Rotational speed control method, system, device and storage medium based on rotational speed prediction

Abstract

The application provides a rotating speed control method, system, device and computer medium based on rotating speed prediction, detects the rotating speed of a current engine; when the rotating speed is less than a first rotating speed threshold and continuously decreases, a first torque value at a current time is obtained through a first PI parameter; when the rotating speed is less than the first rotating speed threshold and continuously increases, a second torque value at the current time is obtained by making the torque uniformly increase / decrease to a calibrated torque value; when the rotating speed is greater than a second rotating speed threshold and continuously increases, a third torque value at the current time is obtained through a second PI parameter; when the rotating speed is greater than the second rotating speed threshold and continuously decreases, a fourth torque value at the current time is obtained by making the torque uniformly increase / decrease to the calibrated torque value; and the motor rotating speed control is performed according to the first torque value, the second torque value, the third torque value and the fourth torque value; the application considers the speed drop and overshoot phenomenon, and considers the oscillation phenomenon in the control recovery process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor control, and particularly relates to a rotational speed control method and system based on rotational speed prediction, a device and a storage medium. BACKGROUND

[0002] Traditional external rotational speed control of an engine usually adopts a PI (Proportional Integral Controller) control algorithm to control the rotational speed through PI adjustment parameters K p , K i . When a sudden load occurs at a stable rotational speed, the rotational speed of the engine will drop, that is, the actual rotational speed is lower than the set rotational speed, and the drop is affected by the calibration of the PI parameters. The greater the calibration, the smaller the drop. However, a large shock phenomenon will occur in the recovery process of the rotational speed. Similarly, when a sudden unloading occurs at a stable rotational speed, the rotational speed will surge, that is, the actual rotational speed is higher than the set rotational speed, also known as overshoot, and the overshoot is affected by the calibration of the PI parameters. The greater the calibration, the smaller the overshoot. However, a shock phenomenon will also occur in the recovery process of the rotational speed. Therefore, the traditional PI algorithm is difficult to consider the drop, overshoot and shock phenomenon in the recovery process of the control at the same time when controlling the rotational speed.

[0003] Therefore, a new rotational speed control is needed to maintain smoothness when a sudden load or overshoot occurs, and to solve the large shock in the recovery process. SUMMARY

[0004] The application provides a rotational speed control method and system based on rotational speed prediction, a device and a storage medium, and aims to solve the problem that the existing technology is difficult to consider the drop, overshoot and shock phenomenon in the recovery process of the control at the same time when controlling the rotational speed.

[0005] According to a first aspect of the application, a rotational speed control method based on rotational speed prediction is provided, including the following steps:

[0006] detecting the rotational speed of the current engine;

[0007] when the rotational speed is less than a first rotational speed threshold and is in a continuous drop, obtaining a first torque value at the current time through a first PI parameter;

[0008] when the rotational speed is less than the first rotational speed threshold and is in a continuous rise, obtaining a second torque value at the current time by making the torque uniformly rise / fall to a calibrated torque value;

[0009] when the rotational speed is greater than a second rotational speed threshold and is in a continuous rise, obtaining a third torque value at the current time through a second PI parameter;

[0010] When the rotation speed is greater than the second rotation speed threshold and is in a continuous decrease, a fourth torque value at the current time is obtained by uniformly increasing / decreasing the torque to a calibration torque value;

[0011] The motor rotation speed control is performed according to the first torque value, the second torque value, the third torque value and the fourth torque value.

[0012] In some embodiments of the present application, further comprising:

[0013] When the rotation speed is less than the first rotation speed threshold and is in a continuous decrease, and the rotation speed change rate is greater than a first calibration value, a first torque value at the current time is obtained by the first PI parameter;

[0014] When the rotation speed is less than the first rotation speed threshold and is in a continuous increase, and the rotation speed change rate is greater than a second calibration value, a second torque value at the current time is obtained by uniformly increasing / decreasing the torque to a calibration torque value;

[0015] When the rotation speed is greater than the second rotation speed threshold and is in a continuous increase, and the rotation speed change rate is greater than a third calibration value, a third torque value at the current time is obtained by the second PI parameter;

[0016] When the rotation speed is greater than the second rotation speed threshold and is in a continuous decrease, and the rotation speed change rate is greater than a fourth calibration value, a fourth torque value at the current time is obtained by uniformly increasing / decreasing the torque to a calibration torque value;

[0017] The first calibration value and the fourth calibration value are negative numbers, and the second calibration value and the third calibration value are positive numbers; the first calibration value, the second calibration value, the third calibration value and the fourth calibration value are obtained by vehicle test.

[0018] In some embodiments of the present application, when the second torque value or the fourth torque value at the current time is obtained by uniformly increasing / decreasing the torque to a calibration torque value, specifically comprising:

[0019] The torque is uniformly increased / decreased to the calibration torque value by a torque linear control formula; the torque n linear control formula is specifically:

[0020] n = n0 ± k * t x ;

[0021] Wherein, n0 is the torque value at the previous time, k is the slope of the straight line, t x is the current time; the slope of the straight line is determined by vehicle test.

[0022] In some embodiments of the present application, the first torque value at the current time is obtained by the first PI parameter, specifically comprising:

[0023] The first PI parameter is substituted into the PI algorithm formula to obtain the first torque value;

[0024] The formula for obtaining the torque n by the PI algorithm is:

[0025]

[0026] P and I are the first PI parameters; the first PI parameters are obtained through a bench test.

[0027] In some embodiments of the present application, the third torque value at the current moment is obtained through the second PI parameters, specifically including:

[0028] The second PI parameter is substituted into the PI algorithm formula to obtain the third torque value;

[0029] The formula for obtaining the torque n by the PI algorithm is:

[0030]

[0031] P and I are the second PI parameters, and Δn is the speed deviation; the second PI parameters are obtained through a bench test.

[0032] In some embodiments of the present application, the first speed threshold and the second speed threshold are obtained and calibrated through a whole vehicle test.

[0033] According to a second aspect of the embodiments of the present application, a speed control system based on speed prediction is provided, specifically including:

[0034] The speed detection module is configured to detect the speed of the current engine;

[0035] The torque module is configured to, when the speed is less than the first speed threshold and continuously decreases, obtain the first torque value at the current moment through the first PI parameters;

[0036] When the speed is less than the first speed threshold and continuously increases, the torque module is configured to obtain the second torque value at the current moment by making the torque uniformly increase / decrease to the calibrated torque value;

[0037] When the speed is greater than the second speed threshold and continuously increases, the torque module is configured to obtain the third torque value at the current moment through the second PI parameters;

[0038] When the speed is greater than the second speed threshold and continuously decreases, the torque module is configured to obtain the fourth torque value at the current moment by making the torque uniformly increase / decrease to the calibrated torque value;

[0039] The speed control module is configured to control the motor speed according to the first torque value, the second torque value, the third torque value, and the fourth torque value.

[0040] In some embodiments of the present application, further comprising:

[0041] a torque module configured to obtain a first torque value at the current time by the first PI parameter when the rotation speed is less than the first rotation speed threshold and is in a continuous decrease, and the rotation speed change rate is greater than a first calibration value;

[0042] a torque module configured to obtain a second torque value at the current time by making the torque uniformly increase / decrease to a calibration torque value when the rotation speed is less than the first rotation speed threshold and is in a continuous increase, and the rotation speed change rate is greater than a second calibration value;

[0043] a torque module configured to obtain a third torque value at the current time by the second PI parameter when the rotation speed is greater than the second rotation speed threshold and is in a continuous increase, and the rotation speed change rate is greater than a third calibration value;

[0044] a torque module configured to obtain a fourth torque value at the current time by making the torque uniformly increase / decrease to a calibration torque value when the rotation speed is greater than the second rotation speed threshold and is in a continuous decrease, and the rotation speed change rate is greater than a fourth calibration value;

[0045] wherein the first calibration value and the fourth calibration value are negative numbers, and the second calibration value and the third calibration value are positive numbers.

[0046] According to a third aspect of the embodiments of the present application, a rotation speed control system based on rotation speed prediction is provided, comprising: a memory configured to store executable instructions; and a processor configured to connect with the memory to execute the executable instructions to complete the rotation speed control method based on rotation speed prediction.

[0047] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium having a computer program stored thereon is provided; the computer program is executed by a processor to implement the rotation speed control method based on rotation speed prediction.

[0048] The speed control method, system, device and computer medium based on speed prediction in the embodiment of the application are adopted to detect the speed of the current engine; when the speed is less than the first speed threshold and continuously decreases, the first torque value at the current time is obtained through the first PI parameter; when the speed is less than the first speed threshold and continuously increases, the second torque value at the current time is obtained by making the torque uniformly increase / decrease to the calibrated torque value; when the speed is greater than the second speed threshold and continuously increases, the third torque value at the current time is obtained through the second PI parameter; when the speed is greater than the second speed threshold and continuously decreases, the fourth torque value at the current time is obtained by making the torque uniformly increase / decrease to the calibrated torque value; and the motor speed control is performed according to the first torque value, the second torque value, the third torque value and the fourth torque value. The speed change trend is predicted, the speed decrease, overshoot or recovery process is identified, different speed controls are adopted based on different speed stages, the torque is smoothly transitioned, and the drop speed, overshoot phenomenon and the oscillation phenomenon of the control recovery process are considered at the same time when the speed control is performed. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate certain illustrative embodiments of the application and together with the description serve to explain the application. In the drawings:

[0050] Figure 1 The engine speed change schematic diagram is shown in FIG. 1;

[0051] Figure 2 Another engine speed change schematic diagram is shown in FIG. 2;

[0052] Figure 3 The step schematic diagram of the speed control method based on speed prediction according to the embodiment of the application is shown in FIG. 3;

[0053] Figure 4 The structure schematic diagram of the speed control system based on speed prediction according to the embodiment of the application is shown in FIG. 4;

[0054] Figure 5 The speed control device schematic diagram according to the embodiment of the application is shown in FIG. 5. DETAILED DESCRIPTION

[0055] In the process of implementing the application, the inventors find that the traditional engine external speed control usually adopts the PI control algorithm, and the traditional PI algorithm is difficult to consider the oscillation phenomenon of the control recovery process when considering the drop speed and overshoot phenomenon when performing the speed control.

[0056] In the PI control algorithm, K P is the proportional part, and the main role is to quickly react; Ki This is the integral part, and its function is to eliminate bias. Both factors work simultaneously, and the calculation formula is:

[0057]

[0058] like Figure 1 As shown, when an existing engine uses a PI control algorithm, it is controlled using three P parameters and three I parameters based on the speed deviation. The speed deviation Δn = actual speed - set speed is then calculated. Figure 1 In this example, the speed is set to 1500 rpm, and the window is set to, for example, ±30 rpm. When Δn is negative and outside the window, it indicates that the speed is overshooting. In this case, the parameters KpPos and KiPos are used to control the overshoot and oscillation. When Δn is positive and outside the window, the parameters KpNeg and KiNeg are used to control the speed drop and oscillation. When Δn is within the window, the parameters Kp and Ki are used to control the speed stability.

[0059] Among them, speed drop: the actual speed is lower than the set speed; speed surge: the actual speed is higher than the set speed; oscillation: the speed fluctuates regularly. Different P and I parameters are used to achieve better speed drop, overshoot, and stability control.

[0060] Therefore, during the engine speed change process, the speed is controlled by three sets of P parameters and three sets of I parameters according to the trend of change; different P parameters and I parameters are selected according to the speed range. KP and Ki are used for control within the set speed window; KpPos and KiPos are used for control when the actual speed is lower than the set speed window; and KpNeg and KiNeg are used for control when the actual speed is higher than the set speed window.

[0061] When determining appropriate P and I parameters, the main approach is through vehicle testing, focusing on two key indicators: minimizing speed deviation and preventing large oscillations.

[0062] However, the above control method has the following problems: Taking the deceleration process as an example, when using KpPos and KiPos parameters for deceleration control, according to the PI algorithm principle: To minimize speed drop, a larger torque (injection quantity) is needed, thus requiring a sufficiently high KpPos calibration. However, if KpPos is too large, during speed recovery after a speed drop, the large KpPos will cause a large torque deviation due to a small speed deviation, resulting in oscillation. This is because higher torque is more prone to causing speed fluctuations, i.e., oscillation. Similarly, during the acceleration phase, an excessively high KpNeg calibration will also cause oscillation during recovery.

[0063] To address the aforementioned issues, this application, based on changes in rotational speed, during periods of deceleration or acceleration, for example... Figure 2As shown, the speed drop is divided into two stages: continuous decrease and increase, depending on the change in speed. In stage 1, the speed drop should be minimized, and in stage 2, the speed recovery process should be as smooth as possible. Based on the speed control objectives of different stages, different control methods are adopted for different stages to achieve the ideal control effect in different stages.

[0064] Specifically,

[0065] The system detects the current engine speed; when the speed is less than a first speed threshold and is continuously decreasing, it obtains the first torque value at the current moment through the first PI parameter; when the speed is less than the first speed threshold and is continuously increasing, it obtains the second torque value at the current moment by uniformly increasing / decreasing the torque to the rated torque value; when the speed is greater than the second speed threshold and is continuously increasing, it obtains the third torque value at the current moment through the second PI parameter; when the speed is greater than the second speed threshold and is continuously decreasing, it obtains the fourth torque value at the current moment by uniformly increasing / decreasing the torque to the rated torque value; and it controls the motor speed based on the first, second, third, and fourth torque values.

[0066] This application identifies whether the speed is decreasing, increasing, or recovering by predicting the trend of speed change. Based on different speed stages, different speed control methods are adopted to achieve a smooth torque transition. When performing speed control, the application takes into account both speed drop and overshoot phenomena, as well as the oscillation phenomenon during the recovery process.

[0067] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0068] Example 1

[0069] Figure 1 The figure shows a flowchart of a speed control method based on speed prediction according to an embodiment of the present application.

[0070] like Figure 1 As shown, the speed control method based on speed prediction in this embodiment specifically includes the following steps:

[0071] S101: Detect the current engine speed;

[0072] S102: When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously decreasing, the first torque value at the current moment is obtained through the first PI parameter;

[0073] When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously increasing, the second torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibrated torque value.

[0074] When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously increasing, the third torque value at the current moment is obtained through the second PI parameter;

[0075] When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously decreasing, the fourth torque value at the current moment is obtained by making the torque rise / fall uniformly to the rated torque value.

[0076] S103: Motor speed control is performed based on the first torque value, the second torque value, the third torque value, and the fourth torque value.

[0077] The first and second speed thresholds were obtained and calibrated through vehicle testing.

[0078] In some embodiments of this application, S102 specifically includes:

[0079] When the rotational speed is less than the first rotational speed threshold and the rotational speed continues to decrease, and the rate of change of rotational speed is greater than the first calibration value, the first torque value at the current moment is obtained through the first PI parameter.

[0080] When the rotational speed is less than the first rotational speed threshold and the rotational speed continues to rise, and the rate of change of rotational speed is greater than the second calibration value, the second torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibration torque value.

[0081] When the rotational speed is greater than the second rotational speed threshold and the rotational speed continues to rise, and the rate of change of rotational speed is greater than the third calibration value, the third torque value at the current moment is obtained through the second PI parameter.

[0082] When the rotational speed is greater than the second rotational speed threshold and the rotational speed continues to decrease, and the rate of change of rotational speed is greater than the fourth calibration value, the fourth torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibration torque value.

[0083] Among them, the first and fourth calibration values ​​are negative, while the second and third calibration values ​​are positive; the first, second, third, and fourth calibration values ​​are all obtained through vehicle testing.

[0084] Specifically, when the torque is uniformly increased / decreased to the calibrated torque value to obtain the second or fourth torque value at the current moment, this includes:

[0085] The torque is uniformly increased / decreased to the rated torque value using a torque linear control formula; the torque n linear control formula is as follows:

[0086] n=n0±k*t x ;

[0087] Where n0 is the torque value at the previous moment, k is the slope of the straight line, and t x The current time is used; the slope of the straight line is determined by the vehicle test.

[0088] In S102, the first torque value at the current moment is obtained through the first PI parameter, specifically including:

[0089] Substitute the first PI parameter into the PI algorithm formula to obtain the first torque value;

[0090] The formula for obtaining torque n using the PI algorithm is:

[0091]

[0092] Wherein, P and I are the first PI parameters; the first PI parameters are obtained through bench tests.

[0093] Similarly, in S102, the third torque value at the current moment is obtained through the second PI parameter, specifically including:

[0094] Substituting the second PI parameter into the PI algorithm formula, we obtain the third torque value;

[0095] The formula for obtaining torque n using the PI algorithm is:

[0096]

[0097] Wherein, P and I are the second PI parameters, and Δn is the speed deviation; the second PI parameters are obtained through bench tests.

[0098] The speed control process is further illustrated below through specific embodiments.

[0099] like Figure 2 As shown, with a set speed of 1500 rpm and a window of ±30 rpm, the first speed threshold n1 is 1470 rpm, and the second speed threshold n2 is 1530 rpm. Speed ​​deviation Δn = actual speed - set speed.

[0100] Phase 1: The actual rotational speed is lower than the set rotational speed, i.e., the rotational speed deviation Δn is negative, and the rate of change of rotational speed (n) over a period of time is also negative. t1 -n t0 ) / (t1-t0) is greater than the calibration limit d n1 That is (n t1 -n t0 ) / (t1-t0)>d n1 When t1 indicates that the engine speed is continuously decreasing, the system calls the traditional KpPos1 and KiPos1 parameters and calculates the torque value in real time using the PI algorithm. Where t1 > t0, d n1 If n is negative,t1 Let n be the rotational speed at time t1. t0 Let t0 be the rotational speed at time t0.

[0101] Phase 2: The actual rotational speed is lower than the set rotational speed, i.e., the rotational speed deviation Δn is negative, and the rate of change of rotational speed (n) over a period of time is also negative. t2 -n t0 ) / (t1-t0) is greater than the calibration limit d n2 That is (n t1 -n t0 ) / (t1-t0)>d n2 When the speed is continuously increasing, the system controls the torque by uniformly increasing it to the rated torque value, i.e., by using a linear control formula: n = n0 ± k * t. x The initial value is the torque value at the end of stage 1, i.e., n0. This allows the torque to change smoothly and avoids oscillations. Where t1 > t0, d n2 n is a positive number t1 Let n be the rotational speed at time t1. t0 Let t0 be the rotational speed at time t0.

[0102] Similar to stage 1, stage 3: the actual rotational speed is higher than the set rotational speed, that is, the rotational speed deviation Δn is positive, and the rate of change of rotational speed (n) over a period of time is also higher. t2 -n t0 ) / (t1-t0) is greater than the calibration limit d n3 That is (n t1 -n t0 ) / (t1-t0)>d n3 When t1 indicates that the rotational speed is continuously increasing, the system calls the parameters KpNeg1 and KiNeg1 to calculate the torque value in real time using the PI algorithm. Where t1 > t0, d n3 n is a positive number t1 Let n be the rotational speed at time t1. t0 Let t0 be the rotational speed at time t0.

[0103] Similar to stage 2, stage 4: the actual rotational speed is higher than the set rotational speed, that is, the rotational speed deviation Δn is positive, and the rate of change of rotational speed (n) over a period of time is also higher. t1 -n t0 ) / (t1-t0) is greater than the calibration limit d n4 That is (n t1 -n t0 ) / (t1-t0)>d n4 When the speed is continuously decreasing, the system controls the torque by uniformly increasing it to the rated torque value, i.e., using a linear control formula: n = n0 ± k * t. xThe initial value is the torque value at the end of stage 3, i.e., n0. Where t1 > t0, d n4 If n is negative, t1 Let n be the rotational speed at time t1. t0 Let t0 be the rotational speed at time t0.

[0104] This application predicts the speed change process and uses a larger PI parameter for rapid fuel injection during the continuous speed drop process to reduce the speed drop value. During the process of speed recovery to the set speed, the torque is changed smoothly and evenly to gradually reduce the required torque, making the fuel injection smoother and solving the speed oscillation problem. During the speed surge process, a larger PI parameter is used for rapid fuel cut-off to reduce the surge value. During the process of speed recovery to the set speed, the torque is changed smoothly and evenly to gradually increase the required torque, making the fuel injection smoother and solving the speed oscillation problem.

[0105] The speed control method based on speed prediction in this application detects the current engine speed; when the speed is less than a first speed threshold and the speed continues to decrease, a first torque value at the current moment is obtained through a first PI parameter; when the speed is less than the first speed threshold and the speed continues to increase, a second torque value at the current moment is obtained by uniformly increasing / decreasing the torque to a calibrated torque value; when the speed is greater than the second speed threshold and the speed continues to increase, a third torque value at the current moment is obtained through a second PI parameter; when the speed is greater than the second speed threshold and the speed continues to decrease, a fourth torque value at the current moment is obtained by uniformly increasing / decreasing the torque to a calibrated torque value; and motor speed control is performed based on the first torque value, the second torque value, the third torque value, and the fourth torque value.

[0106] This application identifies whether the speed is decreasing, increasing, or recovering by predicting the trend of speed change. Based on different speed stages, different speed control methods are adopted to achieve a smooth torque transition. When performing speed control, the application takes into account both speed drop and overshoot phenomena, as well as the oscillation phenomenon during the recovery process.

[0107] Example 2

[0108] This embodiment provides a speed control system. For details not disclosed in the speed control system of this embodiment, please refer to the specific implementation of the speed control method in other embodiments.

[0109] Figure 4 The diagram shows a schematic of the speed control system according to an embodiment of this application.

[0110] like Figure 4 As shown, the speed control system specifically includes:

[0111] Speed ​​detection module 10: Used to detect the current engine speed.

[0112] Torque module 20: used to obtain the first torque value at the current moment through the first PI parameter when the rotational speed is less than the first rotational speed threshold and the rotational speed continues to decrease;

[0113] Used to obtain the second torque value at the current moment by making the torque rise / fall uniformly to the calibrated torque value when the speed is less than the first speed threshold and the speed continues to rise;

[0114] Used to obtain the third torque value at the current moment through the second PI parameter when the rotational speed is greater than the second rotational speed threshold and the rotational speed continues to rise;

[0115] This is used to obtain the fourth torque value at the current moment by uniformly increasing / decreasing the torque to the calibrated torque value when the speed is greater than the second speed threshold and the speed continues to decrease.

[0116] Speed ​​control module 30: used to control the motor speed based on the first torque value, the second torque value, the third torque value and the fourth torque value.

[0117] In some embodiments of this application, the torque module 20 is further configured to obtain the first torque value at the current moment through the first PI parameter when the rotational speed is less than the first rotational speed threshold and the rotational speed continues to decrease, and the rotational speed change rate is greater than the first calibration value.

[0118] When the rotational speed is less than the first rotational speed threshold and the rotational speed continues to rise, and the rate of change of rotational speed is greater than the second calibration value, the second torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibration torque value.

[0119] This is used to obtain the third torque value at the current moment through the second PI parameter when the rotational speed is greater than the second rotational speed threshold and the rotational speed continues to rise, and the rate of change of rotational speed is greater than the third calibration value.

[0120] Used to obtain the fourth torque value at the current moment by making the torque rise / fall uniformly to the calibrated torque value when the speed is greater than the second speed threshold and the speed continues to decrease, and the speed change rate is greater than the fourth calibration value;

[0121] Among them, the first and fourth calibration values ​​are negative, while the second and third calibration values ​​are positive.

[0122] Example 3

[0123] This embodiment provides a speed control device. For details not disclosed in the speed control device of this embodiment, please refer to the specific implementation of the speed control method or system in other embodiments.

[0124] Figure 5 The diagram shows a structural schematic of a speed control device 400 according to an embodiment of this application.

[0125] likeFigure 5 As shown, the speed control device 400 includes:

[0126] Memory 402: Used to store executable instructions; and

[0127] Processor 401: Used to connect to memory 402 to execute executable instructions to complete the motion vector prediction method.

[0128] Those skilled in the art will understand that the illustration Figure 5 This is merely an example of a speed control device 400 and does not constitute a limitation on the speed control device 400. It may include more or fewer components than shown, or combine certain components, or different components. For example, the speed control device 400 may also include input / output devices, network access devices, buses, etc.

[0129] The processor 401 (Central Processing Unit, CPU) can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or processor 401 can be any conventional processor. Processor 401 is the control center of the speed control device 400, connecting all parts of the speed control device 400 through various interfaces and lines.

[0130] The memory 402 can be used to store computer-readable instructions. The processor 401 implements various functions of the speed control device 400 by running or executing the computer-readable instructions or modules stored in the memory 402 and by calling the data stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the speed control device 400, etc. In addition, the memory 402 may include a hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, read-only memory (ROM), random access memory (RAM), or other non-volatile / volatile storage devices.

[0131] If the integrated module of the speed control device 400 is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium, and when executed by a processor, the computer-readable instructions can implement the steps of the various method embodiments described above.

[0132] Example 4

[0133] This embodiment provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the speed control method in other embodiments.

[0134] The speed control device and computer storage medium in this embodiment detect the current engine speed based on the source IP address of the message stream; when the speed is less than a first speed threshold and the speed continues to decrease, a first torque value at the current moment is obtained through a first PI parameter; when the speed is less than the first speed threshold and the speed continues to increase, a second torque value at the current moment is obtained by uniformly increasing / decreasing the torque to a calibrated torque value; when the speed is greater than the second speed threshold and the speed continues to increase, a third torque value at the current moment is obtained through a second PI parameter; when the speed is greater than the second speed threshold and the speed continues to decrease, a fourth torque value at the current moment is obtained by uniformly increasing / decreasing the torque to a calibrated torque value; and motor speed control is performed based on the first torque value, the second torque value, the third torque value, and the fourth torque value.

[0135] This application identifies whether the speed is decreasing, increasing, or recovering by predicting the trend of speed change. Based on different speed stages, different speed control methods are adopted to achieve a smooth torque transition. When performing speed control, the application takes into account both speed drop and overshoot phenomena, as well as the oscillation phenomenon during the recovery process.

[0136] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0137] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0138] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0139] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0140] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0141] It should be understood that although the terms first, second, third, etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of this invention, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0142] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0143] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A speed control method based on speed prediction, characterized in that, Includes the following steps: Detect the current engine speed; When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously decreasing, the first torque value at the current moment is obtained through the first PI parameter. When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously increasing, the second torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibrated torque value. When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously increasing, the third torque value at the current moment is obtained through the second PI parameter; When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously decreasing, the fourth torque value at the current moment is obtained by making the torque rise / fall uniformly to the rated torque value. The second speed threshold is greater than the first speed threshold; Motor speed control is performed based on the first torque value, the second torque value, the third torque value, and the fourth torque value.

2. The speed control method according to claim 1, characterized in that, Specifically, it includes: When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously decreasing, and the rate of change of rotational speed is greater than the first calibration value, the first torque value at the current moment is obtained through the first PI parameter; When the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously increasing, and the rate of change of rotational speed is greater than the second calibration value, the second torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibration torque value. When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously increasing, and the rate of change of rotational speed is greater than the third calibration value, the third torque value at the current moment is obtained through the second PI parameter. When the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously decreasing, and the rate of change of rotational speed is greater than the fourth calibration value, the fourth torque value at the current moment is obtained by making the torque rise / fall uniformly to the calibration torque value. The first and fourth calibration values ​​are negative, while the second and third calibration values ​​are positive. All four calibration values ​​are obtained through vehicle testing.

3. The speed control method according to claim 1 or 2, characterized in that, The process of obtaining the second or fourth torque value at this moment by uniformly increasing / decreasing the torque to the rated torque value specifically includes: The torque is uniformly increased / decreased to the rated torque value using a torque linear control formula; the torque linear control formula is specifically as follows: n=n0±k*t x ; Where n is the torque, n0 is the torque value at the previous moment, k is the slope of the line, and t is the torque value at the previous moment. x This refers to the current time; the slope of the straight line is determined by the vehicle test.

4. The speed control method according to claim 1 or 2, characterized in that, The process of obtaining the first torque value at this moment through the first PI parameter specifically includes: Substitute the first PI parameter into the PI algorithm formula to obtain the first torque value; The formula for obtaining the first torque value n1 using the PI algorithm is as follows: n1=P1*△n+I1* ; Wherein, P1 and I1 are the first PI parameters; Δn is the speed deviation; the first PI parameters are obtained through bench tests.

5. The speed control method according to claim 1 or 2, characterized in that, The third torque value at this moment is obtained through the second PI parameter, specifically including: Substituting the second PI parameter into the PI algorithm formula, we obtain the third torque value; The formula for obtaining the third torque value n2 using the PI algorithm is as follows: n2=P2*△n+I2* ; Wherein, P2 and I2 are the second PI parameters, and Δn is the speed deviation; the second PI parameters are obtained through bench tests.

6. The speed control method according to claim 1, characterized in that, The first speed threshold and the second speed threshold are obtained and calibrated through vehicle testing.

7. A speed control system based on speed prediction, characterized in that, Specifically, it includes: Speed ​​detection module: Used to detect the current engine speed; Torque module: used to obtain the first torque value at the current moment through the first PI parameter when the speed is less than the first speed threshold and the speed is continuously decreasing; This is used to obtain the second torque value at the current moment by making the torque rise / fall uniformly to the calibrated torque value when the speed is less than the first speed threshold and the speed is continuously rising; Used to obtain the third torque value at the current moment through the second PI parameter when the speed is greater than the second speed threshold and the speed is continuously rising; Used to obtain the fourth torque value at the current moment by uniformly increasing / decreasing the torque to the rated torque value when the speed is greater than the second speed threshold and the speed is continuously decreasing; The second speed threshold is greater than the first speed threshold; Speed ​​control module: used to control the motor speed based on the first torque value, the second torque value, the third torque value and the fourth torque value.

8. The speed control system according to claim 7, characterized in that, Specifically, it includes: Torque module: used to obtain the first torque value at the current moment through the first PI parameter when the speed is less than the first speed threshold and the speed is continuously decreasing, and the speed change rate is greater than the first calibration value; Used to obtain the second torque value at the current moment by making the torque rise / fall uniformly to the calibrated torque value when the rotational speed is less than the first rotational speed threshold and the rotational speed is continuously rising, and the rotational speed change rate is greater than the second calibrated value; This is used to obtain the third torque value at the current moment through the second PI parameter when the rotational speed is greater than the second rotational speed threshold and the rotational speed is continuously increasing, and the rate of change of rotational speed is greater than the third calibration value. Used to obtain the fourth torque value at the current moment by uniformly increasing / decreasing the torque to the calibrated torque value when the speed is greater than the second speed threshold and the speed is continuously decreasing, and the speed change rate is greater than the fourth calibration value; The first and fourth calibration values ​​are negative, while the second and third calibration values ​​are positive.

9. A speed control device based on speed prediction, characterized in that, include: Memory: used to store executable instructions; and Processor: for connection to memory to execute executable instructions to perform the speed control method based on speed prediction as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, It stores a computer program; the computer program is executed by a processor to implement the speed control method based on speed prediction as described in any one of claims 1-6.

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