Motor speed control method, device, equipment and storage medium for vehicle
The motor speed is limited through closed-loop control, and the real-time speed is converted into a limiting torque using the speed deviation parameters and PI control strategy. The target torque is selected to ensure that the motor outputs sufficient torque, which solves the problems of complex control and jitter in the existing technology, and realizes a simple and stable anti-sliding function.
Patent Information
- Application Number
- CN202111044361.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-09-07
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2041-09-07
AI Technical Summary
The existing control scheme of anti-sliding function of automobiles is complex and can easily cause vehicle shaking, making the user's driving experience poor.
The motor speed is limited through closed-loop control, and the real-time speed is converted into a limiting torque using preset speed deviation parameters and PI control strategy, and the target torque is selected according to the vehicle gear, ensuring that the motor outputs sufficient torque to maintain the speed of no less than 0, realizing the anti-sliding function.
Simplifies control logic, avoids speed state switching, improves robustness, and ensures that the vehicle is driving stably on the ramp.
Smart Images
Figure CN115771403B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicle control, and particularly to a method, device, equipment and storage medium for controlling the motor speed of a vehicle. Background Art
[0002] Automobiles generally have an anti-rollback function. This function usually means that when the vehicle is going uphill, even if the accelerator pedal is released, the motor outputs torque to prevent the vehicle from rolling backward, making it easier for the driver to drive on slopes. The common practice of the anti-rollback function is as follows: The vehicle control unit judges whether the current vehicle is rolling backward through the vehicle speed. If so, it sends a zero-speed control instruction to the motor control unit, making the motor control unit control the motor speed to 0, so as to achieve the function of preventing the vehicle from rolling backward. The above solution has the following disadvantages: First, the control scheme is complex. Due to the complex actual working conditions of the vehicle, the vehicle control usually needs to make numerous conditional judgments to accurately determine whether the vehicle is really rolling backward to prevent false triggering. Second, there is a state switch, that is, the state switch of entering or exiting the zero-speed control state, which is likely to cause vehicle jitter and other situations, resulting in a poor driving experience for users. Summary of the Invention
[0003] The purpose of the embodiments of the present invention is to provide a method, device, equipment and storage medium for controlling the motor speed of a vehicle, which limits the motor speed through closed-loop control to achieve the anti-rollback function of the vehicle, without complex control logic and no speed state switch, and has the characteristics of simplicity and strong robustness.
[0004] To achieve the above purpose, the embodiments of the present invention provide a method for controlling the motor speed of a vehicle, including:
[0005] Obtaining the current gear of the vehicle, the real-time speed of the motor, and the requested torque of the vehicle;
[0006] Performing data conversion processing on the real-time speed to convert the real-time speed into a limiting torque;
[0007] Selecting one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle;
[0008] Converting the target torque into the output speed of the motor to control the motor with the output speed;
[0009] Updating the real-time speed according to the output speed.
[0010] As an improvement of the above solution, the performing data conversion processing on the real-time speed to convert the real-time speed into a limiting torque includes:
[0011] Perform a subtraction operation on the preset rotational speed deviation parameter and the real-time rotational speed, and output the deviation rotational speed;
[0012] Perform data conversion processing on the deviation rotational speed through a preset PI control strategy to convert the deviation rotational speed into a limiting torque.
[0013] As an improvement to the above solution, the step of selecting one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle includes:
[0014] When the current gear of the vehicle is in the D gear, select the maximum torque from the requested torque and the limiting torque as the target torque;
[0015] When the current gear of the vehicle is in the R gear, select the minimum torque from the requested torque and the limiting torque as the target torque.
[0016] As an improvement to the above solution, the method for obtaining the requested torque includes:
[0017] Obtain the depth of the accelerator pedal;
[0018] Look up the requested torque corresponding to the depth of the accelerator pedal from a preset torque conversion table according to the depth of the accelerator pedal.
[0019] As an improvement to the above solution, the step of converting the target torque into the output rotational speed of the motor includes:
[0020] Convert the target torque into the output rotational speed of the motor through an inverter.
[0021] To achieve the above object, an embodiment of the present invention further provides a motor rotational speed control device for a vehicle, including:
[0022] A data acquisition module, configured to acquire the current gear of the vehicle, the real-time rotational speed of the motor, and the requested torque of the vehicle;
[0023] A data processing module, configured to perform data conversion processing on the real-time rotational speed to convert the real-time rotational speed into a limiting torque;
[0024] A target torque acquisition module, configured to select one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle;
[0025] A control module, configured to convert the target torque into the output rotational speed of the motor to control the motor by applying the output rotational speed;
[0026] A data update module, configured to update the real-time rotational speed according to the output rotational speed.
[0027] As an improvement of the above solution, the data processing module is used for:
[0028] Subtract the preset rotational speed deviation parameter from the real-time rotational speed to perform a subtraction operation, and output the deviation rotational speed;
[0029] Perform data conversion processing on the deviation rotational speed through a preset PI control strategy to convert the deviation rotational speed into a limiting torque.
[0030] As an improvement of the above solution, the target torque acquisition module is used for:
[0031] When the current gear of the vehicle is in D gear, select the maximum torque from the requested torque and the limiting torque as the target torque;
[0032] When the current gear of the vehicle is in R gear, select the minimum torque from the requested torque and the limiting torque as the target torque.
[0033] To achieve the above object, an embodiment of the present invention further provides a motor speed control device for a vehicle, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the motor speed control method for a vehicle as described in any of the above embodiments.
[0034] To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the motor speed control method for a vehicle as described in any of the above embodiments.
[0035] Compared with the prior art, the motor speed control method, device, equipment, and storage medium for a vehicle disclosed in the embodiments of the present invention perform data conversion processing on the real-time rotational speed of the motor to convert the real-time rotational speed into a limiting torque to ensure that the rotational speed is not less than 0, and then select one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle to ensure that the motor outputs a sufficient torque to maintain the motor rotational speed not less than 0, thereby preventing the vehicle from rolling backward. Finally, the target torque is converted into the output rotational speed of the motor to control the motor with the output rotational speed and update the real-time rotational speed according to the output rotational speed, thereby achieving the purpose of closed-loop control. In the embodiments of the present invention, the anti-slip function of the vehicle is realized by limiting the motor speed through closed-loop control, without complex control logic and no state switching of the rotational speed, and has the characteristics of simplicity and strong robustness. Description of the Drawings
[0036] Figure 1It is a flowchart of a method for controlling the motor speed of a vehicle provided by an embodiment of the present invention;
[0037] Figure 2 It is a flowchart of realizing closed-loop control of the motor speed provided by an embodiment of the present invention;
[0038] Figure 3 It is a schematic diagram of the vehicle on an uphill in D gear provided by an embodiment of the present invention;
[0039] Figure 4 It is a schematic diagram of the vehicle on an uphill in reverse in R gear provided by an embodiment of the present invention;
[0040] Figure 5 It is a structural block diagram of a device for controlling the motor speed of a vehicle provided by an embodiment of the present invention;
[0041] Figure 6 It is a structural block diagram of a device for controlling the motor speed of a vehicle provided by an embodiment of the present invention. Detailed implementation manners
[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.
[0043] See Figure 1 , Figure 1 It is a flowchart of a method for controlling the motor speed of a vehicle provided by an embodiment of the present invention. The method for controlling the motor speed of the vehicle includes:
[0044] S1. Obtain the current gear of the vehicle, the real-time speed of the motor, and the requested torque of the vehicle;
[0045] S2. Perform data conversion processing on the real-time speed to convert the real-time speed into a limiting torque;
[0046] S3. Select one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle;
[0047] S4. Convert the target torque into the output speed of the motor to control the motor with the output speed;
[0048] S5. Update the real-time speed according to the output speed.
[0049] It should be noted that the motor speed control method of the vehicle described in the embodiments of the present invention satisfies the closed-loop control principle of the motor speed. The closed-loop control principle can be referred to Figure 2 , Figure 2 The closed-loop control system 100 in includes an adder 101, a PI controller 102, a comparator 103, an inverter 104, and a motor 105. The steps S1 to S5 are applied in the closed-loop control system 100.
[0050] Specifically, in step S1, the current gear position of the vehicle, the real-time speed of the motor, and the requested torque of the vehicle are obtained.
[0051] Exemplarily, the current gear position of the vehicle can be obtained from the gear regulator in the vehicle. The real-time speed of the motor can be collected from the motor in the vehicle. First, the depth of the accelerator pedal needs to be obtained for the requested torque, and then the requested torque corresponding to the depth of the accelerator pedal is found from the preset torque conversion table according to the depth of the accelerator pedal. It should be noted that the depth of the accelerator pedal is the depth when the driver's foot steps on the accelerator pedal and the accelerator pedal changes in angle. Different depths correspond to different torques, and the requested torque corresponding to the depth of the accelerator pedal can be found according to the torque conversion table.
[0052] Specifically, in step S2, data conversion processing is performed on the real-time speed to convert the real-time speed into a limit torque.
[0053] Exemplarily, the adder 101 and the PI controller 102 are used to perform data conversion processing on the real-time speed. A speed deviation parameter of 0 is pre-input into the adder 101, and the speed deviation parameter is subtracted from the real-time speed speed to output a deviation speed dspeed; then the deviation speed dspeed is input into the PI controller 102, so that the PI controller 102 performs data conversion processing on the deviation speed through the PI control strategy, thereby converting the deviation speed dspeed into a limit torque.
[0054] Optionally, the PI control strategy satisfies the following formula:
[0055] y k =K p x k +K i T s x k +S k-1 ;
[0056] S k =S k-1 +K i T sx k ;
[0057] wherein, x k is the deviation rotational speed, y k is the limiting torque, K p is the proportional control parameter of PI control, K i is the integral control parameter of PI control, T s is the calculation step size, S is the integral output, and k is the calculation time.
[0058] It should be noted that during laboratory tests, it is necessary to adjust the PI control parameters through experiments to ensure that the motor speed does not have overshoot under all working conditions, that is, the vehicle does not have a rolling-back phenomenon.
[0059] In the embodiment of the present invention, the rotational speed deviation parameter is set to 0 because when the motor speed is less than 0, it indicates that the motor is moving in the reverse direction at this time, and the vehicle is moving in the reverse direction (rolling back). Therefore, choosing 0 as the rotational speed deviation parameter will only change the direction of the motor speed, but will not change the numerical value of the motor speed, thereby achieving the application scenario of simulating the vehicle rolling back.
[0060] Specifically, in step S3, selecting one of the requested torque and the limiting torque as the target torque according to the current gear of the vehicle includes steps S31 to S32:
[0061] S31. When the current gear of the vehicle is in D gear, select the maximum torque from the requested torque and the limiting torque as the target torque;
[0062] S32. When the current gear of the vehicle is in R gear, select the minimum torque from the requested torque and the limiting torque as the target torque.
[0063] It should be noted that the motor speed control method for the vehicle described in the embodiment of the present invention is applicable to D gear and R gear. Figure 2 In the comparator 103, the maximum operator and the minimum operator can be used. When the vehicle is in D gear, it is the maximum operator max, and when the vehicle is in R gear, it is the minimum operator min; TrqRef_VCU is the requested torque; TrqRefFinal is the final torque given by the motor controller.
[0064] Exemplarily, refer to Figure 3, when the vehicle is in D gear and going uphill, when the motor speed is a relatively large positive value, the input of the PI controller 102 is negative, and the PI controller 102 will output a relatively large negative value with an absolute value. At this time, taking the larger value with the requested torque given by the vehicle controller is equivalent to having no limit on the torque given (for example, the PI controller 102 outputs -400 Nm, while the torque given is limited, such as within +-300 Nm. Taking the larger value of the two is equivalent to having no limit). When the real-time speed of the motor is a positive value close to 0 or even less than 0 (indicating that there will be a rolling-back phenomenon at this time), the PI controller 102 will output a positive value to ensure that the speed will not be less than 0. At this time, taking the larger value of the PI controller 102 and the requested torque given by the vehicle controller is equivalent to limiting the minimum value of the torque (for example, the PI controller 102 outputs 50 Nm, and taking the larger value with the requested torque, the result after taking the larger value will definitely be greater than 50 Nm, that is, limiting the minimum value of the torque), to ensure that the motor outputs a sufficiently large positive torque to maintain the motor speed not less than 0, so as to prevent the vehicle from rolling back.
[0065] See Figure 4 , when the vehicle is in R gear and going uphill in reverse, when the real-time speed of the motor is a relatively large negative value, the input of the PI controller 102 is positive, and the PI controller 102 will output a relatively large positive value with an absolute value. At this time, taking the smaller value with the torque given by the vehicle controller is equivalent to having no limit on the torque given; when the real-time speed of the motor is a negative value close to 0 or even greater than 0, the PI controller 102 will output a negative value to ensure that the speed will not be less than 0. At this time, taking the smaller value of the PI controller 102 and the requested torque given by the vehicle controller is equivalent to limiting the maximum value of the torque, to ensure that the motor outputs a sufficiently large negative torque to maintain the motor speed not greater than 0, so as to prevent the vehicle from rolling forward.
[0066] Specifically, in step S4, the target torque is converted into the output speed of the motor to control the motor using the output speed.
[0067] Exemplarily, the inverter 104 converts the target torque into the output speed of the motor. The inverter 104 is the driving component of the motor 105 and can drive the motor 105 to rotate according to the output speed.
[0068] Specifically, in step S5, after obtaining the output speed, the real-time speed is updated according to the output speed to achieve closed-loop control of the motor speed.
[0069] Compared with the prior art, the motor speed control method for a vehicle disclosed in the embodiments of the present invention performs data conversion processing on the real-time speed of the motor to convert the real-time speed into a limited torque to ensure that the speed is not less than 0, and then selects one of the requested torque and the limited torque as the target torque according to the current gear of the vehicle to ensure that the motor outputs a sufficiently large torque to maintain the motor speed not less than 0, thereby preventing the vehicle from rolling backward. Finally, the target torque is converted into the output speed of the motor to control the motor with the output speed and update the real-time speed according to the output speed, so as to achieve the purpose of closed-loop control. In the embodiments of the present invention, the anti-slip function of the vehicle is realized by limiting the motor speed through closed-loop control, which does not require complex control logic and there is no state switching of the speed, and has the characteristics of simplicity and strong robustness.
[0070] See Figure 5 , Figure 5 FIG. is a structural block diagram of a motor speed control device 200 for a vehicle provided by an embodiment of the present invention. The motor speed control device 200 for the vehicle includes:
[0071] A data acquisition module 201, configured to acquire the current gear of the vehicle, the real-time speed of the motor, and the requested torque of the vehicle;
[0072] A data processing module 202, configured to perform data conversion processing on the real-time speed to convert the real-time speed into a limited torque;
[0073] A target torque acquisition module 203, configured to select one of the requested torque and the limited torque as the target torque according to the current gear of the vehicle;
[0074] A control module 204, configured to convert the target torque into the output speed of the motor to control the motor with the output speed;
[0075] A data update module 205, configured to update the real-time speed according to the output speed.
[0076] Specifically, the current gear of the vehicle can be acquired by the data acquisition module 201 from a gear regulator in the vehicle. The real-time speed of the motor can be collected by the data acquisition module 201 from the motor in the vehicle. The requested torque first requires the data acquisition module 201 to acquire the depth of the accelerator pedal, and then find the requested torque corresponding to the depth of the accelerator pedal from a preset torque conversion table. It should be noted that the depth of the accelerator pedal is the depth when the driver's foot steps on the accelerator pedal and the accelerator pedal changes in angle. Different depths correspond to different torques, and the requested torque corresponding to the depth of the accelerator pedal can be found according to the torque conversion table.
[0077] Specifically, the data processing module 202 is configured to:
[0078] Subtract the preset rotational speed deviation parameter from the real-time rotational speed to output a deviation rotational speed;
[0079] Perform data conversion processing on the deviation rotational speed through a PI control strategy to convert the deviation rotational speed into a limiting torque.
[0080] Optionally, the PI control strategy satisfies the following formula:
[0081] y k = K p x k + K i T s x k + S k-1 ;
[0082] S k = S k-1 + K i T s x k ;
[0083] where x k is the deviation rotational speed, y k is the limiting torque, K p is the proportional control parameter of the PI control, K i is the integral control parameter of the PI control, T s is the calculation step, S is the integral output, and k is the calculation time.
[0084] It should be noted that during laboratory tests, it is necessary to adjust the PI control parameters through experiments so that the motor speed under all working conditions has no overshoot phenomenon, that is, the corresponding vehicle has no rolling-back phenomenon.
[0085] In the embodiments of the present invention, the rotational speed deviation parameter is set to 0 because when the motor speed is less than 0, it indicates that the motor is moving in the reverse direction at this time, and the vehicle is moving in the reverse direction (rolling back). Therefore, choosing 0 as the rotational speed deviation parameter will only change the direction of the motor speed and will not change the numerical value of the motor speed, thereby achieving the application scenario of simulating the vehicle rolling back.
[0086] Specifically, the target torque acquisition module 203 is configured to:
[0087] When the current gear of the vehicle is in the D gear, select the maximum torque from the requested torque and the limiting torque as the target torque;
[0088] When the current gear of the vehicle is in the R gear, select the minimum torque from the requested torque and the limited torque as the target torque.
[0089] It should be noted that the motor speed control method for the vehicle described in the embodiments of the present invention is applicable to the D gear and the R gear.
[0090] Exemplarily, when the vehicle is in the D gear and going uphill, when the motor speed is a relatively large positive value, the input of the PI controller is negative, and the PI controller will output a relatively large negative value. At this time, the larger value is taken from the torque given by the vehicle controller, which is equivalent to having no limit on the torque given. When the real-time speed of the motor is a positive value close to 0 or even less than 0 (indicating that there will be a phenomenon of rolling backward at this time), the PI controller will output a positive value to ensure that the speed will not be less than 0. At this time, the larger value is taken from the torque given by the PI controller and the vehicle controller, which is equivalent to limiting the minimum value of the torque to ensure that the motor outputs a sufficiently large positive torque to maintain the motor speed not less than 0, so as to prevent the vehicle from rolling backward.
[0091] When the vehicle is in the R gear and going uphill in reverse, when the real-time speed of the motor is a relatively large negative value, the input of the PI controller is positive, and the PI controller will output a relatively large positive value. At this time, the smaller value is taken from the torque given by the vehicle controller, which is equivalent to having no limit on the torque given; when the real-time speed of the motor is a negative value close to 0 or even greater than 0, the PI controller will output a negative value to ensure that the speed will not be greater than 0. At this time, the smaller value is taken from the torque given by the PI controller and the vehicle controller, which is equivalent to limiting the maximum value of the torque to ensure that the motor outputs a sufficiently large negative torque to maintain the motor speed not greater than 0, so as to prevent the vehicle from rolling forward.
[0092] Specifically, the control module 204 converts the target torque into the output speed of the motor to control the motor using the output speed.
[0093] Exemplarily, the control module 204 is an inverter. The inverter converts the target torque into the output speed of the motor. The inverter is a driving component of the motor and can drive the motor to rotate according to the output speed.
[0094] Specifically, after obtaining the output speed, the data update module 205 updates the real-time speed according to the output speed to achieve closed-loop control of the motor speed.
[0095] Compared with the prior art, the motor speed control device 200 of a vehicle disclosed in an embodiment of the present invention performs data conversion processing on the real-time speed of the motor to convert the real-time speed into a limited torque to ensure that the speed is not less than 0, and then selects one of the requested torque and the limited torque as the target torque according to the current gear of the vehicle to ensure that the motor outputs a sufficiently large torque to maintain the motor speed not less than 0, so as to prevent the vehicle from rolling backward. Finally, the target torque is converted into the output speed of the motor to control the motor with the output speed and update the real-time speed according to the output speed, thereby achieving the purpose of closed-loop control. In the embodiment of the present invention, the anti-slip function of the vehicle is realized by limiting the motor speed through closed-loop control, without complex control logic and no state switching of the speed, which has the characteristics of simplicity and strong robustness.
[0096] See Figure 6 , Figure 6 FIG. is a structural block diagram of a motor speed control device 300 for a vehicle provided by an embodiment of the present invention. The motor speed control device 300 for a vehicle includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps in the above-mentioned embodiments of the motor speed control method for each vehicle are implemented. Alternatively, when the processor 301 executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented.
[0097] Exemplarily, the computer program may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 302 and executed by the processor 301 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the motor speed control device 300 for a vehicle.
[0098] The motor speed control device 300 for a vehicle may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The motor speed control device 300 for a vehicle may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art can understand that the schematic diagram is only an example of the motor speed control device 300 for a vehicle, and does not constitute a limitation on the motor speed control device 300 for a vehicle. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the motor speed control device 300 for a vehicle may further include an input / output device, a network access device, a bus, etc.
[0099] The so-called processor 301 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor 301 is the control center of the motor speed control device 300 of the vehicle, and connects various parts of the motor speed control device 300 of the entire vehicle through various interfaces and lines.
[0100] The memory 302 can be used to store the computer programs and / or modules. The processor 301 realizes various functions of the motor speed control device 300 of the vehicle by running or executing the computer programs and / or modules stored in the memory 302, and by calling the data stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
[0101] Among them, if the modules / units integrated in the motor speed control device 300 of the vehicle are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor 301, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.
[0102] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement it without creative effort.
[0103] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements are also regarded as the protection scope of the present invention.
Claims
1. A method for controlling the motor speed of a vehicle, characterized in that Including: Obtain the current gear position of the vehicle, the real-time rotational speed of the motor, and the requested torque of the vehicle; Perform data conversion processing on the real-time rotational speed to convert the real-time rotational speed into a limiting torque. Specifically: Subtract a preset rotational speed deviation parameter from the real-time rotational speed to output a deviation rotational speed, where the rotational speed deviation parameter is 0; Perform data conversion processing on the deviation rotational speed through a preset PI control strategy to convert the deviation rotational speed into a limiting torque, and the PI control strategy satisfies the following formula: ； ； wherein, is the deviation rotational speed, is the limiting torque, is the proportional control parameter of PI control, is the integral control parameter of PI control, is the calculation step size, is the integral output, is the calculation time; Select one of the requested torque and the limiting torque as the target torque according to the current gear position of the vehicle. Specifically: when the current gear position of the vehicle is D gear, select the maximum torque as the target torque from the requested torque and the limiting torque; when the current gear position of the vehicle is R gear, select the minimum torque as the target torque from the requested torque and the limiting torque; Convert the target torque into the output rotational speed of the motor to control the motor with the output rotational speed; Update the real-time rotational speed according to the output rotational speed.
2. The motor speed control method for a vehicle according to claim 1, wherein The method for obtaining the requested torque includes: Obtain the depth of the accelerator pedal; Look up the requested torque corresponding to the depth of the accelerator pedal from a preset torque conversion table according to the depth of the accelerator pedal.
3. The motor speed control method of the vehicle according to claim 1, characterized in that The conversion of the target torque into the output rotational speed of the motor includes: Convert the target torque into the output rotational speed of the motor through an inverter.
4. A motor speed control device for a vehicle, characterized in that, Including: A data acquisition module for obtaining the current gear position of the vehicle, the real-time rotational speed of the motor, and the requested torque of the vehicle; A data processing module for performing data conversion processing on the real-time rotational speed to convert the real-time rotational speed into a limiting torque; A target torque acquisition module for selecting one of the requested torque and the limiting torque as the target torque according to the current gear position of the vehicle. Specifically, when the current gear position of the vehicle is D gear, select the maximum torque as the target torque from the requested torque and the limiting torque; when the current gear position of the vehicle is R gear, select the minimum torque as the target torque from the requested torque and the limiting torque; A control module for converting the target torque into the output rotational speed of the motor to control the motor with the output rotational speed; A data update module for updating the real-time rotational speed according to the output rotational speed; The data processing module is used for: Subtract a preset rotational speed deviation parameter from the real-time rotational speed to output a deviation rotational speed, where the rotational speed deviation parameter is 0; Perform data conversion processing on the deviation rotational speed through a preset PI control strategy to convert the deviation rotational speed into a limiting torque, and the PI control strategy satisfies the following formula: ； ； wherein, is the deviation rotational speed, is the limit torque, is the proportional control parameter of PI control, is the integral control parameter of PI control, is the calculation step size, is the integral output, is the calculation time.
5. A motor speed control device for a vehicle, characterized in that, Including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the method for controlling the rotational speed of the motor of the vehicle as described in any one of claims 1 to 3.
6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the motor speed control method for a vehicle according to any one of claims 1 to 3.
Citation Information
Patent Citations
Electric automobile ramp parking control method and control system and electric automobile
CN110605971A