Motor control method and device, electronic equipment, storage medium and vehicle

Abstract

The present disclosure relates to a motor control method and device, electronic equipment, storage medium and vehicle, and relates to the field of electric vehicles. A target motor working condition corresponding to the motor is determined from a plurality of preset motor working conditions; a preset maximum temperature difference corresponding to the target motor working condition is obtained; an acquisition temperature of the motor is obtained by a temperature sensor arranged in the motor; a historical temperature deviation of the motor is obtained according to the acquisition temperature; an actual temperature of the motor is obtained according to the preset maximum temperature difference, the historical temperature deviation and the acquisition temperature; and the motor is controlled to operate according to the actual temperature. The efficiency of the motor is improved under the premise of ensuring the safety of the motor.

Description

Technical Field

[0001] This disclosure relates to the field of electric vehicles, and more particularly to a method, apparatus, electronic device, storage medium, and vehicle for controlling an electric motor. Background Technology

[0002] The motor is the core component responsible for the power output of electric vehicles. If the operating temperature of the motor exceeds its design tolerance temperature, it will affect the motor's safety and service life. To solve this problem, a temperature sensor is usually installed on the motor to collect the motor's operating temperature, and the control strategy for the motor is determined based on the collected temperature.

[0003] The existing technology's strategy of controlling the motor based on the collected temperature is too conservative, overprotecting the motor and failing to maximize its efficiency, resulting in a waste of motor costs. Summary of the Invention

[0004] To overcome the problems existing in the related technologies, this disclosure provides a method, apparatus, electronic device, storage medium and vehicle for controlling an electric motor.

[0005] According to a first aspect of the present disclosure, a method for controlling a motor is provided, the method comprising:

[0006] Determine the target motor condition corresponding to the motor from multiple preset motor operating conditions;

[0007] Obtain the preset maximum temperature difference corresponding to the target motor operating condition;

[0008] The temperature of the motor is obtained by a temperature sensor installed inside the motor.

[0009] The historical temperature deviation of the motor is obtained based on the collected temperature. The historical temperature deviation is used to characterize the temperature difference between the collected temperature and the historical operating temperature of the motor. The historical operating temperature is the actual temperature of the previous motor operating condition. When the motor is started for the first time, the historical operating temperature is the collected temperature.

[0010] The actual temperature of the motor is obtained based on the preset maximum temperature difference, the historical temperature deviation, and the collected temperature.

[0011] The motor is controlled to operate based on the actual temperature.

[0012] Optionally, obtaining the historical temperature deviation of the motor based on the collected temperature includes:

[0013] Obtain the historical operating temperature of the motor;

[0014] If the historical operating temperature is greater than the acquisition temperature, the difference between the historical operating temperature and the acquisition temperature is taken as the historical temperature deviation.

[0015] If the historical operating temperature is less than or equal to the acquisition temperature, the specified temperature deviation will be used as the historical temperature deviation.

[0016] Optionally, obtaining the actual temperature of the motor based on the preset maximum temperature difference, the historical temperature deviation, and the collected temperature includes:

[0017] When the historical temperature deviation is less than the preset maximum temperature difference, the preset first temperature change time corresponding to the target motor operating condition is obtained. The first temperature change time is the time required for the motor to reach the preset maximum temperature difference from the preset minimum temperature difference.

[0018] The first temperature difference change rate is determined based on the first temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference;

[0019] The temperature deviation of the motor is determined based on the historical temperature deviation, the maximum temperature difference, and the first temperature difference change rate.

[0020] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0021] Optionally, obtaining the actual temperature of the motor based on the preset maximum temperature difference, the historical temperature deviation, and the collected temperature includes:

[0022] When the historical temperature deviation is greater than or equal to the preset maximum temperature difference, the preset second temperature change time corresponding to the target motor operating condition is obtained. The second temperature change time is the time required for the motor to reach the preset minimum temperature difference from the preset maximum temperature difference.

[0023] The corresponding second temperature difference change rate is determined based on the second temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference;

[0024] The temperature deviation of the motor is determined based on the historical temperature deviation, the maximum temperature difference, and the second temperature difference change rate.

[0025] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0026] Optionally, controlling the motor operation based on the actual temperature includes:

[0027] The target motor temperature state corresponding to the target motor operating condition is determined from the preset motor temperature state. The preset motor temperature state includes a first temperature state or a second temperature state. The first temperature state indicates that the motor heat generation is less than or equal to the motor heat dissipation, and the second temperature state indicates that the motor heat generation is greater than the motor heat dissipation.

[0028] When the target motor temperature is at the first temperature state, the motor operates according to its current operating torque; or...

[0029] When the target motor temperature state is the second temperature state, if the actual temperature is greater than or equal to the target temperature threshold, the operating torque of the motor is reduced so that the target motor temperature state of the target motor operating condition is updated from the second temperature state to the first temperature state, and the motor is controlled to operate at the reduced operating torque. The target temperature threshold is obtained based on the motor's preset maximum tolerance temperature; or...

[0030] When the motor temperature is in the second temperature state, if the actual temperature is less than the target temperature threshold, the motor operates according to its current operating torque.

[0031] Optionally, the motor includes: a stator, windings disposed on the stator, and a temperature sensor disposed within a gap in the windings, the temperature sensor being disposed within the gap in the windings in the following manner:

[0032] The installation position of the temperature sensor is determined within the winding;

[0033] Insert the temperature sensor model into the installation position. The shape of the temperature sensor model matches the temperature sensor. The volume of the temperature sensor model is larger than the volume of the temperature sensor. The ratio of the volume of the temperature sensor model to the volume of the temperature sensor is less than or equal to a preset volume ratio threshold.

[0034] A preset coating process is applied to the winding;

[0035] After the coating process is completed, the temperature sensor model is removed, and the temperature sensor is inserted into the gap formed by the temperature sensor model. Insulating thermally conductive adhesive is then poured into the gap.

[0036] According to a second aspect of the present disclosure, a motor control device is provided, the device comprising:

[0037] The motor operating condition acquisition module is configured to determine the target motor operating condition corresponding to the motor from a plurality of preset motor operating conditions;

[0038] The maximum temperature difference acquisition module is configured to acquire the preset maximum temperature difference corresponding to the operating condition of the target motor;

[0039] The temperature acquisition module is configured to acquire the motor's temperature through a temperature sensor installed inside the motor. The historical temperature deviation is used to characterize the temperature difference between the motor's acquired temperature and its historical operating temperature. The historical operating temperature is the actual temperature of the previous motor operating condition. When the motor is started for the first time, the historical operating temperature is the acquired temperature.

[0040] The historical temperature difference acquisition module is configured to acquire the historical temperature deviation of the motor based on the acquired temperature.

[0041] The actual temperature acquisition module is configured to acquire the actual temperature of the motor based on the preset maximum temperature difference, the historical temperature deviation, and the acquired temperature.

[0042] The control module is configured to control the operation of the motor based on the actual temperature.

[0043] Optionally, the historical temperature difference acquisition module is further configured to:

[0044] Obtain the historical operating temperature of the motor;

[0045] If the historical operating temperature is greater than the acquisition temperature, the difference between the historical operating temperature and the acquisition temperature is taken as the historical temperature deviation.

[0046] If the historical operating temperature is less than or equal to the acquisition temperature, the specified temperature deviation will be used as the historical temperature deviation.

[0047] Optionally, the actual temperature acquisition module is also configured as follows:

[0048] When the historical temperature deviation is less than the preset maximum temperature difference, the preset first temperature change time corresponding to the target motor operating condition is obtained. The first temperature change time is the time required for the motor to reach the preset maximum temperature difference from the preset minimum temperature difference.

[0049] The first temperature difference change rate is determined based on the first temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference;

[0050] The temperature deviation of the motor is determined based on the historical temperature deviation, the maximum temperature difference, and the first temperature difference change rate.

[0051] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0052] Optionally, the actual temperature acquisition module is also configured as follows:

[0053] When the historical temperature deviation is greater than or equal to the preset maximum temperature difference, the preset second temperature change time corresponding to the target motor operating condition is obtained. The second temperature change time is the time required for the motor to reach the preset minimum temperature difference from the preset maximum temperature difference.

[0054] The corresponding second temperature difference change rate is determined based on the second temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference;

[0055] The temperature deviation of the motor is determined based on the historical temperature deviation, the maximum temperature difference, and the second temperature difference change rate.

[0056] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0057] Optionally, the control module includes:

[0058] The temperature status acquisition submodule is configured to determine the target motor temperature status corresponding to the target motor operating condition from the preset motor temperature status. The preset motor temperature status includes a first temperature status or a second temperature status. The first temperature status indicates that the motor heat generation is less than or equal to the motor heat dissipation, and the second temperature status indicates that the motor heat generation is greater than the motor heat dissipation.

[0059] The motor control submodule is configured to operate according to the current operating torque of the motor when the target motor temperature is at the first temperature state; or...

[0060] When the target motor temperature state is the second temperature state, if the actual temperature is greater than or equal to the target temperature threshold, the operating torque of the motor is reduced so that the target motor temperature state of the target motor operating condition is updated from the second temperature state to the first temperature state, and the motor is controlled to operate at the reduced operating torque. The target temperature threshold is obtained based on the motor's preset maximum tolerance temperature; or...

[0061] When the motor temperature is in the second temperature state, if the actual temperature is less than the target temperature threshold, the motor operates according to its current operating torque.

[0062] Optionally, the motor includes: a stator, windings disposed on the stator, and a temperature sensor disposed within a gap in the windings, the temperature sensor being disposed within the gap in the windings in the following manner:

[0063] The installation position of the temperature sensor is determined within the winding;

[0064] The temperature sensor model is inserted into the installation position. The shape of the temperature sensor model matches the temperature sensor. The volume of the temperature sensor model is larger than the volume of the temperature sensor. The ratio of the volume of the temperature sensor model to the volume of the temperature sensor is less than or equal to a preset volume ratio threshold.

[0065] A preset coating process is applied to the winding;

[0066] After the coating process is completed, the temperature sensor model is removed, and the temperature sensor is inserted into the gap formed by the temperature sensor model. Insulating thermally conductive adhesive is then poured into the gap.

[0067] According to a third aspect of the present disclosure, an electronic device is provided, the electronic device comprising:

[0068] A memory on which computer programs are stored;

[0069] A processor for executing the computer program in the memory to implement the steps of the method described in any of the embodiments of the first aspect above.

[0070] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0071] According to a fifth aspect of the present disclosure, a vehicle is provided that includes the apparatus described in the second aspect above.

[0072] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0073] This disclosure first determines the target motor operating condition from multiple preset motor operating conditions; then obtains the preset maximum temperature difference corresponding to the target motor operating condition; secondly, it acquires the motor's sampling temperature using a temperature sensor installed inside the motor; based on the sampling temperature, it obtains the motor's historical temperature deviation, which characterizes the temperature difference between the motor's sampling temperature and its historical operating temperature. The historical operating temperature is the actual temperature of the previous motor operating condition, and when the motor is first started, the historical operating temperature is the sampling temperature; then, it obtains the motor's actual temperature based on the preset maximum temperature difference, the historical temperature deviation, and the sampling temperature; finally, it controls the motor's operation based on the actual temperature. By calculating and obtaining the motor's actual temperature and determining the motor's control strategy based on this actual temperature, the motor's operating temperature is made closer to the motor's preset tolerance temperature, which can improve the motor's efficiency while ensuring motor safety.

[0074] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0075] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0076] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0077] Figure 1 This is a flowchart illustrating a method for controlling an electric motor according to an exemplary embodiment.

[0078] Figure 2 This is a schematic diagram illustrating the installation of a temperature sensor according to an exemplary embodiment.

[0079] Figure 3 This is a partially enlarged view illustrating a temperature sensor installation according to an exemplary embodiment.

[0080] Figure 4 This is a partial structural schematic diagram of a temperature sensor mounting according to an exemplary embodiment.

[0081] Figure 5 This is a block diagram illustrating a control device for an electric motor according to an exemplary embodiment.

[0082] Figure 6 This is a block diagram illustrating another motor control device according to an exemplary embodiment.

[0083] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment.

[0084] Figure 8 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0085] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure.

[0086] First, the application scenario of this disclosure will be explained. The motor is the core component responsible for the power output of electric vehicles. When the operating temperature of the motor exceeds the motor's design tolerance temperature, it will affect the motor's safety and service life. To solve the above problems, a temperature sensor is generally installed on the motor to collect the motor's operating temperature, and the strategy for controlling the motor is determined based on the collected temperature.

[0087] Due to differences in installation processes and the inherent accuracy limitations of temperature sensors, the acquired temperature will be lower than the actual operating temperature of the motor, resulting in a certain temperature deviation. To ensure motor safety, the motor control strategy determined based on the acquired temperature will be overly conservative. That is, when there is a significant difference between the actual operating temperature of the motor and the motor's design tolerance temperature, the torque limitation on the motor will be activated, thus preventing the motor from reaching its maximum efficiency.

[0088] Figure 1 This is a flowchart illustrating a motor control method according to an exemplary embodiment, such as... Figure 1 As shown, the method may include the following steps:

[0089] In step S101, the target motor condition corresponding to the motor is determined from multiple preset motor operating conditions.

[0090] The electric motor is the core component responsible for the power output of an electric vehicle. Its operating parameters include torque, speed, and power. The relationship between these three is as follows: The power of the aforementioned motor is limited by its rated power. With a stable accelerator pedal, the torque remains constant. As the motor power increases, the speed gradually increases. Once the motor power reaches its rated power, the torque will gradually decrease as the motor speed increases. From the motor's operating process, it can be seen that the combination of torque and speed directly affects the motor's output power and is also directly related to its operating temperature. Therefore, the combination of torque and speed is referred to as the motor's operating condition.

[0091] In some embodiments, the operating torque and operating speed of the motor can be obtained, and a target torque range corresponding to the obtained operating torque can be determined from a plurality of preset torque ranges, and a target speed range corresponding to the obtained operating speed can be determined from a plurality of preset speed ranges. The target motor condition corresponding to both the target torque range and the target speed range can be determined from a plurality of preset motor conditions through a preset operating condition correspondence relationship. The preset operating condition correspondence relationship includes the correspondence between the preset speed range and the preset motor condition.

[0092] In step S102, the preset maximum temperature difference corresponding to the target motor operating condition is obtained.

[0093] The preset maximum temperature difference is the maximum temperature difference between the motor's sampled temperature and the motor's actual temperature. In this step, since the maximum temperature difference of the motor may be different under different motor operating conditions, in some embodiments, the maximum temperature difference corresponding to the target motor operating condition can be obtained from multiple preset maximum temperature differences.

[0094] For example, the preset maximum temperature difference between the sampled temperature and the actual motor temperature under different motor operating conditions can be obtained in a motor bench test. For instance, a high-sensitivity sensor (e.g., a thermocouple sensor) can be used to obtain the actual motor temperature in the bench test, while a temperature sensor (e.g., a thermistor sensor) can be used to obtain the sampled temperature, thereby obtaining the maximum temperature difference between the sampled temperature and the actual motor temperature under different motor operating conditions.

[0095] In step S103, the motor temperature is acquired by a temperature sensor installed inside the motor.

[0096] For example, during motor operation, the operating temperature of the motor is collected by a temperature sensor installed on the motor.

[0097] In step S104, the historical temperature deviation of the motor is obtained based on the collected temperature. This historical temperature deviation is used to characterize the temperature difference between the collected temperature and the historical operating temperature of the motor. The historical operating temperature is the actual temperature of the previous motor operating condition. When the motor is started for the first time, the historical operating temperature is the collected temperature.

[0098] First, the historical operating temperature of the motor can be obtained. When the motor is started for the first time, the historical operating temperature can be a default invalid value, such as -255℃. If the historical operating temperature is a default invalid value, the temperature collected when the motor is started for the first time can be used as the historical operating temperature of the motor, or the actual temperature of the motor calculated under the previous operating condition can be used as the historical operating temperature.

[0099] If the historical operating temperature is greater than the acquisition temperature, the difference between the historical operating temperature and the acquisition temperature is taken as the historical temperature deviation.

[0100] If the historical operating temperature is less than or equal to the acquisition temperature, the specified temperature deviation will be used as the historical temperature deviation. For example, the specified temperature deviation could be 0°C.

[0101] In step S105, the actual temperature of the motor is obtained based on the preset maximum temperature difference, historical temperature deviation, and collected temperature.

[0102] In some embodiments, when the historical temperature deviation is less than the preset maximum temperature difference (i.e., the motor changes from the initial operating condition with a small temperature difference to the target motor operating condition with a large temperature difference), firstly, the first temperature change time corresponding to the target motor operating condition can be obtained from multiple preset first temperature change times. The first temperature change time is the time required for the motor to reach the preset maximum temperature difference of the target motor operating condition from the preset minimum temperature difference. For example, the preset minimum temperature difference can be 0°C.

[0103] The first temperature change time corresponding to different motor operating conditions can be obtained by using the first formula based on the initial temperature difference of the motor operating condition, the maximum temperature difference of the motor operating condition, and the time it takes for the initial temperature difference to change to the maximum temperature difference, when the preset minimum temperature difference is 0℃.

[0104] The first formula may include:

[0105]

[0106] Where I is the first temperature change time under this working condition, ΔT is the maximum temperature difference corresponding to this working condition, ΔTi1 is the initial temperature difference, and t1 is the time required for the initial temperature difference ΔTi1 to increase to the maximum temperature difference ΔT in the bench test.

[0107] In a motor bench test, the first temperature change time corresponding to multiple different motor operating conditions can be obtained according to the first formula. For example, in the bench test, the motor can be fixed under the motor operating condition, and the actual temperature of the motor can be obtained using a high-sensitivity sensor, which can be a thermocouple sensor. Alternatively, the temperature can be obtained using a temperature sensor with existing technology, which can be a thermistor sensor. The temperature difference between the sampled temperature and the actual temperature in the motor operating condition in the bench test can be used as the initial temperature difference. The time required for the temperature difference between the sampled temperature and the actual temperature to rise from the initial temperature difference to the maximum temperature difference corresponding to the motor operating condition can be obtained. The first temperature change time when the preset minimum temperature difference corresponding to the motor operating condition is 0℃ can be obtained through the first formula.

[0108] Secondly, the first temperature difference change rate can be determined based on the first temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference.

[0109] The first temperature difference change rate represents the amount of temperature change per unit time. For example, the preset minimum deviation can be 0℃. The first temperature difference change rate can be obtained by dividing the preset maximum temperature difference by the first temperature change time.

[0110] Finally, the temperature deviation of the motor is determined based on the historical temperature deviation, the maximum temperature difference, and the first temperature difference change rate.

[0111] For example, the temperature deviation of the motor can be determined by a second formula based on historical temperature deviation, maximum temperature difference, and first temperature difference change rate.

[0112] The second formula may include:

[0113] Tdel=△Ti+α×t

[0114] Where t is the time parameter starting from 0, Tdel is the temperature deviation of the motor, a function of time t, ΔTi is the historical temperature deviation, ΔT is the maximum temperature difference, and α is the first rate of change of temperature difference. hour otherwise I represents the time of the first temperature change.

[0115] In other embodiments, when the historical temperature deviation is greater than or equal to the preset maximum temperature difference (i.e., the motor changes from the initial operating condition with a large temperature difference to the target motor operating condition with a small temperature difference), firstly, the second temperature change time corresponding to the target motor operating condition can be obtained from multiple preset second temperature change times. The second temperature change time is the time required for the motor to reach the preset minimum temperature difference from the preset maximum temperature difference of the target motor operating condition. For example, the preset minimum temperature difference can be 0°C.

[0116] When obtaining the second temperature change time in the bench test, it is necessary to first adjust the operating condition to the first motor operating condition where the maximum temperature difference is greater than the maximum temperature difference of the target motor operating condition, and obtain an initial temperature difference greater than the maximum temperature difference of the target motor operating condition. Then, the motor is adjusted to the target motor operating condition, and the second temperature change time when the maximum temperature difference of the target motor operating condition changes to the preset minimum temperature difference of 0℃ is obtained by using the third formula based on the maximum temperature difference of the target motor operating condition and the time when the initial temperature difference of the first motor operating condition changes to the maximum temperature difference of the target motor operating condition.

[0117] It should be noted that the second temperature change time is calculated by using the time it takes for the maximum temperature difference of the target motor operating condition to decrease to the preset minimum temperature difference of 0℃ by converting the time from the initial temperature difference of the first motor operating condition to the maximum temperature difference of the target motor operating condition. This is only to more intuitively represent the rate of change of the temperature difference, and does not mean that the maximum temperature difference under the target motor operating condition can be reduced to the preset minimum temperature difference of 0℃.

[0118] This third formula may include:

[0119]

[0120] Where D is the second temperature change time, ΔTi2 is the initial temperature difference of the first motor condition, and t2 is the time required for the initial temperature difference ΔTi2 of the first motor condition in the bench test to decrease to the maximum temperature difference ΔT.

[0121] In a motor bench test, the third formula can be used to obtain the second temperature change time corresponding to multiple different target motor operating conditions. For example, in a bench test, the motor can be fixed under a first motor operating condition where the maximum temperature difference is greater than the maximum temperature difference of the motor operating condition. A high-sensitivity sensor can be used to obtain the actual temperature of the motor. This sensor can be a thermocouple sensor. A temperature sensor with existing technology can be used to obtain the sampled temperature. This sensor can be a thermistor sensor. An initial temperature difference greater than the maximum temperature difference of the motor operating condition can be obtained. The motor can be fixed under the target motor operating condition, and the time required for the temperature difference between the sampled temperature and the actual temperature to decrease from the initial temperature difference to the maximum temperature difference corresponding to the motor operating condition can be obtained. The third formula can then be used to obtain the second temperature change time when the preset minimum temperature difference corresponding to the motor operating condition is 0℃.

[0122] Secondly, the second temperature difference change rate can be determined based on the second temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference.

[0123] The second temperature difference change rate represents the amount of temperature change per unit time. For example, the preset minimum deviation can be 0°C. The preset maximum temperature difference can be divided by the second temperature change time to obtain the second temperature difference change rate.

[0124] Finally, the motor's temperature deviation can be determined based on the historical temperature deviation, the maximum temperature difference, and the second temperature difference change rate.

[0125] For example, the motor's temperature deviation can be determined using the fourth formula based on historical temperature deviation, maximum temperature difference, and the second temperature difference change rate.

[0126] This fourth formula may include:

[0127] Tdel=△Ti-β×t

[0128] Where t is the time parameter starting from 0, Tdel is the motor temperature deviation, a function of time t, ΔTi is the historical temperature deviation, ΔT is the maximum temperature difference, and β is the second temperature difference variation coefficient. hour, otherwise D represents the second temperature change time.

[0129] The actual temperature of the motor is obtained using the fifth formula based on the collected temperature and the temperature deviation of the motor.

[0130] This fifth formula may include:

[0131] Twt=Tmt+Tdel

[0132] Where Twt is the actual temperature of the motor, Tmt is the collected temperature of the motor, and Tdel is the current temperature deviation of the motor. Twt, Tmt, and Tdel are all functions of time t.

[0133] In step S106, the motor is controlled to operate according to the actual temperature.

[0134] In some embodiments, firstly, the target motor temperature state corresponding to the target motor operating condition can be determined from the preset motor temperature state.

[0135] The preset motor temperature state may include a first temperature state or a second temperature state. The first temperature state indicates that the motor's heat generation is less than or equal to the motor's heat dissipation, and the second temperature state indicates that the motor's heat generation is greater than the motor's heat dissipation.

[0136] When the target motor temperature is at the first temperature state, the motor operates according to its current operating torque.

[0137] When the target motor temperature is in the second temperature state, if the actual temperature is greater than or equal to a preset target temperature threshold, the operating torque of the motor is reduced. This updates the target motor temperature state from the second temperature state to the first temperature state, and the motor is controlled to operate at the reduced operating torque. In this way, when the motor temperature is in the second temperature state and the actual temperature is greater than or equal to the preset target temperature threshold, the torque can be reduced in a timely manner, thereby lowering the motor's operating temperature, ensuring motor safety, and improving the safety of the electric vehicle.

[0138] For example, a preset motor tolerance temperature threshold is obtained, which is the maximum safe temperature of the motor determined according to the motor design. A preset motor temperature protection threshold is also obtained. The difference between the tolerance temperature threshold and the motor temperature protection threshold is used as the target temperature threshold. For example, the range of the motor temperature protection threshold can be 5-10℃, and this disclosure does not limit it.

[0139] When the motor temperature is in the second temperature state, if the actual temperature is less than the target temperature threshold, the motor will operate according to its current operating torque.

[0140] The above scheme first determines the target motor operating condition from multiple preset motor operating conditions; then, it obtains the preset maximum temperature difference corresponding to the target motor operating condition; next, it acquires the motor's temperature using a temperature sensor installed inside the motor; based on the acquired temperature, it obtains the motor's historical temperature deviation, which characterizes the temperature difference between the acquired temperature and the historical operating temperature. The historical operating temperature is the actual temperature of the previous motor operating condition; during the motor's first start-up, the historical operating temperature is the acquired temperature; then, it obtains the motor's actual temperature based on the preset maximum temperature difference, the historical temperature deviation, and the acquired temperature; finally, it controls the motor's operation based on the actual temperature. By calculating and obtaining the motor's actual temperature and determining the motor's control strategy based on this actual temperature, the motor's operating temperature is made closer to the motor's preset tolerance temperature, which can improve the motor's efficiency while ensuring motor safety.

[0141] In some embodiments of this disclosure, the motor may include: a stator, windings disposed on the stator, and a temperature sensor disposed within a gap in the windings. The temperature sensor may be disposed within the gap in the windings in the following manner:

[0142] In step S201, the installation position of the temperature sensor is determined within the winding.

[0143] Figure 2 This is a schematic diagram illustrating the installation of a temperature sensor according to an exemplary embodiment. Figure 3 This is a partially enlarged view illustrating a temperature sensor mounting according to an exemplary embodiment. Figure 4 This is a partial structural schematic diagram of a temperature sensor mounting according to an exemplary embodiment.

[0144] The installation position of the temperature sensor 3 is determined within the winding 2 of the stator 1 of the motor. The installation position is within the gap formed by multiple windings 2. The temperature sensor can be a thermistor and its shape can be cylindrical or polygonal. This disclosure does not limit the shape. A temperature sensing element is installed at the head of the temperature sensor 3 and a lead wire is installed at the tail of the temperature sensor 3. The winding 2 and the stator 1 can be welded together and the welded ends are coated with insulation.

[0145] In step S202, a temperature sensor model is inserted into the installation position. The shape of the temperature sensor model matches the temperature sensor, the volume of the temperature sensor model is larger than the volume of the temperature sensor, and the ratio of the volume of the temperature sensor model to the volume of the temperature sensor is less than or equal to a preset volume ratio threshold.

[0146] For example, the temperature sensor model is made of a resin material with a temperature greater than 200°C, such as Teflon, polyimide, or bismaleimide. This disclosure does not impose limitations, but Teflon is preferred. The temperature sensor model's shape matches the temperature sensor, its volume is larger than the temperature sensor's volume, and the ratio of the temperature sensor model's volume to the temperature sensor's volume is less than or equal to a preset volume ratio threshold, for example, 1.05. Before applying a coating process to the welding ends of winding 2 and stator 1, the temperature sensor model is... Figure 3 Insert the model into the mounting position as shown, so that the temperature sensor model is in close contact with the winding 2, and then apply a coating to the welding end between the winding 2 and the stator 1.

[0147] In step S203, after the coating process is completed, the temperature sensor model is taken out, the temperature sensor is inserted into the gap formed by the temperature sensor model, and insulating thermally conductive adhesive is poured into the gap.

[0148] By setting the temperature sensor in the above manner, it can be firmly installed in the winding of the motor stator and closely attached to the copper wire of the winding. This allows for more accurate temperature acquisition, making the acquired temperature closer to the actual temperature of the motor. This reduces the maximum temperature difference between the acquired temperature and the operating temperature. While ensuring motor safety, the motor's temperature protection threshold can be reduced, for example, to a range of 3-8℃, further improving the motor's efficiency.

[0149] Figure 5 This is a block diagram illustrating a motor control device according to an exemplary embodiment, such as... Figure 5 As shown, the control device 500 for the motor may include:

[0150] The motor operating condition acquisition module 501 is configured to determine the target motor operating condition corresponding to the motor from multiple preset motor operating conditions.

[0151] The maximum temperature difference acquisition module 502 is configured to acquire the preset maximum temperature difference corresponding to the operating condition of the target motor.

[0152] The temperature acquisition module 503 is configured to acquire the motor temperature through a temperature sensor installed inside the motor.

[0153] The historical temperature difference acquisition module 504 is configured to acquire the historical temperature deviation of the motor based on the acquired temperature. The historical temperature deviation is used to characterize the temperature difference between the acquired temperature and the historical operating temperature of the motor. The historical operating temperature is the actual temperature of the previous motor operating condition. When the motor is started for the first time, the historical operating temperature is the acquired temperature.

[0154] The actual temperature acquisition module 505 is configured to acquire the actual temperature of the motor based on the preset maximum temperature difference, historical temperature deviation and the collected temperature.

[0155] Control module 506 is configured to control the motor operation based on the actual temperature.

[0156] Optionally, the historical temperature difference acquisition module 504 is also configured as follows:

[0157] Obtain the historical operating temperature of the motor;

[0158] If the historical operating temperature is higher than the acquisition temperature, the difference between the historical operating temperature and the acquisition temperature is taken as the historical temperature deviation.

[0159] If the historical operating temperature is less than or equal to the acquisition temperature, the specified temperature deviation will be used as the historical temperature deviation.

[0160] Optionally, the actual temperature acquisition module 505 is also configured as follows:

[0161] When the historical temperature deviation is less than the preset maximum temperature difference, the preset first temperature change time corresponding to the target motor operating condition is obtained. The first temperature change time is the time required for the motor to reach the preset maximum temperature difference from the preset minimum temperature difference.

[0162] The first temperature difference change rate is determined based on the first temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference;

[0163] The motor's temperature deviation is determined based on historical temperature deviation, maximum temperature difference, and the rate of change of the first temperature difference.

[0164] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0165] Optionally, the actual temperature acquisition module 505 is also configured as follows:

[0166] When the historical temperature deviation is greater than or equal to the preset maximum temperature difference, the preset second temperature change time corresponding to the target motor operating condition is obtained. The second temperature change time is the time required for the motor to reach the preset minimum temperature difference from the preset maximum temperature difference.

[0167] Based on the second temperature change time, the preset maximum temperature difference, and the preset minimum temperature difference, determine the corresponding second temperature difference change rate;

[0168] The motor's temperature deviation is determined based on historical temperature deviation, maximum temperature difference, and the rate of change of the second temperature difference.

[0169] The actual temperature of the motor is obtained based on the collected temperature and the temperature deviation.

[0170] Figure 6 This is a block diagram illustrating a control module 506 according to an exemplary embodiment, such as... Figure 6 As shown, the control module 506 includes:

[0171] The temperature status acquisition submodule 5061 is configured to determine the target motor temperature status corresponding to the target motor operating condition from the preset motor temperature status. The preset motor temperature status includes a first temperature status or a second temperature status. The first temperature status indicates that the motor heat generation is less than or equal to the motor heat dissipation, and the second temperature status indicates that the motor heat generation is greater than the motor heat dissipation.

[0172] Motor control submodule 5062 is configured as follows:

[0173] When the target motor temperature is at the first temperature condition, operate according to the motor's current operating torque; or...

[0174] If the target motor temperature is in the second temperature state, and the actual temperature is greater than or equal to the target temperature threshold, then the motor's operating torque is reduced to update the target motor temperature state from the second temperature state to the first temperature state. The motor is then controlled to operate at the reduced operating torque. The target temperature threshold is obtained based on the motor's preset maximum withstand temperature. Alternatively,

[0175] If the actual temperature is less than the target temperature threshold when the motor temperature is in the second temperature state, the motor will operate according to its current working torque.

[0176] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0177] In the above technical solution, firstly, the target motor operating condition is determined from multiple preset motor operating conditions; the preset maximum temperature difference corresponding to the target motor operating condition is obtained; secondly, the motor's sampling temperature is obtained through a temperature sensor installed inside the motor; based on the sampling temperature, the historical temperature deviation of the motor is obtained, which characterizes the temperature difference between the sampling temperature and the historical operating temperature. The historical operating temperature is the actual temperature of the previous motor operating condition, and at the first start of the motor, the historical operating temperature is the sampling temperature; then, the actual motor temperature is obtained based on the preset maximum temperature difference, the historical temperature deviation, and the sampling temperature; finally, the motor operates based on the actual temperature. By calculating and obtaining the actual motor temperature, and determining the motor control strategy based on this actual temperature, the motor's operating temperature is made closer to the motor's preset tolerance temperature, which can improve the motor's efficiency while ensuring motor safety.

[0178] Furthermore, this disclosure also provides a method for installing a temperature sensor within the stator winding of a motor. First, the installation position of the temperature sensor is determined within the winding. A temperature sensor model is inserted into the installation position. The shape of the temperature sensor model matches the temperature sensor, and the volume of the temperature sensor model is larger than the volume of the temperature sensor. The ratio of the volume of the temperature sensor model to the volume of the temperature sensor is less than or equal to a preset volume ratio threshold. A preset coating process is applied to the winding. After the coating process is completed, the temperature sensor model is removed, and the temperature sensor is inserted into the gap formed by the temperature sensor model. Insulating thermally conductive adhesive is then poured into the gap. Using this method, the temperature sensor can be securely installed in the motor winding and closely adhered to the copper wires of the winding. The obtained temperature readings are more accurate, allowing the temperature obtained by the sensor to be closer to the actual temperature of the motor. This reduces the maximum temperature difference between the obtained temperature and the operating temperature. While ensuring motor safety, the efficiency of the motor can be further improved by reducing the motor's temperature protection threshold.

[0179] Figure 7 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0180] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the aforementioned motor control method. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0181] In another exemplary embodiment, a non-transitory computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the motor control method described above. For example, the computer-readable storage medium may be the memory 702 including the program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the motor control method described above.

[0182] Figure 8 This is a block diagram illustrating the vehicle 800 according to an exemplary embodiment. It includes the motor control device 500 shown in the exemplary embodiment above. For example, if the vehicle is a pure electric vehicle, the vehicle 800 utilizes the motor control device 500 to accurately calculate the motor's operating temperature, thereby improving the motor's efficiency and enhancing the performance of the vehicle 800 while ensuring motor safety.

[0183] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0184] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method of an electric motor, characterized by, The method comprises: determining a target motor working condition corresponding to the motor from a plurality of preset motor working conditions; obtaining a preset maximum temperature difference corresponding to the target motor working condition; obtaining an acquisition temperature of the motor by a temperature sensor arranged in the motor; obtaining a historical temperature deviation of the motor according to the acquisition temperature, the historical temperature deviation being used to represent a temperature difference between the acquisition temperature and a historical working temperature, the historical working temperature being an actual temperature of a previous motor working condition, and the historical working temperature being the acquisition temperature when the motor is started for the first time; obtaining an actual temperature of the motor according to the preset maximum temperature difference, the historical temperature deviation and the acquisition temperature; controlling the motor to operate according to the actual temperature.

2. The method of claim 1, wherein, The obtaining of the historical temperature deviation of the motor according to the acquisition temperature comprises: obtaining a historical working temperature of the motor; in a case where the historical working temperature is greater than the acquisition temperature, taking a difference between the historical working temperature and the acquisition temperature as the historical temperature deviation; in a case where the historical working temperature is less than or equal to the acquisition temperature, taking a specified temperature deviation as the historical temperature deviation.

3. The method of claim 1, wherein, The obtaining of the actual temperature of the motor according to the preset maximum temperature difference, the historical temperature deviation and the acquisition temperature comprises: in a case where the historical temperature deviation is less than the preset maximum temperature difference, obtaining a preset first temperature change time corresponding to the target motor working condition, the first temperature change time being a time required for the motor to reach the preset maximum temperature difference from a preset minimum temperature difference; determining a first temperature difference change rate according to the first temperature change time, the preset maximum temperature difference and the preset minimum temperature difference; determining a temperature deviation of the motor according to the historical temperature deviation, the maximum temperature difference and the first temperature difference change rate; obtaining the actual temperature of the motor according to the acquisition temperature and the temperature deviation.

4. The method of claim 1, wherein, The obtaining of the actual temperature of the motor according to the preset maximum temperature difference, the historical temperature deviation and the acquisition temperature comprises: in a case where the historical temperature deviation is greater than or equal to the preset maximum temperature difference, obtaining a preset second temperature change time corresponding to the target motor working condition, the second temperature change time being a time required for the motor to reach a preset minimum temperature difference from the preset maximum temperature difference; determining a corresponding second temperature difference change rate according to the second temperature change time, the preset maximum temperature difference and the preset minimum temperature difference; determining a temperature deviation of the motor according to the historical temperature deviation, the maximum temperature difference and the second temperature difference change rate; obtaining the actual temperature of the motor according to the acquisition temperature and the temperature deviation.

5. The method of claim 1, wherein, The controlling of the motor to operate according to the actual temperature comprises: determining a target motor temperature state corresponding to the target motor working condition from preset motor temperature states, the preset motor temperature states comprising a first temperature state or a second temperature state, the first temperature state representing that a motor heat generation amount of the motor is less than or equal to a motor heat dissipation amount, and the second temperature state representing that the motor heat generation amount is greater than the motor heat dissipation amount. In a case where the target motor temperature state is the first temperature state, the motor is operated according to a current operating torque of the motor; or In a case where the target motor temperature state is the second temperature state, if the actual temperature is greater than or equal to a target temperature threshold, the operating torque of the motor is reduced, so that the target motor temperature state of the target motor working condition is updated from the second temperature state to the first temperature state, and the motor is controlled to operate according to the reduced operating torque, the target temperature threshold being obtained according to a preset maximum tolerance temperature of the motor; or In a case where the motor temperature state is the second temperature state, if the actual temperature is less than the target temperature threshold, the motor is operated according to the current operating torque of the motor.

6. The method according to any one of claims 1 to 5, characterized in that, The motor comprises a stator, windings arranged on the stator, and the temperature sensor arranged in a gap of the windings, the temperature sensor being arranged in the gap of the windings by the following way: A mounting position of the temperature sensor is determined in the windings; A temperature sensor model is inserted into the mounting position, the temperature sensor model matching the temperature sensor in shape, the volume of the temperature sensor model being greater than the volume of the temperature sensor, and the ratio of the volume of the temperature sensor model to the volume of the temperature sensor being less than or equal to a preset volume ratio threshold; A preset coating process is performed on the windings; After the coating process is completed, the temperature sensor model is taken out, and the temperature sensor is inserted into a gap formed by the temperature sensor model, and an insulating heat-conducting glue is poured into the gap.

7. A control device of an electric motor characterized by comprising: The device comprises: A motor working condition acquisition module configured to determine a target motor working condition corresponding to the motor from a plurality of preset motor working conditions; A maximum temperature difference acquisition module configured to acquire a preset maximum temperature difference corresponding to the target motor working condition; A collection temperature acquisition module configured to acquire a collection temperature of the motor by a temperature sensor arranged in the motor; A historical temperature difference acquisition module configured to acquire a historical temperature deviation of the motor according to the collection temperature, the historical temperature deviation being used to represent a temperature difference between the collection temperature and a historical operating temperature, the historical operating temperature being an actual temperature of a previous motor working condition, and the historical operating temperature being the collection temperature when the motor is started for the first time; An actual temperature acquisition module configured to acquire an actual temperature of the motor according to the preset maximum temperature difference, the historical temperature deviation, and the collection temperature; A control module configured to control the motor to operate according to the actual temperature.

8. An electronic device, comprising: It comprises: A memory having a computer program stored thereon; A processor configured to execute the computer program in the memory to implement the steps of the method of any one of claims 1-5.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method of any one of claims 1-5.

10. A vehicle characterized by comprising: It comprises: The motor control device according to claim 7.

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