Motor torque control methods, devices, equipment and vehicles

Abstract

This application provides a motor torque control method, device, equipment, and vehicle, belonging to the field of vehicle technology. The method includes determining whether torque zero-crossing control needs to be performed based on the actual torque value and the required torque value of the motor; in response to determining to perform torque zero-crossing control, obtaining a self-learned gear engagement torque value, and calculating a preset torque value based on the gear engagement torque value; controlling the motor to transition from the actual torque value to the preset torque value, and controlling the motor to transition from the preset torque value to the gear engagement torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the gear engagement torque value. The motor torque control method provided by this application can accurately calibrate the gear engagement process during the torque zero-crossing stage, buffer the impact degree during the gear meshing process, thereby improving or eliminating vehicle impact and vibration phenomena, and improving the overall vehicle smoothness and comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, device, equipment and vehicle for controlling motor torque. Background Technology

[0002] With the development of new energy vehicles, various drive motors with different power and speed ranges have begun to be used in vehicles. Due to the influence of the backlash and assembly clearance of the electric drive axle, when the front drive axle repeatedly crosses zero in response to the vehicle's torque request, the torque direction changes very rapidly, which can cause the vehicle to vibrate and be accompanied by noise from teeth knocking, which seriously affects the comfort and power smoothness of the vehicle. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a motor torque control method, device, equipment and vehicle to improve the problem of vehicle vibration and knocking noise caused by changes in torque direction mentioned in the prior art.

[0004] To achieve the above objectives, this application provides a motor torque control method, comprising:

[0005] Determine whether torque zero-crossing control is needed based on the actual torque value of the motor and the required torque value.

[0006] In response to determining to perform torque zero-crossing control, the self-learned gear torque value is obtained, and a preset torque value is calculated based on the gear torque value; the preset torque value is located between the zero point value and the gear torque value or between the gear torque value and the required torque value, and the preset torque value is set close to the gear torque value.

[0007] The motor is controlled to transition from the actual torque value to the preset torque value, and then to the gear torque value. The average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the gear torque value.

[0008] Furthermore, the tooth-aligning torque value includes a first tooth-aligning torque value and a second tooth-aligning torque value, and the process of obtaining the tooth-aligning torque value through self-learning includes:

[0009] Determine if the vehicle is in a powerless state;

[0010] In response to determining that the vehicle is in a powerless state, the actual torque value of the control motor is transitioned to the first target torque value, and the first tooth contact torque value when tooth contact occurs is determined by the rotary transformer.

[0011] The actual torque value of the control motor transitions from a first target torque value to a second target torque value. The second tooth contact torque value at which tooth contact occurs is determined by a rotary transformer. The first target torque value and the second target torque value represent opposite directions.

[0012] Furthermore, the preset torque value includes a first positive torque value and a first negative torque value;

[0013] The calculation of the preset torque value based on the tooth torque value includes:

[0014] The first positive torque value is obtained by calculating the first tooth torque value and the torque reference value according to the first calculation method, and the first negative torque value is obtained by calculating the second tooth torque value and the torque reference value according to the second calculation method.

[0015] Furthermore, the control motor transitions from a preset torque value to a gear-adaptive torque value, including:

[0016] In response to the change from negative to positive in the direction of zero torque crossing, the acceleration of the transition from the first positive torque value to the first tooth torque value is gradually reduced through filtering until the first positive torque value smoothly transitions to the first tooth torque value.

[0017] In response to the change from positive to negative direction of the zero-crossing torque, the acceleration of the transition from the first negative torque value to the second tooth torque value is gradually reduced through filtering until the first negative torque value smoothly transitions to the second tooth torque value.

[0018] Furthermore, the preset torque value includes a second positive torque value and a second negative torque value;

[0019] The calculation of the preset torque value based on the tooth torque value includes:

[0020] The second positive torque value is obtained by calculating the first tooth torque value and the torque reference value according to the third calculation method, and the second negative torque value is obtained by calculating the second tooth torque value and the torque reference value according to the fourth calculation method.

[0021] Furthermore, the control motor transitions from a preset torque value to a gear-adaptive torque value, and then includes:

[0022] In response to the change from negative to positive direction of the zero-crossing torque, the acceleration of the transition from the first tooth torque value to the second positive torque value is gradually increased through filtering until the first tooth torque value smoothly transitions to the second positive torque value.

[0023] In response to the change from positive to negative direction of the zero-crossing torque, the acceleration of the second tooth torque value transitioning to the second negative torque value is gradually increased through filtering until the second tooth torque value smoothly transitions to the second negative torque value.

[0024] Further, determining the first tooth-aligning torque value when tooth alignment occurs via a rotary transformer includes:

[0025] The electromechanical angle of the motor is obtained by a rotary transformer. In response to the determination that the electromechanical angle changes abruptly beyond the preset range, the torque value corresponding to the abrupt electromechanical angle is taken as the first tooth torque value of the motor.

[0026] The determination of the second tooth-aligning torque value when tooth alignment occurs via a rotary transformer includes:

[0027] The electromechanical angle of the motor is obtained by a rotary transformer. In response to the determination that the electromechanical angle changes abruptly beyond the preset range, the torque value corresponding to the abrupt electromechanical angle is taken as the second tooth torque value of the motor.

[0028] Based on the same inventive concept, this application also provides a motor torque control device, comprising:

[0029] The judgment module is configured to determine whether torque zero-crossing control needs to be performed based on the actual torque value of the motor and the required torque value.

[0030] The data acquisition module is configured to, in response to determining to perform torque zero-crossing control, acquire the self-learned tooth torque value, and calculate a preset torque value based on the tooth torque value. The preset torque value is located between the zero point value and the tooth torque value or between the tooth torque value and the required torque value, and the preset torque value is set close to the tooth torque value.

[0031] The execution module is configured to control the motor to transition from the actual torque value to the preset torque value, and to control the motor to transition from the preset torque value to the tooth-fitting torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the tooth-fitting torque value.

[0032] Based on the same inventive concept, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0033] Based on the same inventive concept, this disclosure also provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to perform the method described above.

[0034] Based on the same inventive concept, this disclosure also provides a vehicle including the electronic device or storage medium described above.

[0035] As can be seen from the above, the motor torque control method provided in this application, when determining to perform torque zero-crossing control, first obtains the tooth-aligning torque value, calculates the preset torque value based on the tooth-aligning torque value, and since the preset torque value is located between the zero point value and the tooth-aligning torque value, and is close to the tooth-aligning torque value setting, the actual torque value of the motor can continue to change according to the original set torque change rate until the preset torque value is reached after crossing the zero point. By reducing the average acceleration from the preset torque value to the tooth-aligning torque value, the effect of buffering the tooth-aligning meshing impact is achieved.

[0036] Compared to related technologies that slow down the rate of change on both sides of zero, this solution can transition to the gear torque value within a smaller range of torque change. This allows the vehicle's infotainment system to more accurately identify the torque zero-crossing range, optimize the zero-crossing torque response time, thereby improving or eliminating vehicle shock and vibration phenomena and enhancing the overall smoothness and comfort of the vehicle. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of motor torque zero-crossing control in related technologies;

[0039] Figure 2 This is a schematic diagram illustrating the steps of the motor torque control method in the embodiments of this application;

[0040] Figure 3 This is a schematic diagram of the steps for self-learning to determine the tooth torque value in the embodiments of this application;

[0041] Figure 4 This is a schematic diagram of motor torque control when the direction of zero torque crossing changes from negative to positive in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of motor torque control when the direction of zero torque crossing changes from positive to negative in an embodiment of this application;

[0043] Figure 6 This is a schematic diagram of the composition of the motor torque control device in the embodiments of this application;

[0044] Figure 7 This is a schematic diagram of the hardware structure of the electronic device in the embodiments of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0046] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] Compared to traditional gasoline vehicles, pure electric vehicles lack vibration-damping components such as flywheels, clutches, and flexible couplings in their powertrain systems. This results in higher torque output and faster response times at low speeds. During electric motor drive, the driving torque is positive when the vehicle is moving forward, and negative during energy recovery. When the driver presses the accelerator, the positive torque drives the motor to rotate forward; when the driver releases the accelerator, the motor enters energy recovery mode, responding with negative torque to recover energy. When the direction of the motor torque changes from positive to negative, the torque crosses zero. The contact surface of the drive gear from the motor to the reducer changes from one tooth to the opposite tooth. Due to transmission backlash, when the motor torque continues to change at its original slope, the instantaneous change in torque direction and the instantaneous change in the contact surface of the drive gear will cause significant speed fluctuations, resulting in impact vibrations and noise caused by the "tooth contact."

[0048] Currently, such as Figure 1 As shown, to improve the impact vibration and noise issues caused by gear shifting, the change in drive torque is generally controlled as follows: regardless of whether the torque direction changes from positive to negative or vice versa, the actual torque value slowly changes and passes through the zero point, then returns to the normal response slope after passing through. When the above control method is used, the slow passage through the zero point takes too long, resulting in a slow actual torque response, which leads to a noticeable lack of power and affects the driving experience.

[0049] In view of the above problems, this application provides a motor torque control method, device, equipment and vehicle. The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0050] like Figure 2As shown, this application provides a motor torque control method, including:

[0051] S101 determines whether torque zero-crossing control needs to be performed based on the actual torque value and the required torque value of the motor.

[0052] S102, in response to determining to perform torque zero-crossing control, the tooth-aligning torque value obtained by self-learning is acquired, and a preset torque value is calculated based on the tooth-aligning torque value. The preset torque value is located between the zero point value and the tooth-aligning torque value or between the tooth-aligning torque value and the required torque value, and the preset torque value is set close to the tooth-aligning torque value.

[0053] S103, control the motor to transition from the actual torque value to the preset torque value, and control the motor to transition from the preset torque value to the tooth-fitting torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the tooth-fitting torque value.

[0054] As can be seen from the above description, the motor torque control method provided in this application first obtains the tooth-aligning torque value when determining to perform zero-crossing torque control. After calibrating the tooth-aligning torque value, a preset torque value is calculated based on the tooth-aligning torque value. Since the preset torque value is located between the zero point and the tooth-aligning torque value and is close to the tooth-aligning torque value setting, the actual torque value of the motor can continue to change according to the original set torque change rate until the preset torque value is reached after crossing the zero point. This reduces the average acceleration from the preset torque value to the tooth-aligning torque value, thereby achieving the effect of buffering the impact of tooth meshing.

[0055] Compared to related technologies that slow down the rate of change on both sides of zero, this solution can use a preset torque value to change the torque gradient of the actual torque value within a smaller torque change range, thus helping the vehicle system to more accurately identify the torque zero-crossing range, optimize the zero-crossing torque response time, and buffer the impact during gear meshing, thereby improving or eliminating vehicle impact vibration and enhancing the smoothness and comfort of the entire vehicle.

[0056] It should be noted that in actual driving scenarios, the vehicle controller can determine the required torque based on the accelerator pedal and other components, combined with the current actual torque. Since some vehicles currently have motors at both the front and rear to ensure better power performance, for vehicles with two drive motors, after determining the required torque, it can be distributed to the front and rear motors according to a preset allocation ratio. The torque value allocated to each motor is the same as the required torque value described in this embodiment. Of course, for vehicles with only one drive motor, the determined required torque value is the same as the required torque value described in this embodiment.

[0057] After determining the required torque value of the motor, the process of changing the motor's torque value from the current actual torque value to the required torque value is gradual. During this process, the HCU (Hybrid Vehicle Control Unit) continuously outputs the requested motor torque to the MCU (Motor Control Unit), so that the MCU can control the motor torque according to the requested torque. The motor generates a corresponding torque value based on the change in the requested torque value, thereby changing the current actual torque value to the required torque value. Therefore, in this application, the motor torque control method is executed through the MCU, which will not be elaborated further below.

[0058] In some embodiments, in step S101 above, determining whether torque zero-crossing control needs to be performed refers to whether the vehicle experiences a torque direction switching condition, including a torque direction switching from positive to negative or vice versa. In actual driving scenarios, the vehicle's driving conditions can be comprehensively considered. For example, torque zero-crossing situations may occur in various driving scenarios such as the vehicle entering kinetic energy recovery mode, tip-in (rapidly pressing the accelerator), tip-out (rapidly releasing the accelerator), and gear shifting, requiring torque zero-crossing control to be performed.

[0059] In some embodiments, such as Figure 3 As shown, in step S102 above, the process of obtaining the tooth torque value through self-learning includes:

[0060] S1021, Determine if the vehicle is in a powerless state;

[0061] S1022, in response to determining that the vehicle is in a powerless state, the actual torque value of the control motor is transitioned to the first target torque value, and the first tooth contact torque value M when tooth contact occurs is determined by the rotary transformer;

[0062] S1023, the actual torque value of the control motor is transitioned from the first target torque value to the second target torque value, and the second tooth contact torque value N when tooth contact occurs is determined by the rotary transformer, wherein the first target torque value and the second target torque value represent opposite directions.

[0063] In step S1021 above, the determination of whether the vehicle is in a powerless state can be made by referring to the following method:

[0064] The MCU identifies the torque preload request from the HCU. If no torque preload request is received from the HCU, it indicates that the vehicle is in a powerless state. Here, a powerless state also refers to a state where the driver does not intend to drive; for example, the vehicle is not in gear and is in a standby state. It should be noted that this learning process involves changes in torque values, therefore, a powerless state is a necessary condition for the vehicle to perform its self-learning action.

[0065] In some embodiments, the first target torque value is a positive torque value, and the second target torque value is a negative torque value. The actual torque value of the motor controlled by the MCU first increases linearly from 0 N·m to the first target torque value, then decreases linearly from the first target torque value to the second target torque value, and then returns to zero to complete the entire torque adjustment action. It should be noted that the first target torque value should be greater than the first tooth-aligning torque value M, and the second target torque value should be greater than the second tooth-aligning torque value N. The specific setting values ​​can be set with reference to relevant parameters such as backlash error and transmission accuracy. This embodiment does not impose an absolute limitation on this.

[0066] In theory, since the error clearance of forward and reverse rotation during gear transmission is the same, the first tooth torque value M and the second tooth torque value N should be torque values ​​of the same magnitude but opposite direction. Their specific values ​​need to be obtained by testing. Moreover, in order to avoid the influence of gear wear, this embodiment obtains the first tooth torque value M and the second tooth torque value N through a self-learning method. The values ​​are more accurate, and the determination of the preset torque is also more accurate. This facilitates the buffering of the impact during gear meshing, thereby effectively improving or eliminating the vehicle's impact and vibration phenomenon, and improving the smoothness and comfort of the whole vehicle.

[0067] like Figure 3 As shown, in the above process, the MCU observes and determines the tooth contact torque value when tooth contact occurs by collecting the electromechanical angle data of the rotary transformer, as detailed below:

[0068] The step of determining the first tooth contact torque value M when tooth contact occurs through a rotary transformer includes: obtaining the electromechanical angle of the motor through a rotary transformer; and in response to determining that the electromechanical angle abruptly exceeds a preset range, taking the torque value corresponding to the abruptly changed electromechanical angle as the first tooth contact torque value M of the motor.

[0069] The step of determining the second tooth-aligning torque value N when tooth alignment occurs via a rotary transformer includes: obtaining the electromechanical angle of the motor via a rotary transformer; and in response to determining that the electromechanical angle abruptly exceeds a preset range, taking the torque value corresponding to the abruptly changed electromechanical angle as the second tooth-aligning torque value N of the motor.

[0070] When determining the tooth engagement torque value, as the actual torque value increases linearly to the first target torque value, the electromechanical angle of the rotary transformer is positively correlated with the change of the actual torque value, that is, it increases linearly with the increase of the actual torque value. When the gears are engaged to form a tooth engagement state, the actual torque value has a momentary abrupt change, which is manifested in the rotary transformer as a signal of abrupt electromechanical angle. At this time, the torque value corresponding to the electromechanical angle signal with abrupt change is taken as the tooth engagement torque value.

[0071] In some embodiments, other methods can also be used to determine the first tooth torque value M and the second tooth torque value N. For example, an electrical signal of the torque transmission structure can be output by an encoder or Hall sensor and the corresponding tooth torque value can be determined by the degree of change in the output electrical signal when the output electrical signal changes abruptly. For example, the first tooth torque value M and the second tooth torque value N are generally between 1.3 N·m and 1.8 N·m.

[0072] In step S102, the preset torque value includes a first positive torque value m corresponding to the first tooth torque value M and a first negative torque value n corresponding to the second tooth torque value N. The first positive torque value m and the first tooth torque value M have the same representative direction, and the first negative torque value n and the second tooth torque value N have the same representative direction.

[0073] In this exemplary embodiment, "positive" refers to the direction of torque rotation, when the torque rotates in the positive direction, the vehicle is driven to move, and the positive torque value is represented by a positive value; "negative" refers to the direction of torque reversal, when the torque reverses, the vehicle performs actions such as recovering kinetic energy and reversing, and the negative torque value is described by a negative value.

[0074] Step S102 includes:

[0075] The first positive torque value m is obtained by calculating the first tooth torque value M and the torque reference value according to the first calculation method, and the first negative torque value n is obtained by calculating the second tooth torque value N and the torque reference value according to the second calculation method.

[0076] In the above description, the first calculation method is: subtracting the torque reference value from the first tooth-mounted torque value M, and the difference is taken as the first positive torque value m; the second calculation method is: adding the second tooth-mounted torque value N to the torque reference value, and the sum is taken as the first negative torque value n. Since the preset torque value is located between the zero point value and the tooth-mounted torque value, compared with the state of the torque being buffered at the zero point value in related technologies, the torque response rate can be further improved without avoiding the influence of tooth-mounted torque, thus ensuring the vehicle's power and fast acceleration start-up state.

[0077] Here, the torque reference value should be set with reference to factors such as the actual vehicle's pedal opening, torque output amplitude, torque rise rate, backlash error, and transmission accuracy. Different values ​​can be set for different assembled vehicles. For example, in this embodiment, the torque reference value is 0.5 N·m. The principle for setting the torque reference value is to minimize the torque zero-crossing time as much as possible while avoiding affecting the smooth operation of the entire vehicle; that is, the torque reference value should be set as close as possible to the tooth torque value.

[0078] In some embodiments, when controlling the motor to transition from the actual torque value to the preset torque value in step S103, the transition can be set by referring to a normal torque change rising curve or a torque change falling curve. When controlling the motor to transition from the preset torque value to the gear torque value, the following method can be used:

[0079] In response to the torque zero-crossing direction switching from negative to positive, filtering is used to gradually reduce the acceleration of the first positive torque value m transitioning to the tooth-adapting torque value, until the first positive torque value m smoothly transitions to the first tooth-adapting torque value M; or,

[0080] In response to the change from positive to negative direction of the zero-crossing torque, the acceleration of the first negative torque value n to the tooth-adapting torque value gradually decreases through filtering, until the first negative torque value n smoothly transitions to the second tooth-adapting torque value N.

[0081] In the above embodiments, the direction of torque zero crossing refers to the direction in which the motor torque actually changes. The zero point is the point where the instantaneous direction of torque changes, and the actual torque value at the zero point is zero. The following will explain the two different directions of torque change one by one.

[0082] like Figure 4 As shown, when the MCU determines that the torque zero-crossing direction has switched from negative to positive, it controls the actual torque value of the motor within the negative quadrant region according to the following... Figure 4 The fixed slope decreases linearly until the actual torque value transitions to the first positive torque value m. During this process, the actual torque value of the control motor always maintains a fixed torque change rate, which can be set with reference to relevant technologies.

[0083] When the actual torque value of the motor is the first positive torque value m, the acceleration is gradually reduced during the transition from the first positive torque value m to the first tooth-aligning torque value M through filtering. This is reflected in the figure as the actual torque value of the motor rises with the parabolic curve (the slope gradually decreases), and the acceleration is at its minimum when the actual torque value reaches the first tooth-aligning torque value M.

[0084] like Figure 5As shown, when the MCU determines that the direction of the torque zero crossing changes from positive to negative, it controls the actual torque value of the motor to decrease linearly at a fixed slope in the positive quadrant region until the actual torque value transitions to the first negative torque value n. During this process, the actual torque value of the motor is always controlled to maintain a fixed torque change rate, which can be set with reference to relevant technologies.

[0085] When the actual torque value of the motor is the first negative torque value n, the acceleration is gradually reduced during the transition from the first negative torque value n to the second tooth torque value N through filtering. This is reflected in the figure as the actual torque value of the motor decreases with the parabolic curve (the slope gradually decreases), and the acceleration is at its minimum when the actual torque value reaches the second tooth torque value N.

[0086] In the above description, the acceleration gradually decreases during the transition from the preset torque value to the tooth-gripping torque value. This means that during the actual torque zero crossing process, the tooth-gripping time is moderately increased without affecting the overall vehicle power performance, and the motor torque change rate is slightly reduced, thereby mitigating the impact of torque zero crossing on the transmission system.

[0087] like Figure 4 and Figure 5 As shown, the aforementioned preset torque value also includes a second positive torque value m' and a second negative torque value n';

[0088] The calculation of the preset torque value based on the tooth torque value includes:

[0089] The second positive torque value m' is obtained by calculating the first tooth torque value M and the torque reference value according to the third calculation method, and the second negative torque value n' is obtained by calculating the second tooth torque value N and the torque reference value according to the fourth calculation method.

[0090] In some embodiments, the second positive torque value m' is the torque value located between the first tooth-aligning torque value M and the required torque value when the torque zero-crossing direction switches from negative to positive, and the second negative torque value n' is the torque value located between the second tooth-aligning torque value N and the required torque value when the torque zero-crossing direction switches from positive to negative. A third calculation method is to add the first tooth-aligning torque value M to the torque reference value, and the sum is used as the second positive torque value m'. A fourth calculation method is to subtract the torque reference value from the second tooth-aligning torque value N, and the difference is used as the second negative torque value n'.

[0091] Based on the above description, the motor torque control method described in this application further includes:

[0092] In response to the change from negative to positive direction of the zero-crossing torque, the acceleration of the first tooth torque value M to the second positive torque value m' is gradually increased through filtering until the first tooth torque value M smoothly transitions to the second positive torque value m'.

[0093] In response to the change from positive to negative direction of the zero-crossing torque, the acceleration of the transition from the second tooth torque value N to the second negative torque value n' is gradually increased through filtering, until the second tooth torque value N smoothly transitions to the second negative torque value n'.

[0094] Correspondingly, when the MCU determines that the direction of the torque zero crossing has switched from negative to positive, the acceleration at the first tooth torque value M is at its minimum. As the actual torque value of the motor continues to transition to the second positive torque value m', the acceleration gradually increases until it transitions to the second positive torque value m'. At this time, the second positive torque value m' follows the change of the required torque value according to the original torque control curve. This is represented in the figure as a smooth arc transition setting (gradually steepening slope) between the first tooth torque value M and the second positive torque value m'.

[0095] Similarly, when the MCU determines that the zero-crossing torque direction changes from positive to negative, the acceleration at the second tooth torque value N is at its minimum. As the actual torque value of the motor continues to transition to the second negative torque value n', the acceleration gradually increases until it transitions to the second negative torque value n'. At this time, the second negative torque value n' follows the demand torque value according to the original torque control curve. This is represented in the figure as a smooth arc transition setting (gradually steepening slope) between the second tooth torque value N and the second negative torque value n'.

[0096] Here, Figure 4 and Figure 5 The fixed slope portion shown is also the torque control curve in the prior art.

[0097] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0098] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0099] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a motor torque control device.

[0100] refer to Figure 6 The motor torque control device includes:

[0101] Module 1 is configured to determine whether torque zero-crossing control needs to be performed based on the actual torque value and the required torque value of the motor.

[0102] Data acquisition module 2 is configured to, in response to determining to perform torque zero-crossing control, acquire the self-learned tooth torque value, and calculate a preset torque value based on the tooth torque value, wherein the preset torque value is located between the zero point value and the tooth torque value, and is set close to the tooth torque value.

[0103] The execution module 3 is configured to control the motor to transition from the actual torque value to the preset torque value, and to control the motor to transition from the preset torque value to the tooth-fitting torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the tooth-fitting torque value.

[0104] In the above embodiments, the tooth-aligning torque value includes a first tooth-aligning torque value M and a second tooth-aligning torque value N. The process of obtaining the tooth-aligning torque value through self-learning includes the following steps by the data acquisition module 2:

[0105] The judgment and processing unit is configured to determine whether the vehicle is in a powerless state;

[0106] The first data acquisition unit is configured to, in response to determining that the vehicle is in a powerless state, control the actual torque value of the motor to transition to a first target torque value, and determine the first tooth contact torque value M when tooth contact occurs through a rotary transformer.

[0107] The second data processing unit is configured to control the actual torque value of the motor to transition from a first target torque value to a second target torque value, and to determine the second tooth contact torque value N when tooth contact occurs through a rotary transformer, wherein the first target torque value and the second target torque value represent opposite directions.

[0108] In some embodiments, the execution module 3 includes:

[0109] The first execution unit is configured to, in response to a change in the torque zero-crossing direction from negative to positive, perform filtering to gradually reduce the acceleration of the transition from the first positive torque value m to the first tooth-aligning torque value M, until the first positive torque value m smoothly transitions to the first tooth-aligning torque value M; or,

[0110] The second execution unit is configured to, in response to determining that the zero-crossing torque direction has switched from positive to negative, gradually reduce the acceleration of the transition from the first negative torque value n to the second tooth-aligning torque value N through filtering, until the first negative torque value n smoothly transitions to the second tooth-aligning torque value N.

[0111] In some embodiments, the execution module 3 further includes:

[0112] The third execution unit is configured to, in response to the change of the torque zero-crossing direction from negative to positive, gradually increase the acceleration of the first tooth torque value M to the second positive torque value m' through filtering, until the first tooth torque value M smoothly transitions to the second positive torque value m'.

[0113] The second execution unit is configured to, in response to the determination that the zero-crossing torque direction has switched from positive to negative, gradually increase the acceleration of the transition from the second tooth torque value N to the second negative torque value n' through filtering, until the second tooth torque value N smoothly transitions to the second negative torque value n'.

[0114] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0115] The apparatus of the above embodiments is used to implement the corresponding motor torque control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor torque control method described in any of the above embodiments.

[0117] Figure 7This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0118] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0119] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0120] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0121] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0122] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0123] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0124] The electronic devices described above are used to implement the corresponding motor torque control methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0125] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the motor torque control method as described in any of the above embodiments.

[0126] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0127] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the motor torque control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0128] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0129] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0130] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0131] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A method for controlling motor torque, characterized in that, include: Determine whether torque zero-crossing control is needed based on the actual torque value of the motor and the required torque value. In response to determining to perform torque zero-crossing control, a self-learned tooth-aligning torque value is obtained, and a preset torque value is calculated based on the tooth-aligning torque value; the preset torque value is located between the zero-point value and the tooth-aligning torque value or between the tooth-aligning torque value and the required torque value, and the preset torque value is set close to the tooth-aligning torque value; the tooth-aligning torque value includes a first tooth-aligning torque value and a second tooth-aligning torque value, and the preset torque value includes a first positive torque value, a first negative torque value, a second positive torque value, and a second negative torque value; The motor is controlled to transition from an actual torque value to a preset torque value, and then to a gear-aligned torque value. The average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the gear-aligned torque value. The transition from the preset torque value to the gear-aligned torque value includes: in response to determining that the torque zero-crossing direction has switched from negative to positive, filtering is performed to gradually reduce the acceleration of the first positive torque value transitioning to the first gear-aligned torque value until the first positive torque value smoothly transitions to the first gear-aligned torque value; in response to determining that the torque zero-crossing direction has switched from positive to negative, filtering is performed to gradually reduce the acceleration of the first negative torque value transitioning to the second gear-aligned torque value until the first negative torque value smoothly transitions to the second gear-aligned torque value. The values ​​then include: in response to determining that the direction of the zero-crossing torque has switched from negative to positive, the acceleration of the transition from the first tooth torque value to the second positive torque value is gradually increased through filtering until the first tooth torque value smoothly transitions to the second positive torque value; in response to determining that the direction of the zero-crossing torque has switched from positive to negative, the acceleration of the transition from the second tooth torque value to the second negative torque value is gradually increased through filtering until the second tooth torque value smoothly transitions to the second negative torque value; the electromechanical angle of the motor is obtained through a rotary transformer, and in response to determining that the sudden change in the electromechanical angle exceeds a preset range, the torque value corresponding to the sudden change in the electromechanical angle is taken as the first tooth torque value of the motor; the electromechanical angle of the motor is obtained through a rotary transformer, and in response to determining that the sudden change in the electromechanical angle exceeds a preset range, the torque value corresponding to the sudden change in the electromechanical angle is taken as the second tooth torque value of the motor.

2. The motor torque control method according to claim 1, characterized in that, The process of obtaining the tooth torque value through self-learning includes: Determine if the vehicle is in a state of no power; In response to determining that the vehicle is in a powerless state, the actual torque value of the control motor is transitioned to the first target torque value, and the first tooth contact torque value when tooth contact occurs is determined by the rotary transformer. The actual torque value of the control motor transitions from a first target torque value to a second target torque value. The second tooth contact torque value at which tooth contact occurs is determined by a rotary transformer. The first target torque value and the second target torque value represent opposite directions.

3. The motor torque control method according to claim 2, characterized in that, The calculation of the preset torque value based on the tooth torque value includes: The first positive torque value is obtained by calculating the first tooth torque value and the torque reference value according to the first calculation method, and the first negative torque value is obtained by calculating the second tooth torque value and the torque reference value according to the second calculation method.

4. The motor torque control method according to claim 2, characterized in that, The calculation of the preset torque value based on the tooth torque value includes: The second positive torque value is obtained by calculating the first tooth torque value and the torque reference value according to the third calculation method, and the second negative torque value is obtained by calculating the second tooth torque value and the torque reference value according to the fourth calculation method.

5. A motor torque control device, characterized in that, include: The judgment module is configured to determine whether torque zero-crossing control needs to be performed based on the actual torque value of the motor and the required torque value. The data acquisition module is configured to, in response to determining that torque zero-crossing control will be executed, acquire the self-learned tooth torque value, and calculate a preset torque value based on the tooth torque value. The preset torque value is located between the zero point value and the tooth torque value, or between the tooth torque value and the required torque value, and the preset torque value is set close to the tooth torque value. The tooth torque value includes a first tooth torque value and a second tooth torque value, and the preset torque value includes a second positive torque value and a second negative torque value. An execution module is configured to control the motor to transition from an actual torque value to a preset torque value, and to control the motor to transition from the preset torque value to a tooth-aligning torque value, wherein the average torque acceleration during the transition from the actual torque value to the preset torque value is greater than the average torque acceleration during the transition from the preset torque value to the tooth-aligning torque value; the control of the motor to transition from the preset torque value to the tooth-aligning torque value includes: in response to determining that the torque zero-crossing direction has switched from negative to positive, filtering is performed to gradually reduce the acceleration of the first positive torque value transitioning to the first tooth-aligning torque value until the first positive torque value smoothly transitions to the first tooth-aligning torque value; in response to determining that the torque zero-crossing direction has switched from positive to negative, filtering is performed to gradually reduce the acceleration of the first negative torque value transitioning to the second tooth-aligning torque value until the first negative torque value smoothly transitions to the second tooth-aligning torque value; the control of the motor to transition from the preset torque value to the tooth-aligning torque value includes: ...; the control of the motor to transition from the preset torque value to the tooth-aligning torque value includes: in response to determining that the torque zero-crossing direction has switched from positive to negative, The process includes: responding to a change in the zero-crossing torque direction from negative to positive, filtering is applied to gradually increase the acceleration of the transition from the first to the second positive torque value until the first to the second positive torque value smoothly transitions to the second positive torque value; responding to a change in the zero-crossing torque direction from positive to negative, filtering is applied to gradually increase the acceleration of the transition from the second to the second negative torque value until the second to the second negative torque value smoothly transitions to the second negative torque value; obtaining the electromechanical angle of the motor through a rotary transformer, and responding to a change in the electromechanical angle exceeding a preset range, using the torque value corresponding to the changed electromechanical angle as the first to the motor's torque value; obtaining the electromechanical angle of the motor through a rotary transformer, and responding to a change in the electromechanical angle exceeding a preset range, using the torque value corresponding to the changed electromechanical angle as the second to the motor's torque value.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 4.

7. A vehicle, characterized in that, Including the electronic device as described in claim 6.

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