Vehicle drive motor disengagement post-processing control method, vehicle control unit and system

Abstract

This application provides a method, vehicle controller, and system for controlling the disengagement of a vehicle drive motor. When the target motor is detected to have disengaged from the wheel, a torque output command is sent to the target motor to control its output torque to zero. The rotational speed of the target motor is monitored in real time. If the target motor's rotational speed is detected to be greater than a preset state switching threshold, a state hold command is sent to the target motor's motor controller to maintain the current state. If the target motor's rotational speed is detected to be less than the preset state switching threshold, a state switching command is sent to the target motor's motor controller to switch it from the current state to a free-rotation state. This application can prevent the auxiliary drive motor's motor controller from entering an ASC (Active Short Circuit) state, thereby improving the lifespan of the motor controller.

Description

Technical Field

[0001] This invention relates to the field of motor control, and more specifically, to a method for handling post-disengagement control of a vehicle drive motor, a vehicle controller, and a system. Background Technology

[0002] Current four-wheel drive electric systems in new energy vehicles mostly use permanent magnet synchronous motors for both front and rear drives. However, permanent magnet synchronous motors generate back electromotive force (EMF) at high speeds. To suppress this back EMF, the motor controller in the vehicle employs a field-weakening control strategy. However, this field-weakening control strategy increases the losses of high-voltage DC power.

[0003] To reduce high-voltage DC losses, existing technologies incorporate a disengagement device on the vehicle's auxiliary drive motor, allowing for control of disengagement or engagement between the auxiliary drive motor and the wheels as needed. Currently, after the auxiliary drive motor disengages from the wheels, its controller immediately switches from torque mode to sleep mode based on instructions from the vehicle controller, thus stopping the auxiliary drive motor from outputting torque.

[0004] When the motor controller of the auxiliary drive motor enters the sleep mode, if the speed of the auxiliary drive motor is greater than the preset threshold, the motor controller of the auxiliary drive motor is in the ASC active short circuit state to brake the auxiliary drive motor through back electromotive force; if the speed of the auxiliary drive motor is not greater than the preset threshold, the motor controller of the auxiliary drive motor is in the FW free rotation state, that is, the state in which all power devices are open, so that the auxiliary drive motor can rotate freely until it stops completely.

[0005] However, when the motor controller of the auxiliary drive motor enters the ASC active short circuit state, a transient short circuit current will be generated. This transient short circuit current will have a significant impact on the power model in the motor controller, thereby shortening the service life of the motor controller. Summary of the Invention

[0006] In view of this, the present invention provides a post-disconnection control method, vehicle controller and system for a vehicle drive motor, to solve the problem in the prior art that when the auxiliary drive motor controller enters the ASC active short circuit state, the resulting transient short circuit current has a large impact on the power model in the motor controller, thus reducing the service life of the motor controller.

[0007] The first aspect of this invention discloses a post-disengagement control method for a vehicle drive motor, the method comprising:

[0008] When the target motor is detected to have detached from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to be zero;

[0009] The rotational speed of the target motor is detected in real time;

[0010] If the speed of the target motor is detected to be greater than the preset state switching threshold, a state hold command is sent to the motor controller of the target motor to control the motor controller of the target motor to remain in the current state;

[0011] If the rotational speed of the target motor is detected to be no greater than a preset state switching threshold, a state switching command is sent to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to the free rotation state.

[0012] Optionally, sending a torque output command to the target motor to control the output torque of the target motor to be zero includes:

[0013] A torque output command is sent to the target motor to control the motor controller of the target motor to be in a target torque mode; wherein, the target torque mode is a torque mode in which the output torque is zero, the motor controller of the target motor is in the target torque mode, and the output torque of the target motor is zero.

[0014] Optionally, sending a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to the free rotation state includes:

[0015] A state switching command is sent to the motor controller of the target motor to control the motor controller of the target motor to switch from the target torque mode to the sleep mode; wherein, when the speed of the target motor is not greater than a preset state switching threshold, after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters the free rotation state.

[0016] Optionally, the method further includes:

[0017] Send a disengagement command to the disengagement controller of the target motor, so that the disengagement controller can control the target motor to perform the action of disengaging from the wheel;

[0018] The system continuously monitors whether the target motor has switched to the disengaged state; wherein, the target motor switches to the disengaged state after it has completely disengaged from the wheel.

[0019] Specifically, when it is detected that the target motor has disengaged from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to be zero, including:

[0020] When the target motor is detected to switch to the disengaged state, a torque output command is sent to the target motor to control the output torque of the target motor to be zero.

[0021] A second aspect of this invention discloses a vehicle controller, the vehicle controller comprising:

[0022] A torque control unit is used to send a torque output command to the target motor when it is detected that the target motor has disengaged from the wheel, so as to control the output torque of the target motor to be zero;

[0023] A speed detection unit is used to detect the speed of the target motor in real time;

[0024] A state control unit is used to send a state hold command to the motor controller of the target motor if the speed of the target motor is detected to be greater than a preset state switching threshold, so as to control the motor controller of the target motor to remain in the current state.

[0025] The state switching unit is used to send a state switching command to the motor controller of the target motor if the rotational speed of the target motor is detected to be no greater than a preset state switching threshold, so as to control the motor controller of the target motor to switch from the current state to the free rotation state.

[0026] Optionally, the torque control unit includes:

[0027] The first torque control subunit is used to send a torque output command to the target motor to control the motor controller of the target motor to be in the target torque mode; wherein, the target torque mode is a torque mode in which the output torque is zero, the motor controller of the target motor is in the target torque mode, and the output torque of the target motor is zero.

[0028] Optionally, the state switching unit includes:

[0029] The state switching subunit is used to send a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the target torque mode to the sleep mode; wherein, when the speed of the target motor is not greater than a preset state switching threshold, after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters the free rotation state.

[0030] Optionally, the vehicle controller further includes:

[0031] The disengagement control unit is used to send a disengagement command to the disengagement controller of the target motor, so as to control the target motor to perform the action of disengaging from the wheel through the disengagement controller;

[0032] The disengagement state detection unit is used to detect in real time whether the target motor has switched to the disengagement state; wherein, the target motor switches to the disengagement state after it is completely disengaged from the wheel;

[0033] The torque control unit includes:

[0034] The second torque control subunit is used to send a torque output command to the target motor when the state of the target motor is detected to switch to the disengaged state, so as to control the output torque of the target motor to be zero.

[0035] The third aspect of the present invention discloses a vehicle drive motor disconnection post-processing control system, the system comprising: a vehicle controller, a target motor, and a motor controller for the target motor;

[0036] The vehicle controller is configured to send a torque output command to the target motor when it detects that the target motor has disengaged from the wheel; detect the rotational speed of the target motor in real time; if the rotational speed of the target motor is detected to be greater than a preset state switching threshold, send a state hold command to the motor controller of the target motor; if the rotational speed of the target motor is detected to be less than the preset state switching threshold, send a state switching command to the motor controller of the target motor.

[0037] The target motor is configured to control its output torque to zero based on the torque output command.

[0038] The motor controller of the target motor is configured to maintain the motor controller of the target motor in the current state based on the state hold instruction; and to switch the motor controller of the target motor from the current state to the free rotation state based on the state switch instruction.

[0039] Optionally, the system further includes a disconnect controller, the disconnect controller being configured to:

[0040] When a disengagement command is received from the vehicle controller, the power transmission between the motor and the vehicle's wheels is interrupted based on the disengagement command, thereby disengaging the target motor from the wheels.

[0041] This invention provides a method, vehicle controller, and system for handling the disengagement of a vehicle drive motor. When the target motor (auxiliary drive motor) is detected to be disengaged from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to be zero. The rotational speed of the target motor is detected in real time. When the rotational speed of the target motor is detected to be greater than a preset state switching threshold, a state holding command is sent to the target motor to control the motor controller of the target motor to continue to maintain the current state until the rotational speed of the target motor is detected to be no greater than the preset state switching threshold. Then, a state switching command is sent to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to the free rotation state. The technical solution provided by this invention, when the target motor's speed is detected to be greater than a preset state switching threshold, controls the target motor's motor controller to remain in the current state, preventing the target motor's motor controller from entering the ASC active short-circuit state, until the target motor's speed is detected to be no greater than the preset state switching threshold, at which point the target motor's motor controller directly switches from the current state to the free rotation state. This avoids the auxiliary drive motor's motor controller entering the ASC active short-circuit state, thereby solving the problem that the transient short-circuit current generated when the auxiliary drive motor's motor controller enters the ASC active short-circuit state causes a large impact on the power model in the motor controller, and improving the service life of the motor controller. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 An example diagram of a motor controller for an auxiliary drive motor provided by the prior art, which immediately switches from torque mode to sleep mode according to instructions from the vehicle controller;

[0044] Figure 2 This application provides a schematic diagram of the structure of a vehicle drive motor disconnection post-processing control system.

[0045] Figure 3 This is a schematic diagram of another vehicle drive motor disconnection after processing control system provided in an embodiment of this application;

[0046] Figure 4 A schematic flowchart illustrating a post-disengagement control method for a vehicle drive motor provided in an embodiment of this application;

[0047] Figure 5A schematic flowchart illustrating another vehicle drive motor disengagement post-processing control method provided in an embodiment of this application;

[0048] Figure 6 An example diagram illustrating the entry of a motor controller for a target motor from a target torque mode into a sleep mode, provided in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0052] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0053] It should be noted that the terms "a" and "a plurality of" used in this invention disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0054] As can be seen from the background technology described above, after the auxiliary drive motor disengages from the wheel, the motor controller of the auxiliary drive motor immediately enters sleep mode from torque mode according to the instruction of the vehicle controller, such as... Figure 1As shown, the auxiliary drive motor's motor controller (Microcontroller Unit, MCU) enters standby sleep mode and has two states: ASC active short circuit state and FW free rotation state. The switching between these two states depends primarily on a preset state switching threshold set based on the characteristics of the auxiliary drive motor. When the auxiliary drive motor's speed is higher than the preset threshold, the motor controller is in the ASC active short circuit state; when it is lower than or equal to the threshold, the controller is in the FW free rotation state.

[0055] However, when the motor controller of the auxiliary drive motor enters the ASC active short circuit state, a transient short circuit current will be generated. This transient short circuit current will have a significant impact on the power model in the motor controller, thereby shortening the service life of the motor controller.

[0056] Therefore, this application provides a vehicle drive motor disengagement post-processing control method, vehicle controller, and system. Applied to the vehicle controller, when the target motor's speed is detected to be greater than a preset state switching threshold, the target motor's motor controller is kept in its current state to prevent it from entering the ASC active short-circuit state. This continues until the target motor's speed is detected to be no greater than the preset state switching threshold, at which point the target motor's motor controller directly switches from its current state to a free-rotation state. This prevents the auxiliary drive motor's motor controller from entering the ASC active short-circuit state, thus solving the problem that the transient short-circuit current generated when the auxiliary drive motor's motor controller enters the ASC active short-circuit state causes a large impact on the power model in the motor controller, and improving the service life of the motor controller.

[0057] See Figure 2 This application illustrates a vehicle drive motor disengagement post-processing control system 200, which includes a vehicle controller (VCU) 201, a target motor 202, and a target motor controller (MCU) 203.

[0058] The vehicle controller VCU201 is used to send a torque output command to the target motor when it detects that the target motor has disengaged from the wheel; to detect the speed of the target motor in real time; if the speed of the target motor is detected to be greater than a preset state switching threshold, it sends a state hold command to the motor controller of the target motor; if the speed of the target motor is detected to be less than the preset state switching threshold, it sends a state switching command to the motor controller of the target motor.

[0059] The target motor is used to control the output torque of the target motor to be zero based on the torque output command.

[0060] The target motor's motor controller MCU203 is used to control the target motor's motor controller MCU203 to remain in the current state based on state hold instructions; and to control the target motor's motor controller to switch from the current state to the free rotation state based on state switch instructions.

[0061] Optionally, a target motor whose output torque is controlled to be zero based on a torque output command is specifically used to: control itself to enter a target torque mode based on a torque output command. Here, the target torque mode is a torque mode where the output torque is zero; the motor controller of the target motor is in the target torque mode, and the output torque of the target motor is zero.

[0062] Optionally, the target motor controller MCU, which controls the motor controller of the target motor to switch from the current state to the free rotation state based on the state switching instruction, is specifically used to: control itself to switch from the target torque mode to the sleep mode based on the state switching instruction; wherein, when the speed of the target motor is not greater than the preset state switching threshold, after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters the FW state.

[0063] Furthermore, in combination Figure 2 See Figure 3 The vehicle drive motor disengagement post-processing control system provided in this application embodiment also includes a disengagement controller ACU204.

[0064] The vehicle controller VUC201 is also used to send disengagement commands to the disengagement controller of the target motor; it also detects in real time whether the target motor's state has switched to the disengagement state, so that when the target motor's state is detected to have switched to the disengagement state, it controls the target motor to stop outputting torque. Specifically, the target motor switches to the disengagement state after it is completely disengaged from the wheel.

[0065] The disengagement controller ACU204 is used to interrupt the power transmission between the motor and the vehicle wheels based on the disengagement command sent by the vehicle controller, so as to disengage the target motor from the wheels.

[0066] See Figure 4 This document illustrates a flowchart of a post-disengagement control method for a vehicle drive motor according to an embodiment of this application. This post-disengagement control method is applied to applications such as... Figure 2 The vehicle controller shown, the post-disengagement control method for the vehicle drive motor includes the following steps:

[0067] S401: When the target motor is detected to have detached from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to zero.

[0068] In this embodiment, when the vehicle controller detects that the auxiliary drive motor (referred to as the target motor for ease of distinction) has disengaged from the vehicle's wheels, it does not immediately command the target motor's motor controller to switch from the current torque mode to sleep mode. Instead, it sends a torque output command with zero output torque to the target motor. Upon receiving the torque output command, the target motor controls its own output torque to zero based on the received torque output command, thereby controlling its own motor controller to be in a torque mode with zero output torque (referred to as the target torque mode for ease of distinction).

[0069] S402: Real-time detection of the target motor's rotation speed and determination of whether the target motor's rotation speed is greater than the preset state switching threshold; if the target motor's rotation speed is detected to be greater than the preset state switching threshold, execute step S403; if the target motor's rotation speed is detected to be less than the preset state switching threshold, execute step S404.

[0070] In this embodiment, a preset state switching threshold can be pre-selected based on the motor characteristics of the target motor. This preset state switching threshold can also be referred to as the motor speed threshold.

[0071] During the specific execution of step S402, after the motor controller of the target motor is controlled to be in the target torque mode by the vehicle controller, the speed of the target motor can be detected in real time, and it can be determined whether the speed of the target motor is greater than the preset state switching threshold. If the speed of the target motor is detected to be greater than the preset state switching threshold, step S403 is executed; if the speed of the target motor is detected to be less than the preset state switching threshold, step S404 is executed.

[0072] S403: Send a state hold command to the motor controller of the target motor to control the motor controller of the target motor to maintain the current state.

[0073] During the specific execution of step S403, when the vehicle controller detects that the speed of the target motor is greater than the preset state switching threshold, in order to prevent the motor control of the target motor from directly entering the sleep mode from the target torque mode, it can send a state holding command to the motor control station of the target motor. This allows the motor control of the target motor to maintain its current state based on the received state holding command.

[0074] It should be noted that, as can be seen from step S402, the current state of the motor control of the target motor is the target torque mode.

[0075] It should also be noted that, since the target torque mode is a torque mode with zero output torque, the motor controller of the target motor can effectively control its own speed reduction while continuing to be in the target torque mode.

[0076] It should also be noted that the state hold instruction is used to instruct the motor controller of the target motor to remain in the current state, that is, not to perform a state switch.

[0077] In this embodiment of the application, after step S403 is executed, the process returns to step S402.

[0078] S404: Send a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to the free rotation state.

[0079] During the specific execution of step S404, when the vehicle controller detects that the speed of the target motor is not greater than the preset state switching threshold, it sends a state switching command to the motor controller of the target motor so that the motor controller of the target motor can control itself to switch from the target torque mode to the sleep mode based on the received state switching command.

[0080] When the speed of the target motor is not greater than the preset state switching threshold, the motor controller of the target motor enters sleep mode and then enters FW state.

[0081] It should be noted that the state switching command is used to instruct the motor control of the target motor to switch from the target torque mode to the FW free rotation mode.

[0082] This invention provides a post-disengagement control method for a vehicle drive motor, applied to a vehicle controller. When the target motor (auxiliary drive motor) is detected to have disengaged from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to zero. The rotational speed of the target motor is monitored in real time. When the rotational speed of the target motor is detected to be greater than a preset state switching threshold, a state hold command is sent to the target motor to control the motor controller of the target motor to continue to maintain the current state until the rotational speed of the target motor is detected to be no greater than the preset state switching threshold. Then, a state switching command is sent to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to a free rotation state. The technical solution provided by this invention, when the target motor's speed is detected to be greater than a preset state switching threshold, controls the target motor's motor controller to remain in the current state, preventing the target motor's motor controller from entering the ASC active short-circuit state, until the target motor's speed is detected to be no greater than the preset state switching threshold, at which point the target motor's motor controller directly switches from the current state to the free rotation state. This avoids the auxiliary drive motor's motor controller entering the ASC active short-circuit state, thereby solving the problem that the transient short-circuit current generated when the auxiliary drive motor's motor controller enters the ASC active short-circuit state causes a large impact on the power model in the motor controller, and improving the service life of the motor controller.

[0083] See Figure 5 This document illustrates a flowchart of another vehicle drive motor disengagement post-processing control method provided in an embodiment of this application. This method is applied to applications such as... Figure 2 The vehicle controller shown, the post-disengagement control method for the vehicle drive motor includes the following steps:

[0084] S501: Send a disengagement command to the disengagement controller of the target motor to control the target motor to perform the action of disengaging from the wheel through the disengagement controller.

[0085] During the specific execution of step S501, when the vehicle control receives the disengagement shift command, it can send a disengagement command to the disengagement controller of the target motor. After receiving the disengagement command, the disengagement controller controls the target motor to perform the action of disengaging from the wheel based on the received disengagement command, so as to achieve the purpose of interrupting the power transmission between the target motor and the wheel.

[0086] S502: Real-time detection of whether the target motor has switched to the disengaged state; if the target motor is detected to have switched to the disengaged state, proceed to step 503.

[0087] During the execution of step S502, the vehicle controller can detect the status of the target motor in real time. When the target motor is detected to be in a disengaged state, it can be determined that the power transmission between the target motor and the wheel has been terminated, and then step S503 is executed.

[0088] S503: Sends a torque output command to the target motor to control the output torque of the target motor to be zero.

[0089] S504: Real-time detection of the target motor's rotation speed and determination of whether the target motor's rotation speed is greater than a preset state switching threshold; if the target motor's rotation speed is detected to be greater than the preset state switching threshold, execute step S505; if the target motor's rotation speed is detected to be less than the preset state switching threshold, execute step S506.

[0090] During the specific execution of step S504, after the motor controller of the target motor is controlled to be in the target torque mode by the vehicle controller, the speed of the target motor can be detected in real time, and it can be determined whether the speed of the target motor is greater than the preset state switching threshold. If the speed of the target motor is detected to be greater than the preset state switching threshold, step S505 is executed; if the speed of the target motor is detected to be less than the preset state switching threshold, step S506 is executed.

[0091] S505: Sends a state hold command to the motor controller of the target motor to control the motor controller of the target motor to remain in the current state.

[0092] During the execution of step S505, when the vehicle controller detects that the target motor's speed exceeds a preset state switching threshold, to prevent the target motor's control from directly transitioning from target torque mode to sleep mode, it can send a state hold command to the target motor's motor control station. Upon receiving the state hold command, the target motor's motor control station maintains its current state until it detects that the target motor's speed is no greater than the preset state switching threshold. Then, it sends a state switching command to the target motor's motor controller. Upon receiving the state switching command, the target motor's motor controller switches from target torque mode to sleep mode. Figure 6 As shown.

[0093] In this embodiment of the application, after step S505 is executed, the process returns to step S503.

[0094] S506: Send a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to the free rotation state.

[0095] During the specific execution of step S506, when the vehicle controller detects that the speed of the target motor is not greater than the preset state switching threshold, it sends a state switching command to the motor controller of the target motor, so that the motor controller of the target motor can control itself to switch from the target torque mode to the sleep mode based on the received state switching command.

[0096] When the speed of the target motor is not greater than the preset state switching threshold, the motor controller of the target motor enters sleep mode and then enters FW state.

[0097] In this embodiment, after receiving a disengagement command, the disengagement controller controls the target motor to disengage from the wheel based on the received disengagement command, so as to interrupt the power transmission between the target motor and the wheel.

[0098] Based on the vehicle drive motor disengagement post-processing control method disclosed in the embodiments of the present invention, the embodiments of the present invention also disclose a vehicle controller, such as... Figure 7 As shown, the vehicle controller includes:

[0099] The torque control unit 71 is used to send a torque output command to the target motor when it is detected that the target motor has disengaged from the wheel, so as to control the output torque of the target motor to be zero.

[0100] The speed detection unit 72 is used to detect the speed of the target motor in real time;

[0101] The state control unit 73 is used to send a state hold command to the motor controller of the target motor if the speed of the target motor is detected to be greater than a preset state switching threshold, so as to control the motor controller of the target motor to remain in the current state.

[0102] The state switching unit 74 is used to send a state switching command to the motor controller of the target motor if the speed of the target motor is detected to be no greater than a preset state switching threshold, so as to control the motor controller of the target motor to switch from the current state to the free rotation state.

[0103] The specific principles and execution processes of each unit in the vehicle controller disclosed in the above embodiments of the present invention are similar to those disclosed in the above embodiments of the present invention. Figure 4 The same processing control method is shown for the vehicle drive motor disengagement after disconnection. Please refer to the corresponding part of the vehicle drive motor disengagement after disconnection control method disclosed in the above embodiments of the present invention, which will not be repeated here.

[0104] This invention provides a vehicle controller that, when detecting that a target motor (auxiliary drive motor) has disengaged from the wheel, sends a torque output command to the target motor to control the output torque of the target motor to zero; it also monitors the rotational speed of the target motor in real time, and when the rotational speed of the target motor is detected to be greater than a preset state switching threshold, sends a state holding command to the target motor to control the motor controller of the target motor to continue to maintain the current state, until the rotational speed of the target motor is detected to be no greater than the preset state switching threshold, at which point it sends a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the current state to a free rotation state. The technical solution provided by this invention, when the target motor's speed is detected to be greater than a preset state switching threshold, controls the target motor's motor controller to remain in the current state, preventing the target motor's motor controller from entering the ASC active short-circuit state, until the target motor's speed is detected to be no greater than the preset state switching threshold, at which point the target motor's motor controller directly switches from the current state to the free rotation state. This avoids the auxiliary drive motor's motor controller entering the ASC active short-circuit state, thereby solving the problem that the transient short-circuit current generated when the auxiliary drive motor's motor controller enters the ASC active short-circuit state causes a large impact on the power model in the motor controller, and improving the service life of the motor controller.

[0105] Optional, the torque control unit includes:

[0106] The first torque control subunit is used to send a torque output command to the target motor to control the motor controller of the target motor to be in the target torque mode; wherein, the target torque mode is a torque mode in which the output torque is zero, the motor controller of the target motor is in the target torque mode, and the output torque of the target motor is zero.

[0107] Optional, the state transition unit includes:

[0108] The state switching subunit is used to send a state switching command to the motor controller of the target motor to control the motor controller of the target motor to switch from the target torque mode to the sleep mode. When the speed of the target motor is not greater than the preset state switching threshold, the motor controller of the target motor enters the sleep mode and then enters the free rotation state.

[0109] Furthermore, the vehicle controller disclosed in this application embodiment also includes:

[0110] The disengagement control unit is used to send a disengagement command to the disengagement controller of the target motor, so that the target motor can be controlled by the disengagement controller to perform the action of disengaging from the wheel;

[0111] The disengagement state detection unit is used to detect in real time whether the target motor has switched to the disengagement state; the target motor switches to the disengagement state after it is completely disengaged from the wheel.

[0112] The torque control unit includes:

[0113] The second torque control subunit is used to send a torque output command to the target motor when the target motor's state is detected to switch to the disengaged state, so as to control the output torque of the target motor to be zero.

[0114] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0115] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0116] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0117] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for handling and controlling the disengagement of a vehicle drive motor, characterized in that, The method includes: When the target motor is detected to have detached from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to be zero; Real-time detection of the target motor's rotational speed; If the target motor's rotational speed is detected to be greater than a preset state switching threshold, a state hold command is sent to the target motor's motor controller to control the target motor's output torque to remain at zero. If the rotational speed of the target motor is detected to be no greater than the preset state switching threshold, a state switching command is sent to the motor controller of the target motor to control the motor controller of the target motor to switch from the target torque mode to the sleep mode; wherein, the target torque mode is a torque mode with zero output torque, and after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters the free rotation state.

2. The method according to claim 1, characterized in that, Sending a torque output command to the target motor to control the output torque of the target motor to remain at zero includes: A torque output command is sent to the target motor to control the motor controller of the target motor to be in the target torque mode; wherein, when the motor controller of the target motor is in the target torque mode, the output torque of the target motor is zero.

3. The method according to claim 1, characterized in that, The method further includes: Send a disengagement command to the disengagement controller of the target motor, so that the disengagement controller can control the target motor to perform the action of disengaging from the wheel; The system continuously monitors whether the target motor has switched to the disengaged state; wherein, the target motor switches to the disengaged state after it has completely disengaged from the wheel. Specifically, when it is detected that the target motor has disengaged from the wheel, a torque output command is sent to the target motor to control the output torque of the target motor to be zero, including: When the target motor is detected to switch to the disengaged state, a torque output command is sent to the target motor to control the output torque of the target motor to be zero.

4. A vehicle controller, characterized in that, The vehicle controller includes: A torque control unit is used to send a torque output command to the target motor when it is detected that the target motor has disengaged from the wheel, so as to control the output torque of the target motor to be zero; A speed detection unit is used to detect the speed of the target motor in real time; The state control unit is used to send a state hold command to the motor controller of the target motor if the speed of the target motor is detected to be greater than a preset state switching threshold, so as to control the output torque of the target motor to remain at zero. A state switching unit is used to send a state switching command to the motor controller of the target motor if the detected rotational speed of the target motor is not greater than the preset state switching threshold, so as to control the motor controller of the target motor to switch from the target torque mode to the sleep mode; wherein, the target torque mode is a torque mode with zero output torque, and after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters the free rotation state.

5. The vehicle controller according to claim 4, characterized in that, The torque control unit includes: The first torque control subunit is used to send a torque output command to the target motor to control the motor controller of the target motor to be in the target torque mode; wherein, the target torque mode is a torque mode in which the output torque is zero, the motor controller of the target motor is in the target torque mode, and the output torque of the target motor is zero.

6. The vehicle controller according to claim 4, characterized in that, The vehicle controller also includes: The disengagement control unit is used to send a disengagement command to the disengagement controller of the target motor, so as to control the target motor to perform the action of disengaging from the wheel through the disengagement controller; The disengagement state detection unit is used to detect in real time whether the target motor has switched to the disengagement state; wherein, the target motor switches to the disengagement state after it is completely disengaged from the wheel; The torque control unit includes: The second torque control subunit is used to send a torque output command to the target motor when the state of the target motor is detected to switch to the disengaged state, so as to control the output torque of the target motor to be zero.

7. A vehicle drive motor disconnection post-processing control system, characterized in that, The system includes: a vehicle controller, a target motor, and a motor controller for the target motor; The vehicle controller is configured to send a torque output command to the target motor when it detects that the target motor has disengaged from the wheel; detect the rotational speed of the target motor in real time; if the rotational speed of the target motor is detected to be greater than a preset state switching threshold, send a state hold command to the motor controller of the target motor; if the rotational speed of the target motor is detected to be less than the preset state switching threshold, send a state switching command to the motor controller of the target motor. The target motor is configured to control its output torque to be zero based on the torque output command. The motor controller of the target motor is used to control the output torque of the target motor to remain at zero based on the state hold command; and to control the motor controller of the target motor to switch from the target torque mode to the sleep mode based on the state switch command; wherein, the target torque mode is a torque mode with zero output torque, and after the motor controller of the target motor enters the sleep mode, the motor controller of the target motor enters a free rotation state.

8. The system according to claim 7, characterized in that, The system further includes a disconnect controller, the disconnect controller being configured to: When a disengagement command is received from the vehicle controller, the power transmission between the motor and the vehicle's wheels is interrupted based on the disengagement command, thereby disengaging the target motor from the wheels.

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