Electric motor torque zero-crossing response control method for electric vehicle and electronic device

Abstract

The application discloses a motor torque zero-crossing response control method of an electric vehicle, and comprises the following steps: step one, a motor controller MCU acquires a past vehicle controller VCU issued torque instruction set Txk (k=1, 2... k+1) and a past motor actual output torque set Tsk (k=1, 2... k+1); step two, the motor controller MCU compares the past vehicle controller VCU issued torque instruction set Txk and the past motor actual output torque set Tsk according to a set method; step three, the motor actual output torque T2 that can be referred to is calculated according to the comparison result of step two; step four, the motor controller MCU receives the vehicle controller VCU issued torque instruction T1; and step five, the vehicle controller VCU issued torque instruction T1 and the motor actual output torque T2 are compared multiple times, a torque response coefficient K is obtained, and the current motor actual output torque instruction is calculated according to the torque response coefficient K, so that the problem of motor actual output torque hysteresis is solved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of new energy vehicles, in particular to a motor torque zero-crossing response control method for an electric vehicle and an electronic device. BACKGROUND

[0002] Traditional vehicles usually adopt internal combustion engines as power, but the internal combustion engines accelerate the consumption of limited human energy and also cause serious environmental problems. Therefore, new energy vehicles with zero emissions, low heat radiation, low noise and environmental optimization are valued and welcomed by people. Due to the gear, spline and other parts of the power transmission of the electric vehicle, there is a tooth gap between the gears, which causes the tooth impact phenomenon during the acceleration and deceleration of the vehicle during starting and driving, which seriously reduces the comfort of the vehicle. At present, the problem is usually solved by changing the response speed of the zero-crossing torque from fast to slow to reduce the impact and collision between the gears and thus reduce the tooth impact phenomenon. The torque response is usually fixed at two switches, which will cause the mutation of the torque response speed. In order to avoid the tooth impact phenomenon, the zero-crossing torque response speed is usually set to be small, which will cause the problem of actual output torque lag of the motor. SUMMARY

[0003] The application provides a motor torque zero-crossing response control method for an electric vehicle and an electronic device, which solves the problem of actual output torque lag of the motor.

[0004] The technical scheme adopted by the application to solve the technical problem is: providing a motor torque zero-crossing response control method for an electric vehicle and an electronic device, comprising the following steps,

[0005] Step one, the motor controller MCU acquires the past torque instruction set Txk (k = 1, 2 … k + 1) issued by the past vehicle controller VCU and the past motor actual output torque set Tsk (k = 1, 2 … k + 1);

[0006] Step two, the motor controller MCU compares the past torque instruction set Txk issued by the past vehicle controller VCU and the past motor actual output torque set Tsk according to the set method;

[0007] Step three, the output reference motor actual output torque T2 is calculated according to the comparison result of step two;

[0008] Step four, the motor controller MCU receives the torque instruction T1 issued by the vehicle controller VCU;

[0009] Step five, the torque instruction T1 issued by the vehicle controller VCU and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque instruction is calculated according to the torque response coefficient K.

[0010] As preferred, in step one, the motor controller MCU acquires the past vehicle controller VCU issued torque instruction set Txk(k=1, 2……k+1) and the past motor actual output torque set Tsk(k=1, 2……k+1), including, acquiring the past twenty cycles vehicle controller VCU issued torque instructions Tx1, Tx2……Tx20 and the past motor actual output torque Ts1, Ts2……Ts20, extracting 20 groups of data for collation and analysis, and obtaining the more real and reasonable motor actual output torque T2 as a reference.

[0011] As preferred, in step two, the motor controller MCU compares the past vehicle controller VCU issued torque instruction set Txk and the past motor actual output torque set Tsk according to the set method, including,

[0012] respectively calculating the difference between Tx1, Tx2……Tx20 and Ts1, Ts2……Ts20 to obtain 20 difference data A1, A1……A20, and discarding part of A1, A1……A20 exceeding the set threshold value;

[0013] screening the difference value data with equal values and number of 3 or more difference value data P1, and calculating the average value P2 of the remaining difference value data;

[0014] assigning weights to P1 and P2 to obtain the best difference value data P.

[0015] As preferred, in step three, the motor actual output torque T2 that can be referred to is calculated according to the comparison result of step two, including, comparing P and A1, A1……A20 respectively, and selecting the past motor actual output torque corresponding to the difference value data in A1, A1……A20 closest to P, which is the motor actual output torque T2.

[0016] As preferred, in step five, the vehicle controller VCU issued torque instruction T1 and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque instruction is calculated according to the torque response coefficient K, including,

[0017] The motor controller MCU reads the motor actual output torque T2, compares the vehicle controller VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2, if T1 is greater than or equal to T2, judges whether T2 is greater than or equal to T4, if yes, the torque response coefficient k=K1.

[0018] Wherein, K1 is the maximum positive torque slope of torque drop; T4 is the negative torque switching point of torque drop.

[0019] As preferred, the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2 multiple judgment comparison, get torque response coefficient K, according to the torque response coefficient K calculation current motor actual output torque instruction, including,

[0020] The motor controller MCU reads the motor actual output torque T2, compares the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if T1 is greater than or equal to T2, then judge whether T2 is greater than or equal to T4; if not, judge whether T2 is greater than or equal to 0;

[0021] If T2 is greater than or equal to 0, then torque response coefficient k = (K3 + T2 * (K1-K3) / T4); if not, then judge whether T2 is greater than or equal to T3;

[0022] If T2 is greater than or equal to T3, then torque response coefficient k = K3 + T2 * (K2-K3) / T3; if not, then torque response coefficient k = K2;

[0023] Wherein, K1 is the maximum slope of positive torque; K2 is the maximum slope of negative torque; K3 is the 0 torque slope; T3 is the positive torque switching point; T4 is the negative torque switching point.

[0024] As preferred, step five, the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2 multiple judgment comparison, get torque response coefficient K, according to the torque response coefficient K calculation current motor actual output torque instruction, including,

[0025] The motor controller MCU reads the motor actual output torque T2, compares the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if not, then judge whether T2 is greater than or equal to T6; if T2 is greater than or equal to T6, then torque response coefficient k = K4;

[0026] Wherein K4 is the maximum slope of positive torque; T6 is the negative torque switching point.

[0027] As preferred, step five, the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2 multiple judgment comparison, get torque response coefficient K, according to the torque response coefficient K calculation current motor actual output torque instruction, including,

[0028] The motor controller MCU reads the motor actual output torque T2, compares the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if not, then judge whether T2 is greater than or equal to T6; if not, then judge whether T2 is greater than or equal to 0;

[0029] If T2 is greater than or equal to 0, the torque response coefficient k = (K3 + T2 * (K4 - K3) / T6); if not, it is determined whether T2 is greater than or equal to T5;

[0030] If T2 is greater than or equal to T5, the torque response coefficient k = (K3 + T2 * (K5 - K3) / T5); if not, the torque response coefficient k = K5;

[0031] Wherein, K2 is the maximum negative torque slope of torque drop; K3 is the 0 torque slope; K4 is the maximum positive torque slope of torque rise; K5 is the maximum negative torque rise slope of torque rise; T5 is the torque rise negative torque switching point; T6 is the torque rise negative torque switching point.

[0032] An electronic device comprising a memory and a processor, the memory being configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the motor torque zero-crossing response control method of the electric vehicle and the electronic device as claimed in any one of the above.

[0033] The substantial effect of the present application is:

[0034] (1) The motor torque zero-crossing response control method of the electric vehicle obtains the torque response coefficient K by comparing the current torque instruction with the past motor actual output torque, calculates the current motor actual output torque instruction according to the torque response coefficient K, and solves the problem of motor actual output torque hysteresis;

[0035] (2) The motor torque zero-crossing response control method of the electric vehicle obtains reasonable reference motor actual output torque T2 by comparing the past vehicle controller VCU torque instruction set Txk and the past motor actual output torque set Tsk, and is more accurate;

[0036] (3) The setting method of the motor torque zero-crossing response control method of the electric vehicle compares the past vehicle controller VCU torque instruction set Txk and the past motor actual output torque set Tsk, which eliminates suspicious data, and calculates reasonable reference motor actual output torque T2 according to different weights of different factors, which is more accurate;

[0037] (4) The motor torque zero-crossing response control method of the electric vehicle combines real vehicle calibration to calculate the current cycle motor actual output torque instruction, which is more practical and the calculated data is more applicable. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the method step flow chart of embodiment two of the motor torque zero-crossing response control method and the electronic device of the electric vehicle of the present application;

[0039] Figure 2 is a motor torque zero-crossing response control method of an electric vehicle and a motor torque zero-crossing response schematic diagram of an electronic device. DETAILED DESCRIPTION

[0040] The technical solutions of the present application will be further described in detail below through specific embodiments.

[0041] Embodiment one

[0042] As shown in the figure, one embodiment of the motor torque zero-crossing response control method of the electric vehicle of the present application, in this embodiment, includes the following steps, Figure 2

[0043] Step one, the motor controller MCU obtains the past twenty cycles of vehicle controller VCU issued torque instructions 100N·m, 200N·m, 120N·m, 240N·m, 130N·m, 140N·m, 160N·m, 350N·m, 180N·m, 150N·m and the past motor actual output torque 95N·m, 197N·m, 115N·m, 238N·m, 127N·m, 135N·m, 156N·m, 347N·m, 179N·m, 148N·m;

[0044] Step two, the motor controller MCU compares the past vehicle controller VCU issued torque instruction set Txk and the past motor actual output torque set Tsk according to the set method, including,

[0045] Calculate the difference value of 100N·m, 200N·m, 120N·m, 240N·m, 130N·m, 140N·m, 160N·m, 350N·m, 180N·m, 150N·m and 95N·m, 197N·m, 115N·m, 238N·m, 127N·m, 135N·m, 156N·m, 347N·m, 179N·m, 148N·m respectively to get 20 difference data 5N·m, 3N·m, 5N·m, 2N·m, 3N·m, 5N·m, 4N·m, 3N·m, 1N·m, 2N·m, discard the part more than 10N·m;

[0046] The difference data with equal value and number of 3 or more is 5N·m and 3N·m, and the average value P2 of the remaining difference data is (2N·m+4N·m+1N·m+2N·m) / 4=2.25N·m;

[0047] Assign 5N·m, 3N·m and 2.25N·m to weights of 0.4, 0.4 and 0.2 respectively to get the best difference data P as 3.65N·m; ​

[0048] Step three, according to the comparison result of step two, the output of the motor actual output torque T2 can be referred to, including, the best difference data 3.65N·m is compared with 5N·m, 3N·m, 5N·m, 2N·m, 3N·m, 5N·m, 4N·m, 3N·m, 1N·m, 2N·m respectively, wherein the difference data closest to P is 4N·m, the corresponding past motor actual output torque of 4N·m is 156N·m, so the motor actual output torque T2 is 156N·m;

[0049] Step four, the motor controller MCU receives the torque instruction T1 issued by the vehicle controller VCU;

[0050] Step five, the torque instruction T1 issued by the vehicle controller VCU and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque instruction is calculated according to the torque response coefficient K, including,

[0051] The motor controller MCU reads the motor actual output torque T2, compares the torque instruction T1 issued by the vehicle controller VCU and the motor actual output torque T2, judges whether T1 is greater than or equal to T2, if T1 is greater than or equal to T2, then judge whether T2 is greater than or equal to T4; if not, then judge whether T2 is greater than or equal to T6;

[0052] If T2 is greater than or equal to T4, the torque response coefficient k=K1; if not, judge whether T2 is greater than or equal to 0;

[0053] If T2 is greater than or equal to 0, the torque response coefficient k=(K3+T2*(K1-K3) / T4); if not, judge whether T2 is greater than or equal to T3;

[0054] If T2 is greater than or equal to T3, the torque response coefficient k=K3+T2*(K2-K3) / T3; if not, the torque response coefficient k=K2;

[0055] If T2 is greater than or equal to T6, the torque response coefficient k=K4; if not, judge whether T2 is greater than or equal to 0;

[0056] If T2 is greater than or equal to 0, the torque response coefficient k=(K3+T2*(K4-K3) / T6); if not, judge whether T2 is greater than or equal to T5;

[0057] If T2 is greater than or equal to T5, the torque response coefficient k=(K3+T2*(K5-K3) / T5); if not, the torque response coefficient k=K5;

[0058] Wherein, K1 is the maximum positive torque slope of torque drop, which needs to be calibrated by real vehicle; K2 is the maximum negative torque slope of torque drop, which needs to be calibrated by real vehicle; K3 is the 0 torque slope, which needs to be calibrated by real vehicle; K5 is the maximum negative torque rising slope of torque rise, which needs to be calibrated by real vehicle; K4 is the maximum positive torque rising slope of torque rise, which needs to be calibrated by real vehicle; T3 is the switching point of positive torque drop, which needs to be calibrated by real vehicle; T4 is the switching point of negative torque drop, which needs to be calibrated by real vehicle; T5 is the switching point of negative torque rise, which needs to be calibrated by real vehicle; T6 is the switching point of positive torque rise, which needs to be calibrated by real vehicle.

[0059] The current period motor actual output torque instruction is calculated according to the torque response coefficient k.

[0060] Embodiment two

[0061] As shown in the embodiment, the motor torque zero-crossing response control method of the electric vehicle of the application, the motor actual output torque T2 is the vehicle last period motor actual output torque instruction, the specific current motor actual output torque instruction calculation steps are as follows: Figure 1 Step S01: the motor controller MCU receives the torque T1 issued by the VCU;

[0062] Step S02: the motor controller MCU reads the last period motor actual output torque instruction T2;

[0063] Step S03: judge whether T1 is greater than or equal to T2, if yes, execute S11, if not, execute S04;

[0064] Step S04: judge whether T2 is greater than or equal to T6, if yes, execute S07, if not, execute S05;

[0065] Step S05: judge whether T2 is greater than or equal to 0, if yes, execute S10, if not, execute S06;

[0066] Step S06: judge whether T2 is greater than or equal to T5, if yes, execute S09, if not, execute S08;

[0067] Step S07: torque response coefficient k = K4;

[0068] Step S08: torque response coefficient k = K5;

[0069] Step S09: torque response coefficient k = (K3+T2*(K5-K3) / T5);

[0070] Step S10: torque response coefficient k = (K3+T2*(K4-K3) / T6);

[0071] Step S11: torque response coefficient k = K2.

[0072] Step S11: judging whether T1 is greater than or equal to T4, if yes, executing S15, if no, executing S12;

[0073] Step S12: judging whether T2 is greater than or equal to 0, if yes, executing S14, if no, executing S13;

[0074] Step S13: judging whether T2 is greater than or equal to T3, if yes, executing S17, if no, executing S16;

[0075] Step S14: torque response coefficient k = (K3 + T2 * (K1 - K3) / T4);

[0076] Step S15: torque response coefficient k = K1;

[0077] Step S16: torque response coefficient k = K2;

[0078] Step S17: torque response coefficient k = (K3 + T2 * (K2 - K3) / T3);

[0079] Step S18: calculating the current period motor actual output torque instruction according to the torque response coefficient k.

[0080] It should be noted that K1 is the maximum positive torque slope of torque drop, which needs to be calibrated by real vehicle; K2 is the maximum negative torque slope of torque drop, which needs to be calibrated by real vehicle; K3 is the 0 torque slope, which needs to be calibrated by real vehicle; K5 is the maximum negative torque rising slope of torque rise, which needs to be calibrated by real vehicle; K4 is the maximum positive torque slope of torque rise, which needs to be calibrated by real vehicle; T3 is the positive torque switching point of torque drop, which needs to be calibrated by real vehicle; T4 is the negative torque switching point of torque drop, which needs to be calibrated by real vehicle; T5 is the negative torque switching point of torque rise, which needs to be calibrated by real vehicle; T6 is the negative torque switching point of torque rise, which needs to be calibrated by real vehicle.

[0081] Embodiment three

[0082] An electronic device includes a memory and a processor, the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the motor torque zero-crossing response control method of the electric vehicle and the electronic device as described in any one of the above.

[0083] The above-described embodiments are only a preferred scheme of the present application, and do not limit the present application in any form, and there are other variants and modifications without exceeding the technical scheme recited in the claims.

Claims

1. A method of controlling a torque zero-crossing response of an electric motor of an electric vehicle, characterized by, The method comprises the following steps, Step one, the motor controller MCU obtains the past twenty cycles of the vehicle controller VCU issued torque command Tx1, Tx2……Tx20 and the past motor actual output torque Ts1, Ts2……Ts20; Step two, the motor controller MCU compares the past vehicle controller VCU issued torque command set Txk and the past motor actual output torque set Tsk according to the set method, including, respectively calculating the difference between Tx1, Tx2……Tx20 and Ts1, Ts2……Ts20 to obtain 20 difference data A1, A1……A20, discarding part of A1, A1……A20 that exceeds the set threshold; screening the difference value data with equal values and the number of 3 or more difference value data P1 is listed separately, and calculating the average value P2 of the remaining difference value data; P1 and P2 are assigned weights to obtain the best difference value data P; Step three, according to the comparison result of step two, the output motor actual output torque T2 that can be referred to is calculated, including, comparing the best difference value data P with A1, A1……A20 respectively, selecting the past motor actual output torque corresponding to the difference value data in A1, A1……A20 that is closest to P, which is the motor actual output torque T2; Step four, the motor controller MCU receives the torque command T1 issued by the vehicle controller VCU; Step five, the vehicle controller VCU issued torque command T1 and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque command is calculated according to the torque response coefficient K.

2. The electric motor torque zero-crossing response control method for an electric vehicle according to claim 1, characterized by, Step five, the vehicle controller VCU issued torque command T1 and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque command is calculated according to the torque response coefficient K, including, the motor controller MCU reads the motor actual output torque T2, compares the vehicle controller VCU issued torque command T1 with the motor actual output torque T2, judges whether T1 is greater than or equal to T2, if T1 is greater than or equal to T2, judges whether T2 is greater than or equal to T4; if yes, the torque response coefficient k=K1; wherein K1 is the maximum slope of the positive torque of the torque drop; T4 is the negative torque switching point of the torque drop.

3. The electric motor torque zero-crossing response control method for an electric vehicle according to claim 2, characterized by, Step five, the vehicle controller VCU issued torque command T1 and the motor actual output torque T2 are compared multiple times to obtain the torque response coefficient K, and the current motor actual output torque command is calculated according to the torque response coefficient K, including, The motor controller MCU reads the motor actual output torque T2, compares the vehicle controller VCU issued torque command T1 with the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if T1 is greater than or equal to T2, judges whether T2 is greater than or equal to T4; if not, judges whether T2 is greater than or equal to 0; If T2 is greater than or equal to 0, the torque response coefficient k=(K3+T2*(K1-K3) / T4); if not, judges whether T2 is greater than or equal to T3; If T2 is greater than or equal to T3, the torque response coefficient k=K3+T2*(K2-K3) / T3; if not, the torque response coefficient k=K2; Wherein, K1 is the maximum positive torque slope of the torque drop; K2 is the maximum negative torque slope of the torque drop; K3 is the 0 torque slope; T3 is the positive torque switching point of the torque drop; T4 is the negative torque switching point of the torque drop.

4. The electric motor torque zero-crossing response control method for an electric vehicle according to claim 1, characterized by, Step five, the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2 multiple judgment comparison, get torque response coefficient K, according to the torque response coefficient K calculation current motor actual output torque instruction, including, The motor controller MCU reads the motor actual output torque T2, compares the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if not, judge whether T2 is greater than or equal to T6; if T2 is greater than or equal to T6, the torque response coefficient k = K4; Wherein K4 is the maximum positive torque slope of the torque rise; T6 is the negative torque switching point of the torque rise.

5. The electric motor torque zero-crossing response control method for an electric vehicle according to claim 4, characterized by, Step five, the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2 multiple judgment comparison, get torque response coefficient K, according to the torque response coefficient K calculation current motor actual output torque instruction, including, The motor controller MCU reads the motor actual output torque T2, compares the vehicle control unit VCU issued torque instruction T1 and the motor actual output torque T2, judges whether T1 is greater than or equal to T2; if not, judge whether T2 is greater than or equal to T6; if not, judge whether T2 is greater than or equal to 0; If T2 is greater than or equal to 0, the torque response coefficient k = (K3 + T2 * (K4-K3) / T6); if not, judge whether T2 is greater than or equal to T5; If T2 is greater than or equal to T5, the torque response coefficient k = (K3 + T2 * (K5-K3) / T5); if not, the torque response coefficient k = K5; Wherein, K2 is the maximum negative torque slope of the torque drop; K3 is the 0 torque slope; K4 is the maximum positive torque slope of the torque rise; K5 is the maximum negative torque slope of the torque rise; T5 is the negative torque switching point of the torque rise; T6 is the negative torque switching point of the torque rise.

6. An electronic device, comprising: The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to realize the motor torque zero response control method of the electric vehicle in any one of claims 1-5.

Images