Torque correction method, device, controller and storage medium

Abstract

The application discloses a torque correction method and device, a controller and a storage medium. The method comprises the following steps: acquiring power parameters, motor parameters and vehicle parameters, wherein the power parameters are used to indicate the motion state of the power system of the vehicle, the motor parameters are used to indicate the motion state of the motor of the vehicle, and the vehicle parameters are used to indicate the running condition of the vehicle; obtaining a predicted value of the motor speed according to the power parameters, the motor parameters and the vehicle parameters; when the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than a deviation threshold, correcting the torque instruction to obtain a corrected torque instruction, wherein the torque instruction is used to indicate the torque curve of the motor after the torque reverses. According to the application, the torque instruction is corrected according to the difference between the predicted value of the motor speed and the reference value of the motor speed, thereby solving the problem of poor accuracy of the torque curve obtained by the manual calibration in the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a torque correction method, device, controller and storage medium. BACKGROUND

[0002] There is a gap between the gears in the gearbox of a vehicle. When the torque of the electric motor (hereinafter referred to as "motor") reverses, due to the relative movement between the gears, gear impact sound (also known as "gear knocking" problem) is easily generated when the gears are engaged. In a multi-gear gearbox, due to the effect of the speed ratio, the gap of the rear gear will cause the rotor side speed to rise, and the overall momentum is large, and finally the impact sound is generated on the differential side. In a new energy vehicle directly driven by a motor, this phenomenon is particularly obvious, especially when driving at low speed.

[0003] In view of this, a torque correction method is provided in the related art to solve the gear knocking problem, which includes: when it is determined that the torque of the electric motor reverses, the controller sends an adjusted torque instruction, and the motor reduces the slope of the torque change based on the adjusted torque instruction, thereby slowing down the impact between the gears and improving the gear knocking noise.

[0004] However, the above method is realized by sacrificing the response speed of the torque. The longer the torque remains near zero, the more obvious the improvement of the gear knocking noise, but correspondingly, the more the power response speed is sacrificed. At the same time, the slope of the zero-crossing torque is obtained through calibration, and the calibration work requires a lot of effort. Since the vehicle usually has multiple driving modes, different zero-crossing torque slopes are required for each different driving mode, so it takes a long time. Calibration work depends on human subjective consciousness, and it is difficult to determine the balance point of power and noise-vibration-harshness (NVH), thereby resulting in low accuracy of the calibrated zero-crossing torque slope. SUMMARY

[0005] The present application provides a torque correction method, device, controller and storage medium, which can solve the problem of low accuracy of the zero-crossing torque slope adjusted by manual calibration in the related art.

[0006] In one aspect, the present application provides a torque correction method, comprising:

[0007] Obtaining power parameters, motor parameters and vehicle parameters, the power parameters being used to indicate the motion state of the power system of the vehicle, the motor parameters being used to indicate the motion state of the motor of the vehicle, and the vehicle parameters being used to indicate the running condition of the vehicle;

[0008] predict a predicted value of the motor speed according to the power parameter, the motor parameter, and the vehicle parameter;

[0009] correct the torque instruction when a difference between the predicted value of the motor speed and the reference value of the motor speed is greater than a deviation threshold, to obtain a corrected torque instruction, the torque instruction being used to indicate a torque curve of the motor after torque reversal.

[0010] In some embodiments, the power parameter comprises at least one of a stiffness of the power system, a moment of inertia of the power system, and a damping of the power system.

[0011] In some embodiments, the vehicle parameter comprises a tire size and / or a weight of the vehicle.

[0012] In some embodiments, the motor parameter comprises at least one of a motor torque, a motor speed, a wheel speed, and a braking torque.

[0013] In some embodiments, the vehicle parameter comprises a slope and / or a vehicle speed.

[0014] In some embodiments, the vehicle parameter further comprises a working condition of the vehicle.

[0015] In some embodiments, the working condition is a driving condition, a braking condition, an uphill condition, a downhill condition, or a high-speed condition.

[0016] In some embodiments, the predicting the predicted value of the motor speed according to the motor parameter and the vehicle parameter comprises:

[0017] predicting the predicted value of the motor speed according to the power parameter, the motor parameter, and the vehicle parameter, and a training parameter by a filtering algorithm or a state observer;

[0018] wherein the training parameter is a parameter required by the filtering algorithm or the state observer obtained through training.

[0019] In some embodiments, the filtering algorithm comprises a Kalman filtering algorithm, a first-order low-pass filtering algorithm, a second-order low-pass filtering algorithm, or a band-pass filtering algorithm.

[0020] In some embodiments, the correcting the torque instruction comprises:

[0021] applying an intervention torque to the torque curve indicated in the torque instruction to obtain a corrected torque curve.

[0022] In some embodiments, the applying the intervention torque to the torque curve indicated in the torque instruction comprises:

[0023] The intervention torque is calculated according to a difference between the predicted value of the motor speed and the motor speed;

[0024] When the predicted value of the motor speed is greater than the reference value of the motor speed, a negative value of the intervention torque is superimposed on the torque curve to obtain the corrected torque curve.

[0025] In some embodiments, the intervention torque is applied to the torque curve indicated in the torque instruction further includes:

[0026] When the predicted value of the motor speed is less than the reference value of the motor speed, the intervention torque is superimposed on the torque curve to obtain the corrected torque curve.

[0027] In some embodiments, the intervention torque is calculated according to a difference between the predicted value of the motor speed and the motor speed includes:

[0028] The difference between the predicted value of the motor speed and the motor speed is multiplied by a proportional coefficient to obtain the intervention torque, and the proportional coefficient is related to the operating state of the vehicle.

[0029] In some embodiments, the proportional coefficient is related to at least one of the motor speed, the vehicle speed, the torque, and the speed difference.

[0030] In another aspect, the embodiments of the present application provide a motor control device, comprising:

[0031] A parameter acquisition module is configured to acquire power parameters, motor parameters, and vehicle parameters, the power parameters being used to indicate the motion state of the power system of the vehicle, the motor parameters being used to indicate the motion state of the motor of the vehicle, and the vehicle parameters being used to indicate the operating condition of the vehicle.

[0032] A state observation module is configured to predict a predicted value of the motor speed according to the power parameters, the motor parameters, and the vehicle parameters.

[0033] A torque correction module is configured to correct a torque instruction when a difference between the predicted value of the motor speed and a reference value of the motor speed is greater than a deviation threshold to obtain a corrected torque instruction, the torque instruction being used to indicate a torque curve of the motor after torque reversal.

[0034] In another aspect, the embodiments of the present application provide a motor controller, characterized by comprising a processor and a memory, the memory storing at least one instruction or program, the instruction or program being loaded and executed by the processor to implement the torque correction method as described in any of the above.

[0035] In another aspect, an embodiment of the present application provides a vehicle, which comprises the motor controller as described above.

[0036] In another aspect, an embodiment of the present application provides a computer readable storage medium, characterized in that at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the torque correction method as described above.

[0037] The technical solution of the present application has at least the following advantages:

[0038] By obtaining the power parameter, the motor parameter and the vehicle parameter, predicting the predicted value of the motor speed according to the power parameter, the motor parameter and the vehicle parameter, and correcting the torque instruction according to the difference between the predicted value of the motor speed and the reference value of the motor speed, the problem of poor accuracy of the torque curve obtained by the manual calibration method in the related art is solved, and the power utilization efficiency of the vehicle is improved to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 is a schematic diagram of a power system of a vehicle provided by an exemplary embodiment of the present application;

[0041] Figure 2 is a schematic diagram of a torque correction system provided by an exemplary embodiment of the present application;

[0042] Figure 3 is a flowchart of a torque correction method provided by an exemplary embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a torque curve before and after adjustment;

[0044] Figure 5 is a flowchart of a torque correction method provided by an exemplary embodiment of the present application;

[0045] Figure 6 is a block diagram of a motor control device provided by an exemplary embodiment of the present application;

[0046] Figure 7 is a block diagram of a motor controller provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0048] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements, it can be wireless connection, or it can be wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0051] Reference Figure 1 which shows a schematic diagram of a power system of a vehicle provided by an exemplary embodiment of the present application. As an example, as shown in Figure 1 When the vehicle is running, the motor 110 outputs power to the outside through the rotor 111, and the power output by the motor 110 is transmitted to the wheels 130 through a power system including an input shaft 121, an intermediate shaft 122 and an output shaft 123. Among them, the input shaft 121 and the rotor 111 are connected through a gear, the input shaft 121 and the intermediate shaft 122 are connected through a gear, the internal transmission shafts of the intermediate shaft 122 are connected through a gear, the intermediate shaft 122 and the output shaft 123 are connected through a gear, and the output shaft 123 and the wheels 130 are connected through a gear. There is a gap at the gear connection.

[0052] As described above, when the torque of the motor 110 is reversed, due to the relative movement between the gears in the power system, gear impact sound is prone to occur when the gears are engaged. In a multi-stage gear transmission, due to the effect of the speed ratio, the clearance of the rear-stage gear will cause the rotor side to rise in speed, and the overall momentum is large, and finally impact sound is generated at the differential on the output shaft 123 side (as shown by the position of the middle oval dashed line). Figure 1 In view of this, the present application provides a torque correction system, which further corrects the adjusted torque instruction sent by the controller when the torque is reversed, so as to solve the problem of poor accuracy of the torque curve obtained by manual calibration in the related art.

[0053] Reference Figure 2 which shows a schematic diagram of a torque correction system provided by an example embodiment of the present application. The example system includes a controller 210, a motor controller 220, and a motor 110, a communication connection is established between the controller 210 and the motor controller 220, and a communication connection is established between the motor controller 220 and the motor 110.

[0054] The controller 210 is configured to send a torque instruction to the motor controller 220 when it is determined that the torque of the motor is reversed, the torque instruction including a torque curve, the torque instruction including a torque curve of the motor after the torque is reversed, and the motor 110 can determine the torque value after the torque is reversed according to the curve. The controller 210 can be a vehicle control unit (VCU) in a vehicle.

[0055] The motor controller 220 is configured to obtain power parameters, motor parameters, and vehicle parameters; predict a predicted value of the motor speed according to the power parameters, the motor parameters, and the vehicle parameters; correct the torque instruction when the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than a deviation threshold value, to obtain a corrected torque instruction; and send the corrected torque instruction to the motor 110.

[0056] The power parameters are used to indicate the motion state of the power system of the vehicle, the motor parameters are used to indicate the motion state of the motor of the vehicle, and the vehicle parameters are used to indicate the running condition of the vehicle.

[0057] The motor 110 is configured to output power according to the corrected torque curve included in the corrected torque instruction, and the power output by the motor 110 is transmitted to the wheels 130 through the power system. Since the torque curve has been corrected, it is more accurate.

[0058] Reference Figure 3 which shows a flowchart of a torque correction method provided by an example embodiment of the present application. The method can be performed by the motor controller in the embodiment, as shown in Figure 2 Figure 3 ​As shown, the method comprises:

[0059] In step 301, power parameters, motor parameters and vehicle parameters are acquired, the power parameters are used to indicate the motion state of the power system of the vehicle, the motor parameters are used to indicate the motion state of the motor of the vehicle, and the vehicle parameters are used to indicate the running condition of the vehicle.

[0060] The power parameters comprise at least one of the stiffness of the power system, the moment of inertia of the power system and the damping of the power system; the vehicle parameters comprise the tire size and / or the weight of the vehicle; and the motor parameters comprise at least one of the motor torque, the motor speed, the wheel speed and the brake torque.

[0061] In some embodiments, the vehicle parameters further comprise the slope and / or the vehicle speed; and in some embodiments, the vehicle parameters further comprise the working condition of the vehicle, which comprises the driving working condition, the braking working condition, the uphill working condition, the downhill working condition and the high-speed working condition.

[0062] The motor controller can acquire the above parameters by direct measurement or calculation.

[0063] In step 302, a predicted value of the motor speed is predicted according to the power parameters, the motor parameters and the vehicle parameters.

[0064] For example, in the embodiments of the present application, the predicted value of the motor speed can be obtained by processing the parameters acquired in step 301 by a preset algorithm model. Since the predicted value of the motor speed is predicted according to the power parameters, the motor parameters and the vehicle parameters, the running environment of the motor is fully considered, and thus the motor speed can be accurately predicted.

[0065] In step 303, it is detected whether the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than a deviation threshold.

[0066] The reference value of the motor speed is a real-time value measured by a sensor in the vehicle. When the torque reverses, due to the existence of the gear gap and the loss of the mechanical load of the whole vehicle during the reversing, the load is greatly reduced, the gear is in the state of idling, and the motor speed abnormally rises. When this abnormal rising phenomenon occurs, it indicates that the torque is too large, and correction should be made. Conversely, if the torque is not too large, the motor speed will not abnormally rise. Therefore, according to the motor speed, it can be judged whether the torque needs to be corrected, and the accuracy of the torque command can be improved.

[0067] Therefore, when the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than the deviation threshold, it indicates that the torque command sent by the controller needs to be corrected, and step 304b is entered; when the difference between the predicted value of the motor speed and the reference value of the motor speed is not greater than the deviation threshold, it indicates that the torque command sent by the controller does not need to be corrected, and step 304a is entered.

[0068] wherein, the torque instruction is an instruction sent by the controller to the motor controller when determining the torque reversal of the motor, which contains a torque curve, if the motor controller forwards the torque instruction to the motor, the motor can output torque according to the torque curve in the torque instruction. It is referred to Figure 4 which shows a schematic diagram of the torque curve, as Figure 4 shown, if the torque curve is not adjusted, it will be output according to the dashed line shown in Figure 4 after its reversal, the adjusted torque curve is shown as the solid line in Figure 4 , when the torque reverses, it will remain near zero for a period of time, the curve near zero is the calibration curve. If the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than the deviation threshold, the torque curve (after adjustment) needs to be corrected, if the difference between the predicted value of the motor speed and the reference value of the motor speed is not greater than the deviation threshold, the torque curve does not need to be corrected.

[0069] Step 304a, sending a torque instruction to the motor.

[0070] Since the torque instruction sent by the controller does not need to be corrected, the motor controller directly forwards the torque instruction sent by the controller to the motor, and the motor outputs torque according to the torque instruction.

[0071] Step 304b, correcting the torque instruction to obtain a corrected torque instruction, the torque instruction is used to indicate the torque curve of the motor after the torque reversal.

[0072] The torque curve indicated in the torque instruction can be subjected to an intervention torque to obtain a corrected torque curve; or, the slope of the torque curve indicated in the torque instruction (which can be the slope of the calibration curve) is reduced to obtain a corrected torque curve.

[0073] Step 305, sending the corrected torque instruction to the motor.

[0074] wherein, the corrected torque instruction contains a corrected torque curve, the motor can output torque according to the corrected torque curve.

[0075] In summary, in the embodiments of the present application, by obtaining power parameters, motor parameters and vehicle parameters, the predicted value of the motor speed is predicted according to the power parameters, the motor parameters and the vehicle parameters, and the torque instruction is corrected according to the difference between the predicted value of the motor speed and the reference value of the motor speed, thereby solving the problem that the torque curve obtained by the manual calibration in the related art has poor accuracy, and to a certain extent, the power utilization efficiency of the vehicle is improved.

[0076] Reference Figure 5Fig. 1 shows a flow chart of a method for controlling torque according to an example embodiment of the present application, which can be applied to Figure 2 In the system of the example embodiment, as shown in Fig. 1, the method comprises the following steps: Figure 4

[0077] Step 501: The controller detects whether the torque of the motor is reversed.

[0078] The controller can obtain the value of the torque by direct measurement or calculation, and detect whether the torque of the motor is reversed according to the value of the torque. When it is determined that the torque of the motor is reversed, the method proceeds to step 502; when it is determined that the torque of the motor is not reversed, the method stops or continues step 501.

[0079] Step 502: The controller sends a torque instruction to the motor controller.

[0080] As described above, the torque instruction contains a torque curve (after adjustment), which contains a calibration curve (near zero).

[0081] Step 503: The motor controller obtains power parameters, motor parameters and vehicle parameters.

[0082] The execution of step 503 can refer to the above description, and will not be repeated here.

[0083] Step 504: The motor controller predicts a predicted value of the motor speed according to the power parameters, the motor parameters and the vehicle parameters, and training parameters by a filtering algorithm or a state observer.

[0084] For example, step 504 includes but is not limited to predicting a predicted value of the motor speed according to the power parameters, the motor parameters and the vehicle parameters, and training parameters by a filtering algorithm. The training parameters are parameters required by the filtering algorithm or the state observer obtained by training; the filtering algorithm includes Kalman filtering algorithm, first-order low-pass filtering algorithm, second-order low-pass filtering algorithm or band-pass filtering algorithm.

[0085] Step 505: The motor controller detects whether the difference between the predicted value of the motor speed and a reference value of the motor speed is greater than a deviation threshold.

[0086] The reference value of the motor speed can refer to the above description, and will not be repeated here. When the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than the deviation threshold, the method proceeds to step 505b; when the difference between the predicted value of the motor speed and the reference value of the motor speed is not greater than the deviation threshold, it means that the torque instruction sent by the controller does not need to be corrected, and the method proceeds to step 505a.

[0087] Step 505a: The torque instruction is sent to the motor. ​

[0088] As mentioned above, since the torque instruction sent by the controller does not need to be corrected, the motor controller directly forwards the torque instruction sent by the controller to the motor, and the motor outputs torque according to the torque instruction.

[0089] In step 505b, a corrected torque curve is obtained by applying an intervention torque to the torque curve indicated in the torque instruction.

[0090] As mentioned above, the intervention torque can be applied to the torque curve indicated in the torque instruction to obtain a corrected torque curve, or the slope of the torque curve indicated in the torque instruction (which can be the slope of the calibration curve) can be reduced to obtain a corrected torque curve.

[0091] If the torque curve is corrected by the intervention torque, step 505b includes but is not limited to: calculating the intervention torque according to the difference between the predicted value of the motor speed and the reference value of the motor speed; when the predicted value of the motor speed is greater than the reference value of the motor speed, superimposing a negative value of the intervention torque on the torque curve to obtain a corrected torque curve; when the predicted value of the motor speed is less than the reference value of the motor speed, superimposing the intervention torque on the torque curve to obtain a corrected torque curve.

[0092] Wherein, the difference between the predicted value of the motor speed and the reference value of the motor speed can be multiplied by a proportional coefficient to obtain the intervention torque, and the proportional coefficient is related to the running state of the vehicle (at least one of the motor speed, the vehicle speed, the torque and the speed difference).

[0093] In step 506, the corrected torque instruction including the corrected torque curve is sent to the motor.

[0094] As mentioned above, the corrected torque instruction contains the corrected torque curve, and the motor can output torque according to the corrected torque curve.

[0095] Reference Figure 6 It shows a block diagram of a motor control device provided by an example embodiment of the present application, which can be realized by software, hardware or a combination of both to become the motor controller in the above-mentioned embodiments. The device includes:

[0096] The parameter acquisition module 610 is configured to acquire power parameters, motor parameters and vehicle parameters, the power parameters being used to indicate the motion state of the power system of the vehicle, the motor parameters being used to indicate the motion state of the motor of the vehicle, and the vehicle parameters being used to indicate the running condition of the vehicle.

[0097] In some embodiments, the power parameters include at least one of the stiffness of the power system, the moment of inertia of the power system and the damping of the power system.

[0098] In some embodiments, the vehicle parameters include tire size and / or weight of the vehicle.

[0099] In some embodiments, the motor parameters include at least one of motor torque, motor speed, wheel speed, and brake torque; in some embodiments, the vehicle parameters include slope and / or vehicle speed; in some embodiments, the vehicle parameters further include a working condition of the vehicle; in some embodiments, the working condition is a driving condition, a braking condition, an uphill condition, a downhill condition, or a high-speed condition.

[0100] The state observation module 620 is configured to predict a predicted value of the motor speed according to the power parameters, the motor parameters, and the vehicle parameters.

[0101] The torque correction module 630 is configured to correct the torque instruction to obtain a corrected torque instruction when a difference between the predicted value of the motor speed and the reference value of the motor speed is greater than a deviation threshold, the corrected torque instruction being used to indicate a torque curve of the motor after torque reversal.

[0102] In some embodiments, the state observation module 620 is further configured to predict the predicted value of the motor speed according to the power parameters, the motor parameters, and the vehicle parameters, and a training parameter by a filtering algorithm or a state observer; wherein the training parameter is a parameter required by the filtering algorithm or the state observer obtained through training.

[0103] In some embodiments, the filtering algorithm includes a Kalman filtering algorithm, a first-order low-pass filtering algorithm, a second-order low-pass filtering algorithm, or a band-pass filtering algorithm.

[0104] In some embodiments, the torque correction module 630 is further configured to obtain the corrected torque curve by imposing an intervention torque on the torque curve indicated in the torque instruction.

[0105] In some embodiments, the torque correction module 630 is further configured to calculate the intervention torque according to a difference between the predicted value of the motor speed and the reference value of the motor speed; when the predicted value of the motor speed is greater than the reference value of the motor speed, superimpose a negative value of the intervention torque on the torque curve to obtain the corrected torque curve.

[0106] In some embodiments, the torque correction module 630 is further configured to superimpose the intervention torque on the torque curve to obtain the corrected torque curve when the predicted value of the motor speed is less than the reference value of the motor speed.

[0107] In some embodiments, the torque correction module 630 is further configured to multiply the difference between the predicted value of the motor speed and the reference value of the motor speed by a proportional coefficient to obtain the intervention torque, the proportional coefficient being related to an operating state of the vehicle.

[0108] In some embodiments, the proportional coefficient is related to at least one of the motor speed, the vehicle speed, the torque, and the speed difference.

[0109] refer to Figure 7 This illustrates a block diagram of a motor controller provided in an exemplary embodiment of this application. Figure 7 As shown, the motor controller includes a processor 710 and a memory 720.

[0110] Processor 710 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. Processor 710 may further include hardware chips. These hardware chips may be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof.

[0111] The memory 720 is connected to the processor 710 through a bus or other means, and the memory 720 stores at least one instruction, at least one program, a code set or an instruction set, which are loaded and executed by the processor 710 to implement the torque correction method provided in any of the above embodiments. The memory 720 can be a volatile memory, a non-volatile memory or a combination thereof. The volatile memory can be a random-access memory (RAM), such as a static random access memory (SRAM), a dynamic random access memory (DRAM). The non-volatile memory can be a read only memory (ROM), such as a programmable read only memory (PROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM). The non-volatile memory can also be a flash memory, a magnetic memory, such as a magnetic tape, a floppy disk, a hard disk. The non-volatile memory can also be an optical disk.

[0112] The application also provides a vehicle, which is equipped with the motor controller provided in any of the above embodiments.

[0113] The application also provides a computer readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set, which are loaded and executed by the processor to implement the torque correction method provided in any of the above embodiments.

[0114] The application also provides a computer program product, which, when running on a computer, causes the computer to execute the torque correction method provided in any of the above method embodiments.

[0115] Obviously, the above embodiments are merely example for clearly illustrating but not limitation to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be enumerated and it is impossible to enumerate all the embodiments. The changes or variations derived from the above are still within the protection scope of the present application.

Claims

1. A method for correcting torque, characterized in that, include: The system acquires power parameters, motor parameters, and vehicle parameters. The power parameters indicate the motion state of the vehicle's power system, the motor parameters indicate the motion state of the vehicle's motor, and the vehicle parameters indicate the vehicle's operating status. The predicted value of the motor speed is obtained based on the power parameters, the motor parameters, and the vehicle parameters; When the difference between the predicted value of the motor speed and the reference value of the motor speed is greater than the deviation threshold, the intervention torque is calculated based on the difference between the predicted value of the motor speed and the motor speed. The reference value of the motor speed is a real-time value measured by sensors in the vehicle. When the predicted value of the motor speed is greater than the reference value of the motor speed, the torque curve is superimposed with the negative value of the intervention torque to obtain the corrected torque curve.

2. The method according to claim 1, characterized in that, The dynamic parameters include at least one of the stiffness of the power system, the moment of inertia of the power system, and the damping of the power system.

3. The method according to claim 2, characterized in that, The vehicle parameters include tire size and / or the weight of the vehicle.

4. The method according to claim 1, characterized in that, The motor parameters include at least one of motor torque, motor speed, wheel speed, and braking torque.

5. The method according to claim 4, characterized in that, The vehicle parameters include gradient and / or vehicle speed.

6. The method according to claim 5, characterized in that, The vehicle parameters also include the vehicle's operating conditions.

7. The method according to claim 6, characterized in that, The operating conditions are driving conditions, braking conditions, uphill conditions, downhill conditions, or high-speed conditions.

8. The method according to any one of claims 1 to 7, characterized in that, The predicted value of the motor speed obtained based on motor parameters and vehicle parameters includes: The predicted value of the motor speed is obtained by using a filtering algorithm or a state observer based on the power parameters, the motor parameters, the vehicle parameters, and the training parameters. The training parameters are the parameters required by the filtering algorithm or the state observer obtained through training.

9. The method according to claim 8, characterized in that, The filtering algorithms include Kalman filtering, first-order low-pass filtering, second-order low-pass filtering, or band-pass filtering.

10. The method according to claim 1, characterized in that, The method further includes: When the predicted value of the motor speed is less than the reference value of the motor speed, the torque curve is superimposed with the intervention torque to obtain the corrected torque curve.

11. The method according to claim 10, characterized in that, The step of calculating the intervention torque based on the difference between the predicted value of the motor speed and the actual motor speed includes: The intervention torque is obtained by multiplying the difference between the predicted value of the motor speed and the actual motor speed by a proportionality coefficient, wherein the proportionality coefficient is related to the operating state of the vehicle.

12. The method according to claim 11, characterized in that, The proportionality coefficient is related to at least one of motor speed, vehicle speed, torque, and speed difference.

13. A motor control device, characterized in that, include: The parameter acquisition module is used to acquire power parameters, motor parameters and vehicle parameters. The power parameters are used to indicate the motion state of the vehicle's power system, the motor parameters are used to indicate the motion state of the vehicle's motor, and the vehicle parameters are used to indicate the vehicle's operating status. The status observation module is used to predict the motor speed based on the power parameters, the motor parameters, and the vehicle parameters. The torque correction module is used to calculate an intervention torque based on the difference between the predicted value of the motor speed and the reference value of the motor speed when the difference is greater than a deviation threshold. The reference value of the motor speed is a real-time value measured by sensors in the vehicle. When the predicted value of the motor speed is greater than the reference value of the motor speed, the negative value of the intervention torque is superimposed on the torque curve to obtain a corrected torque curve.

14. A motor controller, characterized in that, It includes a processor and a memory, the memory storing at least one instruction or program, which is loaded and executed by the processor to implement the torque correction method as described in any one of claims 1 to 12.

15. A vehicle, characterized in that, The vehicle includes the motor controller as described in claim 14.

16. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the torque correction method as described in any one of claims 1 to 12.

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