Torque zero-crossing control method and system

Abstract

The embodiment of the application provides a torque zero-crossing control method and system, and relates to the technical field of motor control. The torque zero-crossing control method is applied to an electric vehicle, and comprises the following steps: performing gap self-detection of torque zero-crossing on the electric vehicle to obtain gap self-detection data; obtaining torque information of the electric vehicle in response to driving data of the electric vehicle; determining whether torque reversal is needed for the electric vehicle according to a preset commutation condition and the torque information; if yes, performing speed closed-loop control on a motor of the electric vehicle according to the gap self-detection data, and recording gap data that the electric vehicle flexibly overcomes in the speed closed-loop control process; and stopping the speed closed-loop control when the gap data is greater than or equal to a preset gap threshold. The torque zero-crossing control method can realize the control accuracy of torque zero-crossing, and realizes the flexible transition of torque control by means of the closed-loop control gap overcoming process when the gap is overcome.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a control method and system for torque zero crossing. Background Technology

[0002] Currently, zero torque crossing is a fundamental and common issue that all new energy vehicles must consider. Generally, existing technologies control torque zero crossing using the following two methods:

[0003] The first method is to identify when the torque is about to cross zero. By giving a certain small torque, the DCU will judge that the crossing of zero is completed when it is close to the small torque. This method can solve most of the abnormal noise and impact problems caused by the torque crossing of zero. However, since the condition for judging the completion of the crossing of zero is the torque, there are still cases where the actual torque is reached but the tooth backlash has not been completely completed, which will still produce abnormal noise and impact.

[0004] The second method is usually to finely adjust the torque slope during the zero-crossing phase, also known as the "six-segment method". By applying a small torque at zero crossing, the gap can be smoothly overcome. However, this method has the problems of long zero-crossing time and difficulty in matching with vehicle conditions. Summary of the Invention

[0005] The purpose of this application is to provide a torque zero-crossing control method, system, electronic device, and computer-readable storage medium, which can achieve accurate torque zero-crossing control and, when overcoming backlash, achieve a flexible transition of torque control through closed-loop control of the backlash overcoming process.

[0006] In a first aspect, embodiments of this application provide a torque zero-crossing control method, applied to electric vehicles, the torque zero-crossing control method comprising:

[0007] Perform a gap self-detection on the electric vehicle to obtain gap self-detection data;

[0008] In response to the driving data of the electric vehicle, the torque information of the electric vehicle is obtained;

[0009] Determine whether the electric vehicle needs torque commutation based on preset commutation conditions and the torque information;

[0010] If so, the motor of the electric vehicle is subjected to closed-loop speed control based on the gap self-detection data, and the gap data that the electric vehicle flexibly overcomes during the closed-loop speed control process is recorded. The closed-loop speed control is stopped when the gap data is greater than or equal to the preset gap threshold.

[0011] If not, return to the step of obtaining the torque information of the electric vehicle in response to the driving data of the electric vehicle.

[0012] In the above implementation process, the torque zero-crossing control method first obtains gap self-detection data through a self-learning method, thereby understanding the gap status of the electric vehicle. Then, based on the gap self-detection data of the electric vehicle, precise torque zero-crossing control can be performed. When the electric vehicle performs torque reversal and overcomes the gap, the gap overcoming process is achieved through closed-loop speed control, which can achieve a precise and flexible transition. Thus, the torque zero-crossing control method achieves accurate torque zero-crossing control and achieves the technical effect of flexible torque control transition through closed-loop control when overcoming the gap.

[0013] Furthermore, the step of performing a torque-to-zero clearance self-detection on the electric vehicle and obtaining clearance self-detection data includes:

[0014] Perform a gap self-detection on the electric vehicle to detect zero torque, and then perform the following processing based on the gap self-detection:

[0015] Determine the backlash boundary on one side of the motor;

[0016] The motor is controlled to rotate at a first preset speed and a first preset direction;

[0017] After identifying that the gears of the motor are engaged on the other side, the motor is controlled to rotate at a second preset speed and in a second preset direction, and the angle rotated by the electric drive is calculated by integration.

[0018] Once the gears on one side of the motor are identified as being in contact, the integration operation is stopped to obtain the motor angle information required for the motor to overcome backlash.

[0019] The gap self-detection data is obtained based on the motor angle information.

[0020] In the above implementation process, the torque zero-crossing gap of the electric vehicle is learned through the above method to obtain gap self-detection data; then, zero-crossing control is performed based on the learned gap (gap self-detection data), which improves the robustness of torque zero-crossing control and overcomes the problem that the existing solution cannot cover the control deviation caused by differences in vehicle production and driving durability.

[0021] Furthermore, prior to the step of performing a gap self-detection at zero torque on the electric vehicle and obtaining gap self-detection data, the method further includes:

[0022] The wheels of the electric vehicle are determined to be locked or stationary.

[0023] Furthermore, prior to the step of performing a gap self-detection at zero torque on the electric vehicle and obtaining gap self-detection data, the method further includes:

[0024] It is determined that the electric vehicle is connected to a high-voltage power-on state.

[0025] Furthermore, prior to the step of performing closed-loop speed control of the electric vehicle's motor based on the gap self-detection data, the method further includes:

[0026] It is determined that the motor speed and wheel speed of the electric vehicle are out of sync, and the target speed of the motor is determined based on the wheel speed.

[0027] The direction of the gear to which the motor is attached and the speed correction data are determined based on the motor speed and the target speed.

[0028] In the above implementation process, when the motor speed and the wheel end speed are out of sync, the motor speed control is triggered. The target speed of the motor is the current wheel end speed, and a certain correction is added according to the direction of the gear to which it needs to be aligned.

[0029] Furthermore, the preset reversing condition is:

[0030] The actual torque of the motor is positive, and the required torque of the motor is negative; or

[0031] The actual torque of the motor is negative, while the required torque of the motor is positive.

[0032] Secondly, embodiments of this application provide a torque zero-crossing control system applied to electric vehicles, the torque zero-crossing control system comprising:

[0033] The gap self-detection module is used to perform gap self-detection for electric vehicles when the torque crosses zero, and to obtain gap self-detection data;

[0034] A torque module is used to obtain torque information of the electric vehicle in response to the driving data of the electric vehicle;

[0035] The reversing judgment module is used to determine whether the electric vehicle needs torque reversing based on preset reversing conditions and the torque information; if not, it returns the step of obtaining the torque information of the electric vehicle in response to the driving data of the electric vehicle.

[0036] The speed control module is used to perform closed-loop speed control of the electric vehicle's motor based on the gap self-detection data when the electric vehicle needs torque commutation, and to record the gap data that the electric vehicle flexibly overcomes during the speed closed-loop control process. The speed closed-loop control is stopped when the gap data is greater than or equal to a preset gap threshold.

[0037] Furthermore, the gap self-detection module is specifically used for:

[0038] Perform a gap self-detection on the electric vehicle to detect zero torque, and then perform the following processing based on the gap self-detection:

[0039] Determine the backlash boundary on one side of the motor;

[0040] The motor is controlled to rotate at a first preset speed and a first preset direction;

[0041] After identifying that the gears of the motor are engaged on the other side, the motor is controlled to rotate at a second preset speed and in a second preset direction, and the angle rotated by the electric drive is calculated by integration.

[0042] Once the gears on one side of the motor are identified as being in contact, the integration operation is stopped to obtain the motor angle information required for the motor to overcome backlash.

[0043] The gap self-detection data is obtained based on the motor angle information.

[0044] Furthermore, the gap self-detection module is also used to determine whether the wheel end of the electric vehicle is locked or stationary.

[0045] Furthermore, the gap self-detection module is also used to: determine that the electric vehicle is in a high-voltage power-on state.

[0046] Furthermore, the speed control module is also used for:

[0047] It is determined that the motor speed and wheel speed of the electric vehicle are out of sync, and the target speed of the motor is determined based on the wheel speed.

[0048] The direction of the gear to which the motor is attached and the speed correction data are determined based on the motor speed and the target speed.

[0049] Thirdly, an electronic device provided in this application includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any of the first aspects.

[0050] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.

[0051] Fifthly, embodiments of this application provide a computer program product that, when run on a computer, causes the computer to perform the method described in any of the first aspects.

[0052] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.

[0053] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A schematic flowchart illustrating a torque zero-crossing control method provided in an embodiment of this application;

[0056] Figure 2 A schematic diagram of the gap self-detection process provided in an embodiment of this application;

[0057] Figure 3 A flowchart illustrating another torque zero-crossing control method provided in this application embodiment;

[0058] Figure 4 A structural block diagram of a torque zero-crossing control system provided in an embodiment of this application;

[0059] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0060] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0061] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0062] This application provides a torque zero-crossing control method, system, electronic device, and computer-readable storage medium, which can be applied to the torque zero-crossing control process of electric vehicles. The torque zero-crossing control method first obtains clearance self-detection data through a self-learning method, thereby understanding the clearance status of the electric vehicle. Then, it can perform precise torque zero-crossing control based on the clearance self-detection data of the electric vehicle. When the electric vehicle performs torque reversal and overcomes the clearance, the clearance overcoming process is achieved through closed-loop speed control, enabling a precise and flexible transition. Therefore, this torque zero-crossing control method achieves accurate torque zero-crossing control and, when overcoming the clearance, achieves the technical effect of flexible torque control transition through closed-loop control.

[0063] Please see Figure 1 , Figure 1 This is a flowchart illustrating a torque zero-crossing control method provided in an embodiment of this application, applied to an electric vehicle. The torque zero-crossing control method includes the following steps:

[0064] S100: Performs gap self-detection on electric vehicles to achieve zero torque and obtains gap self-detection data;

[0065] S200: Obtains torque information of electric vehicles in response to their driving data;

[0066] S300: Determine whether the electric vehicle needs torque commutation based on preset commutation conditions and torque information; if not, return the electric vehicle's driving data to obtain the electric vehicle's torque information.

[0067] S400: If so, perform closed-loop speed control on the motor of the electric vehicle based on the gap self-detection data, and record the gap data that the electric vehicle flexibly overcomes during the closed-loop speed control process. Stop the closed-loop speed control when the gap data is greater than or equal to the preset gap threshold.

[0068] For example, this torque zero-crossing control method first obtains clearance self-detection data through a self-learning method to understand the clearance status of the electric vehicle. Then, it can perform precise torque zero-crossing control based on the clearance self-detection data of the electric vehicle. When the electric vehicle performs torque reversal and overcomes the clearance, the clearance overcoming process is achieved through closed-loop speed control, which can achieve a precise and flexible transition. Thus, this torque zero-crossing control method achieves accurate torque zero-crossing control and achieves the technical effect of flexible torque control transition through closed-loop control when overcoming the clearance.

[0069] Please see Figure 2 , Figure 2 This is a schematic diagram of the gap self-detection process provided in an embodiment of this application.

[0070] For example, S100: The step of performing a gap self-detection of the electric vehicle when the torque crosses zero and obtaining gap self-detection data includes:

[0071] S103: Perform a gap self-detection for the electric vehicle when the torque crosses zero, and execute the following processing based on the gap self-detection:

[0072] S104: Determine the backlash boundary on one side of the motor;

[0073] S105: Control the motor to rotate at a first preset speed and a first preset direction;

[0074] S106: After the gear on the other side of the motor is engaged, control the motor to rotate at the second preset speed and in the second preset direction, and perform integral calculation on the angle rotated by the electric drive.

[0075] S107: After identifying that the gears on one side of the motor are in contact, stop the integration calculation and obtain the motor angle information required for the motor to overcome the backlash;

[0076] S108: Obtain gap self-detection data based on motor angle information.

[0077] For example, by learning the torque zero-crossing gap of an electric vehicle in the above manner, gap self-detection data is obtained; and zero-crossing control is then performed based on the learned gap (gap self-detection data), thereby improving the robustness of torque zero-crossing control and overcoming the problem that existing solutions cannot cover control deviations caused by differences in vehicle production and driving durability.

[0078] For example, before step S100: performing a gap self-detection of the electric vehicle at zero torque and obtaining gap self-detection data, the method further includes:

[0079] S101: Determine whether the wheel ends of the electric vehicle are locked or stationary.

[0080] For example, before step S100: performing a gap self-detection of the electric vehicle at zero torque and obtaining gap self-detection data, the method further includes:

[0081] S102: Determine that the electric vehicle is connected to a high-voltage power-on state.

[0082] Please see Figure 3 , Figure 3 This is a flowchart illustrating another torque zero-crossing control method provided in an embodiment of this application.

[0083] For example, prior to step S400: performing closed-loop speed control of the electric vehicle's motor based on gap self-detection data, the method further includes:

[0084] S310: Determine if the motor speed and wheel speed of the electric vehicle are out of sync, and determine the target motor speed based on the wheel speed.

[0085] S320: Determines the direction of the gear the motor is attached to and the speed correction data based on the motor speed and the target speed.

[0086] For example, when the motor speed and the wheel end speed are out of sync, the motor speed control is triggered. The target speed of the motor is the current wheel end speed, and a certain correction is added according to the direction of the gear to which it needs to be aligned.

[0087] For example, the preset reversing condition is:

[0088] The actual torque of the motor is positive, and the required torque of the motor is negative; or

[0089] The actual torque of the motor is negative, while the required torque of the motor is positive.

[0090] In some implementation scenarios, the torque zero-crossing control method provided in this application improves the robustness of the solution by learning the zero-crossing gap of the electric vehicle after each power-on and performing zero-crossing control based on the learned gap. This overcomes the control deviation caused by differences in vehicle production and driving durability that existing solutions cannot cover. In addition, based on the self-learned gap, this torque zero-crossing control method monitors the gap that has been flexibly overcome through a speed closed loop when the torque crosses zero, achieving accurate judgment of flexible zero crossing and overcoming the problem in the prior art that it cannot accurately identify whether the gap has been completed.

[0091] Optionally, according to Figures 1 to 3 As shown in the embodiments of this application, the specific implementation scheme of the torque zero-crossing control method is as follows:

[0092] 1. Zero-crossing gap is detected through self-learning;

[0093] 1.1 This must be done while the vehicle is stationary, with the wheels locked or at rest, preferably in Park (P) gear;

[0094] 1.2 Simultaneously check whether the current vehicle is connected to high voltage. Gap detection can only be performed when the vehicle is powered on.

[0095] 1.3. Locate the tooth gap boundary on one side, and gradually move through the gap by controlling the motor to rotate forward at low speed;

[0096] 1.4. By identifying stall, it can be determined that the gear has moved to one side;

[0097] 1.5. The rotation speed is reduced to the other side, and the integral calculation of the angle rotated by the electric drive begins simultaneously.

[0098] 1.6. By identifying stall, the system detects that the gear is engaged on the other side and stops the integration calculation.

[0099] 1.7 Stop integrating and obtain the motor angle that needs to be rotated to overcome backlash.

[0100] 2. Precise control of zero crossing;

[0101] 2.1 Normal response torque, constantly monitor for torque commutation, the commutation determination condition is:

[0102] A. The actual torque of the motor is positive, while the required torque is negative;

[0103] B. The actual torque of the motor is negative, while the required torque is positive;

[0104] 2.2 Under normal circumstances, when the tooth gap is close to one side, the motor and the wheel are rigidly connected, and their speeds are synchronized without deviation;

[0105] When the motor torque reverses, it needs to travel a certain distance of clearance, that is, after turning through the clearance angle and touching the other side, the motor speed can synchronize with the wheel speed.

[0106] When a speed difference is detected between the motor speed and the wheel speed, it indicates that the motor is in a suspended state and requires a capacitive transition backlash.

[0107] 2.3 When the speed deviates from synchronization, the motor speed control is triggered. The target speed is the current vehicle speed, and a certain correction is added according to the direction of the gear that needs to be engaged.

[0108] Specific correction: When the target torque switches from negative to positive, it needs to rotate through the backlash in the positive direction. Based on the remaining backlash deviation, the required increase in target speed deviation is determined through calibration. The general approach is that when the remaining backlash is large, the increase in target speed correction is large, and when the remaining backlash is small, the increase in target speed correction is small.

[0109] The system monitors the intervals that have been passed, and when the interval is completed, it exits speed control and responds to the required torque.

[0110] In summary, the torque zero-crossing control method provided in this application embodiment can learn the gap of each electric vehicle through self-learning and accurately control the torque zero-crossing according to the situation of each electric vehicle. When overcoming the gap, the process of overcoming the gap can be accurately and flexibly transitioned through closed-loop control.

[0111] Please see Figure 4 , Figure 4 The present application provides a structural block diagram of a torque zero-crossing control system, which is applied to an electric vehicle and includes:

[0112] The gap self-detection module 100 is used to perform gap self-detection on electric vehicles when the torque crosses zero, and to obtain gap self-detection data.

[0113] The torque module 200 is used to obtain torque information of the electric vehicle in response to the driving data of the electric vehicle.

[0114] The commutation judgment module 300 is used to determine whether the electric vehicle needs torque commutation based on preset commutation conditions and torque information; if not, it returns the steps of obtaining the electric vehicle's torque information in response to the electric vehicle's driving data.

[0115] The speed control module 400 is used to perform closed-loop speed control of the electric vehicle motor based on the gap self-detection data when the electric vehicle needs torque commutation, and to record the gap data that the electric vehicle flexibly overcomes during the speed closed-loop control process. The speed closed-loop control is stopped when the gap data is greater than or equal to the preset gap threshold.

[0116] For example, the gap self-detection module 100 is specifically used for:

[0117] Perform a clearance self-detection for electric vehicles when the torque crosses zero, and then perform the following processing based on the clearance self-detection:

[0118] Determine the backlash boundary on one side of the motor;

[0119] The motor is controlled to rotate at a first preset speed and a first preset direction;

[0120] After the gears on the other side of the motor are engaged, the motor is controlled to rotate at a second preset speed and in a second preset direction, and the angle rotated by the electric drive is calculated by integration.

[0121] Once the gears on one side of the motor are in contact, the integration calculation stops, and the motor angle information required to overcome backlash is obtained.

[0122] The gap self-detection data is obtained based on the motor angle information.

[0123] For example, the gap self-detection module 100 is also used to: determine whether the wheel end of the electric vehicle is locked or stationary.

[0124] For example, the gap self-detection module 100 is also used to: determine that the electric vehicle's connection voltage is a high-voltage power-on state.

[0125] For example, the speed control module 400 is also used for:

[0126] Determine if the motor speed and wheel speed of the electric vehicle are out of sync, and determine the target motor speed based on the wheel speed.

[0127] The direction of the gear to which the motor is attached and the speed correction data are determined based on the motor speed and the target speed.

[0128] It should be noted that the torque zero-crossing control system provided in this application embodiment is similar to... Figures 1 to 3 The methods described in the examples are corresponding to each other, and will not be repeated here to avoid repetition.

[0129] This application also provides an electronic device, please refer to [link to application]. Figure 5 , Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. The communication bus 540 is used to enable direct communication between these components. In this embodiment, the communication interface 520 of the electronic device is used for signaling or data communication with other node devices. The processor 510 may be an integrated circuit chip with signal processing capabilities.

[0130] The processor 510 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 510 can be any conventional processor.

[0131] The memory 530 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 530 stores computer-readable instructions. When these computer-readable instructions are executed by the processor 510, the electronic device can perform the aforementioned operations. Figures 1 to 3 The various steps involved in the method implementation examples.

[0132] Alternatively, the electronic device may also include a storage controller and an input / output unit.

[0133] The memory 530, storage controller, processor 510, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 540. The processor 510 is used to execute executable modules stored in the memory 530, such as software function modules or computer programs included in electronic devices.

[0134] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.

[0135] Understandable. Figure 5 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented using hardware, software, or a combination thereof.

[0136] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.

[0137] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0139] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0140] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0141] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0142] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0143] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling torque zero crossing, characterized in that, When applied to electric vehicles, the torque zero-crossing control method includes: Perform a gap self-detection on the electric vehicle to obtain gap self-detection data; In response to the driving data of the electric vehicle, the torque information of the electric vehicle is obtained; Determine whether the electric vehicle needs torque commutation based on preset commutation conditions and the torque information; If so, the motor of the electric vehicle is subjected to closed-loop speed control based on the gap self-detection data, and the gap data that the electric vehicle flexibly overcomes during the closed-loop speed control process is recorded. The closed-loop speed control is stopped when the gap data is greater than or equal to the preset gap threshold. If not, return to the step of obtaining the torque information of the electric vehicle in response to the driving data of the electric vehicle; The step of performing a gap self-detection of the electric vehicle when the torque crosses zero and obtaining gap self-detection data includes: Perform a gap self-detection on the electric vehicle to detect zero torque, and then perform the following processing based on the gap self-detection: Determine the backlash boundary on one side of the motor; The motor is controlled to rotate at a first preset speed and a first preset direction; After identifying that the gears of the motor are engaged on the other side, the motor is controlled to rotate at a second preset speed and in a second preset direction, and the angle rotated by the electric drive is calculated by integration. Once the gears on one side of the motor are identified as being in contact, the integration operation is stopped to obtain the motor angle information required for the motor to overcome backlash. The gap self-detection data is obtained based on the motor angle information.

2. The torque zero-crossing control method according to claim 1, characterized in that, Before the step of performing a gap self-detection of the electric vehicle at zero torque and obtaining gap self-detection data, the method further includes: The wheels of the electric vehicle are determined to be locked or stationary.

3. The torque zero-crossing control method according to claim 1, characterized in that, Before the step of performing a gap self-detection of the electric vehicle at zero torque and obtaining gap self-detection data, the method further includes: It is determined that the electric vehicle is connected to a high-voltage power-on state.

4. The torque zero-crossing control method according to claim 1, characterized in that, Before the step of performing closed-loop speed control of the electric vehicle's motor based on the gap self-detection data, the method further includes: It is determined that the motor speed and wheel speed of the electric vehicle are out of sync, and the target speed of the motor is determined based on the wheel speed. The direction of the gear to which the motor is attached and the speed correction data are determined based on the motor speed and the target speed.

5. The torque zero-crossing control method according to claim 1 or 4, characterized in that, The preset reversal condition is: The actual torque of the motor is positive, and the required torque of the motor is negative; or The actual torque of the motor is negative, while the required torque of the motor is positive.

6. A torque zero-crossing control system, characterized in that, For use in electric vehicles, the torque zero-crossing control system includes: The gap self-detection module is used to perform gap self-detection for electric vehicles when the torque crosses zero, and to obtain gap self-detection data; A torque module is used to obtain torque information of the electric vehicle in response to the driving data of the electric vehicle; The reversing judgment module is used to determine whether the electric vehicle needs torque reversing based on preset reversing conditions and the torque information; if not, it returns the step of obtaining the torque information of the electric vehicle in response to the driving data of the electric vehicle. The speed control module is used to perform closed-loop speed control of the motor of the electric vehicle based on the gap self-detection data when the electric vehicle needs torque commutation, and to record the gap data that the electric vehicle flexibly overcomes during the speed closed-loop control process, and to stop the speed closed-loop control when the gap data is greater than or equal to a preset gap threshold. The gap self-detection module is specifically used for: Perform a gap self-detection on the electric vehicle to detect zero torque, and then perform the following processing based on the gap self-detection: Determine the backlash boundary on one side of the motor; The motor is controlled to rotate at a first preset speed and a first preset direction; After identifying that the gears of the motor are engaged on the other side, the motor is controlled to rotate at a second preset speed and in a second preset direction, and the angle rotated by the electric drive is calculated by integration. Once the gears on one side of the motor are identified as being in contact, the integration operation is stopped to obtain the motor angle information required for the motor to overcome backlash. The gap self-detection data is obtained based on the motor angle information.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the torque zero-crossing control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the torque zero-crossing control method as described in any one of claims 1 to 5.

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