Motor control method, motor controller, system and vehicle

Abstract

The present application provides a motor control method, a motor controller, a system and a vehicle, wherein the motor control method includes: when detecting that the motor controller switches to the power-on state, obtaining the first reference information of the current power-on moment and the second reference information of the most recent power-off moment; obtaining the initial integral value of the current power-on moment according to the first reference information and the second reference information; calculating the target integral value of the motor in this power-on state according to the initial integral value; and controlling the output torque of the motor according to the target integral value. The embodiment of the present application fully considers the motor operation state at the last power-off moment, so that the initial integral value of the current square to the time has a high accuracy, and then when the motor is controlled according to the initial integral value, it is conducive to ensuring the accurate control of the motor, thereby avoiding the situation that the actual situation is inconsistent with the calculated situation, resulting in the motor not being able to derate in time, and ensuring the normal operation of the motor and the vehicle.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor control method, a motor controller, a system and a vehicle. Background Art

[0002] Pure electric vehicles usually refer to vehicles that use on-board power batteries as their power source and use motors to drive the wheels. The motor controller (MCU) converts the battery's high-voltage direct current into three-phase alternating current to drive the motor to output torque.

[0003] When the ambient temperature is high and the vehicle runs under heavy load for a long time, the motor current is large, which will cause the motor stator temperature to rise. If it is not limited, an overtemperature fault will be triggered. Currently, there is a solution that integrates the square of the phase current over time. When the integral value reaches a certain threshold, the motor is derated (output torque is limited).

[0004] However, the above solution has its shortcomings. When the vehicle is temporarily powered off and powered on again after a short interval, the MCU will recalculate the integral value of the square of the current over time. As a result, if the load is still heavy (such as climbing a slope), the integral value after re-integration will be relatively small, causing the motor temperature limit to fail, the motor to overheat, and the vehicle to lose power. Summary of the invention

[0005] The technical purpose to be achieved by the embodiments of the present application is to provide a motor control method, a motor controller, a system and a vehicle, so as to solve the problem that when the current vehicle is powered on again after a short interval, the integral value of the square of the current over the time returns to zero, causing the motor temperature limit to fail.

[0006] In order to solve the above technical problems, the present application provides a motor control method, including:

[0007] When it is detected that the motor controller is switched to the power-on state, first reference information of the current power-on time and second reference information of the most recent power-off time are obtained;

[0008] Obtaining an initial integral value at the current power-on moment according to the first reference information and the second reference information;

[0009] According to the initial integral value, the target integral value of the motor in this power-on state is calculated;

[0010] According to the target integral value, the output torque of the motor is controlled.

[0011] Specifically, in the motor control method as described above, the first reference information includes: a first time point and a first motor temperature;

[0012] The second reference information includes: a second time point, a second motor temperature, and a reference integral value.

[0013] Preferably, in the motor control method as described above, the step of obtaining the initial integral value at the current power-on moment according to the first reference information and the second reference information comprises:

[0014] According to the first time point and the second time point, a time difference is obtained;

[0015] When the time difference is greater than or equal to a preset time threshold, determining the initial integral value to be zero;

[0016] When the time difference is less than the preset time threshold, an initial integral value is obtained according to the first motor temperature, the second motor temperature and a reference integral value.

[0017] Specifically, in the motor control method as described above, the step of obtaining the initial integral value according to the first motor temperature, the second motor temperature and the reference integral value comprises:

[0018] Obtain a target temperature difference value of the first motor temperature minus the second motor temperature;

[0019] When the target temperature difference is greater than or equal to zero, determining that the initial integral value is equal to the reference integral value;

[0020] When the target temperature difference is less than zero, an initial integral value is obtained according to the target temperature difference and the reference integral value.

[0021] Furthermore, in the motor control method as described above, the step of obtaining the initial integral value according to the target temperature difference and the reference integral value includes:

[0022] According to the target temperature difference, a target correction coefficient corresponding to the target temperature difference is obtained from a preset temperature difference and correction coefficient correspondence table;

[0023] According to the reference integral value and the target correction coefficient, an initial integral value is obtained.

[0024] Preferably, the motor control method as described above further includes:

[0025] When it is detected that the motor controller is switched to the power-off state, second reference information of the current power-off moment is obtained and stored.

[0026] Another preferred embodiment of the present application further provides a motor controller, comprising:

[0027] A first acquisition module is used to acquire first reference information of the current power-on time and second reference information of the most recent power-off time when detecting that the motor controller is switched to the power-on state;

[0028] A first processing module, used for obtaining an initial integral value at a current power-on moment according to the first reference information and the second reference information;

[0029] A second processing module, used for calculating a target integral value of the motor in this power-on state according to the initial integral value;

[0030] The third processing module is used to control the output torque of the motor according to the target integral value.

[0031] Specifically, in the motor controller as described above, the first reference information includes: a first time point and a first motor temperature;

[0032] The second reference information includes: a second time point, a second motor temperature, and a reference integral value.

[0033] Preferably, in the motor controller as described above, the first processing module comprises:

[0034] A first processing submodule, used for obtaining a time difference value according to a first time point and a second time point;

[0035] A second processing submodule, configured to determine that the initial integral value is zero when the time difference is greater than or equal to a preset time threshold;

[0036] The third processing submodule is used to obtain an initial integral value according to the first motor temperature, the second motor temperature and a reference integral value when the time difference is less than a preset time threshold.

[0037] Specifically, the motor controller as described above, the third processing submodule includes:

[0038] An acquisition unit, used for acquiring a target temperature difference value of the first motor temperature minus the second motor temperature;

[0039] A first processing unit, configured to determine that the initial integral value is equal to the reference integral value when the target temperature difference is greater than or equal to zero;

[0040] The second processing unit is used to obtain an initial integral value according to the target temperature difference and a reference integral value when the target temperature difference is less than zero.

[0041] Further, in the motor controller as described above, the second processing unit includes:

[0042] The first processing subunit is used to obtain a target correction coefficient corresponding to the target temperature difference from a preset temperature difference and correction coefficient correspondence table according to the target temperature difference;

[0043] The second processing subunit is used to obtain an initial integral value according to the reference integral value and the target correction coefficient.

[0044] Preferably, the motor controller as described above further comprises:

[0045] The second acquisition module is used to acquire and store second reference information at the current power-off moment when it is detected that the motor controller is switched to the power-off state.

[0046] In another preferred embodiment of the present application, a motor control system is provided, comprising: an information collection device, a motor and the motor controller as above;

[0047] The information collection device is connected to the motor and the motor controller respectively, and the motor controller is also connected to the motor.

[0048] In another preferred embodiment of the present application, a vehicle is provided, comprising: the motor control system as above.

[0049] In another preferred embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above motor control method are implemented.

[0050] Compared with the prior art, the motor control method, motor controller, system and vehicle provided in the embodiments of the present application have at least the following beneficial effects:

[0051] The embodiments of the present application fully consider the motor operating state at the last power-off moment, so that the initial integral value has a high accuracy, and then calculates the target integral value in the current power-on state based on the initial integral value, and controls the output torque of the motor based on the target integral value, which is beneficial to improve the accuracy of the obtained target integral value, and thus ensures accurate control of the motor, thereby avoiding the situation where the actual situation is inconsistent with the calculated situation, resulting in the motor being unable to operate at a reduced rating in time, causing the motor to have an over-temperature failure, and ensuring the normal operation of the motor and the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 One of the flowcharts of the motor control method of the present application;

[0053] Figure 2 This is the second flow chart of the motor control method of the present application;

[0054] Figure 3 The third flowchart of the motor control method of the present application;

[0055] Figure 4 This is a fourth flow chart of the motor control method of the present application;

[0056] Figure 5 This is a schematic diagram of the structure of the motor controller of this application. DETAILED DESCRIPTION

[0057] In order to make the technical problems, technical solutions and advantages to be solved by the application clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0058] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0059] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0060] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0061] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0062] See also Figure 1 A preferred embodiment of the present application provides a motor control method, comprising:

[0063] Step S101, when it is detected that the motor controller is switched to the power-on state, first reference information of the current power-on time and second reference information of the most recent power-off time are obtained;

[0064] Step S102, obtaining an initial integral value at the current power-on moment according to the first reference information and the second reference information;

[0065] Step S103, calculating the target integral value of the motor in the current power-on state according to the initial integral value;

[0066] Step S104: controlling the output torque of the motor according to the target integral value.

[0067] In a preferred embodiment of the present application, during the process of controlling the motor, if it is detected that the motor controller switches from a power-off state to a power-on state, it is determined that the motor needs to be controlled according to demand at this time. In this embodiment, the integral value of the time integral is controlled according to the square of the current, so it is necessary to obtain the first reference information of the current power-on time to calculate the integral value. At the same time, since there is a situation where the power is turned on again after a short interval after power-off, in this case the temperature of the motor will be higher than the normal temperature. If the initial integral value is zero for calculation, there will be a large error. In order to reduce or even avoid this error, the present application will also obtain the second reference information of the power-off time with the shortest time interval with the current power-on time, that is, the most recent power-off time, and then obtain the initial integral value of the current power-on time according to the first reference information and the second reference information. The initial integral value at this time fully considers the motor operation state when the last power-on state is switched to the power-off state, so that the initial integral value has a high accuracy, and then calculates the target integral value in the current power-on state according to the initial integral value, and controls the output torque of the motor according to the target integral value, which is conducive to improving the accuracy of the obtained target integral value, and then ensuring the accurate control of the motor, thereby avoiding the situation where the actual situation is inconsistent with the calculated situation, resulting in the motor being unable to operate at a reduced rating in time, causing the motor to have an overtemperature fault, and ensuring the normal operation of the motor and the vehicle.

[0068] Specifically, in the motor control method as described above, the first reference information includes: a first time point and a first motor temperature;

[0069] The second reference information includes: a second time point, a second motor temperature, and a reference integral value.

[0070] In a specific embodiment of the present application, the first reference information preferably includes: the first time point at the current moment and the first motor temperature of the motor at this moment, and the second reference information preferably includes: the second time point at the most recent power-off moment and the second motor temperature of the motor at the time of power-off and the reference integral value. Among them, the first time point and the second time point correspond to each other, and the power-off duration can be known through the two time points, which is convenient for judging whether the power is turned on again in a short time; the first motor temperature and the second motor temperature are convenient for judging whether the preset integral value corresponds to the current motor status; the reference integral value can make the final initial integral value obtained according to the reference integral value, thereby avoiding the situation that the integral value is reset to zero when the power is turned on again, resulting in a decrease in the accuracy of the final target integral value, and then the motor cannot be accurately controlled.

[0071] It should be noted that the first reference information and the second reference information disclosed above are only the preferred parameters in this embodiment. Technical personnel in this field use other parameters as the first reference information and the second reference information based on the concept of this application to determine the initial integral value, which all fall within the scope of protection of this application.

[0072] See also Figure 2 Preferably, the motor control method as described above, according to the first reference information and the second reference information, step S102 of obtaining the initial integral value at the current power-on moment includes:

[0073] Step S201, obtaining a time difference according to a first time point and a second time point;

[0074] Step S202, when the time difference is greater than or equal to a preset time threshold, determining that the initial integral value is zero;

[0075] Step S203: when the time difference is less than a preset time threshold, an initial integral value is obtained according to the first motor temperature, the second motor temperature and a reference integral value.

[0076] In a preferred embodiment of the present application, based on the known first reference information and second reference information, first, according to the first time point and the second time point, a time difference is obtained, that is, the time interval between the current moment and the previous power-off moment; and then the time difference is compared with a preset time threshold. The minimum value of the preset time threshold is the cooling time required for the motor to decrease from the maximum allowable temperature to normal temperature without auxiliary cooling. Since the cooling time may fluctuate according to season, weather and other conditions, the preset time threshold is preferably a larger fixed value.

[0077] When the time difference is greater than the preset time threshold, it indicates that the motor is at normal temperature at this time. Therefore, the reference integral value at the last power-on and power-off moment has no effect on the initial integral value at this power-on moment. Therefore, determining the initial integral value to be zero is beneficial to reducing the amount of calculation.

[0078] When the time difference is less than the preset time threshold, it indicates that the battery is not necessarily at normal temperature at this time. Therefore, further processing is required based on the first motor temperature, the second motor temperature and the reference integral value to obtain the initial integral value, which is beneficial to ensure the accuracy of the obtained initial integral value.

[0079] See also Figure 3 Specifically, the motor control method as described above, step S203 of obtaining an initial integral value according to the first motor temperature, the second motor temperature and the reference integral value, comprises:

[0080] Step S301, obtaining a target temperature difference value of the first motor temperature minus the second motor temperature;

[0081] Step S302, when the target temperature difference is greater than or equal to zero, determining that the initial integral value is equal to the reference integral value;

[0082] Step S303: when the target temperature difference is less than zero, an initial integral value is obtained according to the target temperature difference and a reference integral value.

[0083] In a specific embodiment of the present application, the above-mentioned step of obtaining the initial integral value according to the first motor temperature, the second motor temperature and the reference integral value is specifically described, wherein, during the processing, the target temperature difference between the first motor temperature and the second motor temperature is first obtained, and the target temperature difference can be obtained by subtracting the second motor temperature from the first motor temperature, or by subtracting the first motor temperature from the second motor temperature. In this embodiment, the target temperature difference obtained by subtracting the second motor temperature from the first motor temperature is used for explanation. When the target temperature difference is greater than or equal to zero, it indicates that the motor temperature has not decreased during the power-off time period, and the motor is not powered on during this process, so the integral value will not increase, so it is determined that the initial integral value is equal to the reference integral value. When the target temperature difference is less than zero, it indicates that the motor temperature has decreased during the power-off time period. At this time, the initial integral value is not equal to the reference integral value, but is related to the reference integral value. Therefore, the initial integral value can be obtained according to the target temperature difference and the reference integral value, which is conducive to ensuring the accuracy of the initial integral value.

[0084] See also Figure 4 Further, the motor control method as described above, step S303 of obtaining an initial integral value according to the target temperature difference and the reference integral value, includes:

[0085] Step S401, according to the target temperature difference, obtaining a target correction coefficient corresponding to the target temperature difference from a preset correspondence table of temperature difference and correction coefficient;

[0086] Step S402, obtaining an initial integral value according to a reference integral value and a target correction coefficient.

[0087] In another specific embodiment of the present application, the steps of obtaining the initial integral value according to the target temperature difference and the reference integral value are specifically described, wherein during processing, a correspondence table of preset temperature difference and correction coefficient is obtained, and the correspondence table can be calibrated and determined according to experimental data, and different vehicle models and motor models can correspond to different correspondence tables. According to the target temperature difference obtained above, the corresponding target correction coefficient can be determined from the correspondence table, and then the initial integral value can be obtained by correcting the reference integral value according to the target correction coefficient, wherein the correction method includes but is not limited to correction through multiplication, division, addition, subtraction and other operation relationships. Preferably, in a preferred embodiment of the present application, a multiplication operation relationship is used as the correction method, and at this time, the correction coefficient is a value between zero and 1.

[0088] Preferably, the motor control method as described above further includes:

[0089] When it is detected that the motor controller is switched to the power-off state, second reference information of the current power-off moment is obtained and stored.

[0090] In another preferred embodiment of the present application, when it is detected that the motor controller switches from the power-on state to the power-off state, the second reference information at the current power-off moment is obtained and stored in a storage device, preferably, the storage device is an electrically erasable programmable read only memory (EEPROM) in the motor controller. At the same time, in order to reduce the storage space occupied and reduce the requirements for the EEPROM, the second reference information at the current power-off moment can be updated with the second reference information stored at the last power-off moment.

[0091] See also Figure 5 Another preferred embodiment of the present application further provides a motor controller, comprising:

[0092] The first acquisition module 501 is used to acquire the first reference information of the current power-on time and the second reference information of the most recent power-off time when detecting that the motor controller is switched to the power-on state;

[0093] A first processing module 502, configured to obtain an initial integral value at a current power-on time according to the first reference information and the second reference information;

[0094] The second processing module 503 is used to calculate the target integral value of the motor in the current power-on state according to the initial integral value;

[0095] The third processing module 504 is used to control the output torque of the motor according to the target integral value.

[0096] Specifically, in the motor controller as described above, the first reference information includes: a first time point and a first motor temperature;

[0097] The second reference information includes: a second time point, a second motor temperature, and a reference integral value.

[0098] Preferably, in the motor controller as described above, the first processing module comprises:

[0099] A first processing submodule, used for obtaining a time difference value according to a first time point and a second time point;

[0100] A second processing submodule, configured to determine that the initial integral value is zero when the time difference is greater than or equal to a preset time threshold;

[0101] The third processing submodule is used to obtain an initial integral value according to the first motor temperature, the second motor temperature and a reference integral value when the time difference is less than a preset time threshold.

[0102] Specifically, the motor controller as described above, the third processing submodule includes:

[0103] An acquisition unit, used for acquiring a target temperature difference value of the first motor temperature minus the second motor temperature;

[0104] A first processing unit, configured to determine that the initial integral value is equal to the reference integral value when the target temperature difference is greater than or equal to zero;

[0105] The second processing unit is used to obtain an initial integral value according to the target temperature difference and a reference integral value when the target temperature difference is less than zero.

[0106] Further, in the motor controller as described above, the second processing unit includes:

[0107] The first processing subunit is used to obtain a target correction coefficient corresponding to the target temperature difference from a preset temperature difference and correction coefficient correspondence table according to the target temperature difference;

[0108] The second processing subunit is used to obtain an initial integral value according to the reference integral value and the target correction coefficient.

[0109] Preferably, the motor controller as described above further comprises:

[0110] The second acquisition module is used to acquire and store second reference information at the current power-off moment when it is detected that the motor controller is switched to the power-off state.

[0111] The embodiment of the motor controller of the present application is a device corresponding to the embodiment of the above-mentioned motor control method. All implementation means in the embodiment of the above-mentioned motor control method are applicable to the embodiment of the motor controller and can achieve the same technical effect.

[0112] In another preferred embodiment of the present application, a motor control system is provided, comprising: an information collection device, a motor and the motor controller as above;

[0113] The information collection device is connected to the motor and the motor controller respectively, and the motor controller is also connected to the motor.

[0114] In another preferred embodiment of the present application, a motor control system is provided, wherein the information collection device is used to collect the motor temperature, the current value passing through the motor, the time point, and the storage information in the storage device, etc. Specifically, the information collection device includes: a temperature sensor for collecting the motor temperature, a current detector for detecting the current value, a timer for timing, etc., wherein the timer can be a local clock or a world clock, etc. The motor controller obtains the above information collected by the information collection device, and controls the motor by executing the steps in the aforementioned motor control method to ensure that the motor is timely and effectively derated to avoid problems such as over-temperature failure.

[0115] In another preferred embodiment of the present application, a vehicle is provided, comprising: the motor control system as above.

[0116] In another preferred embodiment of the present application, a vehicle including the above-mentioned motor control system is also provided. The vehicle adjusts the initial integral value of the square of the current over time by combining the information of the most recent power-off time and the information of the current power-on time when powered on. This helps to avoid restarting the integration when the power is turned on again in a short period of time, resulting in failure to effectively reduce the rating in a timely manner, which helps to ensure the safety of users' use of the vehicle and further helps to improve the market competitiveness of the vehicle.

[0117] In another preferred embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above motor control method are implemented.

[0118] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0119] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0120] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A motor control method, characterized in that: include: When it is detected that the motor controller is switched to the power-on state, first reference information of the current power-on time and second reference information of the most recent power-off time are obtained; Obtaining an initial integral value at the current power-on moment according to the first reference information and the second reference information; Calculating a target integral value of the motor in this power-on state according to the initial integral value; Controlling the output torque of the motor according to the target integral value; The first reference information includes: a first time point and a first motor temperature; The second reference information includes: a second time point, a second motor temperature, and a reference integral value; The step of obtaining the initial integral value at the current power-on time according to the first reference information and the second reference information comprises: Obtaining a time difference according to the first time point and the second time point; When the time difference is greater than or equal to a preset time threshold, determining that the initial integral value is zero; When the time difference is less than the preset time threshold, obtaining the initial integral value according to the first motor temperature, the second motor temperature and the reference integral value; The step of obtaining the initial integral value according to the first motor temperature, the second motor temperature and the reference integral value comprises: Obtaining a target temperature difference value of the first motor temperature minus the second motor temperature; When the target temperature difference is greater than or equal to zero, determining that the initial integral value is equal to the reference integral value; When the target temperature difference is less than zero, the initial integral value is obtained according to the target temperature difference and the reference integral value.

2. The motor control method according to claim 1, characterized in that: The step of obtaining the initial integral value according to the target temperature difference and the reference integral value comprises: According to the target temperature difference, a target correction coefficient corresponding to the target temperature difference is obtained from a preset correspondence table of temperature difference and correction coefficient; The initial integral value is obtained according to the reference integral value and the target correction coefficient.

3. The motor control method according to claim 1, characterized in that: Also includes: When it is detected that the motor controller is switched to the power-off state, the second reference information at the current power-off moment is obtained and stored.

4. A motor controller, characterized in that: include: A first acquisition module is used to acquire first reference information of the current power-on time and second reference information of the most recent power-off time when detecting that the motor controller is switched to the power-on state; A first processing module, configured to obtain an initial integral value at a current power-on moment according to the first reference information and the second reference information; A second processing module, used for calculating a target integral value of the motor in the current power-on state according to the initial integral value; A third processing module, used for controlling the output torque of the motor according to the target integral value; The first reference information includes: a first time point and a first motor temperature; The second reference information includes: a second time point, a second motor temperature, and a reference integral value; The first processing module comprises: A first processing submodule, configured to obtain a time difference according to the first time point and the second time point; A second processing submodule, configured to determine that the initial integral value is zero when the time difference is greater than or equal to a preset time threshold; a third processing submodule, configured to obtain the initial integral value according to the first motor temperature, the second motor temperature and the reference integral value when the time difference is less than the preset time threshold; The third processing submodule comprises: An acquisition unit, configured to acquire a target temperature difference value of the first motor temperature minus the second motor temperature; A first processing unit, configured to determine that the initial integral value is equal to the reference integral value when the target temperature difference is greater than or equal to zero; The second processing unit is configured to obtain the initial integral value according to the target temperature difference and the reference integral value when the target temperature difference is less than zero.

5. A motor control system, characterized in that: include: An information collection device, a motor, and a motor controller as claimed in claim 4; Wherein, the information acquisition device is connected to the motor and the motor controller respectively, and the motor controller is also connected to the motor.

6. A vehicle, characterized in that: include: The motor control system as claimed in claim 5.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor control method according to any one of claims 1 to 3 are implemented.

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