torque to be used, the motor speed and the bus voltage, the target current value is obtained; the target current value is input into the preset calculation formula to obtain the control voltage of the motor, and the present invention does not need to configure redundant current sensors as backup current sensors, which reduces costs, achieves low-cost, safe and effective solutions to motor failure problems, and improves user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is one of the flow charts of the motor control method provided by the present invention;

[0045] Figure 2 This is the second flow chart of the motor control method provided by the present invention;

[0046] Figure 3 This is the third flow chart of the motor control method provided by the present invention;

[0047] Figure 4 This is the fourth flow chart of the motor control method provided by the present invention;

[0048] Figure 5 This is the fifth flow chart of the motor control method provided by the present invention;

[0049] Figure 6 It is a structural schematic diagram of the motor control system architecture provided by the present invention;

[0050] Figure 7 It is a structural schematic diagram of the motor control device provided by the present invention;

[0051] Figure 8It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Combine the following Figures 1 to 5 The motor control method of the present invention is described, and the method is applied in a motor controller.

[0054] The embodiment of the present invention provides a motor control method, such as Figure 1 As shown, the method includes:

[0055] Step 101 : when it is determined that the number of current sensors that have not failed successfully matches the preset value, the current speed of the motor, the motor target torque and the bus voltage are obtained.

[0056] Among them, the motor target torque is the vehicle demand torque required for the operation of the vehicle.

[0057] In a specific embodiment, in order to ensure the safe and normal operation of the entire vehicle, it is necessary to monitor the current sensors in real time and obtain the voltage values ​​corresponding to each current sensor; based on the obtained voltage values, determine whether each current sensor has a fault; based on the judgment results, determine the number of current sensors that have not failed.

[0058] The total number of current sensors is stored in advance, and when it is determined that a current sensor fails, the number of the failed current sensors is counted, and the number of current sensors that are not failed is obtained by subtracting the number of the failed current sensors from the total number.

[0059] Specifically, when the voltage value of the current sensor exceeds a preset threshold value and / or a zero drift phenomenon occurs, it is determined that the current sensor fails.

[0060] The total number of current sensors may be 3 or 2. The following description will be made by taking the total number of 3 as an example. This is only an example and is not used to limit the protection scope.

[0061] In a specific embodiment, after obtaining the number of current sensors that have not failed, it is determined whether the number and the preset value can be successfully matched; if so, the vehicle demand torque required for the operation of the whole vehicle is determined, the vehicle demand torque is used as the motor target torque, and the steps of obtaining the motor speed, motor target torque and bus voltage at the current moment are executed; otherwise, the current value of the motor and the required current value of the motor are obtained at the current moment, and the control voltage of the motor is obtained based on the current value and the required current value.

[0062] The preset values ​​are 0 and 1. As long as the number can successfully match either 1 or 0, the match is determined to be successful.

[0063] Specifically, based on the number of current sensors that have not failed, the corresponding motor control strategy is implemented as follows: Figure 2 As shown:

[0064] Step 201, determining the value of the number of current sensors that are not faulty at the current moment.

[0065] Step 202: When the value of the quantity is 3 or 2, the motor is controlled by current closed-loop vector control.

[0066] Specifically, when the value of the quantity is 3, the specific implementation of the current closed-loop vector control method is as follows:

[0067] The motor outputs three-phase AC power, which is used by I u ,I v ,I w Indicates that I u ,I v ,I w The current is input to the Clarke / Park transformation module, and the D-axis current value (I d-feed ) and the Q-axis current value corresponding to the Q-axis (I q-feed ), and then the requested current value (I d-ref ) and I d-feed Processing is performed and the processing result is input into the PI controller to obtain the output D-axis control voltage (U d ), and the requested current value (I q-ref ) and I q-fee Processing is performed and the processing result is input into another PI controller to obtain the output Q-axis control voltage (U q ), and then, U d and U q Input the I-Park module to get the conversion voltage corresponding to the D axis (U beta ) and the conversion voltage corresponding to the Q axis (U alfa ), and finally, Ualfa and U beta The final current is input to the space vector pulse width modulation (SVPWM) module to be transmitted to the motor to control the motor. In the whole process, the motor's angle (Angle) needs to be transmitted to the Clarke / Park conversion module and the I-Park module. For details, please refer to Figure 3 .

[0068] Specifically, when the number is 2, the specific implementation of the current closed-loop vector control method is as follows:

[0069] The motor outputs three-phase AC power, which is used by I u ,I v , -I u -I v Indicates that I u ,I v , -I u -I v The current is input to the Clarke / Park transformation module, and the D-axis current value (I d-fee ) and the Q-axis current value corresponding to the Q-axis (I q-feed ), and then the requested current value (I d-ref ) and I d-f Processing is performed and the processing result is input into the PI controller to obtain the output D-axis control voltage (U d ), and the requested current value (I q-ref ) and I q-feed Processing is performed and the processing result is input into another PI controller to obtain the output Q-axis control voltage (U q ), and then, U d and U q Input the I-Park module to get the conversion voltage corresponding to the D axis (U beta ) and the conversion voltage corresponding to the Q axis (U alfa ), and finally, U alfa and U beta The final current is input to the space vector pulse width modulation (SVPWM) module to be transmitted to the motor to control the motor. In the whole process, the motor's angle (Angle) needs to be transmitted to the Clarke / Park conversion module and the I-Park module. For details, please refer to Figure 4 .

[0070] Step 203, when the value of the quantity is 1 or 0, the vehicle enters the limp home mode, generates a motor torque limit instruction, a limp home mode flag, a gear limit and a vehicle speed limit, and controls the motor using a current open-loop space vector control method.

[0071] The motor torque limit instruction is used to indicate that the maximum value of the motor torque at the current moment cannot exceed the torque limit value.

[0072] Specifically, after the vehicle enters the limp mode, the motor controller transmits the limp mode mark to the vehicle controller, which sends the limp mode mark to the instrument through the CAN bus, and at the same time, limits the speed, gear position and vehicle torque demand of the vehicle. The speed is limited to 30km / h, the gear position is controlled at the fixed gear 2, and the vehicle torque demand is limited to less than 0.5 times the rated torque.

[0073] Among them, after the whole vehicle enters the limp home mode, the motor is controlled by a current open-loop space vector control method, which is specifically implemented by the technical solution described in steps 101 to 104 of the present invention.

[0074] The present invention utilizes open-loop control to implement motor control, thereby improving system reliability and enhancing vehicle driving experience without increasing costs.

[0075] Step 102 , when controlling the torque of the motor to change to the motor target torque, a first change rate within a first preset time period is satisfied to be less than a first preset rate, so as to obtain a torque to be used.

[0076] The first change rate is obtained by calibrating the open-loop control method to ensure that the actual current of the motor does not change suddenly when the output control voltage is output.

[0077] Specifically, after the vehicle enters the limp home mode, the torque of the motor will change. At this time, it is necessary to ensure that the rate of change of the motor torque is not too large to prevent the actual current of the motor from changing suddenly and damaging the hardware.

[0078] Step 103, obtaining a target current value based on the torque to be used, the rotation speed of the motor and the bus voltage.

[0079] In a specific embodiment, after obtaining the target current value, the target current value is input into a preset calculation formula, and before obtaining the control voltage of the motor, it is determined whether the second change rate of the target current value within a second preset time period is less than the second preset rate; when it is determined that the second change rate is less than the second preset rate, the current value at the current moment is used as the target current value; when it is determined that the second change rate is greater than or equal to the second preset rate, the current value corresponding to the second preset rate is used as the target current value.

[0080] The second change rate is obtained by calibrating the open-loop control mode to ensure that when the output control voltage is output, the actual current of the motor does not change suddenly.

[0081] The target current value that the control voltage of the present invention depends on is a target current value that has been current limited, which ensures that the actual current of the motor does not change suddenly when the control voltage is output, thereby preventing the actual current of the motor from changing suddenly and damaging the hardware.

[0082] When the present invention performs open-loop control, the rate of increase or decrease of the torque and target current value of the motor is limited to match the output control voltage, thereby improving the stability of the system and preventing hardware damage.

[0083] Step 104, input the target current value into a preset calculation formula to obtain the control voltage of the motor.

[0084] In a specific embodiment, the target current value includes a D-axis current value and a Q-axis current value; the preset calculation formula includes: a first calculation formula and a second calculation formula; and the control voltage includes: a D-axis control voltage and a Q-axis control voltage.

[0085] The first calculation formula is derived from the first initial calculation formula, and the first initial calculation formula is shown in formula (1):

[0086]

[0087] Among them, I d represents the current of the D axis, R represents the resistance, and L d Indicates the inductance of the D axis, L q Indicates the inductance of the Q axis, I q represents the current of Q axis, and ω represents the speed of the motor.

[0088] Since the present invention limits the second change rate of the target current value, it can be Approximately take 0, and then get the first calculation formula, see formula (2):

[0089] U d =I d *R-ω*L q *I q (2)

[0090] The second calculation formula is derived from the second initial calculation formula, and the second initial calculation formula is shown in formula (3):

[0091]

[0092] Among them, U q Indicates the Q-axis control voltage, I q Indicates the current of Q axis, L q represents the inductance of the Q axis, ω represents the speed of the motor, L d represents the inductance of the D-axis, Represents the magnetic surface, which is a fixed value.

[0093] Since the present invention limits the second change rate of the target current value, it can be Approximately take 0, and then get the second calculation formula, see formula (4):

[0094]

[0095] The D-axis current value and the Q-axis current value are input into the first calculation formula to obtain the D-axis control voltage; the D-axis current value and the Q-axis current value are input into the second calculation formula to obtain the Q-axis control voltage.

[0096] In the process of calculating the control voltage, parameters such as the inductance and the speed of the motor can be acquired and obtained in real time.

[0097] In a specific embodiment, before obtaining the control voltage of the motor, the rotation angle of the motor is obtained; Park transformation is performed on the control voltage and the rotation angle of the motor to obtain a conversion voltage; and space vector pulse width modulation is performed on the conversion voltage so that the processing result controls the motor.

[0098] Below, the specific implementation of the present invention is described in detail:

[0099] The current speed of the motor output (W r ), get W r and motor target torque (TgtTrq), W r and TgtTrq are input to the torque limit module to obtain the limit torque (TrqLimit) output by the torque limit module; TrqLimit is input to the first slope limit module to obtain the ready-to-use torque output by the first slope limit module; the ready-to-use torque, W r and bus voltage are input to the current lookup module to obtain the target current value (I q and I d ); input the target current value into the second slope limiting module to obtain a new target current value (I q and I d ); W r ,I q and I d Input to the calculation module to obtain the control voltage (U q and U d );The angle of the motor (Angle), U q and U d Input to the I-Park module to obtain the conversion voltage (U alfa and U beta ); change Ualfa and U beta Input to the SVPWM module to obtain the final current, which is transmitted to the motor to achieve motor control. Figure 5 .

[0100] The current table lookup module is consistent with the corresponding module during closed-loop control, and the target current value is obtained by performing table lookup operation.

[0101] Among them, Figure 3 , Figure 4 and Figure 5 The parameters in the description are defined and users can make associations based on actual scenarios.

[0102] Next, the invention is further described through the motor control system architecture:

[0103] like Figure 6 As shown, the motor control system architecture includes: bus 601, motor controller 602, vehicle controller 603, instrument 604, motor 605, gearbox 606 and gearbox controller 607. The bus 601 is connected to the motor controller 602 and the motor 605 respectively, the motor controller 602 is connected to the vehicle controller 603, the vehicle controller 603 is connected to the instrument 604, the vehicle controller 603 is connected to the gearbox controller 607, the gearbox controller 607 is connected to the gearbox 606, and the gearbox 606 is connected to the motor 605.

[0104] The motor control method provided by the present invention obtains the motor speed, motor target torque and bus voltage at the current moment when it is determined that the number of current sensors that have not failed successfully matches the preset value; based on the motor speed, controls the motor torque to change to the motor target torque, and satisfies that a first change rate within a first preset time period is less than a first preset rate to obtain the torque to be used. It can be seen that the present invention uses the motor speed to limit the change rate of the torque required by the whole vehicle, ensuring that the actual current of the motor does not suddenly change when the control voltage is output, solving the problem that impact current may be generated in the prior art and hardware damage is caused, and improving the service life of the hardware; further, based on the torque to be used, the motor speed and the bus voltage, the target current value is obtained; the target current value is input into a preset calculation formula to obtain the control voltage of the motor, and the present invention does not need to configure extra current sensors as backup current sensors, which reduces costs, achieves low-cost, safe and effective solutions to motor failure problems, and improves user experience.

[0105] The motor control device provided by the present invention is described below. The motor control device described below and the motor control method described above can be referred to each other, and the repeated parts will not be repeated. Figure 7 As shown, the device comprises:

[0106] The acquisition module 701 is used to acquire the current speed of the motor, the motor target torque and the bus voltage when it is determined that the number of the current sensors that have not failed successfully matches the preset value;

[0107] A first control module 702 is used to control the torque of the motor to change to the motor target torque, so that a first change rate within a first preset time period is less than a first preset rate to obtain a torque to be used;

[0108] A calculation module 703 is used to obtain a target current value based on the torque to be used, the speed of the motor and the bus voltage;

[0109] The second control module 704 is used to input the target current value into a preset calculation formula to obtain the control voltage of the motor.

[0110] In a specific embodiment, the target current value includes a D-axis current value and a Q-axis current value; the preset calculation formula includes: a first calculation formula and a second calculation formula; the control voltage includes: a D-axis control voltage and a Q-axis control voltage; the second control module 704 is specifically used to input the D-axis current value and the Q-axis current value into the first calculation formula to obtain the D-axis control voltage; and input the D-axis current value and the Q-axis current value into the second calculation formula to obtain the Q-axis control voltage.

[0111] In a specific embodiment, the second control module 704 is also used to determine whether the second change rate of the target current value within the second preset time period is less than the second preset rate; when it is determined that the second change rate is less than the second preset rate, the current value at the current moment is used as the target current value; when it is determined that the second change rate is greater than or equal to the second preset rate, the current value corresponding to the second preset rate is used as the target current value.

[0112] In a specific embodiment, the second control module 704 is also used to obtain the rotation angle of the motor; the second control module is also used to perform Park transformation on the control voltage and the rotation angle of the motor to obtain a conversion voltage; and perform space vector pulse width modulation processing on the conversion voltage so that the processing result controls the motor.

[0113] In a specific embodiment, the acquisition module 701 is further used to acquire the voltage value corresponding to each current sensor; based on the voltage value, determine whether each current sensor has a fault; based on the judgment result, determine the number of current sensors that have not failed.

[0114] In a specific embodiment, the acquisition module 701 is also used to determine whether the quantity and the preset value can be matched successfully; if so, determine the vehicle demand torque required for the operation of the whole vehicle, use the vehicle demand torque as the motor target torque, and execute the steps of obtaining the motor speed, motor target torque and bus voltage at the current moment; otherwise, obtain the current value of the motor and the required current value of the motor at the current moment, and obtain the control voltage of the motor based on the current value and the required current value.

[0115] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8 As shown, the electronic device may include: a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802 and the memory 803 complete mutual communication through the communication bus 804. The processor 801 may call the logic instructions in the memory 803 to execute the motor control method, which includes: when it is determined that the number of current sensors that have not failed successfully matches the preset value, the motor speed, the motor target torque and the bus voltage at the current moment are obtained; based on the motor speed, when the motor torque is controlled to change to the motor target torque, the first change rate within the first preset time period is less than the first preset rate to obtain the torque to be used; based on the torque to be used, the motor speed and the bus voltage, the target current value is obtained; the target current value is input into the preset calculation formula to obtain the control voltage of the motor.

[0116] In addition, the logic instructions in the above-mentioned memory 803 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0117] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the motor control method provided by the above-mentioned methods, and the method includes: when it is determined that the number of current sensors that have not failed successfully matches the preset value, the motor speed, the motor target torque and the bus voltage at the current moment are obtained; based on the motor speed, when controlling the motor torque to change to the motor target torque, the first change rate within a first preset time period is less than the first preset rate to obtain the torque to be used; based on the torque to be used, the motor speed and the bus voltage, the target current value is obtained; the target current value is input into a preset calculation formula to obtain the control voltage of the motor.

[0118] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the above-mentioned motor control methods, the methods comprising: when it is determined that the number of current sensors that have not failed successfully matches the preset value, obtaining the motor speed, motor target torque and bus voltage at the current moment; based on the motor speed, controlling the motor torque to change to the motor target torque, satisfying that a first change rate within a first preset time period is less than a first preset rate to obtain the torque to be used; based on the torque to be used, the motor speed and the bus voltage, obtaining the target current value; inputting the target current value into a preset calculation formula to obtain the control voltage of the motor.

[0119] An embodiment of the present invention further provides a vehicle, comprising: a vehicle body and a controller, wherein the controller is used to implement the implementation method described in any embodiment of the above motor control method.

[0120] Among them, the vehicle includes new energy vehicles.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motor control method, characterized in that: include: When it is determined that the number of current sensors that have not failed successfully matches the preset value, the current speed of the motor, the motor target torque and the bus voltage are obtained; When controlling the torque of the motor to change to the motor target torque, a first change rate within a first preset time period is satisfied to be less than a first preset rate, so as to obtain a torque to be used; Obtaining a target current value based on the torque to be used, the rotation speed of the motor and the bus voltage; Inputting the target current value into a preset calculation formula to obtain the control voltage of the motor; Before inputting the target current value into a preset calculation formula to obtain the control voltage, the method further includes: Determining whether a second change rate of the target current value within a second preset time period is less than a second preset rate; When it is determined that the second change rate is less than the second preset rate, taking the current value at the current moment as the target current value; When it is determined that the second change rate is greater than or equal to the second preset rate, the current value corresponding to the second preset rate is used as the target current value.

2. The motor control method according to claim 1, characterized in that: The target current value includes a D-axis current value and a Q-axis current value; The preset calculation formula includes: a first calculation formula and a second calculation formula; The control voltage includes: a D-axis control voltage and a Q-axis control voltage; The step of inputting the target current value into a preset calculation formula to obtain the control voltage of the motor includes: Inputting the D-axis current value and the Q-axis current value into a first calculation formula to obtain the D-axis control voltage; The D-axis current value and the Q-axis current value are input into a second calculation formula to obtain the Q-axis control voltage.

3. The motor control method according to any one of claims 1 to 2, characterized in that: Before obtaining the control voltage of the motor, the method further includes: Obtaining the rotation angle of the motor; After obtaining the control voltage of the motor, the method further includes: Performing Park transformation on the control voltage and the rotation angle of the motor to obtain a conversion voltage; The conversion voltage is subjected to space vector pulse width modulation processing so that the processing result controls the motor.

4. The motor control method according to any one of claims 1 to 2, characterized in that: When it is determined that the number of current sensors that have not failed successfully matches the preset value, before obtaining the current speed of the motor, the motor target torque and the bus voltage, the method further includes: Obtaining a voltage value corresponding to each of the current sensors; Based on the voltage value, determining whether each of the current sensors fails; Based on the determination result, the number of the current sensors that have not failed is determined.

5. The motor control method according to claim 4, characterized in that: After determining the number of the current sensors that have not failed based on the judgment result, the method further includes: Determine whether the quantity and the preset value can be matched successfully; If yes, determine the vehicle required torque required for the operation of the vehicle, use the vehicle required torque as the motor target torque, and execute the step of obtaining the motor speed, motor target torque and bus voltage at the current moment; Otherwise, the current value of the motor and the required current value of the motor at the current moment are obtained, and the control voltage of the motor is obtained based on the current value and the required current value.

6. A motor control device, characterized in that: include: An acquisition module, used for acquiring the current speed of the motor, the motor target torque and the bus voltage when it is determined that the number of current sensors that have not failed successfully matches the preset value; A first control module, configured to control the torque of the motor to change to the motor target torque, satisfying that a first change rate within a first preset time period is less than a first preset rate, so as to obtain a torque to be used; A calculation module, configured to obtain a target current value based on the torque to be used, the rotation speed of the motor and the bus voltage; A second control module, used for inputting the target current value into a preset calculation formula to obtain a control voltage of the motor; The second control module is further used to determine whether a second change rate of the target current value within a second preset time period is less than a second preset rate; When it is determined that the second change rate is less than the second preset rate, taking the current value at the current moment as the target current value; When it is determined that the second change rate is greater than or equal to the second preset rate, the current value corresponding to the second preset rate is used as the target current value.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the motor control method according to any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method according to any one of claims 1 to 5 is implemented.

9. A vehicle, characterized in that: include: A vehicle body and a controller, wherein the controller is used to execute the motor control method according to any one of claims 1 to 5.

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