Motor control method and device, storage medium and electronic equipment

Abstract

The application discloses a motor control method and device, a storage medium and electronic equipment. The method is applied to the field of vehicle control and comprises the following steps: acquiring an upper limit of discharging power sent by a power battery and an actual discharging power of the power battery; determining a difference between the upper limit of the discharging power and the actual discharging power to obtain a power difference; adjusting a preset safety margin based on a comparison result of the power difference and a preset threshold to obtain a target safety margin; and controlling driving power of a motor based on the upper limit of the discharging power, the target safety margin and working efficiency. The application solves the technical problem that vehicle performance is reduced due to the reduction of motor driving efficiency under full-load working conditions in the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a motor control method and device, a storage medium and an electronic device. BACKGROUND

[0002] During driving, the driving performance of a pure electric vehicle is mainly determined by the discharging power of the power battery and the driving power of the motor. However, when the vehicle works in a full load condition, the motor will rapidly heat up due to the influence of the working efficiency characteristics of the power motor. In order to quickly reduce the temperature of the motor, the vehicle controller will increase the discharging power of the power battery sent to the thermal management system, that is, the power battery will be over-discharged, which will affect the discharging power of the power battery sent to the motor, and further, will cause the driving efficiency of the motor to decrease, thereby causing the performance of the vehicle to decrease.

[0003] At present, there is no effective solution to the above problems. SUMMARY

[0004] The embodiments of the present application provide a motor control method and device, a storage medium and an electronic device to at least solve the technical problem of the decrease of the driving efficiency of the motor under the full load condition in the related art, which causes the performance of the vehicle to decrease.

[0005] According to an aspect of the embodiments of the present application, a motor control method is provided, including: obtaining an upper limit of the discharging power sent by the power battery and an actual discharging power of the power battery; determining the difference between the upper limit of the discharging power and the actual discharging power to obtain a power difference; adjusting a preset safety margin based on the comparison result of the power difference and a preset threshold to obtain a target safety margin; and controlling the driving power of the motor based on the upper limit of the discharging power, the target safety margin and the working efficiency.

[0006] Optionally, the adjusting of the preset safety margin based on the comparison result of the power difference and the preset threshold to obtain the target safety margin includes: in response to the comparison result being that the power difference is greater than or equal to the preset threshold, adjusting the preset safety margin based on the power difference to obtain the target safety margin; and in response to the comparison result being that the power difference is less than the preset threshold, adjusting the preset safety margin based on an adjustment parameter to obtain the target safety margin, wherein the adjustment parameter includes at least one of the working efficiency of the motor, the output power of the battery converter, the cooling water temperature of the motor and the discharging power limit signal sent by the power battery.

[0007] Optionally, the adjusting of the preset safety margin based on the power difference to obtain the target safety margin includes: obtaining the difference between a preset value and the power difference to obtain a first proportional coefficient; obtaining the product of the power difference and the first proportional coefficient to obtain a first safety margin; and obtaining the maximum value between the first safety margin and an initial safety margin to obtain the target safety margin.

[0008] Optionally, the preset safety margin is adjusted based on the adjustment parameter to obtain a target safety margin, including: obtaining a difference between the preset value and the power difference to obtain a first proportional coefficient; adjusting the first proportional coefficient based on the adjustment parameter to obtain a second proportional coefficient; and determining the target safety margin based on the power difference, the second proportional coefficient and an initial safety margin.

[0009] Optionally, the first proportional coefficient is adjusted based on the adjustment parameter to obtain the second proportional coefficient, including: in response to the adjustment parameter including the working efficiency and the working efficiency being greater than a preset efficiency, increasing the first proportional coefficient to obtain the second proportional coefficient; in response to the adjustment parameter including the output power and the output power being greater than a preset power, increasing the first proportional coefficient to obtain the second proportional coefficient; in response to the adjustment parameter including the cooling water temperature and the cooling water temperature exceeding a preset temperature and a change rate of the cooling water temperature exceeding a preset change rate, increasing the first proportional coefficient to obtain the second proportional coefficient; and in response to the adjustment parameter including the discharge power limiting signal and the discharge power limiting signal being reduced, increasing the first proportional coefficient to obtain the second proportional coefficient.

[0010] Optionally, the target safety margin is determined based on the power difference, the second proportional coefficient and the initial safety margin, including: obtaining a product of the power difference and the second proportional coefficient to obtain a second safety margin; and obtaining a maximum value of the second safety margin and the initial safety margin to obtain the target safety margin.

[0011] Optionally, the drive power of the motor is controlled based on the upper limit of the discharge power, the target safety margin and the working efficiency, including: obtaining a difference between the upper limit of the discharge power and the target safety margin; obtaining a product of the difference and the working efficiency to obtain a demand upper limit of the drive power; and controlling the drive power based on the demand upper limit of the drive power.

[0012] According to another aspect of the embodiments of the present application, a motor control device is also provided, including: an obtaining module configured to obtain an upper limit of discharge power sent by a power battery and an actual discharge power of the power battery; a determining module configured to determine a difference between the upper limit of the discharge power and the actual discharge power to obtain a power difference; an adjusting module configured to adjust a preset safety margin based on a comparison result of the power difference and a preset threshold to obtain a target safety margin; and a control module configured to control a drive power of a motor based on the upper limit of the discharge power, the target safety margin and a working efficiency.

[0013] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, including a stored program, wherein when the program is running, the computer readable storage medium controls a device where the computer readable storage medium is located to execute any of the above methods.

[0014] According to another aspect of the embodiments of the present application, an electronic device is provided, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the method of any one of the above.

[0015] In the embodiments of the present application, the upper limit of the discharge power sent by the power battery and the actual discharge power of the power battery are acquired; the difference between the upper limit of the discharge power and the actual discharge power is determined to obtain a power difference; the preset safety margin is adjusted based on the comparison result of the power difference and a preset threshold to obtain a target safety margin; and the driving power of the motor is controlled based on the upper limit of the discharge power, the target safety margin and the working efficiency. It is easy to note that the safety margin is dynamically adjusted through the comparison result of the power difference and the preset threshold, which avoids the over-discharge of the battery. Further, the driving power of the motor can be ensured not to be reduced under the full-load working condition through the upper limit of the discharge power, the target safety margin and the working efficiency, so as to achieve the purpose of maintaining the performance of the vehicle, thereby realizing the technical effect that the performance of the vehicle is not reduced under the full-load working condition, and further solving the technical problem that the performance of the vehicle is reduced due to the reduction of the driving efficiency of the motor under the full-load working condition in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0017] Figure 1 is a flow chart of a motor control method according to an embodiment of the present application;

[0018] Figure 2 is a topology diagram of an optional motor control power system and control system according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a motor control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0021] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the application and the above-described drawings, are used to distinguish between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of data so designated is not to be construed as limiting of the embodiments of the application described herein to only the precise embodiments illustrated or described. Furthermore, the terms "include", "have", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units can not necessarily be limited to those steps or units that are clearly recited, but can include additional steps or units that are not expressly listed or inherent to such process, method, product, or apparatus.

[0022] Embodiment 1

[0023] According to an embodiment of the application, an embodiment of a motor control method is provided. It is to be understood that the steps shown in the flowcharts of the drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] Figure 1 is a flowchart of a motor control method according to an embodiment of the application, as shown in Figure 1 The method comprises the following steps:

[0025] In step S102, the upper limit of the discharge power sent by the power battery and the actual discharge power of the power battery are obtained.

[0026] The upper limit of the discharge power can be the maximum discharge power that the power battery can theoretically send to the motor, which is determined by the performance of the power battery and is a fixed value. The actual discharge power can be the discharge power sent by the power battery to the motor after the motor obtains the actual driving power demand under the current working condition, and the specific discharge power value is determined by the actual driving power demand of the motor.

[0027] In an optional embodiment, when the vehicle is in a full load working condition, if it is desired to improve the driving power of the motor, the maximum discharge power that the power battery can send to the motor and the actual discharge power of the power battery can be obtained first.

[0028] It is to be noted that the power battery is passively controlled, and the battery management system cannot control the size of the discharge power, so the battery management system can only send the upper limit of the discharge power to the vehicle controller, and the vehicle controller limits the actual discharge power of the power battery.

[0029] Step S104, determining the difference between the discharge power upper limit and the actual discharge power to obtain a power difference.

[0030] In an alternative embodiment, after obtaining the discharge power upper limit and the actual discharge power, the difference between the discharge power upper limit and the actual discharge power can be obtained to obtain a power difference.

[0031] Step S106, adjusting the preset safety margin based on the comparison result of the power difference and the preset threshold to obtain a target safety margin.

[0032] The preset threshold described above can be a threshold set in advance by the user to determine whether the power battery will be over-discharged, and the specific value can be set by the user according to actual needs. In this embodiment, 10 kilowatts (Kw) is taken as an example for illustration, but it is not limited thereto, and can also be 8 Kw, 12 Kw, etc. When the power difference is less than the preset threshold, it indicates that the discharge power upper limit of the power battery is close to the actual discharge power, and the power battery can be over-discharged.

[0033] The comparison result described above can be that the power difference is greater than or equal to the preset threshold, or the power difference is less than or equal to the preset threshold, but it is not limited thereto. The preset safety margin described above can be a safety margin set in advance by the user to avoid over-discharge of the power battery. For example, when the safety margin is set to 20 Kw, it indicates that when the power between the discharge power upper limit of the power battery and the actual discharge power is greater than or equal to 20 Kw, the power battery will not be over-discharged.

[0034] In an alternative embodiment, after obtaining the power difference, the power difference can be compared with the preset threshold to obtain a comparison result, and finally the safety margin can be adjusted based on the comparison result to obtain a target safety margin. For example, the power difference can be compared with 10 Kw, and if the comparison result is that the power difference is less than or equal to 10 Kw, it indicates that the discharge power upper limit of the power battery is close to the actual discharge power, indicating that the preset safety margin is not reasonable, and the power battery can be over-discharged. Therefore, the preset safety margin can be adjusted to obtain a target safety margin, and based on the target safety margin, it can be ensured that the power battery will not be over-discharged.

[0035] Step S108, controlling the driving power of the motor based on the discharge power upper limit, the target safety margin, and the working efficiency.

[0036] The working efficiency described above can be the working efficiency of the motor, and the working efficiency of the motor is different under different working loads. The specific value is not limited in this embodiment.

[0037] In an optional embodiment, after the discharging power upper limit of the power battery, the target safety margin and the working efficiency of the motor are acquired, the driving power of the motor can be dynamically adjusted based on the discharging power upper limit, the target safety margin and the working efficiency to ensure that the driving power of the motor will not be reduced under full load working condition. For example, first, the real-time actual discharging power can be obtained based on the discharging power upper limit and the dynamic target safety margin, and then the driving power of the motor can be obtained based on the real-time actual discharging power and the real-time working efficiency of the motor.

[0038] In the embodiment of the application, the discharging power upper limit sent by the power battery and the actual discharging power of the power battery are acquired, the difference between the discharging power upper limit and the actual discharging power is determined to obtain a power difference, the preset safety margin is adjusted based on the comparison result of the power difference and the preset threshold to obtain a target safety margin, and the driving power of the motor is controlled based on the discharging power upper limit, the target safety margin and the working efficiency. It is easy to note that the safety margin is dynamically adjusted through the comparison result of the power difference and the preset threshold, which avoids the over-discharge of the battery. Further, the driving power of the motor can be ensured not to be reduced under full load working condition through the discharging power upper limit, the target safety margin and the working efficiency, so as to achieve the purpose of maintaining the performance of the vehicle, thereby realizing the technical effect that the performance of the vehicle will not be reduced under full load working condition, and further solving the technical problem that the performance of the vehicle is reduced due to the reduction of the driving efficiency of the motor under full load working condition in the related art.

[0039] Optionally, adjusting the preset safety margin based on the comparison result of the power difference and the preset threshold to obtain the target safety margin comprises: in response to the comparison result being that the power difference is greater than or equal to the preset threshold, adjusting the preset safety margin based on the power difference to obtain the target safety margin; and in response to the comparison result being that the power difference is less than the preset threshold, adjusting the preset safety margin based on an adjustment parameter to obtain the target safety margin, wherein the adjustment parameter comprises at least one of the working efficiency of the motor, the output power of the battery converter, the cooling water temperature of the motor and the discharging power limit signal sent by the power battery.

[0040] In an optional embodiment, when it is determined that the comparison result is that the power difference is greater than or equal to the preset threshold, it can be determined that the discharging power upper limit of the power battery is greatly different from the actual discharging power, and the power battery will not be over-discharged. At this time, the preset safety margin can be controlled based on the power difference to obtain the target safety margin.

[0041] In another optional embodiment, when it is determined that the comparison result is that the power difference is less than the preset threshold value, it can be determined that the upper limit of the discharging power of the power battery is close to the actual discharging power, the working load of the motor is in a high load, and the power battery can be in an over-discharged state. At this time, the preset safety margin can be adjusted based on the adjustment parameter to obtain a target safety margin. The dynamic adjustment parameter can include but is not limited to the working efficiency of the motor, the output power of the battery converter, the cooling water temperature of the motor, and the discharging power limit signal sent by the power battery.

[0042] Optionally, adjusting the preset safety margin based on the power difference to obtain a target safety margin comprises: obtaining a difference between a preset value and the power difference to obtain a first proportionality coefficient; obtaining a product of the power difference and the first proportionality coefficient to obtain a first safety margin; and obtaining a maximum value between the first safety margin and an initial safety margin to obtain the target safety margin.

[0043] The preset value can be a constant value set by the user in advance for determining the first proportionality coefficient. The preset value can be 10, but is not limited thereto, and can also be 8, 12, etc. The first proportionality coefficient can be in the interval [1, 3], but is not limited thereto. The initial safety margin can be a safety margin set by the user when the vehicle is in a stationary state, and can be set to 0Kw, but is not limited thereto. The specific value can be set by the user according to actual needs.

[0044] In an optional embodiment, when it is determined that the comparison result is that the power difference is greater than or equal to the preset threshold value, the first proportionality coefficient can be obtained by the following formula:

[0045] The first proportionality coefficient = 10-power difference.

[0046] Wherein, 10 is a preset value, and the first proportionality coefficient ∈ [1, 3].

[0047] In another optional embodiment, the target safety margin can be obtained by the following formula:

[0048] The target safety margin = max[power difference*first proportionality coefficient, 0].

[0049] Wherein, power difference*first proportionality coefficient is the first safety margin, and 0 is the initial safety margin.

[0050] Optionally, adjusting the preset safety margin based on the adjustment parameter to obtain a target safety margin comprises: obtaining a difference between a preset value and the power difference to obtain a first proportionality coefficient; adjusting the first proportionality coefficient based on the adjustment parameter to obtain a second proportionality coefficient; and determining the target safety margin based on the power difference, the second proportionality coefficient, and an initial safety margin.

[0051] In an optional embodiment, when it is determined that the comparison result is that the power difference is less than the preset threshold value, it indicates that the motor is in a high-load working state. In order to avoid the situation that the power battery is over-discharged, after obtaining the first proportion coefficient, the first proportion coefficient can be first adjusted based on the adjustment parameter to obtain a second proportion coefficient, and then the target safety margin can be obtained based on the power difference, the second proportion coefficient, and the initial safety margin.

[0052] Optionally, adjusting the first proportion coefficient based on the adjustment parameter to obtain the second proportion coefficient comprises: in response to the adjustment parameter including the working efficiency and the working efficiency being greater than a preset efficiency, increasing the first proportion coefficient to obtain the second proportion coefficient; in response to the adjustment parameter including the output power and the output power being greater than a preset power, increasing the first proportion coefficient to obtain the second proportion coefficient; in response to the adjustment parameter including the cooling water temperature and the cooling water temperature exceeding a preset temperature and a change rate of the cooling water temperature exceeding a preset change rate, increasing the first proportion coefficient to obtain the second proportion coefficient; and in response to the adjustment parameter including the discharge power limitation signal and the discharge power limitation signal being reduced, increasing the first proportion coefficient to obtain the second proportion coefficient.

[0053] The preset efficiency can be a minimum efficiency indicating that the working load of the motor is in a high load, which is set by the user in advance. When the working efficiency of the motor is greater than the preset efficiency, it indicates that the working load of the motor is in a high load, and the power battery can be over-discharged at this time, so the safety margin needs to be adjusted. Similarly, the preset power can be a minimum power indicating that the output power of the battery converter is in a high load, which is set by the user in advance. When the output power of the battery converter is greater than the preset power, it indicates that the output power of the battery converter is in a high load, and the power battery can be over-discharged at this time, so the safety margin needs to be adjusted. The preset temperature can be a temperature indicating that the cooling water temperature of the motor exceeds a normal value, which is set by the user in advance. The preset change rate can be a minimum change rate indicating that the change rate of the cooling water temperature of the motor is abnormal, which is set by the user in advance. When the change rate of the cooling water temperature is greater than the preset change rate, it indicates that the heating power of the motor is too large, and the power battery can be over-discharged at this time, so the safety margin needs to be adjusted.

[0054] In an optional embodiment, the efficiency of the motor is different under different working loads. The efficiency is high in a medium load area and is reduced in a high load area, that is, the higher the working load, the lower the efficiency of the motor. After the efficiency is reduced, the demand for electric power is increased at the same mechanical power output, thereby increasing the demand for electric power of the power battery. Therefore, when the vehicle controller detects that the working load of the motor enters the high load area and the working efficiency of the power motor is greater than the preset efficiency, the first proportion coefficient can be dynamically increased to obtain the second proportion coefficient.

[0055] In another alternative embodiment, the battery converter functions to convert high-voltage electricity of the power battery into low-voltage electricity to provide power for the electric water pump of the thermal management system, and when the working load of the electric water pump enters a high-load area, the demand for electric power will also increase due to the reduced working efficiency of the motor. Because the working efficiency of the power battery decreases when it works in the high-load area, the heat generation power increases, the heat dissipation demand increases the high-load demand for the electric water pump, and the demand for electric power of the power motor and the thermal management system for the power battery increases synchronously. Therefore, when the vehicle controller detects that the output power of the battery converter enters the high-load area and the output power is greater than the preset power, the first proportional coefficient can be dynamically adjusted to obtain the second proportional coefficient.

[0056] In another alternative embodiment, when the vehicle controller detects that the cooling water temperature of the power motor exceeds the preset temperature and the temperature increase rate exceeds the preset rate, it indicates that the heat generation power of the power motor is large, and the cooling capacity of the thermal management system is insufficient. Therefore, the vehicle controller can dynamically adjust the first proportional coefficient according to the increase of the cooling water temperature of the power motor to obtain the second proportional coefficient.

[0057] In another alternative embodiment, under normal circumstances, the maximum discharge power limit signal sent by the power battery to the vehicle controller remains basically unchanged, but when the demand for electric power of the power system approaches the maximum discharge power limit of the power battery, it indicates that the vehicle is in a high-load state, and the power battery is also in a high-load state. The chemical reaction inside the power battery will become intense, and thus the self-protection function of the power battery will be triggered. The maximum discharge power limit sent by the power battery to the vehicle controller will decrease, and thus the first proportional coefficient can be adjusted to obtain the second proportional coefficient.

[0058] Optionally, based on the power difference, the second proportional coefficient and the initial safety margin, the target safety margin is determined, including: obtaining the product of the power difference and the second proportional coefficient to obtain a second safety margin; and obtaining the maximum value of the second safety margin and the initial safety margin to obtain the target safety margin.

[0059] In an alternative embodiment, the target safety margin can be obtained by the following formula:

[0060] Target safety margin = max[power difference x second proportional coefficient, 0];

[0061] Wherein, the power difference x the first proportional coefficient is the second safety margin, and 0 is the initial safety margin.

[0062] It should be noted that after the safety margin is increased, the vehicle controller will lower the upper limit of the demand for motor driving power, thereby avoiding excessive discharge of the power battery.

[0063] Optionally, the driving power of the motor is controlled based on the upper limit of the discharging power, the target safety margin and the working efficiency, including: obtaining a difference between the upper limit of the discharging power and the target safety margin; obtaining a product of the difference and the working efficiency to obtain a demand upper limit of the driving power; and controlling the driving power based on the demand upper limit of the driving power.

[0064] In an optional embodiment, the demand upper limit of the driving power can be obtained by the following formula:

[0065] Demand upper limit of driving power = (upper limit of discharging power-target safety margin) x working efficiency

[0066] wherein the discharging power-target safety margin is the difference.

[0067] In another optional embodiment, after obtaining the upper limit of the driving power of the motor, the vehicle control unit can control the driving power of the motor based on the upper limit of the driving power, so as to ensure that the driving power of the motor cannot be reduced, thereby achieving the purpose that the performance of the vehicle cannot be reduced under full load working condition.

[0068] Figure 2 is a topology diagram of a power system and a control system of an optional motor control according to an embodiment of the present application, as shown in Figure 2 The power system and the control system include a vehicle control unit 101, a motor control unit 102, a power battery management system 103, a battery converter management system 104, a motor inverter 202, a power battery 203 and a battery converter 204. The dashed line is a control signal wire bundle, and the solid line is a high-voltage wire bundle. The motor control unit 102 controls the operation of the motor inverter 202, the power battery management system 103 monitors the working state of the power battery 203, and the battery converter management system 104 controls the operation of the battery converter 204. The vehicle control unit 101 exchanges control information with the motor control unit 102, the power battery management system 103 and the battery converter management system 104, and controls the normal operation of the vehicle.

[0069] Embodiment 2

[0070] According to another aspect of the embodiment of the present application, a motor control device is also provided, which can execute the motor control method provided in the above-mentioned embodiment 1. The specific implementation manner and the preferred application scenario are the same as those of the above-mentioned embodiment 1, and will not be described here.

[0071] Figure 3 is a schematic diagram of a motor control device according to an embodiment of the present application, as shown in Figure 3As shown, the apparatus comprises: an acquisition module 32, configured to acquire the upper limit of discharging power sent by the power battery and the actual discharging power of the power battery; a determination module 34, configured to determine the difference between the upper limit of discharging power and the actual discharging power to obtain a power difference; an adjustment module 36, configured to adjust the preset safety margin based on the comparison result of the power difference and the preset threshold to obtain a target safety margin; and a control module 38, configured to control the driving power of the motor based on the upper limit of discharging power, the target safety margin and the working efficiency.

[0072] Optionally, the adjustment module comprises: a first adjustment unit, configured to adjust the preset safety margin based on the power difference to obtain the target safety margin in response to the comparison result that the power difference is greater than or equal to the preset threshold; and a second adjustment unit, configured to adjust the preset safety margin based on an adjustment parameter to obtain the target safety margin in response to the comparison result that the power difference is less than the preset threshold, wherein the adjustment parameter comprises at least one of the working efficiency of the motor, the output power of the battery converter, the cooling water temperature of the motor and the discharging power limit signal sent by the power battery.

[0073] Optionally, the first adjustment unit comprises: a first acquisition sub-unit, configured to acquire the difference between the preset value and the power difference to obtain a first proportion coefficient; a second acquisition sub-unit, configured to acquire the product of the power difference and the first proportion coefficient to obtain a first safety margin; and a third acquisition sub-unit, configured to acquire the maximum value between the first safety margin and the initial safety margin to obtain the target safety margin.

[0074] Optionally, the second adjustment unit comprises: a fourth acquisition sub-unit, configured to acquire the difference between the preset value and the power difference to obtain a first proportion coefficient; an adjustment sub-unit, configured to adjust the first proportion coefficient based on the adjustment parameter to obtain a second proportion coefficient; and a determination sub-unit, configured to determine the target safety margin based on the power difference, the second proportion coefficient and the initial safety margin.

[0075] Optionally, the adjustment sub-unit is further configured to: in response to the adjustment parameter containing the working efficiency and the working efficiency being greater than a preset efficiency, increase the first proportion coefficient to obtain the second proportion coefficient; in response to the adjustment parameter containing the output power and the output power being greater than a preset power, increase the first proportion coefficient to obtain the second proportion coefficient; in response to the adjustment parameter containing the cooling water temperature and the cooling water temperature exceeding a preset temperature and the change rate of the cooling water temperature exceeding a preset change rate, increase the first proportion coefficient to obtain the second proportion coefficient; and in response to the adjustment parameter containing the discharging power limit signal and the discharging power limit signal being reduced, increase the first proportion coefficient to obtain the second proportion coefficient.

[0076] Optionally, the determination sub-unit is further configured to: acquire the product of the power difference and the second proportion coefficient to obtain a second safety margin; and acquire the maximum value between the second safety margin and the initial safety margin to obtain the target safety margin.

[0077] Optionally, the control module comprises: a first obtaining unit, configured to obtain a difference between the upper limit of the discharge power and the target safety margin; a second obtaining unit, configured to obtain a product of the difference and the working efficiency, to obtain the upper limit of the demand of the driving power; and a control unit, configured to control the driving power based on the upper limit of the demand of the driving power.

[0078] Embodiment 3

[0079] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which comprises a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the method of any of the above when the program is run.

[0080] Embodiment 4

[0081] According to another aspect of the embodiments of the present application, an electronic device is also provided, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to execute the method of any of the above.

[0082] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0083] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0084] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0085] The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed to multiple units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0086] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0087] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0088] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A motor control method, characterized in that, include: Obtain the upper limit of the discharge power sent by the power battery, and the actual discharge power of the power battery; The power difference is obtained by determining the difference between the upper limit of the discharge power and the actual discharge power; In response to the comparison result between the power difference and the preset threshold being greater than or equal to the preset threshold, the preset safety margin is adjusted based on the power difference to obtain the target safety margin; In response to the comparison result that the power difference is less than the preset threshold, the difference between the preset value and the power difference is obtained to obtain the first proportional coefficient; In response to the motor's operating efficiency exceeding a preset efficiency, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the battery converter's output power exceeding a preset power, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the motor's cooling water temperature exceeding a preset temperature and the cooling water temperature change rate exceeding a preset change rate, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the power battery's discharge power limit signal decreasing, the first proportional coefficient is increased to obtain a second proportional coefficient; the product of the power difference and the second proportional coefficient is obtained to obtain a second safety margin; the maximum value between the second safety margin and the initial safety margin is obtained to obtain the target safety margin. The drive power of the motor is controlled based on the upper limit of the discharge power, the target safety margin, and the operating efficiency.

2. The method according to claim 1, characterized in that, The target safety margin is obtained by adjusting the preset safety margin based on the power difference, including: The difference between the preset value and the power difference is obtained to obtain the first proportional coefficient; The first safety margin is obtained by multiplying the power difference and the first proportional coefficient. The target safety margin is obtained by obtaining the maximum value between the first safety margin and the initial safety margin.

3. The method according to claim 1, characterized in that, Based on the upper limit of discharge power, the target safety margin, and the operating efficiency, the drive power of the motor is controlled, including: Obtain the difference between the upper limit of the discharge power and the target safety margin; The upper limit of the drive power requirement is obtained by multiplying the difference between the upper limit of the discharge power and the target safety margin with the working efficiency. The drive power is controlled based on the upper limit of the drive power demand.

4. A motor control device, characterized in that, include: The acquisition module is used to acquire the upper limit of the discharge power sent by the power battery, and the actual discharge power of the power battery; The determination module is used to determine the difference between the upper limit of the discharge power and the actual discharge power, and obtain the power difference; An adjustment module is used to adjust a preset safety margin based on the power difference in response to a comparison result between the power difference and a preset threshold being greater than or equal to the preset threshold, thereby obtaining a target safety margin. In response to the comparison result that the power difference is less than the preset threshold, the difference between the preset value and the power difference is obtained to obtain the first proportional coefficient; In response to the motor's operating efficiency exceeding a preset efficiency, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the battery converter's output power exceeding a preset power, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the motor's cooling water temperature exceeding a preset temperature and the cooling water temperature change rate exceeding a preset change rate, the first proportional coefficient is increased to obtain a second proportional coefficient; in response to the power battery's discharge power limit signal decreasing, the first proportional coefficient is increased to obtain a second proportional coefficient; the product of the power difference and the second proportional coefficient is obtained to obtain a second safety margin; the maximum value between the second safety margin and the initial safety margin is obtained to obtain the target safety margin. The control module is used to control the drive power of the motor based on the upper limit of the discharge power, the target safety margin, and the working efficiency.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 3.

6. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 3.

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