Method and device for adjusting controller voltage of electric vehicle and electric vehicle

Abstract

The present specification provides a method and device for adjusting the voltage of a controller of an electric vehicle and the electric vehicle. When the electric vehicle needs to perform a target operation process such as a deceleration process or a braking process, the target vehicle speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery are first obtained; then, a preset electronic braking algorithm is called to calculate an intermediate voltage according to the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller; and a preset vector control algorithm is called to determine the adjusted operating voltage of the controller according to the intermediate voltage and the maximum charging current of the battery. Thus, the operating voltage of the controller of the electric vehicle can be matched and accurately adjusted, and the adjusted operating voltage is used to operate the controller, so that the E-ABS electronic braking system can accurately control the electric vehicle to perform the target operation process, and the regenerated energy can be safely and effectively recovered and utilized.

Description

Technical Field

[0001] This manual pertains to the field of electric vehicle technology, and particularly relates to methods and devices for adjusting the controller voltage of electric vehicles and electric vehicles themselves. Background Technology

[0002] Electric vehicles typically use an internal controller to operate the E-ABS electronic braking system to perform specific braking actions and recover the regenerative energy generated during the braking process.

[0003] However, based on existing methods, it is often difficult to make targeted and precise adjustments to the controller's operating voltage, which in turn affects the controller's control accuracy of the E-ABS electronic braking system, resulting in poor braking performance and regenerative energy recovery during braking.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides a method, device, and electric vehicle for adjusting the controller voltage of an electric vehicle, so as to achieve targeted and precise adjustment of the controller voltage of the electric vehicle, and based on the adjusted operating voltage, to operate the controller of the electric vehicle to achieve precise control of the E-ABS electronic braking system to perform target operations such as braking and deceleration on the electric vehicle, while safely and effectively recovering and utilizing the regenerative energy generated in the above operations.

[0006] This specification provides a method for adjusting the controller voltage of an electric vehicle, wherein the controller includes at least an E-ABS electronic braking system and a motor. The method includes: acquiring the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; calling a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; calling a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0007] This specification also provides an embodiment of a device for adjusting the controller voltage of an electric vehicle, comprising: an acquisition module for acquiring the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; a first invocation module for invoking a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; and a second invocation module for invoking a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0008] This specification also provides an electric vehicle, including at least a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, it performs the following steps: acquiring the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; calling a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; calling a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0009] This specification also provides a computer storage medium storing computer instructions. When these instructions are executed, they acquire the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; invoke a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; invoke a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated during the target operation processing.

[0010] This specification provides a method, device, and electric vehicle for adjusting the controller voltage of an electric vehicle. When the electric vehicle needs to perform target operations such as deceleration or braking, the target vehicle speed, motor rotor angle, current controller operating voltage, and battery maximum charging current are first obtained. Then, a preset electronic braking algorithm is invoked to calculate the corresponding intermediate voltage based on the target vehicle speed, motor rotor angle, and current controller operating voltage. Finally, a preset vector control algorithm is invoked to determine the adjusted operating voltage of the controller based on the aforementioned intermediate voltage and battery maximum charging current. This allows for targeted, precise, and effective adjustment of the electric vehicle controller's operating voltage. Furthermore, based on the adjusted operating voltage, the electric vehicle controller can be operated to precisely control the E-ABS electronic braking system to perform target operations while safely and effectively recovering and utilizing the regenerative energy generated during these operations. Attached Figure Description

[0011] To more clearly illustrate the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of one embodiment of the method for adjusting the controller voltage of an electric vehicle provided in this specification, applied in a scenario example.

[0013] Figure 2 This is a flowchart illustrating a method for adjusting the controller voltage of an electric vehicle according to one embodiment of this specification.

[0014] Figure 3 This is a schematic diagram of the structural composition of an electric vehicle provided in one embodiment of this specification;

[0015] Figure 4 This is a schematic diagram of the structural composition of a controller voltage adjustment device for an electric vehicle provided in one embodiment of this specification. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0017] Considering that for some relatively low-cost electric vehicles (such as two-wheeled electric vehicles and three-wheeled electric vehicles), the internal circuit structure of electric vehicles is often relatively simple due to cost requirements. This makes it impossible to make targeted and precise adjustments to the operating voltage of the controller, which affects the working accuracy of the controller. Consequently, when the controller is specifically controlling the E-ABS electronic braking system to perform corresponding operations and recovering and utilizing the regenerative energy generated during the operation process, the processing effect is poor and the accuracy is low.

[0018] To address the root causes of the aforementioned problems, and while also considering the low-cost requirements of electric vehicles, this specification proposes a processing algorithm framework for adjusting the operating voltage of the controller. (See also...) Figure 1 As shown, based on this processing algorithm framework, the target vehicle speed (e.g., a given speed) to be achieved during the electric vehicle's operation can be obtained first, along with the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery at the current time point. Then, by sequentially calling preset electronic braking algorithms and preset vector control algorithms within the processing algorithm framework, the above data is comprehensively utilized to calculate an adjusted operating voltage with good applicability and high accuracy for the current controller. Subsequently, the controller can be precisely operated based on the adjusted operating voltage, and the controller can effectively initiate and utilize the E-ABS electronic braking system for target operations such as braking and deceleration. At the same time, the regenerative energy generated during the target operation process can be effectively recovered and utilized safely and stably using the E-ABS electronic braking system.

[0019] See Figure 2 As shown in the embodiments of this specification, a method for adjusting the controller voltage of an electric vehicle is provided. Specifically, this method can be applied to one side of the electric vehicle. In specific implementation, the method may include the following:

[0020] S201: Obtain the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery.

[0021] S202: Call the preset electronic braking algorithm to calculate the intermediate voltage based on the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller.

[0022] S303: The preset vector control algorithm is invoked to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0023] In some embodiments, the electric vehicle described above includes at least a controller and a battery.

[0024] In some embodiments, the controller may specifically include an E-ABS electronic braking system, a register, a control circuit, and a motor.

[0025] Specifically, the aforementioned E-ABS electronic braking system utilizes the electronic commutation characteristics of a brushless system to perform deceleration or braking by programming and controlling different motion states of the motor. It also supports energy recovery of the regenerative energy generated during deceleration or braking and charges the battery with the recovered regenerative energy in the form of electrical energy.

[0026] The aforementioned motors may specifically include: brushless DC motors and / or permanent magnet synchronous motors, etc. These motors can be used to provide power for the operation of electric vehicles.

[0027] Specifically, the aforementioned register can be used to store the maximum charging current of the battery received by the controller.

[0028] In some embodiments, the upper battery may specifically be a lithium battery with a relatively small capacity. Specifically, the battery may also be connected to a battery management system (BMS).

[0029] Specifically, the aforementioned battery management system can be used to collect data in real time or at regular intervals and calculate the maximum charging current of the battery based on its characteristic parameters (e.g., SOC parameters, cell temperature, etc.).

[0030] In some embodiments, the electric vehicle may further include an antenna box. The antenna box is connected to both the controller and the battery management system. The antenna box is also configured with a first protocol rule matching the battery management system and a second protocol rule matching the controller, as preset protocol rules.

[0031] Based on the above structure, during actual operation, the battery management system can collect the maximum charging current in a first data format based on the first protocol rules, and send the battery parameters in the first data format to the antenna box. After receiving the battery parameters in the first data format, the antenna box can first convert the maximum charging current in the first data format into a maximum charging current in a second data format that is readable by the controller and matched to the controller, based on the second protocol rules, according to preset protocol rules (including the first protocol rules and the second protocol rules); and then send and store the maximum charging current in the second data format in the register of the controller.

[0032] In some embodiments, when a user is riding an electric vehicle, the motor in the controller is typically driven by the discharge of the battery, which propels the electric vehicle forward.

[0033] When the electric vehicle needs to perform operations such as deceleration or braking, it will stop driving the motor by discharging the battery. Correspondingly, under certain conditions, the electric vehicle's controller operates based on a specific operating voltage, activating and controlling the E-ABS electronic braking system to perform specific operational actions, and recovering and utilizing the regenerative energy generated by the motor during these operations. For example, the recovered regenerative energy can be stored in the battery as electrical energy.

[0034] In some embodiments, to safely and stably recover and utilize regenerative energy, the controller can first perform vehicle-electric matching to determine a matching, safe, and reliable target control current: obtaining the maximum charging current of the battery provided by the battery management system through the antenna box; then calculating the target control current using the maximum charging current and a preset spike current. This target control current can then be used as the upper limit of the braking current during braking or the upper limit of the deceleration current during deceleration of the E-ABS electronic braking system to control its operation. This achieves the effect of effectively preventing impact and damage to the internal electrical structures of the electric vehicle, such as the battery and motor, while recovering and utilizing the regenerative energy generated during the specific operation of the electric vehicle, thus protecting the safe and stable operation of the electric vehicle and improving its service life. The specific method for precisely adjusting the controller by adjusting its operating voltage to achieve the above process will be explained in detail below.

[0035] In some embodiments, the aforementioned vehicle-electric matching can be understood as a current matching method that determines a matching target control current that meets the requirements by comprehensively considering the circuit conditions of the current electric vehicle's electrical system and the recovered regenerative energy. Based on this target control current, the E-ABS electronic braking system can be started and controlled, enabling automatic and precise recovery and utilization of regenerative energy during specific operational processes (e.g., deceleration, braking), while effectively protecting the electric vehicle's electrical system and preventing the recovered regenerative energy from damaging the internal circuit structure of the electric vehicle.

[0036] In some embodiments, the target vehicle speed may specifically be a given speed. The method for setting the target vehicle speed may differ depending on the type of operation.

[0037] Specifically, when braking is required for the electric vehicle, the target speed can be automatically set to 0. When deceleration is required, the target speed can be set to a smaller speed that is desired to be achieved through deceleration, depending on the specific circumstances.

[0038] In some embodiments, the target vehicle speed can be the system's default speed value or a speed value customized by the user within a certain range.

[0039] In some embodiments, specifically, HALL sensors can be pre-installed at the motor location of the electric motor. Accordingly, the rotor angle of the motor can be acquired in real time or periodically using the aforementioned HALL sensors.

[0040] In some embodiments, a voltage detector can be pre-installed in the controller to collect the controller's operating voltage in real time or at regular intervals. For example, the current operating voltage of the controller can be collected as 48V.

[0041] In some embodiments, the current operating voltage of the controller can be collected and sent to the inverter (hardware). Specifically, the inverter is also pre-connected with a three-phase sensor. In practice, the current operating voltage can be processed using the three-phase sensor to further extract the current three-phase current corresponding to the current operating voltage before control, for subsequent processing.

[0042] In some embodiments, before implementation, it can be detected whether the electric vehicle needs to be started by the controller and subjected to target operations such as braking or deceleration using the E-ABS electronic braking system. Only when the controller detects that the electric vehicle needs to perform the above-mentioned target operation will it trigger the acquisition of data such as the target speed of the electric vehicle, the rotor speed of the motor, the current operating voltage of the controller, and the maximum charging current of the battery.

[0043] In some embodiments, during specific detection, it can be determined whether braking is required on the electric vehicle by detecting whether the user has initiated a braking operation (e.g., squeezing the handlebars). It can also be determined whether deceleration is required by detecting whether the current speed of the electric vehicle exceeds a preset speed threshold. It should be noted that the detection methods for target operation processing listed above are only illustrative. In actual implementation, other detection methods can be used to determine whether target operation processing is required on the electric vehicle, depending on the specific circumstances and processing needs.

[0044] In some embodiments, after obtaining multiple data such as the target vehicle speed, motor rotor angle, controller current operating voltage, and battery maximum charging current, reference can be made to... Figure 1 As shown, by using the processing algorithm framework provided in the embodiments of this specification, the preset electronic braking algorithm and the preset vector control algorithm are called in sequence to comprehensively utilize the above multiple data to calculate the adjusted operating voltage with high accuracy and good effect for the target operation processing to be performed by the current controller.

[0045] In some embodiments, the aforementioned invocation of a preset electronic braking algorithm calculates an intermediate voltage based on the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller. Specifically, this may include the following: determining a corresponding target trajectory plan based on the target vehicle speed; integrating the rotor angle of the motor to obtain speed feedback parameters; obtaining a first voltage by summing the target trajectory plan and the speed feedback parameters; calculating a current feedback parameter based on the current feedback parameter and the first voltage; and obtaining the intermediate voltage by summing the current feedback parameter and the first voltage.

[0046] Through the above embodiments, by using a preset electronic braking algorithm, two different types of feedback mechanisms, namely speed feedback and current feedback, are introduced to fully utilize the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller to calculate an intermediate voltage with high accuracy, strong targeting, and good effect.

[0047] In some embodiments, the target trajectory planning described above can be understood as a trajectory planning function that matches the target operation processing to be performed by the electric vehicle.

[0048] In some embodiments, in order to meet the diverse riding experience needs of users and determine a target trajectory plan with higher accuracy and better results, in addition to obtaining the target vehicle speed, processing intensity parameters and processing mode parameters related to the target operation processing can also be obtained.

[0049] Specifically, the above-mentioned determination of the corresponding target trajectory plan based on the target vehicle speed may include the following: obtaining processing intensity parameters and processing mode parameters; and determining the corresponding target trajectory plan based on the target vehicle speed, processing intensity parameters, and processing mode parameters.

[0050] In some embodiments, the aforementioned processing mode parameters can be understood as corresponding mode type parameters set based on different user riding experiences. Each processing mode parameter corresponds to a pre-configured function curve.

[0051] Specifically, taking braking as the target operation, the aforementioned processing mode parameters can include: a gentle mode and a strong mode.

[0052] The aforementioned smooth mode corresponds to a function curve with relatively gentle image changes, denoted as the preset first function curve. Based on this smooth mode, when braking is applied, the braking effect felt by the user while riding is relatively weak and smooth.

[0053] Conversely, the aforementioned strong mode corresponds to a function curve with more dramatic image changes, denoted as the preset second function curve. Based on this strong mode, the braking effect felt by the user while riding is more obvious and intense during actual braking.

[0054] In some embodiments, the aforementioned processing intensity parameter can be specifically understood as a level-type parameter used to limit the processing duration of a processing operation. Each processing intensity parameter corresponds to a processing duration.

[0055] Specifically, taking braking as the target operation, the aforementioned processing intensity parameters can include: Level 1 intensity, Level 2 intensity, and Level 3 intensity.

[0056] The processing time is shortest for Level 1, requiring the least amount of time to complete the braking action. Similarly, Level 2 requires the next longest processing time, while Level 3 requires the most time to complete the braking action.

[0057] In some embodiments, during riding, after the user initiates braking or deceleration, the user can select processing mode parameters and processing intensity parameters by rotating the handlebars or touching the corresponding buttons on the handlebars. Correspondingly, the processing intensity parameters and processing mode parameters can be collected; and based on these parameters and the target speed, a corresponding target trajectory plan can be determined online.

[0058] In some embodiments, before riding, the user can log in and unlock the electric vehicle using a terminal device, triggering the display of the corresponding parameter setting interface on the terminal device. At this time, the user can pre-set the aforementioned processing intensity parameters and processing mode parameters through the parameter setting interface displayed on the terminal device. Correspondingly, the aforementioned processing intensity parameters and processing mode parameters can be collected and acquired; and based on these parameters and the target vehicle speed, the corresponding target trajectory plan can be determined and prepared in advance for subsequent use.

[0059] Specifically, for example, after a user scans a QR code to log in and unlock the electric bike they want to ride using the XX shared electric bike app installed on their smartphone, a riding parameter settings interface can be displayed on the smartphone. This riding parameter settings interface can simultaneously display two sub-interfaces: one for braking parameters and the other for deceleration parameters. The braking parameter settings sub-interface can further display a braking mode settings box and a braking intensity settings box.

[0060] The aforementioned brake handling mode setting box displays several preset brake handling mode options, such as "gentle mode" and "strong mode," for users to choose from. The aforementioned brake intensity setting box displays several preset brake intensity options, such as "Level 1 Intensity," "Level 2 Intensity," and "Level 3 Intensity," for users to choose from. Furthermore, users can make corresponding selections in the aforementioned riding parameter setting interface according to their personalized needs and preferences for the braking handling of their electric vehicle.

[0061] Correspondingly, the user's selected preset braking mode and preset braking intensity options can be collected and obtained through the above riding parameter setting interface, and combined with the target speed to determine the target trajectory plan that can meet the user's personalized braking needs.

[0062] For cases where deceleration is the target operation, please refer to the above-described embodiment where braking is the target operation. This specification will not elaborate further.

[0063] In some embodiments, specifically, the rotor angle of the motor can be integrated first to obtain speed feedback parameters based on the current motor operating state of the controller. Then, by summing the speed feedback parameters according to the target trajectory planning, speed feedback is introduced to obtain the corresponding first summation result. Finally, a preset PID algorithm is called to process the first summation result to obtain the corresponding first voltage.

[0064] The aforementioned PID (Proportion Integral Differential) algorithm, also known as the PID control algorithm, can be specifically understood as a control algorithm that combines proportional, integral, and derivative elements into one.

[0065] In some embodiments, the calculation of the current feedback parameters based on the current operating voltage of the controller may specifically include the following: processing the current operating voltage of the controller using a three-phase sensor to obtain the current three-phase current; and obtaining the current feedback parameters by performing a positive Park-Clark transformation on the current three-phase current.

[0066] In some embodiments, the current three-phase current of the controller can be transformed by a positive Park-Clark transformation to obtain the corresponding IQ current feedback value, which is then used as the aforementioned current feedback parameter.

[0067] In some embodiments, during specific implementation, the current feedback parameters and the first voltage can be summed to introduce current feedback and obtain a corresponding second summation result. Then, a preset PID algorithm is called to process the second summation result to obtain the corresponding intermediate voltage.

[0068] In some embodiments, after the three-phase current of the controller is acquired by the three-phase sensor, the three-phase current can be filtered to remove noise current in the three-phase current; then, the filtered three-phase current is used to perform a positive Park-Clark transformation to obtain current feedback parameters with relatively smaller errors.

[0069] In some embodiments, the rotor angle of the motor can be obtained and used to perform a specific positive Park-Clark transformation on the three-phase current of the controller.

[0070] The Park transformation, also known as the Park transformation, is a coordinate transformation used to analyze the operation of synchronous motors. Based on the Park transformation, the three-phase currents (a, b, and c) of the stator can be projected onto the direct axis (d-axis), quadrature axis (q-axis), and zero axis (0-axis) perpendicular to the dq plane (i.e., the rotating dqdq coordinate system), which rotates with the rotor. This diagonalizes the stator inductance matrix, simplifying the analysis of synchronous motor operation.

[0071] The Clark transformation, specifically, refers to another coordinate transformation for analyzing the operation of synchronous motors. Unlike the Park transformation mentioned above, the Clark transformation projects the three-phase currents (a, b, and c) of the stator onto a stationary αβ coordinate system.

[0072] In some embodiments, the above-mentioned invocation of a preset vector control algorithm determines the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery. In specific implementation, it may include the following: determining the corresponding AC limiting parameter (for example, it can be denoted as V_Q limiting) based on the maximum charging current of the battery; and processing the intermediate voltage based on the AC limiting parameter to obtain the adjusted operating voltage.

[0073] Through the above embodiments, by using a preset vector control algorithm and incorporating the maximum charging current of the battery as a constraint, a more accurate and reliable adjusted operating voltage can be calculated based on the intermediate voltage.

[0074] In some embodiments, the above-mentioned processing of the intermediate voltage based on the AC limiting parameter to obtain the adjusted operating voltage may specifically include: performing an inverse Park transform and an inverse Clark transform on the intermediate voltage based on the AC limiting parameter to obtain the adjusted operating voltage.

[0075] In some embodiments, when specifically processing the intermediate voltage, DC limiting parameters (e.g., V_D limiting) can be simultaneously acquired and utilized, along with AC limiting parameters (V_Q limiting), for constraint; then, based on the intermediate voltage, inverse Park transform and inverse Clark transform are performed sequentially. After completing the above inverse Park transform and inverse Clark transform, the transformed result data can be processed by SVPWM to obtain the final adjusted operating voltage output.

[0076] Specifically, the inverse Park transform described above can be understood as the inverse of the Park transform. Similarly, the inverse Clark transform described above can be understood as the inverse of the Clark transform.

[0077] The aforementioned SVPWM (Space Vector Pulse Width Modulation) can specifically refer to a modulation method that uses the ideal flux linkage circle of the stator of a three-phase symmetrical motor as a reference standard when powered by a three-phase symmetrical sinusoidal voltage, and makes appropriate switching according to different switching modes of the three-phase inverter to form a corresponding PWM wave.

[0078] In some embodiments, the rotor angle of the motor can also be obtained and utilized to perform the above-mentioned inverse Park transformation based on the intermediate voltage.

[0079] In some embodiments, after obtaining the adjusted operating voltage, it can be fed back to the controller via the inverter, enabling the controller to operate and function based on the adjusted operating voltage. Specifically, for example, the controller can activate and control the E-ABS electronic braking system based on the adjusted operating voltage to perform specific target operation processing on the electric vehicle.

[0080] In some embodiments, the aforementioned target operation processing may specifically include braking processing or deceleration processing. During the process of the controller activating and controlling the E-ABS electronic braking system to perform the aforementioned target operation processing, the motor and other structures in the electric vehicle often generate regenerative energy. The controller can also simultaneously recover and utilize this regenerative energy by controlling the E-ABS electronic braking system. Furthermore, during the recovery and utilization of regenerative energy, the controller can effectively protect the battery, motor, and other electrical structures within the electric vehicle, enabling the electric vehicle to operate safely and stably and extending its service life.

[0081] In some embodiments, the above-mentioned acquisition of the battery's maximum charging current may specifically include: receiving the battery's maximum charging current transmitted by the antenna box; wherein, the electric vehicle is further provided with an antenna box; the antenna box is connected to the battery management system and the controller respectively; the antenna box is used to receive the battery's maximum charging current collected by the battery management system.

[0082] Through the above embodiments, by introducing and utilizing the antenna box, the controller can efficiently and conveniently obtain the readable maximum charging current.

[0083] In some embodiments, after calling a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery, the method may further include the following: detecting whether the target vehicle speed has been updated; if the target vehicle speed has been updated, obtaining the updated target vehicle speed; and determining the updated operating voltage of the controller based on the updated target vehicle speed.

[0084] In this embodiment, after detecting an update to the target vehicle speed and obtaining the updated target vehicle speed, the operating voltage can be recalculated based on the updated target vehicle speed in the manner described above to obtain the updated operating voltage corresponding to the updated target vehicle speed. Furthermore, the controller can operate and function based on the updated operating voltage.

[0085] As can be seen from the above, based on the controller voltage adjustment method provided in the embodiments of this specification, when an electric vehicle needs to perform target operations such as deceleration or braking, the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery can be obtained first. Then, a preset electronic braking algorithm is called to calculate the corresponding intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller. Finally, a preset vector control algorithm is called to determine the adjusted operating voltage of the controller based on the aforementioned intermediate voltage and the maximum charging current of the battery. This allows for targeted, precise, and effective adjustment of the operating voltage of the electric vehicle's controller. Furthermore, based on the adjusted operating voltage, the controller of the electric vehicle can be operated to precisely control the E-ABS electronic braking system to perform target operations on the electric vehicle while safely and effectively recovering and utilizing the regenerative energy generated during these operations.

[0086] This specification also provides an electric vehicle, including at least a processor and a memory for storing processor-executable instructions. Specifically, the processor can execute the following steps according to the instructions: acquiring the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; calling a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; calling a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated during the target operation processing.

[0087] To execute the above instructions more accurately, please refer to... Figure 3 As shown in the embodiments of this specification, another specific electric vehicle is also provided, wherein the electric vehicle may at least include a network communication port 301, a processor 302, and a memory 303. Furthermore, the electric vehicle may also include a controller, a battery, an antenna box, and other structures. Specifically, the controller may have a built-in E-ABS electronic braking system, the battery may have a built-in battery management system, and the antenna box may be connected to both the controller and the battery management system.

[0088] Specifically, the network communication port 301 can be used to acquire the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery.

[0089] The processor 302 can specifically be used to call a preset electronic braking algorithm to calculate an intermediate voltage based on the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller; and to call a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0090] The memory 303 can be used to store the corresponding instruction program.

[0091] In this embodiment, the network communication port 301 can be a virtual port bound to different communication protocols, thereby enabling the sending or receiving of different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. Furthermore, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM or CDMA; it can also be a Wi-Fi chip; or it can be a Bluetooth chip.

[0092] In this embodiment, the processor 302 can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification is not limiting.

[0093] In this embodiment, the memory 303 may include multiple layers. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0094] This specification also provides a computer storage medium for adjusting the controller voltage of the electric vehicle based on the above-described method. The computer storage medium stores computer program instructions that, when executed, perform the following: acquire the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery; call a preset electronic braking algorithm to calculate an intermediate voltage based on the target speed, the rotor angle of the motor, and the current operating voltage of the controller; call a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated during the target operation processing.

[0095] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0096] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained in comparison with other implementation methods, and will not be repeated here.

[0097] See Figure 4 As shown, at the software level, this specification also provides a device for adjusting the controller voltage of an electric vehicle, which may specifically include the following structural modules:

[0098] The acquisition module 401 can be used to acquire the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery.

[0099] The first calling module 402 can be used to call a preset electronic braking algorithm to calculate the intermediate voltage based on the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller.

[0100] The second calling module 403 can be used to call a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery; wherein, the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

[0101] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection between the devices or units shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0102] As can be seen from the above, the electric vehicle controller voltage adjustment device provided in this embodiment can, when the electric vehicle needs to perform target operations such as deceleration or braking, first acquire the target vehicle speed, motor rotor angle, current controller operating voltage, and battery maximum charging current through the acquisition module; then, the first invocation module calls a preset electronic braking algorithm to calculate an intermediate voltage based on the target vehicle speed, motor rotor angle, and current controller operating voltage; and finally, the second invocation module calls a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and battery maximum charging current. This allows for precise adjustment of the electric vehicle controller voltage, and based on the adjusted operating voltage, by operating the electric vehicle controller, it enables precise control of the E-ABS electronic braking system to perform target operations on the electric vehicle while safely and effectively recovering and utilizing regenerative energy.

[0103] While this specification provides the steps of operation for the methods described in the embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0104] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0105] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0106] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this specification can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of this specification.

[0107] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. This specification can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0108] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible without departing from the spirit of this specification, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this specification.

Claims

1. A method for adjusting the controller voltage of an electric vehicle, wherein, The controller includes at least an E-ABS electronic braking system and a motor, and the method includes: The system obtains the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery. The system invokes a preset electronic braking algorithm to calculate an intermediate voltage based on the target vehicle speed, the motor rotor angle, and the controller's current operating voltage. This includes: determining a corresponding target trajectory plan based on the target vehicle speed; integrating the motor rotor angle to obtain speed feedback parameters; summing the target trajectory plan and the speed feedback parameters to obtain a first voltage; calculating current feedback parameters based on the controller's current operating voltage; and summing the current feedback parameters and the first voltage to obtain the intermediate voltage. The controller uses a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery. This includes: determining the corresponding AC limiting parameter based on the maximum charging current of the battery; processing the intermediate voltage based on the AC limiting parameter to obtain the adjusted operating voltage; wherein the controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated in the target operation processing.

2. The method according to claim 1, wherein the current feedback parameters are calculated based on the current operating voltage of the controller, comprising: The current operating voltage of the controller is processed using a three-phase sensor to obtain the current three-phase current; The current feedback parameters are obtained by performing a positive Park-Clark transformation on the current three-phase current.

3. The method according to claim 1, wherein determining the corresponding target trajectory planning based on the target vehicle speed includes: Obtain processing intensity parameters and processing mode parameters; Based on the target vehicle speed, processing intensity parameters, and processing mode parameters, the corresponding target trajectory planning is determined.

4. The method according to claim 1, wherein the intermediate voltage is processed based on the AC limiting parameter to obtain the adjusted operating voltage, comprising: Based on the AC limiting parameters, the intermediate voltage is subjected to inverse Park transform and inverse Clark transform to obtain the adjusted operating voltage.

5. The method according to claim 1, wherein obtaining the maximum charging current of the battery comprises: The maximum charging current of the battery is received by the antenna box; wherein, the electric vehicle is also equipped with an antenna box; the antenna box is connected to the battery management system and the controller respectively; the antenna box is used to receive the maximum charging current of the battery collected by the battery management system.

6. The method according to claim 1, wherein the target operation processing includes: Braking or deceleration.

7. The method according to claim 1, after determining the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery by calling a preset vector control algorithm, the method further includes: Detect whether the target vehicle speed has been updated; If an update to the target vehicle speed is detected, obtain the updated target vehicle speed; Based on the updated target vehicle speed, the updated operating voltage of the controller is determined.

8. A voltage adjustment device for the controller of an electric vehicle, comprising: The acquisition module is used to acquire the target speed of the electric vehicle, the rotor angle of the motor, the current operating voltage of the controller, and the maximum charging current of the battery. The first calling module is used to call a preset electronic braking algorithm to calculate an intermediate voltage based on the target vehicle speed, the rotor angle of the motor, and the current operating voltage of the controller. Specifically, the first calling module is used to: determine a corresponding target trajectory plan based on the target vehicle speed; perform integral processing on the rotor angle of the motor to obtain speed feedback parameters; obtain a first voltage by summing the target trajectory plan and the speed feedback parameters; calculate a current feedback parameter based on the current feedback parameter and the first voltage; and obtain the intermediate voltage by summing the current feedback parameter and the first voltage. The second calling module is used to call a preset vector control algorithm to determine the adjusted operating voltage of the controller based on the intermediate voltage and the maximum charging current of the battery. The controller controls the E-ABS electronic braking system to perform target operation processing on the electric vehicle based on the adjusted operating voltage, and recovers the regenerative energy generated during the target operation processing. Specifically, the second calling module is used to: determine the corresponding AC limiting parameter based on the maximum charging current of the battery; and process the intermediate voltage based on the AC limiting parameter to obtain the adjusted operating voltage.

9. An electric vehicle, comprising at least a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method according to any one of claims 1 to 7.

10. A computer storage medium having stored thereon computer instructions that, when executed, perform the steps of the method according to any one of claims 1 to 7.

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